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arXiv:2611.03588v1 Announce Type: cross Abstract: Robust 3D point-cloud recognition is critical for robotics, mapping, and urban sensing, yet point-cloud classifiers often suffer performance drops under domain shifts caused by sensor changes, environmental variation, and acquisition artifacts. Many existing adaptation methods are difficult to deploy in practice because they require access to source data or the internal parameters of the source model, which may be restricted by privacy, licensing, or security constraints. We present 3D-BBDA, a backpropagation-free black-box domain adaptation framework that adapts a source-trained predictor to unlabeled target data using only black-box outputs. Our method performs pseudo-label guided prototype-based alignment and employs a weighted prediction module to fuse source logits with alignment logits, reducing sensitivity to noisy pseudo-labels. To stabilize prototype memory when pseudo-label coverage is incomplete, we construct a Gaussian-pertu

arXiv:2611.03189v1 Announce Type: cross Abstract: Estimating the metric 3D position of people from a monocular camera is important for robot navigation and motion prediction. Lightweight pose-based localizers are attractive for robotic hardware with limited computational resources because they operate on compact 2D keypoints. However, they typically discard the richer visual representations computed by the pose estimator. We introduce MoSoLoco, a per-frame monocular 3D human localizer that combines the pose detector's internal visual features with the detected 2D skeleton, without requiring an additional RGB or depth encoder. MoSoLoco can further incorporate sparse same-frame multi-person context to refine individual position estimates. Experiments on JRDB and NuScenes show that reusing pose-detector representations improves localization, reducing the best JRDB error by approximately 23 percent relative to the strongest evaluated keypoint-based baseline. A sparse social-interaction mod

arXiv:2611.01713v1 Announce Type: cross Abstract: Vision-language-action (VLA) models can generate task-oriented robot actions, but they do not guarantee safe execution in obstacle-rich manipulation scenes. Although CBF-QP safety filters can locally project unsafe actions into a safe set, such correction may push the robot away from the learned task trajectory and leave the VLA policy without a reliable recovery direction. We propose Route-Guided CBF-QP Repair, a post-hoc repair module that uses the short-horizon action chunk predicted by the VLA to detect blocked nominal trajectories and generate entry-exit-rejoin guidance around obstacles. The selected route is added to the CBF-QP objective as a soft guidance term, while the CBF safety constraint remains hard. On SafeLIBERO, our method improves collision avoidance, task success, and SafeSuccess compared with AEGIS. Our project page is available at GitHub.

arXiv:2611.01645v1 Announce Type: cross Abstract: Robotic manipulation requires accurate metric depth, yet commodity RGB-D cameras often fail on non-Lambertian objects such as transparent, reflective, and translucent materials, producing holes, structured noise, and biased depth. Most restoration methods produce only a single depth map, treating noisy and reliable regions uniformly for downstream tasks while ignoring regional uncertainty. We present UA-Depth, an uncertainty-aware depth restoration framework that iteratively co-refines depth and pixel-wise uncertainty, and uses uncertainty-gated features to suppress unreliable cues for stable updates. To strengthen zero-shot behavior, UA-Depth leverages a frozen depth foundation model as a prior to initialize missing or unreliable depth, and applies two-stage MAD-weighted log-depth scale normalization to reduce outlier bias in relative-to-metric alignment. We introduce an eight-dataset zero-shot benchmark across diverse scenes, material

arXiv:2611.01565v1 Announce Type: cross Abstract: In modern robot learning, generative robot policies are first pretrained through supervised learning from demonstrations, then refined through reinforcement learning, supervised finetuning, or other forms of posttraining. Yet conventional pretraining metrics, such as validation loss and average task success, provide an incomplete account of which policies support both effective direct deployment and subsequent posttraining. In this work, we study closed-loop pass@k, which evaluates the probability that k rollouts from the same initial condition attain at least one success. Thus, pass@1 measures mean task success; large-k pass@k measures whether success remains reachable under repeated sampling. Across a wide range of posttraining recipes, we show that large-k pass@k reveals posttraining differences not captured by pass@1. In particular, checkpoints with similar pass@1 but different large-k pass@k have different posttraining performance.

arXiv:2611.00527v1 Announce Type: cross Abstract: Laser doppler vibrometer (LDV) scans can be used to detect defects and cracks in manufactured parts before they are deployed. This work presents a method for reconstructing the steady-state surface wavefield of a three-dimensional part by combining automated robotic manipulation with neural rendering. A six-degree-of-freedom (6-DOF) robotic manipulator (UFactory xArm6) with an embedded piezoelectric transducer presented an acoustically excited test article to a stationary LDV at a sequence of known orientations, yielding a set of complex-valued 2D scans with poses derived analytically from the arm kinematics rather than from image-based pose estimation. These scans were used to train a novel complex-nerfacto model, a modified Neural Radiance Field (NeRF) pipeline that replaces the standard three-channel RGB output head with a two-channel output. Complex-nerfacto represents the real and imaginary velocity components of a wavefield, prese

arXiv:2611.00482v1 Announce Type: cross Abstract: The absolute trajectory error (ATE) is the standard measure of camera-motion accuracy, from SLAM to feed-forward 3D reconstruction. On the common Sintel protocol, a constant-velocity straight line using no images has a lower mean ATE than 10 of 11 recent models re-run with official code. Two properties of ATE's alignment explain this. First, it maps any constant-velocity prediction onto the best-fitting line through the true path, so the line scores the path's regression residual. A residual signal-to-noise ratio (SNR) criterion predicts when moving a prediction towards its constant-velocity fit lowers ATE. It gives the outcome for 95% of 1056 model-clip pairs, 98% of 792 held-out pairs and 97% of 1034 ScanNet pairs, and it separates Sintel (median SNR 0.86) from TUM, ScanNet and full-length Bonn and Wild-SLAM (2.7 to 27), where straightening raises every model's mean ATE. Second, position-only alignment ignores where cameras look: rota

arXiv:2611.00324v1 Announce Type: cross Abstract: This paper introduces \emph{catenary visibility}, a new geometric visibility concept for a robotic system consisting of a ground robot tethered to an aerial drone. The tether is modeled as an extensible catenary curve with bounded length, providing sustained power and significantly extending operational range. We define a point on the ground plane as \emph{catenary-visible} from a target point in 3D if there exists a collision-free catenary connecting them, given a set of obstacles. This paper introduces a geometric framework for visibility-aware planning of a tethered marsupial system, addressing the computational challenge of determining the feasible deployment locus: the collection of points in the ground plane that are catenary-visible from a given target in 3D space. We begin by solving the 2D subproblem, where the obstacles, target, and the ground vehicle's line of motion are all constrained to a single vertical plane. Our algorit

arXiv:2611.03648v1 Announce Type: new Abstract: General-purpose mobile manipulation requires a combination of capable robot hardware, scalable demonstration collection, expressive whole-body control, and effective policy learning. Yet these components are often developed independently, creating mismatches that limit the capabilities of the complete system. We present Pixel, a co-designed full-stack system for learning general-purpose mobile manipulation. Pixel combines a low-cost wheeled humanoid with human-aligned kinematics and compliant grippers, multiple teleoperation and robot-free human data-collection interfaces, a unified whole-body controller, and a common policy learning pipeline across human and robot demonstrations. A hierarchical learning stack further enables language-conditioned visuomotor control and long-horizon task execution. We evaluate the system across hardware, data collection, and policy learning, and demonstrate mobile-manipulation behaviors requiring dexterity

arXiv:2611.03647v1 Announce Type: new Abstract: Sensorized human demonstrations offer scalable data for mobile manipulation, but embodiment differences complicate policy learning. We present Pixel-UMI, a pipeline for learning environment-aware whole-body policies from human data. We first introduce Environment-Aware Retargeting (EAR), which combines reconstructed scene geometry with demonstrated head and gripper trajectories to determine robot posture and generate collision-aware joint and base targets. Delay-calibrated action assignment converts these trajectories into actions. However, kinematic differences can leave residual pose errors, creating viewpoint mismatches between human demonstrations and robot observations. We therefore introduce Retargeting-Error-Aware Masking (REAM), which uses these errors during training to reduce reliance on mismatched views at deployment. Finally, because estimated actions cannot fully capture contact-rich interactions, we collect on-policy human c

arXiv:2611.03622v1 Announce Type: new Abstract: Vision-Language Models (VLMs) hold promise for zero-shot video task-progress estimation in robot learning, yet existing frameworks frequently suffer from confirmation bias, hallucinating progress in failed executions due to implicit success assumptions or relative temporal ranking designs. Naive prompting of frontier models collapses into a binary success detector that fails to capture nuanced, non-linear progress and failures. While post-training approaches can mitigate this through explicit training, they demand expensive real-world robotics data and require computationally intensive post-training for every individual base model. To resolve these limitations, we introduce D&A (Describe & Assess): our approach decouples progress estimation into an objective, task-grounded textual description of scene dynamics followed by an assessment phase using explicit rubrics. By compelling the VLM to synthesize an explicit, text-based definition of

arXiv:2611.03584v1 Announce Type: new Abstract: Open-world robotic mobile manipulation requires acting in physical environments with only partial information. While recent Large Vision-Language Model (LVLM) agents show strong open-world reasoning capabilities, existing architectures that rely on direct tool calling struggle with geometric uncertainty and thus are limited to fully-observable tabletop environments. In contrast, Task and Motion Planning (TAMP) systems can solve long-horizon tasks under partial observability but incur high computational costs and require closed worlds. We propose \textbf{TAMPAgent}, an agentic planning framework that unifies the reasoning of LVLMs with the structured constraint satisfaction of TAMP systems. We endow an LVLM agent with a belief-space planning model operating over an extensible API of perception, planning, and control tools. The agent formulates a partial task plan composed of parameterized observation and execution actions, which is subsequ

arXiv:2611.03548v1 Announce Type: new Abstract: This work investigates human-swarm interaction (HSI) for steering large collectives through an intermediary robot helper. While prior robot-swarm control and HSI techniques commonly assume swarm members are addressable, these assumptions often fail for ``ungovernable'' swarms such as wildlife flocks and schools of fish. Motivated by pastoral shepherding, we compare low-level teleoperation to a higher-autonomy motion-primitives interface in a virtual reality (VR) shepherding task under varied swarm cohesion dynamics. Results indicate that motion primitives that operate on collective shape (e.g., boundary-based control) improve task performance and reduce perceived workload.

arXiv:2611.03520v1 Announce Type: new Abstract: Contact-rich manipulation benefits from tactile feedback that captures both detailed contact geometry and interaction forces. When scooping grains, contact patterns help infer spoon orientation, while resistance transmitted through the grasp guides motion. To provide these complementary sensing capabilities, we present PanoTac, a low-cost, compliant tactile fingertip designed for dense three-axis tactile sensing. Each fingertip provides a $12 \times 32 \times 3$ tactile representation, with one normal ($z$) and two shear ($x$, $y$) response components at each taxel. The sensor operates at 60 Hz and costs less than $50 per fingertip. Sensor characterization quantifies response repeatability and consistency across sensor instances and contact locations. We integrate PanoTac into a robotic system with a visuo-tactile pipeline. Across test-tube preparation, grain scooping, and salt pouring, the resulting policies outperform vision-only baseli

arXiv:2611.03501v1 Announce Type: new Abstract: Conventional robot arms can be extremely heavy compared with the everyday objects they manipulate, creating a significant inertia mismatch at contact. Even a small accidental bump from a heavy arm can knock a light object out of place. Modern learning methods have nevertheless demonstrated a wide range of successful manipulation behaviors on these platforms, suggesting that even extreme inertia mismatch can be overcome with sufficient data. However, it remains unclear whether high inertia imposes a hidden cost on learning, potentially worsening scaling with data or lowering the performance ceiling of modern robot learning methods. We investigate this question through controlled simulation experiments that vary robot and object masses. We find that reinforcement learning succeeds across a broad range of mass combinations, while behavior cloning learns more reliable policies when a lighter robot manipulates a heavier object, and more data n