新闻与研究

arXiv:2611.04334v1 Announce Type: new Abstract: This paper presents humanoid manipulator hardware designed specifically for human-level performance throughout its broad domain of tasks, from heavy payloads to highly dynamic motions. Unlike conventional designs targeting uniform workspace capability, the proposed approach derives force, speed, and endurance targets from published measurements of task-relevant human upper-limb performance. These targets guide the actuator, mechanism, and thermal design toward torque transparency and sustained operation. The platform integrates force-oriented upper-arm components, speed-oriented forearm components, and a posture-dependent elbow mechanism that shifts its torque-speed behavior. These components are driven by planetary actuators and compact actuator-embedded electronics. Experimental results validate broad task capability, demonstrating a peak payload of 20 kg (2.25x its own mass), an endpoint speed of 20.6 m/s, and continued operation under

arXiv:2611.04255v1 Announce Type: new Abstract: Operating rooms (ORs) increasingly contain ambient sensing infrastructure to enable AI-based optimization of workflows and utilization. We pursue an alternative path: using ambient AI to guide robot action and optimize utilization. Deploying humanoids in the OR without ambient AI is severely limited by cumbersome de novo orientation and planning due to partial onboard observations. We posit that this can be achieved by coupling an ambient AI-based agentic orchestrator with the humanoid robotic actor, providing shared perception and execution feedback for humanoid autonomy in the OR. ActOR fuses a wall-mounted ambient camera and the robot's head-mounted camera into a shared object-level digital twin (DT). A large language model agent plans over the DT using pre-programmed locomotion and manipulation skills without task-specific training. During execution, DT updates and execution outcomes inform retries, alternative approaches, or replanni

arXiv:2611.04226v1 Announce Type: new Abstract: Disturbances can invalidate the conditions required by a robot's next action even when much of its task program remains useful. A recovery system must therefore choose a response suited to the current state. We present DiMuRe (diagnosis-guided multilevel recovery), a framework for robot-use agents that uses phase-specific evidence and method preconditions to select program reuse or predefined recovery skills, including bounded vision-language-action (VLA) grasping. After the original program exits, a multimodal large language model (MLLM) can generate corrective code from images and execution feedback. Local verification checks the outcome of each recovery attempt. We also introduce LIBERO-Disturb, a benchmark for robustness and recovery under mid-execution disturbances, supporting program-based agents and VLA policies. On 801 scheduled disturbed Encore development cases, Local DiMuRe (program reuse and recovery skills) achieves 77.65% co

arXiv:2611.04204v1 Announce Type: new Abstract: Humanoid locomotion requires deciding where to step and how to distribute contact forces. However, a disturbance can invalidate the nominal plan, requiring coordinated revision under constraints that switch with every footfall. To solve this online, the proposed approach employs the single-rigid-body model, which retains attitude dynamics and the full contact wrench. An iterative linear-quadratic-regulator MPC (iLQR-MPC) then jointly optimizes contact forces and footstep locations in a single receding-horizon problem, without a separate step planner. Specifically, contact and motion constraints are incorporated into the backward pass through augmented-Lagrangian and relaxed-barrier penalties. A whole-body controller subsequently maps the plan to joint torques at 500 Hz while preserving contact feasibility. The model-based formulation makes disturbance responses interpretable through explicit costs and constraints, and requires no platform

arXiv:2611.04176v1 Announce Type: new Abstract: This paper presents an innovative guidance and control method for a space manipulator that actively maneuvers its base to hold a tumbling object stationary relative to the base during proximity operations. This simplifies motion planning, reduces collision risk, and enables impact-free capture using single- or multi-arm configurations, with or without predefined grasping interfaces. The proposed approach involves two phases. In the pre-grasping phase, a synchronization control aligns the target's center of mass (CoM) with the system's instantaneous center of rotation (ICR), virtually rigidizing the target-servicer system to keep the object stationary for reliable grasping. In the post grasping phase, a control strategy based on Hamiltonian dynamics and optimal control stabilizes the combined system by minimizing time, fuel, or energy, while respecting base torque limits and multiple grasping constraints. For structured targets, applied fo

arXiv:2611.04096v1 Announce Type: new Abstract: Hamilton-Jacobi (HJ) reachability provides certified backward reachable tubes (BRTs) for safety-critical robotic systems, but the level-set computation scales exponentially in the state dimension and has historically been performed offline. As autonomy stacks (ADAS/AV, humanoid robotics, and vision-language-action models) increasingly rely on black-box, probabilistic policies, a deterministic safety layer with formal guarantees is an essential complement. We present a CUDA implementation of the canonical WENO5 + TVD-RK3 + Lax-Friedrichs level-set Hamilton-Jacobi-Isaacs solver for 2D, 3D, and 4D dynamics that is fast enough to run inside a robot's control loop. In 32-bit floating point (FP32) on a single workstation GPU (NVIDIA RTX 4000 Ada), it computes the 3D Air3D BRT at 112 Hz, a 4D pursuit-evasion BRT at 61 Hz, and a 2D wind-affected drifter BRT at 74-147 Hz, 5.9-17.5x faster than the JAX reference hj_reachability at matched precision

arXiv:2611.04083v1 Announce Type: new Abstract: As robot learning moves beyond the tabletop, many tasks require mobility, adjustable reach, active perception, and bimanual dexterity. Commercial platforms combining these capabilities are costly, while affordable open-source alternatives cover only a subset and require software integration. We present MABEL, an open-source anthropomorphic mobile bimanual robot with 56 degrees of freedom (DOF) and a US$8.1k parts cost. It combines two 7-DOF arms with 17-DOF hands, a pitching torso, a lift, a 3-DOF neck, and a holonomic base. Back-drivable arms and torso support compliant interaction, with fingertip reach from floor level to 2.23 m. The head and torso roughly triple modeled camera coverage relative to a torso-fixed camera. Apple Vision Pro head and hand tracking enables whole-body teleoperation without handheld controllers, with 137 ms mean glass-to-glass stereo video latency over the robot's Wi-Fi hotspot. We demonstrate an end-to-end imi

arXiv:2611.04080v1 Announce Type: new Abstract: A mobile manipulator asked to "put the toys away in the toy box" must decide which objects are toys and which container the user means, then find base poses, grasps, and placements it can execute. Because a scene representation is built before the instruction is known, it may lack the attributes, affordances, or concepts needed to resolve the task. We present FEIJOA, a language-model agent that grounds the instruction at test time. It queries a grounding tool over a posed RGB-D scan, inspects the returned candidates, and refines its queries until they resolve the instruction. An embodiment-aware harness checks each skill's preconditions, samples base poses from which the target is reachable, and verifies the skill's effect from observations before and after execution. On 103 open-ended grounding queries, FEIJOA resolves 94.2% exactly, compared with 68.0% for the best prebuilt representation. Over 50 real-world trials on Spot, it completes

arXiv:2611.04027v1 Announce Type: new Abstract: Causal inference has emerged as a powerful paradigm enabling robots to make safe, efficient decisions by reasoning about the ``why'' behind events. However, its real-world application is hindered by the difficulty of collecting causal data, especially in human-populated environments where training takes time, while users expect immediate operation. To this end, we tackle the challenge of transferring simulation-learnt causal relations to the real world with minimal effort. While retaining the invariant high-level causal structure, we empirically demonstrate the system adapts efficiently to real-world situations by updating only the causal model parameters with a limited set of new observations. Our results show that the parameter update enables rapid sim-to-real transfer. The framework runs efficiently onboard of a mobile robot and significantly outperforms a non-causal baselines navigating successfully and safely in complex human-shared

arXiv:2611.03975v1 Announce Type: new Abstract: Robot swarms harness simple, local interactions among many individually limited robots to produce complex, coordinated collective behavior, making them valuable across domains from agriculture to disaster response. We envision the next frontier for such swarms as open swarms, in which robots join or leave the swarm dynamically at runtime. The ability to dynamically adjust swarm size has been shown to be beneficial, for instance by reducing inconsistencies and network partitioning, especially under sparse connectivity or in complex environments, ultimately improving task performance. For practical deployment, however, open swarms requires governance, particularly protection against Byzantine behavior (i.e., faulty or malicious robots), since allowing robots to join freely also makes the swarm easier to infiltrate. Blockchain technology has recently been incorporated into robot swarms, offering secure, decentralized coordination and improve

arXiv:2611.03944v1 Announce Type: new Abstract: Computing distances between sets is important in many robotic applications, such as motion planning and control. In many applications, derivatives of the distance are needed as well. It is well known that the Euclidean distance is not always differentiable, which create issues to algorithms that need a derivative. In this paper, we introduce NESDF, the Normal Euclidean Signed Distance Function between two general (with mild regularity assumptions but possibly non-convex) sets. This metric is still not differentiable, but it allows us to introduce a generalization, $h$-NESDF, which has a smoothing parameter $h$ such that the metric is infinitely differentiable for all $h>0$ and that reduces to the NESDF when $h$ goes to $0$. The metric is amenable to GPU parallelization, and thus can be computed efficiently. We show extensive simulation results to evaluate its viability in motion planning.

arXiv:2611.03932v1 Announce Type: new Abstract: Feature matching underpins many robotic perception tasks, including visual localization, mapping, SLAM, and autonomous navigation. Existing semi-dense matchers predict confidence on fixed grids, limiting correspondences to predefined locations and requiring costly high-resolution grids for precise localization. We present CoReMatch (Coordinate Refinement Match), a recurrent framework that refines correspondences directly in continuous coordinate space rather than predicting discrete confidence maps. CoReMatch progressively improves correspondence estimates by propagating information across iterations. At the coarse stage, a Deep Aggregated Transformer captures global context and iteratively updates correspondence coordinates, while a lightweight regression head further sharpens their localization. Experiments on indoor and outdoor benchmarks show that CoReMatch strikes a strong balance between accuracy and efficiency, outperforming Effici

arXiv:2611.03850v1 Announce Type: new Abstract: Simulation benchmarks are the standard way to compare robot policies, but each benchmark brings its own evaluator, observation layout, and action convention, and evaluation is slow: 500 RoboTwin Easy episodes with one simulator and one model on one GPU take 359.7 minutes. Profiling the official StarVLA evaluator shows that simulation occupies CPU cores while the GPU averages 14.3% utilization. RoboScope Kit wraps each model once in a Python class called a Policy, and each benchmark once in an adapter around the benchmark's own evaluator, so the benchmark's rules and scoring stay unchanged. Scheduling runs simulator workers and Policy replicas as separate pools, sizes both from measured probes, and shards work deterministically across GPU instances; runtime optimization renders only the observations an action-chunk Policy reads. Adapters cover six benchmark families. On LIBERO-Long with a StarVLA checkpoint on one 48 GiB RTX 4090, the conc

arXiv:2611.03825v1 Announce Type: new Abstract: In robotics, shape control, or shape servoing, refers to the automatic manipulation of a deformable object toward a desired shape. This article is the second of a two-part tutorial on data-driven, Jacobian-based shape control, in which the deformation Jacobian, a local model of how robot motion changes the measured shape, is estimated from measurements. Part I built the shape-servoing loop and derived a local stability condition. This paper starts by using the singular value decomposition of the deformation Jacobian to identify shape changes that can be produced by small robot motions, those that require large robot motions, and those that are locally unavailable. It then analyses how the choice of shape features determines how the controller regulates the object's shape and, therefore, how much the object deforms on its way to the target. It then describes three ways in which the shape control loop can fail: loss of controllability, loss

arXiv:2611.03815v1 Announce Type: new Abstract: AIRoA-0 (A-0) is a bimanual manipulation system learned from 16,151 hours of handheld demonstrations, with no robot data collected at any stage. The demonstrations are recorded with YUBI, our open-source handheld gripper, which lets people record manipulation data anywhere with no robot present. From a single instruction, A-0 sorts more than a dozen small parts into their numbered cells and changes the mop pads and brush of a robot vacuum; among other tasks, it unzips a pencil case and folds a towel. It performs these tasks using only a camera on each wrist, with no head or scene camera, at a site where none of its training data was recorded. Across the ten tasks of our evaluation, it averages a success rate of 78%, against 27% for the strongest of four other vision-language-action models post-trained on the same task demonstrations. We collect no teleoperation data and use no reinforcement learning or on-robot corrections, and the robot