News & Research

arXiv:2604.27583v2 Announce Type: replace-cross Abstract: Motion retargeting from humans to human-like artificial agents is becoming increasingly important as humanoid robots grow more capable. However, most existing approaches focus only on reproducing kinematics and ignore the rich sensorimotor experience associated with human movement. In this work, we present a framework for simulating the multimodal sensorimotor experiences of infants using physical and virtual humanoids. From a single video, our method reconstructs the infant's body configuration by extracting its skeletal structure and estimating the full 3D pose from each frame. Then we map the reconstructed motion onto several developmental platforms: the physical iCub robot and the virtual simulators pyCub, EMFANT and MIMo. Replaying the retargeted motions on these embodiments produces simulated multisensory streams including proprioception (joints and muscles), touch, and vision. For the best-matching embodiment, the retarge

arXiv:2604.03120v2 Announce Type: replace-cross Abstract: Cross-modal Thermal Geo-localization (TG) provides a robust, all-weather solution for Unmanned Aerial Vehicles (UAVs) in Global Navigation Satellite System (GNSS)-denied environments. However, profound thermal-visible modality gaps introduce severe feature ambiguity, systematically corrupting conventional coarse-to-fine registration. To dismantle this bottleneck, we propose SCC-Loc, a unified Semantic-Cascade-Consensus localization framework. By sharing a single DINOv2 backbone across global retrieval and MINIMA$_{\text{RoMa}}$ matching, it minimizes memory footprint and achieves zero-shot, highly accurate absolute position estimation. Specifically, we tackle modality ambiguity by introducing three cohesive components. First, we design the Semantic-Guided Viewport Alignment (SGVA) module to adaptively optimize satellite crop regions, effectively correcting initial spatial deviations. Second, we develop the Cascaded Spatial-Adapt

arXiv:2606.03177v2 Announce Type: replace Abstract: Human demonstrations provide strong priors for robot manipulation, yet it is non-trivial to transfer them to execute on real robots due to the kinematic gap. In dexterous manipulation, it remains challenging to track long-horizon, contact-rich sequences even in simulators: a reference-tracking policy must keep objects on their target trajectories while preserving demonstrated joint motion and contact timing. Existing approaches often rely on hand-crafted reward tuning that require per-sequence tuning and break under limited interaction budgets. We introduce ConTrack, a reinforcement learning (RL) framework that scales with tracking data. ConTrack treats object tracking as a constraint and allocates remaining control authority to motion fidelity, which allows it to adapt task--style trade-offs online using a dual-variable update. In addition, ConTrack also stabilizes long-horizon learning with an adaptive mid-trajectory reset library t

arXiv:2605.31286v2 Announce Type: replace Abstract: Real-world household robots require Vision-Language-Action (VLA) foundation models that can acquire reusable manipulation skills across diverse objects, task conditions, and household environments. Deformable-object folding is a representative challenge, requiring robots to handle clothing items from random initial states across varying categories, geometries, materials, and scenes. However, existing VLA systems commonly train separate policies for different object categories, while naively mixed multi-task training often suffers from task interference and degraded performance. To move beyond category-specific folding policies, we introduce DeMaVLA, a VLA foundation model for generalizable Deformable Manipulation. DeMaVLA adopts a VLM backbone with an action expert and formulates continuous action generation using flow matching. To improve efficiency, the action expert is constructed by pruning every other transformer layer while pres

arXiv:2605.05172v3 Announce Type: replace Abstract: Behavior Cloning (BC) has emerged as a highly effective paradigm for robot learning. However, BC lacks a self-guided mechanism for online improvement after demonstrations have been collected. Existing offline-to-online learning methods often cause policies to replace previously learned good actions due to a distribution mismatch between offline data and online learning. In this work, we propose Q2RL, Q-Estimation and Q-Gating from BC for Reinforcement Learning, an algorithm for efficient offline-to-online learning. Our method consists of two parts: (1) Q-Estimation extracts a Q-function from a BC policy using a few interaction steps with the environment, followed by online RL with (2) Q-Gating, which switches between BC and RL policy actions based on their respective Q-values to collect samples for RL policy training. Across manipulation tasks from D4RL and robomimic benchmarks, Q2RL outperforms SOTA offline-to-online learning baselin

arXiv:2604.00611v2 Announce Type: replace Abstract: Due to brain-body co-evolution, animals' intrinsic body dynamics play a crucial role in their energy-efficient locomotion. Specifically, the control effort is shared between active muscles and passive body dynamics--a principle often referred to as Physical Intelligence. As a result, the body dynamics are part of the solution. In contrast, robot bodies are typically designed to be as simple as possible, but the active control often fights the intrinsic body dynamics, resulting in low energy-efficiency. We introduce Physical Imitation Learning (PIL), a novel approach that brings current robotics control closer to animals. PIL takes learned control policies obtained with Reinforcement Learning (RL) and systematically splits them up into an active and passive control contribution. The passive part can be then directly offloaded to passive Parallel Elastic Joints (PEJs). As a result, the active control contribution is significantly reduce

arXiv:2603.25937v2 Announce Type: replace Abstract: Visual Navigation Models (VNMs) promise generalizable, robot navigation by learning from large-scale visual demonstrations. Despite growing real-world deployment, existing evaluations rely almost exclusively on success rate, whether the robot reaches its goal, which conceals trajectory quality, collision behavior, and robustness to environmental change. We present a real-world evaluation of five state-of-the-art VNMs (GNM, ViNT, NoMaD, NaviBridger, and CrossFormer) across two robot platforms and five environments spanning indoor and outdoor settings. Beyond success rate, we combine path-based metrics with vision-based goal-recognition scores and assess robustness through controlled image perturbations (motion blur, sunflare). Our analysis uncovers three systematic limitations: (a) even architecturally sophisticated diffusion and transformer-based models exhibit frequent collisions, indicating limited geometric understanding; (b) model

arXiv:2601.19098v2 Announce Type: replace Abstract: Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing designs struggle to grasp feature-rich objects with high topological variability, including gears with sharp tooth profiles on automotive assembly lines, corals with fragile protrusions, or vegetables with irregular branching structures like broccoli. Unlike simple geometric primitives such as cubes or spheres, feature-rich objects lack a clear "optimal" contact surface, making them both difficult to grasp and susceptible to damage. Safe handling of such objects therefore requires specialized soft grippers whose morphology is tailored to the object's features. Topology optimization offers a promising approach for producing specialized grippers, but its utility is limited by the need for pre-defined load cases. For soft grippers, these loads arise from hundreds of unpredictable gripper

arXiv:2512.13009v2 Announce Type: replace Abstract: Reliable estimation of contact forces is crucial for ensuring safe and precise interaction of robots with unstructured environments. However, accurate sensorless force estimation remains challenging due to inherent modeling errors and complex residual dynamics and friction. To address this challenge, in this paper, we propose K-VARK (Kernelized Variance-Aware Residual Kalman filter), a novel approach that integrates a kernelized, probabilistic model of joint residual torques into an adaptive Kalman filter framework. Through Kernelized Movement Primitives trained on optimized excitation trajectories, K-VARK captures both the predictive mean and input-dependent heteroscedastic variance of residual torques, reflecting data variability and distance-to-training effects. These statistics inform a variance-aware virtual measurement update by augmenting the measurement noise covariance, while the process noise covariance adapts online via var

arXiv:2509.26633v3 Announce Type: replace Abstract: A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existing retargeting pipelines often struggle with the significant embodiment gap between humans and robots, producing physically implausible artifacts like foot-skating and penetration. More importantly, common retargeting methods neglect the rich human-object and human-environment interactions essential for expressive locomotion and loco-manipulation. To address this, we introduce OmniRetarget, an interaction-preserving data generation engine based on an interaction mesh that explicitly models and preserves the crucial spatial and contact relationships between an agent, the terrain, and manipulated objects. By minimizing the Laplacian deformation between the human and robot meshes while enforcing kinematic constraints, OmniRetarget generates kinematically feasibl

arXiv:2509.00064v2 Announce Type: replace Abstract: Robotic practices on the construction site emerge as an attention-attracting manner owing to their capability of tackling complex challenges, especially in the rebar-involved scenarios. Most of existing products and research are mainly focused on the collection of large amounts of data with model training demands. To fulfill this gap, we propose OpenTie, a 3D training-free rebar tying framework utilizing a RGB-to-point-cloud generation and an open-vocabulary rebar detection on the real-world test. We implement the OpenTie via a robotic arm with a binocular camera and guarantee a high accuracy by applying the prompt-based object detection method on the image filtered by our proposed post-processing procedure for the image-to-point-cloud generation framework. Our pipeline requires no training efforts and outperforms the training-based object detection, i.e., YOLO-based method, with the verification on the real-world sequential rebar tyi

arXiv:2506.17639v2 Announce Type: replace Abstract: Vision-Language-Action models (VLA) have demonstrated remarkable capabilities and strong potential in complex robotic manipulation. However, their large parameter sizes and high inference latency hinder real-world deployment, especially on resource-constrained platforms. To address this, we conduct a systematic empirical study of model compression for VLAs. Building on these insights, we present \textit{RLRC}, a three-stage compression and recovery pipeline consisting of structured pruning, performance recovery via SFT and RL, and subsequent quantization. The RL stage incorporates a critic warm-up strategy and BC loss regularization to stabilize training and preserve policy behavior. RLRC achieves up to an 8 times memory reduction and 2.3 times inference speedup while maintaining the original task success rate. Extensive experiments across multiple VLA backbones show that RLRC consistently outperforms existing compression baselines, h

arXiv:2606.18144v1 Announce Type: cross Abstract: A robot's flash endurance is a non-renewable stock: every persisted write spends one of a few thousand program/erase cycles and never refills, yet no fielded robot memory system prices which memories are worth an erase cycle. We treat embodied memory as depreciating capital and price that stock with a single endurance shadow price $\eta$, which makes cost-minimizing placement across a RAM / on-board NVM / cloud hierarchy a threshold in a wear-augmented per-byte index. The index is cost-optimal whatever the sign of the value-write association $\chi$; only when $\chi > 0$ does the optimum turn non-monotone, sending a robot's most valuable memories off its flash. The pivot is thus empirical, and we measure $\chi$ on real robot logs at a pre-specified gate: its sign is a property of the deployment regime -- positive on recurrent long-horizon manipulation ($\hat{\chi} \approx +1.0 \times 10^{-3}$, replicated at full power), null on a shorter

arXiv:2606.17897v1 Announce Type: cross Abstract: Long-term human path forecasting in crowds is critical for autonomous moving platforms (like autonomous driving cars and social robots) to avoid collision and make high-quality planning. Although the current research take into account social interactions for prediction, they don't reveal the exact kinds of social interactions happened among people and how the social interactions affect the decision-making process of pedestrians, which further limits its robustness. Social interactions in pedestrian walking are intuitively massive and hard to label and quantify. In this paper, we explore creatively to quantify and interpret how pedestrians interact with others by proposing Learn to Cluster. Our clustering social interactions is probabilistic latent variable generative, learning directly from sequential trajectory observations, scalable to arbitrary number of pedestrians. Learn to cluster is label-free and can be naturally integrated into

arXiv:2606.17480v1 Announce Type: cross Abstract: Generalist vision-language-action systems need object-centric 3D evidence and reusable manipulation experience to plan reliable robot trajectories. GeneralVLA provides a hierarchical interface for converting language and RGB-D observations into 3D end-effector paths, but two bottlenecks remain. First, monocular SAM3D-style object reconstruction can hallucinate pose and unseen geometry, while manipulation benefits from stable object shape when calibrated multi-view observations are available. Second, the original KnowledgeBank mainly retrieves semantically similar snippets and appends new knowledge, which makes it difficult to control memory quality, conflicts, confidence, and geometric relevance. To address the first challenge, we introduce GeoFuse-MV3D, a geometry-prior-guided MV-SAM3D reconstruction branch that verifies external geometry cues with input-view masks, applies soft visual-hull support, performs axis-wise refinement, and f