News & Research

arXiv:2608.14996v1 Announce Type: new Abstract: Achieving robustness, accuracy, and efficiency simultaneously remains a central challenge in light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM). While learning-based approaches deliver strong benchmark performance, they often require extensive training, substantial computational resources, and struggle to generalize to unseen or degenerate environments. Geometry-based methods are efficient and interpretable, yet their performance degrades in planar or repetitive scenes due to limitations of standard iterative closest point (ICP) formulations. We present HP2-SLAM, a minimalist yet robust LiDAR SLAM framework built around a neighborhood-size adaptive hybrid ICP. Our key insight is a planarity-aware adaptive threshold that dynamically classifies correspondences based on local geometric structure and density, thereby enabling a principled balance between point-to-plane and point-to-point residuals. This formulati

arXiv:2608.14986v1 Announce Type: new Abstract: Long-horizon robotic manipulation fundamentally relies on persistent spatial memory. However, existing 3D memory systems function merely as passive recorders: they store observations using fixed, hand-crafted rules, treating every scene element--whether a critical grasp target or an irrelevant background wall--with equal importance. In this paper, we propose a paradigm shift from passive storage to active, task-driven spatial memory. We argue that a robot's memory should not simply record what it sees, but actively learn how to remember--discovering which objects to track precisely, how aggressively to update them, and what to discard, all learned end-to-end without hand-designed rules. Crucially, this active paradigm is realized by unifying memory update and readout as two sides of the same cognitive process, enabling bidirectional flow where task needs shape update strategies and vice versa. To instantiate this vision, we introduce Gaus

arXiv:2608.14944v1 Announce Type: new Abstract: Natural-language interfaces can lower the barrier to programming robots, but existing systems struggle when users request complex tasks. While large language models (LLMs) perform well with simple commands, they often struggle to generate code for multi-step tasks, decompose high-level instructions, or reuse prior solutions. We present SkillComposer, an interactive natural-language robot programming system for simulation environments that continually learns reusable program abstractions. SkillComposer uses a generate-test architecture in which an LLM iteratively generates and revises robot programs before execution. Successful programs are stored and processed by an online library-learning algorithm that compresses recurring function sequences into reusable macro skills for future tasks. We evaluate SkillComposer through ablation experiments and a user study with 12 participants to determine its effectiveness on manipulation and robot car

arXiv:2608.14937v1 Announce Type: new Abstract: The increasing dynamic demands of modern robotic joints require current controllers to achieve high bandwidth over wide operating ranges of speed, acceleration, and torque, where communication, computation, and discrete-time effects can no longer be neglected. Conventional PMSM current controllers are typically designed in continuous time and subsequently discretized, leaving the sampling frequency and the impact of implementation delays largely to heuristic selection and iterative validation. This paper introduces a task-aware, delay-extended discrete-time joint model that explicitly accounts for physical communication and computation delays and enables direct synthesis of a discrete PI current controller with prescribed bandwidth and delay guarantees throughout the operating envelope. The framework analytically determines the minimum required sampling frequency, controller gains, and DC-link voltage needed to satisfy the specified motor

arXiv:2608.14902v1 Announce Type: new Abstract: Recent 3D Gaussian Splatting (3DGS) has enabled efficient photorealistic view synthesis and is rapidly being adopted in simultaneous localization and mapping (SLAM) systems for online mapping. In these systems, a Gaussian map must be expanded and refined incrementally while tracking runs in real time, so initialization and density control directly determine where limited computation and iterations are spent. This contrasts with offline 3DGS reconstruction, where such heuristics can be amortized over long optimization schedules. However, most 3DGS-SLAM pipelines inherit initialization and density-control heuristics from offline reconstruction, which can become brittle under the strict per-keyframe optimization budgets and incremental map growth of online SLAM. In this work, we revisit these heuristics in a decoupled 3DGS-SLAM setting and propose three geometry-aware methods that operate in the mapping thread: transmittance-preserving densi

arXiv:2608.14865v1 Announce Type: new Abstract: An actuator health estimation algorithm for a soft swimming robot that can perform anguilliform swimming is developed. Due to harsh operational environments of underwater robots, and the common degradation of soft robot materials and actuators, accurate estimation of actuator functionality is necessary for robots to perform their missions as well as return to base in the event of actuator degradation and failure. Termed REACH (Real-time Estimator of Actuator Control and Health), the architecture employs a soft robot model, sigma point filter, and a formal statistical hypothesis test to adequately capture the nonlinearities and changes over time. The performance of REACH using three sensor types (GPS, IMU, and Bend Sensor) with one sensor on each actuator is compared, demonstrating that both bend sensor and IMU are adequate choices. Sensor quantity and placement are evaluated for IMU and bend sensor, showing two sensors are sufficient for

arXiv:2608.14860v1 Announce Type: new Abstract: Anguilliform locomotion is a highly efficient swimming mode; the advent of new materials for soft robots enables the development of an eel-inspired soft robot. This paper presents a simulation model of an eel-inspired soft robot designed for anguilliform swimming. This model can aid in design optimization and the development of model-based estimation, reasoning, and control systems. A Finite Element Method (FEM) model of an elastic rod is used to capture the soft materials of the robotic fish, which makes it particularly amenable to variation over time as the material properties change. The material model is coupled with a hydrodynamic force model to simulate the behavior of a soft, elongated robot in water. The model is used to demonstrate the effectiveness of the proposed control approaches in achieving desired swimming behaviors. It also provides insights into design decisions, including the robustness of different system configuration

arXiv:2608.14822v1 Announce Type: new Abstract: Vision-language-action (VLA) models have improved the flexibility and generality of robotic manipulation, yet they remain fragile to online disruptions, such as changes in task goal, scene configuration, or robot state. Existing recovery methods often require failure data, policy retraining, or external corrective agents, introducing additional data requirements and execution risks. We propose Counterfactual Realignment (CoRe), a training-free framework that recovers a frozen VLA at inference time without failure data. Upon detecting a deviation, CoRe imagines how the policy would continue toward the current goal from a recent viable state, using synthesized observations in place of physical execution, and then minimally realigns the robot and scene to rejoin this imagined continuation before returning control to the policy. Recovery is therefore planned without physical trial-and-error, preserves completed task progress, and handles both

arXiv:2608.14772v1 Announce Type: new Abstract: Minimally invasive and robot-assisted surgery offer many advantages over traditional open surgery, but deprive surgeons of tactile feedback and the ability to palpate tissue with their fingers. To address this lack of tactile feedback, we introduce the MISTac, a high resolution vision-based tactile sensor specifically designed for palpation in MIS. The sensor has a replaceable sensor tip with a diameter of 8 mm which allows it to fit through the trocars used in minimally invasive surgery. Its modular 3D-printed case design allows the use of bulky off-the-shelf illumination and imaging hardware that can easily be exchanged and upgraded. The sensor has an optical resolution of 176.68 $\mu m$, a tactile resolution of 250 $\mu m$, and can resolve forces as little as 24.3 mN. An in vivo study with the sensor shows its usability in minimally invasive surgery. We trained a machine learning model with the tactile data collected in the trial on a

arXiv:2608.14713v1 Announce Type: new Abstract: Robots operating in dark or poorly lit environments rely on onboard lights, which often produce uneven illumination that degrades downstream perception tasks. Prior approaches based on 2D image enhancement lack reliable supervision and fail to preserve multi-view geometric consistency. To address these limitations, we extend Dark Gaussian Splatting (DarkGS) toward a more accurate and flexible relightable 3D reconstruction framework. First, we eliminate the need for explicit light parameter calibration by jointly optimizing lighting parameters within the Gaussian Splatting framework. Second, we introduce a low-frequency illumination model based on spherical harmonics (SH) to capture spatially varying residual and ambient lighting effects. Third, we incorporate an MLP-based Bidirectional Reflectance Distribution Function (BRDF) to model non-Lambertian reflectance. Experiments on synthetic and real-world datasets demonstrate that our method

arXiv:2604.16509v2 Announce Type: replace Abstract: Many robotic exploration algorithms rely on graph structures for frontier-based exploration and dynamic path planning. However, these graphs grow rapidly, accumulating redundant information and impacting performance. We present a hybrid transformer-based framework trained with Proximal Policy Optimization which complements exploration algorithms by pruning these graphs during exploration, limiting their growth and reducing the accumulation of excess information. The framework was evaluated on simulations of a robotic agent using Rapidly-Exploring Random Trees to carry out frontier-based exploration, where the learned policy reduces graph size by up to 96%. We find preliminary evidence that our framework enables effective, generalizable exploration under reduced information density, consistently outperforming the randomly pruned baseline and improving both exploration efficiency and computational efficiency beyond the unpruned baseline

arXiv:2603.22580v2 Announce Type: replace Abstract: Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically coincides with age-related reductions in maximal hip power. Although robotic exoskeletons can provide immediate energetic benefits, conventional control strategies have limited previous studies in this population to specific tasks such as steady-state walking, which do not fully reflect mobility demands in the home and community. Here, we implement a task-agnostic hip exoskeleton controller that is inherently sensitive to joint power and validate its efficacy in eight older adults. Across a battery of hip-intensive activities that included level walking, ramp ascent, stair climbing, and sit-to-stand transitions, the exoskeleton matched biological power profiles with high accuracy (mean cosine similarity 0.

arXiv:2603.11461v3 Announce Type: replace Abstract: With increasing demand for mass customization, traditional manufacturing robots that rely on rule-based operations lack the flexibility to accommodate customized or new product variants. Human-Robot Collaboration has demonstrated potential to improve system adaptability by leveraging human versatility and decision-making capabilities. However, existing Human-Robot Collaborative frameworks typically depend on predefined perception-manipulation pipelines, limiting their ability to autonomously generate task plans for new product assembly. In this work, we propose CoViLLM, an adaptive human-robot collaborative assembly framework that supports the assembly of customized and previously unseen products. CoViLLM combines depth-camera-based localization for object position estimation, human operator classification for identifying new components, and a Large Language Model for assembly task planning based on natural language instructions. The

arXiv:2602.12314v2 Announce Type: replace Abstract: We present LatentAM, an online 3D Gaussian Splatting (3DGS) mapping framework that builds scalable latent feature maps from streaming RGB-D observations for open-vocabulary robotic perception. Instead of distilling high-dimensional Vision-Language Model (VLM) embeddings using model-specific decoders, LatentAM proposes an online dictionary learning approach that is both model-agnostic and pretraining-free, enabling plug-and-play integration with different VLMs at test time. Specifically, our approach associates each Gaussian primitive with a compact query vector that can be converted into approximate VLM embeddings using an attention mechanism with a learnable dictionary. The dictionary is initialized efficiently from streaming observations and optimized online to adapt to evolving scene semantics under trust-region regularization. To scale to long trajectories and large environments, we further propose an efficient map management stra

arXiv:2602.09430v2 Announce Type: replace Abstract: Robotic laboratories play a critical role in autonomous scientific discovery by enabling scalable, continuous experimental execution. Recent vision-language-action (VLA) models offer a promising foundation for robotic laboratories. However, scientific experiments typically involve long-horizon tasks composed of multiple atomic tasks. Existing VLA models may fail to perform composed tasks formed by reordering and composing these known atomic actions. This limitation can arise from a skill-chaining gap caused by robot-state mismatch: the terminal robot state of one skill can fall outside the valid initial-state distribution of the next. To address this challenge, we propose AtomBridge, an Agentic VLA Inference Plugin for Long-Horizon Tasks in Scientific Experiments. AtomBridge attaches at inference time to a VLA policy already fine-tuned on atomic tasks, while keeping its weights fixed. At each task boundary, it uses LLM-based transitio