News & Research

arXiv:2610.34280v1 Announce Type: new Abstract: Endowing robot policies with anticipatory capabilities has proven effective in improving control performance. However, existing methods predominantly rely on explicit supervision derived from future observations, in either pixel or latent space, at the cost of additional architectural and computational complexity. Departing from explicit future supervision, we ask whether such foresight can be elicited directly from the action signal. To this end, we propose \textbf{AdaPolicy}, an \textbf{A}ction-\textbf{d}riven \textbf{a}nticipatory policy framework that shapes future-aware representations via cascaded next-chunk prediction. Specifically, an Online Action Head jointly produces the current action chunk and an evolved latent state. Building on this state, a cascaded Unrolled Action Head forecasts the next chunk, and the resulting loss flows back through the evolved state to instill implicit foresight into the online policy. Importantly, th

arXiv:2610.34186v1 Announce Type: new Abstract: Extending Vision-Language-Action models (VLAs) to humanoid robots requires coordinated whole-body control and diverse demonstrations that are costly to collect in real-world scenarios. Although egocentric human demonstrations provide a complementary source of task experience, differences in visual embodiment and missing robot proprioception complicate transfer to humanoid policies. To address these challenges, we introduce HuGe, a family of Humanoid Generalist VLAs pre-trained on over 2,000 hours of egocentric human and robot data. Specifically, HuGe employs three existing representative VLA architectures to predict latent motion tokens for a pretrained whole-body controller, together with hand-control signals. Based on this, we introduce a three-stage training pipeline that combines egocentric pre-training, humanoid adaptation, and downstream fine-tuning. To facilitate transfer across embodiments, we construct pseudo-proprioceptive state

arXiv:2610.34147v1 Announce Type: new Abstract: Deformable linear objects (DLO) pose a coupled perception and control challenge: their slender geometry makes precise localization difficult, while their deformations depend on object-specific physical properties. To address this challenge, we propose PS-DLO, a property- and spatially aware DLO manipulation policy. First, contrastive image-text learning maps the initial observation to categorical descriptions of DLO properties, providing explicit physical and structural priors for action generation. Second, SAM3 extracts mask-guided features from future observations, which are distilled into the policy's action expert to encode task-relevant DLO regions and their subsequent configurations. We evaluate PS-DLO on nine real-world tasks across single-arm and bimanual platforms, training a shared multi-task policy for each embodiment. PS-DLO achieves an average success rate of 68.9%, exceeding the strongest baseline by 20.0 percentage points.

arXiv:2610.34126v1 Announce Type: new Abstract: Humanoid robots have recently achieved remarkable success in motion tracking. However, during real-world deployment, robots inevitably encounter dynamics gaps arising from either extra physical disturbances or inaccurate simulation modeling, resulting in a significant training-deployment gap. Therefore, effectively leveraging real-world data to fine-tune policies represents the crucial last mile for robust deployment. To bridge this gap, we propose HumanoidNDM, an online fine-tuning framework for humanoid motion tracking driven by a real-world-trained neural dynamics model. First, in the data collection stage, we introduce a low-frequency reference perturbation method with an adaptive intensity mechanism, balancing deployment feasibility and exploration efficiency. Second, for the model training stage, we train a robust history-based, proprioceptive neural dynamics model in Euclidean space by incorporating differentiable forward kinematic

arXiv:2610.34105v1 Announce Type: new Abstract: Video diffusion models provide a source of interaction representations for robot control, but transferring these representations requires reconciling variable camera inputs with heterogeneous action interfaces and closed-loop execution. We present X-World, a framework that transfers a video prior through a fixed-length token sequence to a shared action expert. A residual cross-view attention branch extends a pretrained video backbone to one, two, or three views while retaining its original self-attention path. A layer-aligned Q-Former aggregates backbone features, and dataset-specific modules map between native state and action interfaces and the shared action expert. Training separates video adaptation from action-only pretraining by freezing the video backbone in the latter stage, followed by joint target-domain post-training. The policy extracts video features with a single backbone pass and uses asynchronous action chunking for execut

arXiv:2610.34085v1 Announce Type: new Abstract: Safe indoor operation requires autonomous tracking of objects that are not directly visible to the robot. Optical non-line-of-sight (NLoS) methods depend on ambient lighting and scene geometry or on weak multi-bounce returns that need long acquisitions. Millimeter-wave (mmWave) radar offers an attractive alternative: walls act as reflectors for mmWave signals, and frequency-modulated continuous-wave (FMCW) radars enable fast, practical measurement of range, angle, and velocity. However, the low resolution of these radars leads to spatially ambiguous observations. The Doppler information, although particularly sensitive to target motion, remains underexplored in indoor NLoS localization: existing methods emphasize spatial representations and either collapse or discard the Doppler dimension before learning. To leverage the complete Range-Azimuth-Doppler (RAD) information, we acquire the first indoor NLoS radar dataset that pairs sequential

arXiv:2610.34084v1 Announce Type: new Abstract: The simultaneous surveillance and containment (SSC) problem arises in multi-robot applications such as perimeter security and environmental monitoring, where robots must survey a region of interest and coordinate to enclose targets once they are detected. Surveillance favors spatial dispersion for coverage, whereas containment requires target-centric cohesion for enclosure. This conflict makes heuristic switching unstable, and the instability becomes more pronounced as larger robotic networks introduce more inter-agent and agent-target relations. End-to-end DRL reduces reliance on hand-crafted switching, but conventional single-stream policies often mix surveillance and containment cues in one shared feature space that could entangle dispersion-oriented and target-centric signals and weaken task transitions. In this paper, we propose the Dual-Stream Gated Network (DSGN), an architecture designed to address scale-amplified task-transition

arXiv:2610.34060v1 Announce Type: new Abstract: Construction robots operating near workers require navigation that can anticipate human motion while remaining robust to dynamic and unstructured site conditions. However, existing social navigation methods depend on hand-crafted interaction rules, labeled demonstrations, or robot-specific control policies, limiting their scalability and transferability in construction environments. We propose a real-time, LiDAR-only framework that learns interaction-aware path corrections from unlabeled demonstrations. Constant-velocity extrapolation generates residual learning targets, while a GNN models relationships among the robot, pedestrians, and goal context. During deployment, an extended Kalman filter tracks LiDAR detections to construct dynamic graphs, and the GNN offsets planner-generated waypoints through a planner-agnostic interface. Within the bricklaying trial, the GNN reduced path irregularity by 39.2\% and increased minimum TTC. Across D

arXiv:2610.34059v1 Announce Type: new Abstract: Swarm robotics enables scalable inspection through collective perception, where robots infer environmental properties from distributed observations. A common benchmark considers robots exploring black-white tiled environments and determining the majority tile type. While most work studies static environments, dynamic environments remain underexplored. We study collective perception in dynamic environments where the tile proportion and the spatial correlation of surface patterns may change over time. To enable implementation on resource-constrained robots, we integrate a lightweight change detection mechanism into a Bayesian collective decision-making framework that resets robot beliefs when distribution shifts are detected. The proposed detector requires constant memory and constant per-sample computation, unlike two recent competitive approaches that store the full sample stream, making it suitable for memory-constrained robots. We furth

arXiv:2610.34054v1 Announce Type: new Abstract: This paper proposes a command-aligned sampling distribution that incorporates navigation commands directly into the exploration process to improve the efficiency of sampling-based motion planning for quadcopters in three-dimensional environments. Inspired by the Language-Aided Subset Sampling Motion Planner, this paper extends command-aware subset sampling to aerial systems. Subset sampling is generalized to command-aligned regions, enabling structured 3D exploration while preserving probabilistic completeness. Natural language instructions are grounded into yaw-conditioned and altitude-aware geometric constraints using a prompt-based large language model for entity extraction and instruction validation. Extensive simulations in complex environments demonstrate that the proposed method generates collision-free, consistent trajectories while significantly reducing sampling effort compared to uniform RRT-based planners.

arXiv:2610.34051v1 Announce Type: new Abstract: Robot tasks require grounding spatial language in physical scenes, but task success alone cannot establish whether spatial instructions are followed. We present BEHAVIOR-Spatial, a benchmark built on BEHAVIOR-1K that measures spatial question answering, point-based target grounding, and robot action to examine how VLM spatial understanding relates to VLA behavior. It comprises 3,256 spatial questions across 49 activities, 1,240 grounding queries across 14 manipulation tasks, and action evaluations covering those 14 tasks and 10 navigation tasks. Our manipulation protocol evaluates held-out configurations and instruction following when the requested target changes within a fixed training layout. The baseline achieves 41.6% on held-out configurations but only 16.1% under changed instructions. VLM adaptation and robot-data pretraining provide limited improvements, whereas oracle visual target cues raise these rates to 60.3% and 38.0%, respec

arXiv:2610.34041v1 Announce Type: new Abstract: Dynamic and continuously evolving environments present significant challenges for robotic mapping and scene understanding, particularly on construction sites where moving agents, temporary obstacles, and persistent structural changes coexist. While dynamic and long-term SLAM methods can detect motion and environmental changes, their outputs are predominantly metric representations that provide limited structure for higher-level spatial and temporal reasoning. This paper presents a LiDAR-based real-time temporal construction scene graph (T-ConSG) that jointly represents free-space regions, static objects, dynamic objects, and environmental events with spatial-relational and event-participation edges. The proposed framework incrementally constructs the graph from LiDAR-derived geometric evidence, maintaining persistent free-space and static-object information while tracking dynamic objects. Changes in accumulated spatial evidence are furthe

arXiv:2610.34040v1 Announce Type: new Abstract: Construction robots must label building elements they can only partly see. We show that when occlusion at test time removes whole regions of a scene, rather than parts of an object as in training, point-cloud segmentation networks do not simply miss the hidden elements: they relabel them, and the errors collapse onto a single sink class. With fixed synthetic layouts the column absorbs up to 70% of all test points; with randomized layouts the sink moves to the stair, predicted at 4.5-5.4x its true share across three training seeds. Baseline mIoU falls to 0.15-0.27 (fixed) and 0.36-0.72 (randomized), and up to 269 whole objects vanish in a single test set. Appending 14 hand-computed geometric features per point (GPE) restores mIoU to 0.54-0.92 and removes 64-100% of whole-object losses in every run, for PointNet++ and a PTv3-style transformer in both layout regimes; on real S3DIS scans it removes every whole-wall loss (10 to 0). In an as-bu

arXiv:2610.34034v1 Announce Type: new Abstract: WiFi Channel State Information (CSI) enables fine-grained sensing of spatial relationships between wireless devices. The WiFi Sensor for Robotics (WSR) toolbox demonstrated that WiFi-CSI measurements collected during robot motion, combined with odometry, can be used to synthesize virtual antenna arrays, enabling motion-induced bearing estimation in multi-robot experiments. However, deploying the WSR approach has remained challenging due to its limited integration with standard robotics tools and reliance on deprecated WiFi-CSI acquisition hardware. This work presents an open-source simulation framework that integrates the WSR sensing pipeline within the robotic simulator Gazebo. The framework generates synthetic WiFi-CSI measurements with realistic physical signal properties and leverages realistic robot motion required for motion-induced sensing and downstream localization. It further supports processing both simulated and real WiFi-CSI

arXiv:2610.34031v1 Announce Type: new Abstract: Robots that learn from people often see several valid ways to do the same task: pass an obstacle on the left or on the right, open the microwave or move the kettle first. A policy that re-decides at every step can waver between these ways mid-task. We ask when the action head (the part of a policy that turns the state into actions) matters, and how it should make this choice. On a controlled task, heads that sample one way succeed far more often than a head that averages the ways when the demonstrations contain several ways and the state gives no hint which to take (+0.72 success with two ways); this trend was not reproduced on the other tasks we ran. We then present ElevateHead, a head that decides once at a learned decision point, commits to that choice for the episode, and exposes the choice as an input a user can set. We designed it by diagnosis: each version was frozen and tested on tasks it had not seen, and the next version changed