News & Research

arXiv:2606.16491v1 Announce Type: new Abstract: Many real-world manipulation scenarios, such as handling complex collaborative tasks and dealing with large workspaces, require coordination of more than two robotic arms. Consequently, an effective multi-arm teleoperation system is required to collect demonstrations for training coordinated multi-arm manipulation policies. However, existing teleoperation frameworks mainly focus on single-operator or multi-operator setups, facing a practical trade-off between the cognitive load placed on a single operator and the coordination cost incurred by multiple operators. To address this problem, we introduce HATS, a human-agent teleoperation system that enables a single human operator, assisted by an MLLM-based agent, to collect data for multi-arm manipulation tasks. Our system decouples the control space: two primary arms are directly teleoperated by the human, while two assistive arms are controlled by a training-free agent that handles sub-task

arXiv:2606.16490v1 Announce Type: new Abstract: Collaborative mobile manipulation requires robots to coordinate with a partially observed partner while physically interacting through shared objects. This is difficult because failures often arise not from poor local skills, but from mistimed waiting, yielding, pulling, releasing, or repositioning. We study this problem with two bimanual mobile manipulators coupled through rigid and deformable objects. We propose Sequential Asymmetric Imitation (SAI), a single-teleoperator curriculum for learning coupled multi-robot behaviors without synchronized dual-operator demonstrations or explicit inter-robot communication. SAI trains Robot A from unilateral demonstrations with a compliant human partner, trains Robot B against the deployed Robot A policy, and then refines Robot A using sparse interventions near coordination failures. This staged process exposes the policies to increasingly realistic partner behaviors, including delay, phase mismatc

arXiv:2606.16480v1 Announce Type: new Abstract: Robots deployed in the real world must plan motions across diverse scenarios without per-scenario retuning. End-to-end reinforcement learning (RL) can generalize across scenarios but often becomes brittle under distribution shift, reward misspecification, and stochastic interactions. Model predictive path integral (MPPI) control enables strong real-time refinement without gradients, but its performance depends on a well-shaped sampling prior, while manually designing the priors does not scale to multi-scenario deployment. We present HOLO-MPPI (High-level Offline, Low-level Online MPPI), a multi-scenario motion planning framework that combines high-level policy learning with low-level stochastic optimal control. Offline, we learn a high-level policy that proposes scenario-robust plans in an abstract action space, with a learned world model for online rollout. Online, the policy serves as a data-driven prior generator that parameterizes MPP

arXiv:2606.16458v1 Announce Type: new Abstract: Code-as-Policies (CaP) has shown that large language models (LLMs) can write code to solve robotics tasks by composing perception, planning, and control primitives. Recent CaP systems, however, rely on multi-turn code-generation loops at test time, which is often infeasible for real-time robot control. We introduce Robotics Harness Optimization (RHO), a novel paradigm in which tool-enabled coding agents, at training time, propose and search for interpretable, neurosymbolic multi-file policy repositories (Repositories-as-Policies) that compose these primitives rather than a single prompt, function, or file. RHO searches with reflective feedback from environment reward and execution rather than teleoperation demonstrations. It generalizes to perturbed pick-and-place settings like LIBERO-PRO, where OpenVLA scores 0.0% and $\pi_{0.5}$ averages 12.83%. Using the same low-level primitives, RHO reaches a 45.0% success rate, 2.5x higher than the

arXiv:2606.16447v2 Announce Type: replace Abstract: Imitation learning has enabled highly-dexterous robotic manipulation from RGB observations. Policies trained with these methods, however, typically condition robot actions on only a short history of observations. These policies cannot solve tasks that require memory and can get stuck repeatedly executing the same failing motions. In this work, we first benchmark policy performance as context length is incrementally increased from short to long, across a spectrum of tasks with varying local stability and memory requirements, and in multiple data regimes. To our knowledge, this is the first study to investigate context length for Diffusion Policies at this level of detail. Our results challenge prior claims: naively scaling context length is not as brittle as advertised in literature. With an appropriate conditioning method and denoising backbone (UNet+Cross-Attention), single-task policies achieve high success rates on many tasks in th

arXiv:2606.16436v1 Announce Type: new Abstract: Achieving autonomous robotic dexterous manipulation requires precise, human-like action sequences at scale. As a scalable supplement to costly teleoperation data, extracting trajectories with both visual fidelity and physical plausibility from monocular videos represents a promising frontier in embodied AI. To this end, we introduce V2P-Manip, an efficient framework designed to learn dexterous manipulation policies directly from human demonstration videos. We establish an efficient, integrated pipeline encompassing 3D asset acquisition, trajectory estimation, and dexterous policy learning. To bridge the gap between visual perception and physical constraints, we introduce a two-stage refinement process to enforce spatial alignment and physical consistency. Evaluations on the TACO and OakInk benchmarks demonstrate that our approach significantly outperforms previous methods in pose accuracy, adaptability to unstructured environments, and tr

arXiv:2606.16413v1 Announce Type: new Abstract: The integration of augmented reality (AR) and EEG-based brain-computer interfaces (BCIs) offers a promising path for enabling intuitive control of robots for assistive purposes. However, existing AR brain-robot interface (BRI) systems are often constrained to task-specific structures, limiting their utility in real-world environments. We present an AR BRI designed for generalist robot arm manipulation that combines gaze-based object selection with motor imagery action control. Our system uses eye-tracking for intuitive object targeting and context-aware visual overlays ("Place" and "Use") to guide the user through tasks within a shared autonomy framework. We evaluated the interface through a feasibility study with 18 healthy participants performing three multi-step activities of daily living: drinking, using a drawer, and operating an oven. Our results demonstrate that this interaction paradigm enables effective sequential task execution

arXiv:2606.16400v1 Announce Type: new Abstract: Learning-based visual navigation has enhanced semantic goal-reaching capabilities. However, due to their black-box nature, purely end-to-end models often lack explicit geometric constraints, leading to unpredictable and unreliable obstacle avoidance in open environments. Conversely, traditional geometric planners ensure safety but struggle with high-dimensional visual targets. To address these limitations, we propose SemGeoNav, a novel hierarchical visual navigation framework.It tightly integrates the high-level semantic reasoning of end-to-end models with the reliable local planning ability of geometry-based methods, achieving robust image-based navigation while significantly improving obstacle avoidance. Furthermore, we introduce a temporal trajectory smoothing mechanism to ensure continuous and stable robot motion. We evaluated SemGeoNav on a Unitree Go2 quadruped robot in real-world environments. The results demonstrate that SemGeoNav

arXiv:2606.16370v1 Announce Type: new Abstract: We present ART-Glove, an articulated tactile glove designed to capture contact-grounded dexterous demonstrations while preserving human dexterity. ART-Glove makes hand-side contact geometry explicit with 16 rigid functional surfaces covering the fingers, thumb, and palm. Twenty-two anatomically aligned joints connect these surfaces and allow them to follow human hand motion during dexterous manipulation. Encoder-based sensing tracks surface motion, while dense piezoresistive tactile sensing records contact over the same surfaces. The complete system captures synchronized 22-DoF joint measurements and 2048-taxel tactile measurements at 120 Hz. We evaluate ART-Glove across experiments on motion freedom, joint sensing, tactile sensing, and contact-rich interaction capture, demonstrating its ability to preserve human dexterity while recording contact-grounded information that can support downstream dexterous robot learning.

arXiv:2606.16272v2 Announce Type: replace Abstract: Human hand-object demonstrations provide dense reference motions for training dexterous manipulation reinforcement learning (RL) policies through reference tracking. However, to use such demonstrations for RL policy learning, retargeting must preserve hand pose and task-relevant hand-object contact structure. Otherwise, contact and feasibility artifacts can degrade downstream RL policy performance. We introduce TopoRetarget, an interaction-preserving retargeting framework that uses a single set of parameters across diverse retargeting conditions while maintaining task-relevant hand-object interaction and adapting human demonstrations to dexterous robot hands. The method constructs a sparse interaction graph over hand and object keypoints and optimizes distance-weighted Laplacian deformation with directional consistency, kinematic constraints, and penetration handling. Evaluations show that the generated references improve both interac

arXiv:2606.16232v1 Announce Type: new Abstract: Obstacle avoidance is essential for safe navigation and motion planning. Recent radiance field reconstruction methods enable object detection and modeling with high fidelity, but remain too memory- and compute-intensive for on-board perception-based path planning. To address these limitations, we propose PolyMerge to convert a large, photorealistic 3D Gaussian Splatting (3DGS) model of a scene into a lightweight representation of convex polytopes whose union provably over-approximates all obstacles in the original 3DGS model. PolyMerge tunes the polytope count to trade off conservativeness and compute cost, and integrates with control barrier functions (CBFs) to plan collision-free paths. We showcase PolyMerge in simulation and hardware experiments on a Crazyflie drone, which uses PolyMerge to compute and follow safe trajectories in real time under severe onboard compute constraints, outperforming baselines in speed while guaranteeing saf

arXiv:2606.16208v1 Announce Type: new Abstract: In robot imitation learning, influence functions provide a principled approach to quantify each demonstration's effect on robot task outcomes, yet scaling them to billion-parameter Vision-Language-Action (VLA) models is limited by computational and multitask bottlenecks. To this end, we propose ATHENA, an influence function framework tailored for multitask VLA data curation at a billion-parameter scale. Concretely, it leverages the Kronecker structure of linear-layer gradients to reduce projection cost, and approximates dense Hessian inversion with a rank-r Random Truncated Approximation, achieving about a 313.4x speedup in influence computation. Furthermore, ATHENA formulates global and local interactive influence to balance data curation across 50 jointly trained tasks. Extensive evaluations on RoboTwin 2.0 and real-robot deployment, covering 9.34 and 6.90 hours of demonstrations, respectively, show that ATHENA matches or exceeds full-d

arXiv:2606.16178v1 Announce Type: new Abstract: Many robotic tasks require short-term memory, whether it's retrieving an object that's no longer visible or turning off an appliance after a set period. Yet, most visuomotor policies trained via imitation learning rely only on immediate sensory input without using past experiences to guide decisions. We present PRISM, a transformer-based architecture for visuomotor policies to effectively use short-term memory via two key components: (i) gated attention, which filters retrieved information to suppress irrelevant details, improving performance by reducing the spurious correlations between the history and current action prediction, (ii) a hierarchical architecture that first compresses local information into compact tokens and then integrates them to capture temporally extended dependencies, improving its compute and memory footprint. Together, these mechanisms enable us to scale short-term memory in visuomotor policies for up to two minute

arXiv:2606.16078v1 Announce Type: new Abstract: Despite steady advances in flexible automation in sectors such as electronics and automotive manufacturing, apparel automation remains challenging because fabrics are deformable and difficult to manipulate with robots. This paper presents a deployment-oriented case study of a robotic sewing system for denim manufacturing, emphasizing the system-level integration required for practical adoption. At the engineering level, a digital thread module parses DXF production drawings into process parameters and executable robot trajectories, reducing manual programming effort and enabling rapid re-targeting across sewing operations. In parallel, a digital twin of the workcell is used during pre-deployment to validate reach and clearance, refine layout and sequencing, evaluate operator access, and assess cycle-time compatibility with upstream and downstream tasks, thereby reducing commissioning risk. At deployment, the system integrates a collaborat

arXiv:2606.16057v2 Announce Type: replace Abstract: Reliable state estimation in robotics and control re quires balancing estimation accuracy against computational cost. While filtering-based methods such as the Extended Kalman Filter (EKF) provide efficient real-time updates, and optimisation based formulations using factor graphs improve global consistency, the role of optimisation scheduling is often treated implicitly rather than examined as an explicit design variable. This paper presents an experimental study that explicitly isolates optimisation scheduling using a Smart Scheduled Hybrid (SSH) EKF-FGO framework as a controlled testbed. By combining EKF-based state propagation with periodically invoked batch optimisation and holding solver structure and effort fixed, the main contribution of this work is the experimental characterisation of optimisation scheduling as an independent design variable governing the trade-off between intermediate estimation accuracy and computational c