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arXiv:2610.35563v1 Announce Type: cross Abstract: Experts can master fine hand-object manipulation skills, yet limited conscious perception of rapid tactile interactions hinders their ability to articulate the underlying control mechanisms. Badminton racket control requires rapid, fine hand-force coordination, providing a demanding testbed for uncovering these mechanisms. An 864-node tactile-inertial glove with synchronized 100-Hz acquisition recorded over 14,000 strokes from more than 70 participants across five skills. Inspired by sensorimotor control, our mechanics-grounded two-layer framework inferred object-driving and grip-stabilizing control from tactile history, while resolving their spatiotemporal force realization. We found that higher proficiency was associated with selective rather than extensive control: greater skill specificity, anticipatory regulation, focal distal modulation and lower geometric torque cancellation, while spatiotemporal coordination showed a non-monoton

arXiv:2610.34663v1 Announce Type: cross Abstract: Video world models trained on large-scale robot data promise a safe and scalable approach for learning and evaluating policies that act in the physical world. However, they still struggle with long-horizon rollouts and out-of-distribution generalization, and they remain computationally demanding at inference time. Typically, video world models make predictions in the latent space of a reconstruction-trained autoencoder, which however is not directly optimized for dynamics modeling. On the other hand, world models designed for latent planning usually optimize latents to be predictable, but they forgo accurate prediction of observations in pixel space. In this paper, we show that it is possible to achieve the best of both worlds: a latent geometry optimized to make future prediction as simple as possible without sacrificing accurate prediction of future observations. More precisely, we find that temporal objectives for representation lear

arXiv:2610.34454v1 Announce Type: cross Abstract: This paper presents two controllers for a quadrotor equipped with a two-DOF robot manipulator that physically interacts with the environment. Cartesian impedance and adaptive sliding mode controllers are implemented and compared for a simple hovering task in the presence of some bounded disturbance. A full dynamic model is developed, and the two above controllers are implemented with the same initial conditions and desired position.

arXiv:2610.34358v1 Announce Type: cross Abstract: Task success is not a sufficient measure of safety for embodied artificial intelligence (AI), because robots may complete objectives while violating safety requirements. Existing evaluations often emphasize performance and robustness, but lack a systematic route from documented safety hazards to executable, verifiable tests. We present EAST (Embodied AI Safety Testing), a digital-twin framework that converts literature-grounded safety evidence into fault-injection tests across perception, instructions, environments, actions, and timing. EAST combines an expert-reviewed safety-fault taxonomy and eight executable operators with applicability and validity constraints. Its three-stage workflow generates test specifications, verifies fault realization during simulated execution, and independently assesses safety challenges, violations, task outcomes, and behavioral signatures using simulator-state evidence. The framework preserves execution

arXiv:2610.34151v1 Announce Type: cross Abstract: Vision-language models now grade robot videos, and text placed beside the frames can change their verdicts. On clips where the robot is losing progress, we add one log line saying the robot is making progress. Across Gemini, Qwen and GPT judges, this flips correct verdicts to progress 10 to 35 percentage points more often than a neutral line does. A one-line warning that the log may be wrong removes most of this effect. Selected fake "task complete" claims flip half of Qwen's correct verdicts, against a tenth for unrelated log lines. They have no detectable effect on Gemini.

arXiv:2610.33349v1 Announce Type: cross Abstract: A component an agent builds from a prompt can satisfy it and still break the system it joins, because the prompt omits what its neighbours assume of it. The artifact to hand over is computed, not written. A SysML v2 requirement with assumed and required constraints is an assume/guarantee contract, so when a system requirement is decomposed over fixed neighbours, the open component's requirement is the contract quotient, the weakest sound one, and again a SysML v2 requirement. Its required constraints carry the neighbours' assumptions, which a requirement for the mission alone drops and unit tests with mocked neighbours cannot reach. Signal Temporal Logic is closed under the quotient. We build the requirements, with derivation, allocation, satisfaction and verification, as a SysML~v2 model and compute the quotient from it. A case study delegates the local controller of a simulated warehouse robot, whose route crosses a worker's path and

arXiv:2610.33158v1 Announce Type: cross Abstract: Real-world environments undergo continual semi-static changes, requiring a memory representation that captures both the spatial and temporal evolution of a scene. Existing spatio-temporal memories for robots typically rely either on structured representations, which are limited to the entities and attributes captured during construction, or on image-based memories, which are constrained to previously observed viewpoints. We introduce GEMS, a framework that combines a persistent spatio-temporal 3D Gaussian Splatting (3DGS) map with an agentic reasoning pipeline. The 3DGS map is reconstructed once and subsequently updated only in regions where the scene changes, storing only these modifications while preserving visual detail across time. The agentic pipeline leverages this map to render novel views on demand, iteratively accumulating evidence to answer spatio-temporal questions and ground objects from natural-language queries. To advance

arXiv:2610.35862v1 Announce Type: new Abstract: Many everyday tasks require controlling contact force as well as motion. On a humanoid, this force must often be coordinated across both hands and the whole body, and cannot be specified by kinematic trajectories alone. Therefore, we present FLORE, a framework for learning force-reactive humanoid loco-manipulation. We collect robot-free demonstrations using two force-sensing UMI-style handheld grippers for hand motion and contact wrenches, and wearable trackers for body motion. A force-reactive diffusion policy takes vision, proprioception, and measured wrenches as input, then predicts actions and per-hand force commands. A hybrid compliance whole-body controller with force tracking executes these commands while maintaining balance: an integral of the force error measured by real force/torque (F/T) sensors lets each hand track force accurately along the commanded direction and remain compliant along the others. In simulation, the controll

arXiv:2610.35852v1 Announce Type: new Abstract: This paper proposes a smooth analytic gradient for frictional contact and applies it to policy learning and contact-implicit trajectory optimization for legged locomotion. The exact contact sensitivity is available in closed form but describes changes within the current contact mode, providing no first-order information toward neighboring contact modes. The proposed gradient replaces this sensitivity only in the backward pass, leaving the hard-contact forward solve unchanged and the realized rollout feasible. A central-path relaxation of the de Saxc\'e-corrected second-order-cone complementarity problem for Coulomb friction smooths the conditions defining the separating, clamping, and sliding modes. The relaxed sensitivity is evaluated at a point on the central path obtained by a Newton iteration initialized from the hard-contact solution. The sensitivity remains continuous through contact-mode transitions and converges to the exact sensi

arXiv:2610.35832v1 Announce Type: new Abstract: Frontier multimodal large language models (MLLMs) can control robots without robot-specific training, but how their capabilities compare and interact with post-trained vision-language-action (VLA) and world action model (WAM) policies across manipulation demands remains to be thoroughly evaluated. In this report, we evaluate GPT-6-Astra on EBench as the core of an agent that controls a robot through an agent harness under the same visual and proprioceptive observation protocol as post-trained policies. We study two agent configurations: direct control, in which the agent generates waypoint commands directly, and harness with policy, in which it can also invoke a post-trained VLA or WAM policy for action execution. Under direct control, the agent achieves competitive overall performance relative to post-trained policies. It leads on short-horizon tasks and exhibits the least performance variation across generalization dimensions, whereas i

arXiv:2610.35817v1 Announce Type: new Abstract: A robot policy needs to understand what a task is asking for in a scene, and how to move the robot to accomplish that task. To achieve these two skills, we introduce Zero-real Agent Policy (ZAP), a recipe that teaches a small off-the-shelf vision-language model to control a robot via a simple tool harness. We use a pretrained 27B parameter model to bootstrap world understanding and reasoning, followed by supervised fine-tuning and GRPO on simple simulated tasks to teach it how to move the robot. Without any real-world robot data during training, ZAP reaches 96.7% success on real-world tasks, matching GPT-6 Astra in our harness and outperforming the MolmoAct2 VLA (33.3%), while running 3x faster and 17x cheaper than GPT-6 Astra. We demonstrate that ZAP also generalizes to completely new objects, goals, strategies, and language by seating a test tube in a rack (and choosing a different hole in the rack when prompted), handing a test tube be

arXiv:2610.35730v1 Announce Type: new Abstract: Simulation benchmarks are a useful way to measure progress in robotics; typically they provide success rate as the dominant measure of performance. However, success rate reports only whether a rollout completed the task, hiding by what margin it succeeded, how sensitive the success is to goal parameter changes, requirements it may have violated, and whether success persisted. Signal Temporal Logic (STL) provides a formal language for capturing specifications; it can be used to define requirements, and measure how close a robot behavior is to satisfying or violating them. Using STL monitors in a simulator, however, requires exposing simulator state and mapping it to specification-relevant signals. We present Specola, a tool for evaluating robot behaviors in simulation with respect to STL specifications. Specola provides an interface for writing specifications over simulator signals, and creates and manages the relevant monitors while a pol

arXiv:2610.35687v1 Announce Type: new Abstract: Vision Language Models (VLMs) have shown impressive capabilities in high-level reasoning and task planning for robots. However, specialized domains remain a challenge for VLMs' image interpretation and grounding abilities. We introduce TrySee, a modular closed-loop robot task planning pipeline integrating general-purpose VLM reasoning with domain-specific perception and established robotics components. The system consists of an inherently reactive cyclic planning pipeline, augmented with domain-specific modular vision preprocessing, to provide online grounding. Finally, a dynamic preprocessing selection mechanism contributes to the scalability of the pipeline. The system requires neither VLM fine-tuning nor end-to-end demonstrations and adapts through replaceable perception modules and motion planning. The approach is evaluated on planning tasks across 5 widely different domains, including a real-world robot disassembly task. The field te

arXiv:2610.35686v1 Announce Type: new Abstract: Large Language Models (LLMs) are widely adopted for reflective error correction in task planning; however, existing approaches primarily rely on autonomous exploration, rendering them prone to accumulating erroneous experiences during early interactions with new environments. To address this limitation, we propose the Flexible Instructional Scaffolding Reflection Framework (FISRF), an agent--mentor architecture that estimates the robot's Zone of Proximal Development (ZPD) in task planning and adaptively selects reflection strategies and mentor guidance, thereby facilitating the accumulation of effective error-correction experience. Experiments in ALFWorld and on real-world robotic platforms demonstrate that FISRF reduces the average number of error-correction rounds by 37% and redundant reasoning by 25.1%, while improving the overall task success rate by 8%. Project webpage : https://fisrfplanning.github.io/

arXiv:2610.35670v1 Announce Type: new Abstract: Agile quadruped navigation in dynamic environments demands trajectories that are both dynamically feasible and provably collision-free. Most real-time planners achieve tractability through a convex reduction that requires simplified kinematic models, discarding motion that the robot can readily execute, and certify safety only at discretization points, leaving open possible inter-sample collisions with moving obstacles. We present a real-time motion planning framework that retains the fully-actuated $SE(2)$ model of a quadruped, with its anisotropic, heading-coupled velocity bounds, and accepts the resulting nonconvexity. By parameterizing trajectories as composite Bernstein polynomials, we exploit the convex hull property to certify collision avoidance and the input bounds over the entirety of each planning horizon. Solved at online replanning rates, the optimization runs in closed loop, commanding body velocities to the locomotion contr