新闻与研究

arXiv:2610.35252v1 Announce Type: new Abstract: Realizing Embodied AI for Science requires robots to translate experimental goals into reliable physical procedures, reducing hazardous and repetitive human work while generating evidence for scientific discovery. Although language-based planning and learned manipulation provide complementary capabilities, their integration requires robots to adapt subsequent operations to actual execution outcomes. For example, an unsuccessful placement changes what must be done next, even when the experimental goal remains unchanged. Existing benchmarks assess planning, manipulation, and laboratory workflows through task completion and reasoning or execution metrics; however, aggregate performance leaves the connection between outcome-dependent choices and physical execution unresolved. To address this evaluation gap, we introduce Labference, a benchmark for evaluating how observed physical outcomes guide subsequent choices and how those choices transla

arXiv:2610.35231v1 Announce Type: new Abstract: Adaptive robot perception systems must balance detector accuracy, inference latency, and energy consumption, particularly when high ambient temperatures cause processors to thermally throttle. We propose Thermal-Headroom Routing (THR), a lightweight model-selection policy that forecasts processor temperature using a closed-form RC thermal model and excludes detector configurations predicted to cross a throttling threshold. We evaluate THR with four YOLO11 configurations across seven real-world perception traces, eight ambient temperatures, and 20 randomized seeds, comparing it with latency-aware routing, fixed-threshold thermostats, duty caps, and a matched-compute-budget control. At ambient temperatures of 45-55 degrees C and a tight inference deadline, THR eliminates throttling in simulation, reduces deadline misses by 3.9-7.5 percentage points, and reduces energy per on-time frame by approximately 12-13% relative to a latency-belief ro

arXiv:2610.35172v1 Announce Type: new Abstract: Existing robot navigation methods primarily focus on isolated tasks, overlooking the need to accumulate knowledge and experience across repeated navigation episodes. Although recent lifelong navigation methods have explored cross-task knowledge accumulation, they mainly focus on scene knowledge while neglecting historical navigation experience and its connection to scene evidence, limiting the ability to reflect on past mistakes and improve future decisions. To address this limitation, this paper presents RetroNav, a training-free self-evolving navigation framework that integrates navigation, memory accumulation, and failure reflection. Specifically, we develop a unified memory system that connects geometric and semantic scene knowledge with historical navigation experience, distinguishing objective observations from task-dependent interpretations. After each navigation attempt, an independent evaluator determines whether a retry is neces

arXiv:2610.35165v1 Announce Type: new Abstract: Quadrotor controller comparisons commonly report a single tracking error, although the resulting ranking also depends on tuning effort, reference information, actuator prediction, optimizer fallback, and command timing. We quantify these effects for cascade PID, hover LQR, boundary-layer sliding-mode control (BL-SMC), linear MPC with LQR fallback (LMPC-F), a preview-enabled LMPC-F, and a geometric $SO(3)$ controller on a common nonlinear plant with rotor gyroscopic coupling, motor lag, and saturation. A primary study (556 episodes at 50~Hz) combines matched twelve-candidate tuning, 400 paired evaluation episodes, and a 48-cell MPC factorial; a confirmation study (1462 episodes) repeats the evaluation on 50 fresh realizations with tuning budgets of 12, 24, and 48 candidates. A matched twelve-candidate tuning protocol changed the mean-RMSE ordering obtained with the fixed baseline settings, moving BL-SMC from last to first; the new ordering

arXiv:2610.35103v1 Announce Type: new Abstract: Dexterous manipulation of rigid objects has reached a level of maturity where grasp stability, control, and planning strategies are successfully applied in industry and logistics. In contrast, manipulating deformable objects (cables, plastic pieces, cloth) remains far more challenging, as rigid-object methods do not account for their additional complexity. This paper identifies semantic failure analysis as a key step toward mature deformable-object manipulation and supports this claim with proof-of-concept experiments. Unlike rigid-object manipulation, where goals are well-defined in terms of criteria such as force balance and slippage, deformable-object manipulation involves a broader variety of failure modes arising from differences in materials, geometry, and behaviour. Typical failures include buckling, plastic deformation, pressure variations, and tearing. These diverse and often hard-to-detect events require distinct corrective stra

arXiv:2610.35075v1 Announce Type: new Abstract: Learning generalizable humanoid loco-manipulation remains bottlenecked by costly real-world demonstrations. Simulation provides a scalable alternative, but requires visually faithful, physics-ready scenes and executable whole-body motions. We present Zero-HLM, a real-to-sim-to-real framework that transforms smartphone captures and simulated source demonstrations into scalable training data for humanoid loco-manipulation. Gaussian-guided agentic real-to-sim reconstruction aligns visual and physical scenes; motion-environment co-adaptation uses rollout feedback to correct whole-body references and interaction geometry. We generate 4,800 physically validated demonstrations for zero-shot transfer across three Unitree G1 tasks. Simulation-trained GR00T N1.7 achieves 66.7% mean full-task success, versus 46.7% with real-data training. On generalized configurations, expanded simulation training raises pooled success from 23% for base-trained real

arXiv:2610.35062v1 Announce Type: new Abstract: Large vehicles in cluttered environments are often blocked by movable obstacles, motivating mobile robot teams to clear traversable corridors. Navigation Among Movable Obstacles (NAMO) approaches often abstract obstacle displacements while neglecting robot dimensions, obstacle mass, contact geometry and forces, yielding physically infeasible plans. PushAround is a physics-informed hybrid search that couples geometric connectivity reasoning with short-horizon simulation to construct executable clearing plans. Repeated W-clearance connectivity graph (WCCG) queries expose frontier gaps requiring widening and rank them by estimated downstream costs. The search generates direct or recursive pushing candidates, selecting obstacles, directions, contacts and forces, and admits physics-evaluated candidates. Numerical experiments validate WCCG against standard connectivity checks and demonstrate scaling to denser clutter and teams of up to four rob

arXiv:2610.35058v1 Announce Type: new Abstract: Estimating forces acting on Deformable Linear Objects (DLOs) is challenging due to their underactuated nature. However, reliable contact estimation is crucial to precisely control them and enable safe manipulation tasks. Differently from the various approaches presented in the literature, this work adopts a probabilistic formulation where the DLO state and sensor data are related through conditional distributions. In particular, factor graphs are used to determine the magnitude, direction, and location of a 3D force acting on a DLO, while simultaneously reconstructing its shape. Since DLOs are not actuated and are typically thin, like cables and wires, strain gauges and actuation readings are usually impractical. Therefore, to overcome this issue, this work is tested using one type of sensing information only, thus developing a generic technique suited for a wider variety of tasks. Realistic tests are performed by introducing noise into t

arXiv:2610.35010v1 Announce Type: new Abstract: Vision-language-action (VLA) policies can select among discrete candidates for pick-and-place manipulation or generate continuous action chunks for motion control. Improving both forms of decision making through a common mechanism while retaining the capabilities of a pretrained policy is an important adaptation problem. Inspired by Jev's structured, probabilistic decision interface, we propose JevVLA, a lightweight energy-based adaptation framework for VLA policies. JevVLA instantiates this inspiration by modeling the relative quality of action proposals: with the base policy frozen, it learns a differentiable scalar energy conditioned on observations, task context, and actions, using execution feedback, expert corrections, or demonstration-derived preferences. JevVLA uses this single learned action preference function in two ways: its values compare discrete candidates, while its action gradients correct continuous actions or guide thei

arXiv:2610.34929v1 Announce Type: new Abstract: Dynamic target tracking requires a mobile robot to maintain target visibility while navigating obstacles with smooth, feasible controls. Online trajectory optimization explicitly encodes these objectives but requires repeated numerical solving, whereas waypoint-based neural policies separate geometric prediction from control execution. We introduce LECO, a framework that transfers tracking optimization into offline learning of a direct-control policy. LECO predicts control sequences and maps them to trajectories through a differentiable kinematic model, allowing trajectory-level objectives to directly guide control learning. A decaying expert-guidance curriculum initializes effective tracking behavior and progressively shifts learning toward these task objectives. At deployment, a predictive safety lock checks short-horizon obstacle clearance and invokes a classical planning and control fallback when the predicted motion is unsafe or the

arXiv:2610.34893v1 Announce Type: new Abstract: Grasping is a foundational capability in robotic manipulation. Scene-level 6-DoF grasp synthesis relies on point clouds for metric geometry, yet real-world point observations are often noisy, incomplete, and over-smoothed. RGB images provide object-region, boundary, and appearance cues, yet two bottlenecks limit their effective use in scene representation and local grasp reasoning. We present MMGNet, a Multi-Modal Grasp Synthesis Network that addresses these bottlenecks through hierarchical image-to-3D feature injection and rotational graspness modeling. Hierarchical injection integrates multi-scale image features throughout 3D representation formation, while the rotational graspness jointly predicts the grasp approach direction and in-plane rotation before organizing local image-informed features through grasp-shaded grouping. Ablation studies show that these two modules provide complementary gains. MMGNet achieves a mean AP of 60.34 on

arXiv:2610.34873v1 Announce Type: new Abstract: This paper studies UAV swarm search in GNSS-denied maritime environments, where inter-UAV ranging drives cooperative localization and uncertainty propagates along the multi-hop reference chain, affecting connectivity, collision avoidance, and search effectiveness. We propose an uncertainty-aware control barrier function (CBF) framework approximating cascading localization covariance through Fisher information matrices. First, the cascading covariance model captures how ranging noise and neighbor uncertainty accumulate along the localization chain. Second, uncertainty-tightened CBFs incorporate the covariance model and its rate into margins for connectivity maintenance and collision avoidance, with conditional invariance and graceful-degradation bounds. Third, a hierarchical Voronoi-target strategy with formation keeping supports efficient forward-looking coverage. The distributed controller is validated with a standard unbiased extended K

arXiv:2610.34849v1 Announce Type: new Abstract: This paper studies the constrained pointing control problem of airborne electro-optical gimbals subjected to composite periodic and aperiodic disturbances. Under carrier vibration, input delay, and actuator constraints, achieving line-of-sight stabilization and tracking is challenging. A disturbance-separated model predictive control (MPC) scheme is proposed to compensate these heterogeneous disturbances according to their physical characteristics. An adaptive periodic observer predicts multi-harmonic vibrations over the MPC horizon using linear-regression frequency estimation. A linear observer estimates the aperiodic disturbance, and a bounded long short-term memory (LSTM) network predicts its change over the input delay. Embedding periodic predictions into the MPC model while applying aperiodic compensation outside the optimizer limits amplification of aperiodic estimation errors and improves pointing accuracy under frequency changes a

arXiv:2610.34839v1 Announce Type: new Abstract: Human behaviour models are increasingly used to provide simulated human interactions for training robots via reinforcement learning (RL). Existing approaches primarily evaluate these models according to how closely their generated behaviours resemble real human data, while their usefulness as training partners is less commonly assessed. This creates a potential objective mismatch: a model that performs well according to behavioural evaluation metrics may not necessarily provide useful training experiences for downstream robot policy learning. Across two human-robot interaction (HRI) domains, highway driving and object handover, we evaluate different types of human behaviour models using common generative-model evaluation metrics. We consider multiple human trajectory representations and compare the resulting evaluations with the downstream performance of RL policies trained using the corresponding models. We find that existing behavioural

arXiv:2610.34789v1 Announce Type: new Abstract: Quadrotor interceptors equipped with strapdown cameras offer a low-cost solution for physically countering unauthorized UAVs. However, this configuration inherently couples vehicle maneuvering and camera pointing, creating a conflict between rapid closing and maintaining target visibility. We present interception-oriented spherical-bearing nonlinear model predictive control (ISB-NMPC), which couples spherical-bearing prediction with nonlinear quadrotor dynamics to jointly optimize target-directed closing motion and visibility. An attitude-compensated extended Kalman filter on S^2 estimates target bearing motion, compensates for perception delay, and predicts target bearings to guide scale-adaptive detection. Across 30 paired simulation trials, ISB-NMPC achieves an interception success rate of 86.7%, the highest among the evaluated controllers, with a mean per-trial target-visible time of 99.11%. Outdoor flights demonstrate acquisition of