News & Research

arXiv:2606.12109v2 Announce Type: replace Abstract: Pre-trained Vision-Language-Action (VLA) models provide useful semantic and spatial priors, yet their parallel-gripper action interfaces do not specify how those priors should be realized by a dexterous hand. Directly appending finger joints conflates two decisions with different structure: when contact should be established and how a morphology-specific hand trajectory should establish it. We introduce InDex, an intent-conditioned adaptation framework that separates these decisions without discarding full hand supervision. InDex derives a normalized grasp intent from retargeted demonstrations. A first stage predicts synchronized end-effector--intent chunks; conditioned on these predictions, VLA context, and proprioception, a diffusion decoder generates multi-joint hand actions. The scalar intent is therefore a temporal coordination interface rather than a compressed hand pose. Across four simulated tasks, three VLA backbones, and a p

arXiv:2606.12105v1 Announce Type: new Abstract: Vision-language-action (VLA) models inherit a shared synchronous clock from vision-language pretraining, processing every input at one rate. This is misaligned with physical interaction, where a high-frequency modality changes at hundreds of hertz, vision evolves more slowly, and language stays constant across an episode. A synchronous VLA oversamples slow modalities, undersamples fast ones, and caps action generation at the lowest effective frequency. We hypothesize that decoupling temporal processing per modality, letting each update and retain information at its own sensor rate, yields stronger representations and more robust control. We present DAM-VLA, which maintains per-modality latent buffers refreshed at sensor rates and read continuously by the action head, integrating new high-frequency modalities through gated cross-attention that leaves the pretrained backbone intact. Across seven contact-rich real-world manipulation tasks, D

arXiv:2606.12070v1 Announce Type: new Abstract: State space projections and decompositions have emerged as powerful tools to tackle the curse of dimensionality in high-dimensional, multi-robot motion planning problems. However, existing methods lack a unified framework which seamlessly handles combinations of projections (prioritization or task-space) and decompositions (parallel or decoupled subspaces). To fill this gap, we introduce fibration trees, which are trees consisting of state spaces as nodes and fibrations as edges, whereby a fibration models a projection from a higher-dimensional space to a lower-dimensional (or simplified) space. By modeling projections as fibrations, we unify sequential prioritization, parallel decomposition, and task-space projections under a single, coherent formalism. Building on this, we develop the rapidly-exploring random fibration trees (Fibration-RRT) planner, a sampling-based motion planner that generalizes strategies from quotient-space RRT (for

arXiv:2606.12048v1 Announce Type: new Abstract: High-risk applications in robotics, such as robot-assisted surgery, present unique challenges. These systems must be both highly precise and interpretable in order to be deployed in environments with very low tolerance for error or unsafe exploration. We present the first robotic system to demonstrate autonomous clip positioning on a physical phantom in laparoscopic surgery, one of the most common interventions in general surgery. After segmentation of a colorless point cloud from a single camera, target positions for the clips are extracted using spline interpolation, and can then be adjusted by the human operator. The segmentation model is trained on only 60 hand-labeled real point clouds, reflecting data scarcity in the surgical domain. We overcome this with a combination of pre-training on 128,000 synthetic point clouds and two novel data augmentation techniques. The motion of the end-effector to each target is visualized for the oper

arXiv:2606.12042v1 Announce Type: new Abstract: Deep Reinforcement Learning (DRL) has shown promise for social navigation, yet its real-world deployment remains hindered by a persistent sim-to-real gap arising from simplified first-order dynamics and context-specific human state estimation pipelines. This work presents a unified framework that addresses these limitations to produce dynamically feasible navigation policies suitable for real-world deployment. First, theoretical analysis reveals that tracking error between simulated and actual robot position decays exponentially with increased control order, motivating the use of higher-order control inputs as DRL action space. A second-order control formulation tailored to differential drive robots is developed, complemented by a stochastic iterative Linear Quadratic Regulator (iLQR) that pretrains the policy via a divergence minimization objective. Second, to avoid the added system complexity of camera-LiDAR fusion, a cluster-based huma

arXiv:2606.12028v1 Announce Type: new Abstract: Generalizable robot manipulation requires not only task-level reasoning over unseen scenes, but also reliable grounding of visual plans into embodiment-specific execution. To bridge this gap, we propose VICX (Video generation and In-Context eXecution), a decoupled closed-loop manipulation framework. In VICX, a frozen video generation model produces vision-language-conditioned high-level visual plans, while a Video-to-Trajectory In-Context Operator Network (V2T-ICON) serves as the task-agnostic interface that grounds these plans into executable robot-state trajectories. To improve execution generalization, V2T-ICON operates on segmentation-extracted arm-only frame observations and uses retrieved image-state pairs as in-context prompts, allowing a robust and generalizable visual-to-state mapping at inference time without parameter updates. Experiments on Meta-World show that VICX supports cross-task generalization, closed-loop self-correcti

arXiv:2606.12027v1 Announce Type: new Abstract: Collision-free path planning in cluttered, real-world environments relies on a representation of the collision-free space, and existing representations broadly fall into two categories. Explicit representations, such as unions of convex sets, can be plugged into optimization-based planners as hard collision-free constraints, but their parameters scale poorly with configuration-space dimension. Implicit representations, by contrast, are flexible and scale well to complex geometries, yet typically lack such guarantees. We bridge this gap with ILD (Invertible Latent Decomposition), a framework that jointly learns an invertible mapping and a union of explicit convex polytopes in the resulting latent space. Planning is carried out over these latent convex sets, and the invertible mapping decodes the resulting paths back to the original configuration space while preserving feasibility with respect to the refined explicit safe regions. We furthe

arXiv:2606.11952v1 Announce Type: new Abstract: This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the best of our knowledge, this is the first sensor to combine these sensing modalities within a single compliant structure. The sensor features a deformable contact surface and can robustly track both flat and curved surfaces across a wide range of materials. Its performance is evaluated through a comprehensive set of experiments that highlight both its capabilities and limitations. The sensor is designed for rapid and low-cost fabrication using a combination of standard PCB manufacturing and rapid prototyping techniques.

arXiv:2606.11901v1 Announce Type: new Abstract: Bimanual robot systems substantially expand manipulation capabilities, but coordinating two arms introduces additional control complexity and failure modes that are not well captured by existing benchmarks. We introduce DuoBench, an extensible benchmarking framework for bimanual manipulation policies on the FR3 Duo platform. DuoBench comprises eleven tasks spanning four coordination categories, implemented in simulation and partially reproduced in the real world through reproducible task recipes with 3D-printable assets. In addition, we propose a stage-based evaluation scheme that supports fine-grained semantic failure analysis beyond binary success and provide human-teleoperated datasets for all benchmark tasks. We benchmark several dual-arm imitation-learning and vision-language-action policies in simulation and on real hardware. Our results show that current policies remain challenged by bimanual manipulation, particularly in early int

arXiv:2606.11891v2 Announce Type: replace Abstract: Multi-objective reinforcement learning for humanoid robots must coordinate locomotion and manipulation within a single policy. A natural design choice is whether to use a single (unified) critic that estimates the combined value of all objectives, or separate (dual) critics with disjoint reward signals. We compare the two on the Unitree G1 humanoid (23 active DoF, of which 17 are policy-controlled) in NVIDIA Isaac Lab, training loco-manipulation policies through sequential curricula that progress from stationary reaching to walking with variable-orientation targets. Under a matched compute budget, the dual-critic run reaches targets 3.5x faster (6.5 vs. 22.6 simulation steps), achieves 2x higher throughput (14.3 vs. 7.0 validated reaches per 1,000 steps), and attains a higher validated reach rate (65.2% vs. 53.8%) than the unified-critic run in a standardized evaluation. Adding five anti-gaming reward mechanisms on top of the dual cri

arXiv:2606.11826v1 Announce Type: new Abstract: Designing anthropomorphic dexterous robotic hands remains challenging as the design space straddles morphology, actuation, and sensing properties, and performance metrics span both task-dependent and task-agnostic. Existing optimization methods are often unstructured or consider only a single performance metric, limiting systematic comparison and targeted refinement. While the design considerations of the entire hand are significant, the individual finger properties play a key role in dexterity. By developing a robotic hand platform where fingers can be modularly integrated into a full teleoperated hand, we propose that optimizing the fingers can significantly improve overall hand performance. This approach enables rapid screening of different finger-level prototypes through a number of quantitative benchmarks before their integration into the hand for task-level validation. Candidate finger designs (incorporating variations in joint, bon

arXiv:2606.11818v1 Announce Type: new Abstract: The handling of flexible materials is a difficult task to fully automate due to the challenges caused by the deformability of these types of objects. Meanwhile, a fully manual process can be ergonomically challenging, tedious and inefficient. Thus, human-robot collaboration (HRC) and cooperative manipulation (co-manipulation) have received increasing interest in this field as they enable human involvement when needed while also improving productivity. To enable efficient co-manipulation and interaction between the human operator and the robot, different modalities and control methods are required. In this paper, we present and examine different control methods for co-manipulation of carbon fiber plies, evaluating the pros and cons of each method in a controlled setting. We propose that a multimodal combination of speech commands, wrist-tracking through vision, and force with compliant control would provide the best solution for complete a

arXiv:2606.11767v1 Announce Type: new Abstract: Blind grasping with a dexterous hand is a crucial manipulation capability. Nevertheless, learning such tactile-only policies for real robots remains challenging due to the tactile sim-to-real gap and the limited expressiveness of sparse tactile signals. To bridge this gap, we propose a framework for tactile-only blind grasping that is deployable on a physical multi-fingered robotic hand. Our approach combines three key components. First, we introduce a Real2Sim tactile calibration pipeline that constructs a contact-calibrated digital-twin simulator capable of reproducing real tactile signals. Second, we improve the expressiveness of sparse tactile observations using a layout-aware tactile encoder, which incorporates sensor-geometry priors through self-supervised pretraining. Third, to improve generalization to unseen objects, we train object-specific reinforcement-learning experts in the calibrated simulator and aggregate their successful

arXiv:2606.11743v1 Announce Type: new Abstract: Vision-language-action (VLA) models provide strong visual, language, and action priors for robot manipulation, but visual observations alone often miss the local contact state required for contact-rich tasks. We present TacCoRL, a scalable framework that injects Tactile feedback into VLA policies and improves them through sim-real Co-training and simulation-based reinforcement learning (RL), without requiring large-scale tactile pretraining or extensive real-world contact exploration. The key idea is not only adding touch as an input, but learning how contact readings should modulate action responses in near-failure states that are rare in demonstrations and risky to collect on hardware. We use a real-aligned simulator as a closed-loop training environment for contact interaction. Mixed simulated and real trajectories first warm-start tactile-conditioned actions in the pretrained policy. Reinforcement learning with verifiable task rewards

arXiv:2606.11708v1 Announce Type: new Abstract: Autonomous exploration with UAVs in large-scale, topologically complex environments often suffers from low efficiency due to suboptimal scheduling and detours. Prior maps (e.g., construction drawings), although usually imprecise and flawed, are readily available in many scenarios and have the potential to provide global structural guidance. This paper presents a novel exploration framework that leverages sparse, unaligned, and even discrepant 2D prior maps for LiDAR-based UAV exploration. First, a robust 2D-3D point cloud registration pipeline is proposed to align LiDAR observations with prior maps. The registration pipeline combines a GeoContext descriptor for single-frame candidate retrieval, a multi-frame verification mechanism for coarse transformation estimation with outlier rejection, and a Scale-ICP algorithm for refinement. The registration module can handle map discrepancies and provide multiple hypotheses when geometric ambiguit