Research Papers

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

arXiv:2606.17463v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) policies have achieved remarkable single-step manipulation, yet they remain brittle precisely where each stage depends on what was just completed. The core issue is structural: short-window VLAs lack an explicit channel for rouxting information across sub-task boundaries, and existing memory-augmented variants either write at every frame, retrieve from demonstration-time stages, or fire at sub-goal events without performing an explicit sub-task-to-sub-task hand-off into the action expert. We identify the sub-goal completion event as the natural temporal unit for cross-subtask memory hand-off, and present WeaveLA (Weave Latent memory for Vision-Language-Action policies), a cross-subtask memory interface that, on top of a frozen VLA backbone, compresses each completed segment into latent tokens via query-driven attention pooling and routes them directly into the action-generation path of the next sub-task. Thi

arXiv:2606.17451v1 Announce Type: cross Abstract: Automated Driving System deployments create a foundational ratemaking challenge: sparse experience, shifting operational design domains, and non-stationary risk across software releases. We propose a hierarchical Bayesian credibility framework pooling across cities, software versions, and territories via a learned ODD-similarity kernel, nesting Buhlmann-Straub as a limiting case. Demonstrated on 648 verified-engaged Waymo crashes across four U.S. metros from the NHTSA Standing General Order database against 116 million matched miles, city-aggregate credibility weights are moderate (0.12-0.46), partial pooling decisively outperforms no pooling, and a power analysis shows the learned kernel's advantage becomes detectable at approximately twelve deployed cities.

arXiv:2606.17216v1 Announce Type: cross Abstract: We study strategic space- and time-constrained cooperation between two self-interested agents through the Intermittent Strategic Cooperation-Based Two-Agent Path Planning (IC2PP) problem, a shortest-path game on graphs in which agents navigate toward individual targets while optionally cooperating at specific nodes to reduce their own travel times. Although such cooperation can strictly benefit both agents, it is strategically fragile: agents may deviate at any point along their paths. Modeled as a 2-player game, we characterize the structure of Pure Nash Equilibrium (PNE) joint strategies in IC2PP, and show that stable cooperation must follow a highly constrained form. We further prove that at least one PNE exists in every instance of IC2PP, and present a polynomial-time algorithm for enumerating all relevant PNEs. When multiple equilibria arise, we study coordination mechanisms based on bargaining-theoretic selection concepts and empi