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arXiv:2610.17174v1 Announce Type: new Abstract: Achieving complex, long-horizon robot behavior remains challenging because successful execution depends on skills grounded in a robot's physical affordances. Existing training-task distributions are often handcrafted or sampled from large language models (LLMs), relying on semantic plausibility rather than embodiment-specific feasibility. This mismatch can produce curricula that are too difficult, redundant, or blind to non-obvious but learnable behaviors. We propose Generative Flow on Symbolic Abstractions (FOSA), a framework for discovering embodiment-specific capabilities by learning a grounded task generator. FOSA parameterizes an abstract policy as a Generative Flow Network that constructs symbolic task skeletons. Each skeleton is compiled into a simulation environment, where low-level policy-learning performance provides the reward signal for the abstract policy. Across heterogeneous robot platforms, FOSA discovers diverse and execu

arXiv:2610.17161v1 Announce Type: new Abstract: Teleoperation is widely used to collect high-quality demonstrations for robot learning. Dexterous manipulation, however, requires coordinated control of motion and contact forces. Operators can specify motion, but struggle to reproduce the subtle force adjustments of human manipulation without feeling the robot's contacts. We introduce Force-Modulated Dexterity (FOMO-Dex), a unified compliance formulation for contact-rich manipulation. FOMO-Dex expresses nominal actions in coordinates defined by task geometry and contact structure. It applies force-driven motion corrections along selected directions while leaving the remaining command components unchanged. Across card picking, paper cutting, screwdriving, and nut-and-bolt assembly, FOMO-Dex reduces excessive contact forces compared with stiff control. A user study shows that operators collect more successful demonstration data per hour after brief practice. For policy learning, imitating

arXiv:2610.17114v1 Announce Type: new Abstract: Frontier large language models (LLMs) now reason about space well enough to program robots, yet the world models behind robot policies are implicit, held in network weights or predicted video, and cannot be inspected or corrected directly. We present D-World, an explicit world-language-action model built on the Sense, Plan and Act decomposition. A perception agent writes the scene as an executable digital twin using generated vision and geometry code. A planning agent searches for actions in simulation and, after each executed action chunk, revises the twin's object states and named physical parameters against what the robot measured. A parameter revision is accepted only if replaying the latest chunk does not increase any measured residual beyond its tolerance, and every chunk is checked in the updated twin before it runs. Structural mismatches return to perception for reconstruction. We call this measurement-grounded cycle of correction

arXiv:2610.17083v1 Announce Type: new Abstract: Large Language Models (LLMs) are predominantly trained on imperative programming languages, and existing work on LLM-based robot programming reflects this: it focuses on goal-directed tasks expressed as plans. However, many robotic applications require not tasks but behaviors--open-ended, continuous patterns of sensory-motor engagement with no termination condition (e.g., greeting visitors, patrolling an area). Such behaviors are better served by declarative and reactive programming, on which LLMs have virtually no training. We investigate whether this gap can be bridged. Using Playful, a reactive scripting language, we show that an LLM-based coding agent can generate correct declarative and reactive programs for robotic behaviors. These programs are produced from under-specified natural language descriptions, given suitable context and a set of reusable programming guidelines. The guidelines encode design principles that redirect the age

arXiv:2610.17069v1 Announce Type: new Abstract: In Nonlinear Model Predictive Control (NMPC), the control law is implicitly determined by the solution of an Optimal Control Problem (OCP). Consequently, OCP design is often tailored to specific platforms and tasks, demanding extensive expert knowledge and tuning effort. To address this, we propose a unified NMPC framework that directly plans and controls the robot joints subject to task-space motion and force requirements and is capable of seamlessly generalizing across multiple robotic platforms and diverse tasks. Furthermore, optimization-based methods often treat interactions as rigid contacts, making the torque solution sensitive to the modeling errors of the robot dynamics and the environment. We study the intrinsic task-space impedance of our proposed controller, its partial contraction for differential stability and differential passivity under unmodeled interactions. As a result, our framework enables closing the force-feedback l

arXiv:2610.17001v1 Announce Type: new Abstract: Generative policies such as diffusion models provide expressive data-driven priors for robot behavior, yet the situations a robot faces at execution time rarely match its training data and impose constraints and objectives the policy never learned. Existing inference-time guidance methods either rely on gradients that can push samples away from the learned prior, or on sampling procedures that can be inefficient, collapse modes, or average them into out-of-distribution predictions. We introduce MOSAIC, a mode- and support-aware framework for gradient-free inference-time control of robotic diffusion models. MOSAIC treats the initial noise and all stochastic reverse-step perturbations as a joint input to the pretrained denoising process and adapts a distribution over this input using importance weights computed from fully denoised outputs. Physical feasibility and consistency with the learned support are balanced using adaptive penalties, w

arXiv:2610.16969v1 Announce Type: new Abstract: Latent Action Models (LAMs) can capture manipulation priors from action-free videos, but discrete latents usually impose a granularity bottleneck, limiting their ability to represent fine-grained action. Recent continuous alternatives mitigate this, but they are typically used as proxies for world modeling and require a further planning step to produce executable actions. We thus introduce UniLAP, a unified continuous latent-action policy that models the latent space via flow matching and bypasses reliance on future frames during inference. By distilling a LAM teacher with a flow-adaptive objective, UniLAP inherits the teacher's action representation while retaining the multimodal distribution of feasible behaviors. To decouple latent representations from task-irrelevant appearance, we extract a label-free motion target to isolate relevant kinematic cues from spurious visual dynamics. With the established embodiment-agnostic latent manifo

arXiv:2610.16855v1 Announce Type: new Abstract: Real-time bimanual humanoid teleoperation requires accurate wrist tracking while keeping arm configurations predictable. Because a 7-DoF arm admits multiple elbow configurations for the same wrist pose, wrist-only tracking can cause elbow drift or abrupt configuration changes. Fixed anthropomorphic constraints can stabilize elbow posture, but they can also block the redundant adjustments needed near singular configurations. We propose a human-like redundancy-resolution framework that combines adaptive elbow guidance with singularity-robust wrist tracking. Shoulder-wrist geometric retargeting generates robot-scale wrist targets. An adaptive elbow-offset criterion uses the offset direction to guide posture and scales this guidance by the offset magnitude, so the redundant degree of freedom is progressively released as the human arm straightens. A hierarchical velocity solver prioritizes wrist tracking and projects the adaptive elbow guidanc

arXiv:2610.16737v1 Announce Type: new Abstract: Video-to-robot pipelines for quadrupedal imitation insert a learned lifting stage, either a monocular depth model or a per-clip 3D reconstruction, to recover the one axis a side-view camera cannot see. We present CopyQuad, which omits that stage and pins the missing axis to the robot's own stance width instead. The setting is side-view footage of sagittally dominated motion, where limb motion is almost entirely in the image plane. A frozen 2D keypoint detector and a fixed analytic retargeting then turn a single uncalibrated clip into a robot reference whose foot targets are reachable by construction, so no per-clip trajectory optimization is needed. One phase-indexed reward structure, whose only per-behavior freedom is three scalars from a shared sweep, learns a dog walk, a horse walk, a horse trot and two non-periodic gestures, all deployed zero-shot on hardware. We then measure what omitting the axis costs. In a training-free rigidity t

arXiv:2610.16696v1 Announce Type: new Abstract: Signal Temporal Logic (STL) specifies robot tasks with spatio-temporal requirements, and its robustness semantics allow planning by trajectory optimization. In practice, robots estimate their state from noisy measurements, and when the information gained from a measurement depends on the state, the robot can actively reduce its uncertainty by planning in the belief space. The resulting problem is, however, generally non-convex, for which gradient-based methods are neither complete nor globally optimal. In this paper, we consider Risk STL (RiSTL) planning in Gaussian belief space and show that an information-form parameterization of the belief, together with a convex relaxation of the belief dynamics, yields a mixed-integer convex program (MICP). We prove that the MICP is sound and complete, and that the relaxation preserves the globally optimal input trajectories. We validate the effectiveness of our method in numerical simulations.

arXiv:2610.16641v1 Announce Type: new Abstract: Cross-task generalization remains difficult for world action models (WAMs), even when their predicted futures depict plausible manipulation. This gap can be attributed directly: we make this gap directly testable by decoupling a WAM into a world model and an inverse-dynamics model (IDM), then holding the IDM fixed while replacing the source of future images. We introduce Align Once, Evaluate Everywhere (AoE), a camera-space inverse-dynamics model pretrained on large-scale robot data, which provides this recovery interface for different future sources across tasks and environments. Through it, we find that actions recovered from recorded futures of unseen tasks execute almost as well as replayed demonstrations, whereas futures predicted by world models collapse across benchmarks. The failures are not generic: they concentrate on the gripper and interaction geometry while generation capacity is spent on task-irrelevant background. This diag

arXiv:2610.16604v1 Announce Type: new Abstract: Humanoids increasingly demand lightweight leg mechanisms for agile, dynamic, and energy-efficient locomotion. Reducing distal inertia through proximal actuation has thus become a common design goal. Yet, compact transmissions that preserve torque capability and efficient force transmission remain hard to achieve. This paper presents a novel series-parallel leg design combining a knee parallel mechanism, an ankle parallel mechanism, and a nonlinear knee-ankle coupling where all actuators placed closer to the hip. As the knee flexes, the coupling passively assists ankle dorsiflexion for foot clearance and, as it extends it assists plantarflexion for push-off, redistributing ankle load through the knee transmission. We derive the coupling's nonlinear transmission models and validate them in simulation and on hardware. The design shows that the shared transmission lets both joints draw on each other's actuator capacity by easing the knee's pe

arXiv:2610.16522v1 Announce Type: new Abstract: Safe robot navigation in unknown, dynamic environments requires more than geometric collision checking: a robot still far from an obstacle may be unable to avoid it because of its speed, orientation, or the obstacle's motion. Hamilton--Jacobi (HJ) reachability analysis captures this in a value function whose sign separates states that admit a safe continuation from those where collision is unavoidable, but computing it online for every newly observed environment is too expensive. This dissertation trains neural implicit representations offline on reachability solutions to give optimization-based controllers this information in real time. Since the value function never exceeds the constraint, it equals a directly computed constraint, such as a signed distance, minus a nonnegative dynamics correction. Learning only this correction keeps represented obstacles outside the predicted safe set despite approximation errors. The first two of five

arXiv:2610.16463v1 Announce Type: new Abstract: Vision-based tactile sensors enable fine-grained perception for dexterous robotic manipulation, but current marker-based designs tightly couple surface texture and contact force signals within a single observation. Existing data-driven decoupling methods rely on serial mask-based inpainting, which suffers from mask-sizing dilemmas caused by physical indentation effects, error retention, and lack of real paired data for supervision. To address these challenges, we propose DeTac, a novel dual-branch generative framework that concurrently extracts clean shading and marker images from a single mixed tactile image. DeTac leverages full-image synthesis to naturally bypass mask dependency and introduces a cross-branch synergistic optimization that enables mutual supervision, effectively preventing error retention. Furthermore, we construct a strictly aligned, real-world paired tactile dataset using custom hardware to provide high-quality supervi

arXiv:2610.16457v1 Announce Type: new Abstract: Humans expand their locomotion capability by wearing appropriate footwear, such as hiking boots for mountains or skates for ice. Footwear changes the ground-contact interface and enables traversal of otherwise difficult terrain. In contrast, locomotion controllers are typically trained for a fixed morphology, and their performance can degrade when shoes alter foot geometry, mass, and friction. We propose SHOES, a sample-efficient framework for adapting locomotion policies to footwear-induced morphology changes. SHOES freezes a simulation-trained nominal policy and fine-tunes only lightweight, identity-initialized modulation modules on the robot, preserving the initial behavior while enabling efficient hardware adaptation. We also introduce SafeBox, a workspace-aware waypoint sampler that constrains online adaptation within a user-defined workspace. The simulation results with a shoe-equipped Unitree Go2 show that SHOES substantially recov