新闻与研究

arXiv:2608.23140v1 Announce Type: cross Abstract: Achieving 360{\deg} coverage is critical for the visual perception systems of autonomous vehicles. Fisheye cameras offer a cost-effective solution by enabling full surround coverage with as few as two sensors. However, existing multi-view fisheye datasets are limited, and synthesizing rare corner cases typically requires computationally expensive 3D simulations, hindering the training. While generative models have achieved significant success in standard perspective imagery, their application to wide-angle distortion remains unexplored. In this work, we formally introduce the novel problem of multi-view fisheye image generation conditioned on volumetric semantic representations and present two distinct methods. We first propose SyntheOcc-FE, which adapts the SyntheOcc architecture to fisheye data. While effective, this method is constrained by the scarcity of fisheye datasets, which limits its generalization. To overcome these limitatio

arXiv:2608.23055v1 Announce Type: cross Abstract: Navigating large, photorealistic 3D apartments from raw pixels is widely considered infeasible for plain reinforcement learning. We build an agent that does it anyway, estimating its own pose from the camera alone. The agent has to reach several target objects in sequence, and their positions change between episodes, so it must explore to find them. It builds on our earlier object-centric topological controller, which still read the agent's true pose and its object detections from the simulator. Here we replace that true pose with an onboard, object-centric estimate. For each object we keep a bank of ORB features that, when the object is seen again, yield a rough pose measurement, which a minimal Extended Kalman Filter (EKF) fuses with a motion model. As on a real robot, the executed motions are noisy. The estimate drifts, but the agent and the nearby objects drift together, so a locally consistent pose is enough to follow each short ed

arXiv:2608.22364v2 Announce Type: replace-cross Abstract: World Action Models (WAMs) generate both future video and robot actions, offering two connected outputs for post-training supervision. How can a pretrained WAM learn from a stronger Teacher on the histories it encounters during execution? We present WAM-OPD, which collects Student rollout histories and queries a Teacher for paired video and action targets. The Student learns from both targets while retaining its one-step video and action generation at deployment. Across 12 RoboTwin 2.0 tasks, WAM-OPD improves average success from 33.8% to 65.7%; across four real-robot tasks, it improves average success from 51.4% to 64.6%. With the collected Student histories held fixed, joint video-action supervision achieves the highest observed success on all three ablation tasks, while either modality alone also improves performance. A separate comparison with Teacher-generated histories finds task-dependent differences between the two histo

arXiv:2608.21444v1 Announce Type: cross Abstract: Multi-drone systems are increasingly positioned for safety-critical missions such as search and rescue (SAR) and critical infrastructure monitoring. Yet, real-world adoption remains constrained not only by autonomy performance, but by the difficulty of integrating agentic behavior into professional work: operators must understand, trust, and govern automation under uncertainty, time pressure, and accountability. This position paper synthesizes the ambitions and lessons from two ongoing efforts: NAMUR, which explores LLM-supported robot control in SAR and firefighting contexts, and PERSIST, which explores persistent drone operations for monitoring and security at critical infrastructure sites. We argue that agentic AI should be approached as a socio-technical design problem, where interfaces, oversight mechanisms, and evaluation practices are as critical as algorithms. We outline a human-centered, participatory, and iterative research ap

arXiv:2608.21417v1 Announce Type: cross Abstract: Flexible manufacturing requires industrial robots to be reprogrammed rapidly as product variants change. This paper presents a language-model-based workflow that generates, validates, and iteratively corrects ABB RAPID robot programs from natural language task descriptions. A dual-stream retrieval-augmented generation (RAG) pipeline grounds code generation in verified technical documentation and production templates, reducing domain-specific errors produced by ungrounded language models. A custom Model Context Protocol (MCP) server connects the language-model client directly to ABB RobotStudio for automated code upload, simulation execution, and diagnostic feedback. The evaluation combines a 30-query retrieval benchmark, scoped code-generation checks, and RobotStudio case studies in a simulated pickand- place manufacturing cell. The simulation loop exposes execution failures that static and semantic checks alone cannot catch, including

arXiv:2608.23478v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models can turn multimodal context into robot actions, but their action decoders are still trained largely by behavior cloning. This supervises which motor command was demonstrated while leaving implicit the local objective served by the behavior under the instruction. Future-based supervision enriches action learning with frames, latent observations, trajectories, or motion representations, but these signals capture particular realizations of what may happen rather than the shared semantic objective of the forthcoming behavior. We propose Intention Distillation (INDI), which distills behavior-level intent into the action decoder. During training, a frozen teacher VLM interprets a demonstrated segment from the current observation, instruction, coarse action summary, and corresponding execution video. From its standard inputs, the deployed VLA recovers the resulting multimodal intent representation at an interm

arXiv:2608.23452v1 Announce Type: new Abstract: Space robots operate in extreme environments where hardware degradation can critically compromise traditional control strategies. While continual reinforcement learning offers a promising mechanism for online adaptation, it inherently requires access to a reward signal during deployment. However, precise reward computation in space is often infeasible due to the lack of external tracking systems and the overall complexity of the environment. To address the challenge of unobservable rewards, we introduce a reward-free continual learning framework that leverages latent-state world models. By pre-training a model-based agent across diverse simulations, the world model learns a robust predictor of the reward structure within its latent space. Upon deployment to an environment with severe hardware degradation, we freeze the observation encoder and reward predictor to update only the transition dynamics of the world model through unsupervised r

arXiv:2608.23320v1 Announce Type: new Abstract: Industrial demand changes the paradigms of production. Due to smaller batch sizes and more variations in products, companies face a growing challenge to adopt more adaptive production systems. In particular, robot-based automation is usually static and fails to respond to constantly changing processes. Vision-Language-Action (VLA) Models are a promising opportunity to mitigate this challenge by generating robot actions based on the observed system state. However, current research either focuses on large models that cannot be computed on premise, creating compliance and security challenges, or use lab-grade robot hardware that obscures exploitation in real industrial settings. In this work, we adapt Hugging Face's SmolVLA for Universal Robots lightweight robots. Further, we release the open-source repository ROS2SmolVLA that implements an interface for ROS 2 to SmolVLA, and makes it applicable for industrial-grade hardware. By this, we all

arXiv:2608.23304v1 Announce Type: new Abstract: Proprioception in musculoskeletal humanoids is typically estimated primarily from muscle sensing, while the role of cutaneous deformation around joints remains insufficiently explored. In biological systems, mechanoreceptors distributed within soft tissue complement muscle feedback and support reliable joint state estimation. This study presents the design of a biomimetic joint-covering skin with a tissue-like layered structure that integrates pressure- and stretch-sensitive elements within the joint-covering tissue. The proposed skin is implemented on the musculoskeletal humanoid Musashi-W, and its independent proprioceptive capability as well as its integration with muscle sensing are evaluated. Experimental results show that the proposed skin alone achieves joint angle estimation with an average error of approximately 3 degrees. Furthermore, integration with muscle sensing improves estimation accuracy. Owing to its joint-covering struc

arXiv:2608.23224v1 Announce Type: new Abstract: Retrieval can efficiently and effectively augment a frozen vision--language--action (VLA) policy without retraining, yet retrieved text becomes a control intervention once it enters the executed prompt. In a matched audit, raw appended text reduces mean success from 92.47\% to 3.00\%, while meaningful and length-matched meaningless appends both fail on all 500 states. This result identifies \emph{prompt-form collapse}: changing the instruction form, rather than adding useful semantics, can dominate execution. We introduce TOWN-VLA (Think Only When Needed), a prompt-authority interface that separates candidate generation from permission to alter the policy input. A fixed compatibility rule authorizes a canonical compact instruction; otherwise, the interface restores the original Base prompt exactly. Across 900 audited routes, every route follows this contract: 525 routes recover Base with matching hashes, and all 375 authorized prompts pre

arXiv:2608.23204v1 Announce Type: new Abstract: Decision-making in high-dimensional, nonlinear systems remains a central challenge in robotics. While model-based methods like Model Predictive Control (MPC) offer sample efficiency and interpretability, their performance degrades when the dynamics model is inaccurate or long-horizon predictions are required. Conversely, model-free reinforcement learning (RL) learns policies directly from interaction but suffers from high sample complexity and unstable optimization. Recent advances in sequence modeling have inspired transformer-based decision-making frameworks that can unify MPC and RL, but their training typically faces significant optimization challenges due to highly non-convex loss landscapes. In this work, we propose a novel framework that integrates MPC with RL in a sequence decision-making framework and leverages a curvature-aware optimization to efficiently tackle non-convex loss landscapes. MPC provides predictions of locally opt

arXiv:2608.23138v1 Announce Type: new Abstract: Vision-language-action (VLA) models often expose spatial grounding through autoregressive text coordinates or opaque action tokens, creating brittle interfaces between multimodal reasoning and robot execution. We present Pointing-VLA, a typed hidden-state spatial readout built on Embodied-R1. Geometry-specific heads predict normalized points, object-functional grounding (OFG) heatmaps, and visual trajectories without serializing geometry as text. For the evaluated Bridge/WidowX and physical pick-place deployments, an explicit execution contract assigns PICK to source-conditioned OFG and PLACE to Pointing, providing direct stage-aligned spatial targets. Pointing-VLA achieves SOTA performance on Bridge/WidowX, averaging 72.9\% across the evaluated four-task set without Bridge-specific finetuning under collision-enabled CuRobo execution. Pointing and OFG show complementary strengths across native and cross-dataset evaluations. The OFG/contac

arXiv:2608.23100v1 Announce Type: new Abstract: Robot co-design via bi-level optimization couples within-lifetime controller learning for fitness evaluation with cross-generational morphological evolution. Prior work has established that well-adapted morphology facilitates faster control learning, a property termed morphological intelligence. Yet how control learning reciprocally shapes morphological evolution remains unexplored. This paper examines both directions for a holistic account of brain-body interplay. We first show that morphological contributions to control learning decouple into two orthogonal dimensions. We formalize the convergence speed as morphological intelligence and identify the performance ceiling as a complementary quantity termed true potential. A concise functional relation is then established to jointly characterize both quantities from individual learning curves, which, when aggregated at the population level, capture evolutionary profiles. Through extensive e

arXiv:2608.23068v1 Announce Type: new Abstract: Source seeking arises in applications such as gas leak localization, radiation monitoring, and environmental surveillance, where the origin of an unknown signal field must be estimated from spatial measurements. In practice, the source location is not directly observable and must be inferred from noisy scalar measurements collected during motion.In robotic source seeking, estimation and motion are closely linked: measurements improve the source estimate, while the chosen trajectory affects the quality of future measurements.Existing loop-based geometric strategies generate feasible motion but do not explicitly use estimation uncertainty to regulate direction updates.This paper presents a loop-based source-seeking framework that combines Extended Kalman Filter (EKF) estimation with Fisher Information Matrix (FIM)-based direction selection. The source estimate is updated during motion, and the heading is changed at loop boundaries using bot

arXiv:2608.23040v1 Announce Type: new Abstract: RoboRacer offers a standardized platform for research using 1:10-scale autonomous vehicles, but the variety of available tracks hinders the process of acquiring policies. Although existing occupancy-grid simulators allow for the quick addition of new maps, they fail to include physical contact, while 3D simulators require each circuit to be implemented as a separate asset, thus limiting their scalability. In order to overcome this issue, we have developed RoboRacer Arena, a system that creates 3D racing environments directly from occupancy maps. Our method starts by using a flood fill algorithm to extract the drivable corridors and to identify the track boundaries, which are then used to establish the barriers. A distance field is calculated to define the collision boundaries. The track surfaces, collision properties, and materials are assembled into a USD stage, which allows for the automated and reproducible generation of the environmen