Research Papers

arXiv:2607.12811v1 Announce Type: new Abstract: Although topological mapping and navigation have been studied extensively, the specific role and downstream effect of loop closures in purely topological representations has received relatively little attention. Importantly, loop closure over topological maps is distinct from loop closure over globally referenced trajectories and metric maps. Building on recent denser topologies grounded in pixel-level, relative 3D geometry, we propose PixelLoop which introduces loop closures directly in pixel space. Unlike sparse image-level edges or pose-graph corrections in SLAM, our pixel-level closures act as dense topological shortcuts that alter planning connectivity and cost propagation rather than merely aligning coordinates. This dense connectivity enables stable any-point-to-any-point navigation and produces costmaps that align accurately with geometric shortest paths. In particular, we showcase the distinct advantage of applying loop closures

arXiv:2607.12801v1 Announce Type: new Abstract: This study introduces a unified control framework for fixed-wing unmanned aerial vehicles (UAVs) fitted with a pan-tilt (PT) camera, intended to perform an end-to-end mission spanning from initial target detection to accurate terminal engagement. The proposed system employs a three-phase strategy: a vision-based target acquisition phase, an NMPC-based tracking phase, and a terminal guidance phase. During tracking, the framework uses an Unscented Kalman Filter (UKF) to fuse YOLO-based visual detections with inertial measurements, enabling robust target state estimation under unknown dynamics. To ensure reliable visual contact, we introduce a constraint-aware Nonlinear Model Predictive Control (NMPC) strategy that incorporates Control Barrier Functions (CBFs) to explicitly prevent UAV self-occlusion -- a common limitation in fixed-wing tracking. Upon satisfying terminal engagement conditions, the system seamlessly transitions control to a q

arXiv:2607.12784v1 Announce Type: new Abstract: Reinforcement Learning has revolutionized the landscape of robotic research, allowing robust learning of complex robotic skills in simulation. However, real-world deployment in open-ended environments requires strong safety guarantees to prevent dangerous or harmful behaviors. Safe Reinforcement Learning methods address this requirement by enforcing safety constraints. Nevertheless, learning under constraints often reduces learning speed and could lead to suboptimal task performance, as the agent must solve a more complex constrained optimization problem compared to unconstrained settings. To tackle this issue, in this work, we propose an extension of the ATACOM framework, a state-of-the-art reliable safety layer that can be integrated with existing Reinforcement Learning algorithms to enforce constraints derived from prior knowledge of the system or learned directly from data. Our proposed method, named ATACOM Directional Constraints (AT

arXiv:2607.12732v1 Announce Type: new Abstract: Robot motion planning is inherently multimodal, yet classical planners typically return only a single solution. Probabilistic formulations address this limitation by maintaining a distribution over motions, allowing the planner to reason over multiple low-cost alternatives. In robotics, however, motion samples must also satisfy strict constraints, including collision avoidance, joint limits, contact conditions, and dynamics consistency. These hard requirements make motion sampling substantially more challenging: within a limited planning budget, the ensemble must cover diverse low-cost motions while ensuring that every sample remains feasible under the relevant constraints. We propose SteinSQP (Stein Variational Sequential Quadratic Programming), a constrained Stein variational inference method for diverse feasible robot motion sampling. SteinSQP evolves an interacting particle ensemble, as in Stein variational methods, while embedding co

arXiv:2607.12702v1 Announce Type: new Abstract: Recent advances in humanoid robotics have highlighted the importance of deployable loco-manipulation skills. Dribbling a soccer ball while evading active opponents requires simultaneous balance, precise ball control, and awareness of a dynamic adversary under onboard sensing and real-time constraints. Existing approaches typically separate perception and motion, which can be effective in controlled settings but may fail under occlusions, fast ball movements, and complex opponent interactions, since perception is not directly optimized for control. We propose an integrated approach in which a temporal depth encoder is embedded into a reinforcement learning policy through a task-specific projection layer. We apply this framework to a simulated Booster T1 humanoid robot and show that it is possible to learn vision-based, opponent-aware dribbling directly from depth observations, without explicit state estimation or privileged scene informati

arXiv:2607.12659v3 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have achieved impressive performance on diverse embodied tasks. However, deploying VLA models on low-power onboard devices, such as the Jetson Orin, remains challenging due to their high computational complexity, which leads to substantial inference latency and low control frequency. Asynchronous inference can partially mask this latency by parallelizing action execution and subsequent inference, but it introduces two critical issues: perception-execution misalignment and long reaction time. In this paper, we propose Jetson-PI, a method for efficient VLA deployment on onboard devices via Foresight-Aligned Asynchronous Correction. To address misalignment, we train a lightweight future correction module that predicts future environment representation conditioned on committed actions, enabling the action expert to directly predict actions from the future time step. To reduce reaction time, we introduce

arXiv:2607.12604v1 Announce Type: new Abstract: Purpose: Marker-based tracking of surgical robots is occlusion-prone in cluttered operating rooms. We evaluate stereo differentiable rendering for marker-free, real-time robot pose tracking, potentially improving safety, reducing setup time, and enabling multi-robot interaction. Methods: We extend the markerless pose estimation framework roboreg to online dynamic tracking via (i) sequential optimisation that propagates pose estimates across frames with motion-adaptive hyperparameter tuning, and (ii) CUDA stream parallelisation of segmentation and optimisation, combined with CUDA-graph accelerated segmentation. We evaluate on 38 unobstructed and 5 occluded displacement sequences with static start/end ground-truth calibrations and dynamic marker-based reference tracking. Results: We achieve real-time 1080p tracking at 30 fps (up from 14 fps for vanilla roboreg), matching the camera frame rate. Accuracy reaches 1.7 cm / 0.6 deg against stati

arXiv:2607.12571v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models are deployed through pipelines that end users cannot audit, and a poisoned VLA can behave normally on clean observations while a small visual trigger redirects a long-horizon robot policy before any failure becomes observable. Existing vision or language defenses rarely explain what a triggered VLA representation looks like or how to recover behavior without retraining. We study this gap through two independently proposed VLA attacks from groups with distinct injection strategies, BadVLA and INFUSE; the latter persists after downstream clean adaptation. Across the evaluated poisoned models, we identify a recurring internal mechanism: a \emph{compact causal footprint}, namely a small visual support that is attention-seeded, spatially compact, and \emph{causal} in a precise sense -- masking it returns a clean-calibrated evidence-evolution score to the normal operating region. This footprint motivates Trus

arXiv:2607.12489v1 Announce Type: new Abstract: Distributed swarms typically rely on either active wireless communication or passive vision, and they are frequently hindered by bandwidth constraints or environmental sensitivity. This paper proposes Infra-Swarm, a robust vision-based swarm. Each robot is equipped with a near-infrared light source and four ordinary gray-scale cameras. The Infra-Swarm system directly measures the centimeter-level 3D position of neighbors based on the position (bearing) and intensity (strength) of optical flares in the captured images. By utilizing 940 nm narrow-band filters to physically reject 99.2% of ambient light interference, the perception front-end achieves hardware-level robustness against illumination variations. Furthermore, its minimal computational overhead provides a resilient foundation for the massive scalability of robotic collectives on resource-constrained hardware.

arXiv:2607.12466v1 Announce Type: new Abstract: Aligning robot policies with human preferences is essential for deployment to diverse end users. In per-user alignment approach, preference feedback is often sparse, so learning becomes unstable and vulnerable to human preference noise, and a growing number of individualized policies makes validation difficult before deployment. A single shared policy approach to user alignment avoids this cost but fails to capture heterogeneous preferences and often neglects minority preferences. To address these challenges, we introduce Preference-based REward Clustering (PREC), a novel framework that learns a compact set of policies from binary preference labels provided by diverse users. From a dataset of user trajectories and their preference labels, PREC first sets the labels aside and aggregates trajectories across users to learn a population-level shared trajectory encoder, alleviating limited per-user coverage and avoiding label noise during repr

arXiv:2607.12423v1 Announce Type: new Abstract: Multi-Robot Motion Planning in continuous environments, where robots must generate dynamically feasible, collision-free trajectories, is challenging due to the combinatorial growth of the joint trajectory space and the difficulty of enforcing dynamic feasibility and hard safety constraints. Recent approaches recast trajectory planning as probabilistic inference, sampling from a posterior over trajectories using diffusion models whose score functions are learned from demonstration data. While showing promising performance, these approaches are limited: they often rely on sizable demonstration datasets and struggle to rigorously enforce dynamics and hard safety constraints during sampling. To this end, we introduce Model-Based Diffusion Optimal Control (MDOC), a model-based diffusion planner that efficiently produces dynamically feasible trajectories without relying on data. Crucially, we show that MDOC's safety mechanism -- combining known

arXiv:2607.12370v1 Announce Type: new Abstract: This paper proposes StratMamba, a dual-stream Mamba-based temporal modeling architecture, to more efficiently capture long-horizon temporal dependencies required for robot navigation in complex and obstacle-rich environments. StratMamba leverages a combination of fast-decay and slow-decay memory architectures, where the fast-decay component processes high-frequency LiDAR data for reactive obstacle avoidance, while the slow-decay component maintains longer-horizon goal information for strategic planning. We perform extensive evaluations of different obstacle avoidance scenarios in IsaacLab and Gazebo, while also validating successful sim-to-real deployment on a Unitree GO1 quadruped robot navigating in the presence of static/dynamic obstacles. Comparisons with other temporal RL baselines, such as LSTM, Transformer, and Vanilla-Mamba, show that our StratMamba achieves exceptional temporal reasoning efficiency with a lower timeout rate, whil

arXiv:2607.12356v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have emerged as a powerful end-to-end paradigm for robotic manipulation by mapping language instructions and 2D visual inputs directly to actions. However, these models lack an explicit, scene-level 3D representation, limiting their ability to reason over spatial layouts and geometric constraints. While recent efforts incorporate explicit 3D cues, such as depth maps or point clouds, to improve geometric awareness, they primarily capture low-level structures and lack high-level semantic grounding in 3D space. In human cognition, interaction with the physical world relies on a 3D semantic cognitive map - an internal mental model that integrates spatial layouts with semantic context to enable persistent, viewpoint-invariant reasoning. In light of this, we present VistaVLA, a novel two-stage framework that constructs a geometry- and semantics-aware 3D cognitive representation from 3D Gaussian primitives

arXiv:2607.12287v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models exhibit strong generalization for robotic manipulation, yet their high inference latency limits real time deployment. We identify two primary sources of temporal redundancy in existing VLA pipelines: repeated visual encoding of highly similar consecutive frames and multi step iterative sampling in diffusion based policies. To address this, we propose a system level acceleration strategy that reduces computation in both perception and action generation. On the perception side, we incrementally update only tokens corresponding to dynamic scene regions instead of re-encoding entire frames. On the policy side, we compress diffusion sampling into a compact 2-step schedule through efficiency oriented training while preserving action precision. Experiments on Libero, RobotWin, and Real Robot Platforms demonstrate over 2 times speedup while maintaining high performance, achieving up to 98% success rate on gener

arXiv:2607.12265v1 Announce Type: new Abstract: Radar sensing is increasingly used in mobile systems because it operates reliably under poor lighting, adverse weather, and privacy-sensitive settings where cameras and LiDAR often fail. However, most existing radar SLAM systems estimate motion through scan matching on discretized radar heatmaps, which breaks geometric continuity and fails to capture key radar sensing properties, often leading to unstable pose estimation and degraded mapping in regenerate or dynamically changing environments. We present DiffRadar, a real-time radar SLAM system that models radar observations as a differentiable, physics-aware Gaussian field rather than discrete scans. DiffRadar represents the scene as anisotropic Gaussian primitives and renders radar measurements in range-azimuth and Doppler-azimuth spaces through a differentiable radar forward model, enabling joint optimization of robot pose and scene structure directly from radar measurements. We impleme