RoboArxiv

Robotics • Embodied AI • World Models

最近 7746 篇
2026-08-03
85 篇
Robotics
74
默认显示 5 篇
Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data
Ye Wang, Pei Lin, Xiong-Hui Chen, Haoqi Yuan, Zhixuan Liang, Yiyang Huang, Anzhe Chen, Zixing Lei, Jie Zhang, Tao Zhang, Haoyang Li, Tong Zhang, Chenxi Xiao, Ziyuan Jiao, Qin Jin
arXiv:2608.02580v1 • 2026-08-03
Learning generalizable robot manipulation policies requires large-scale and diverse demonstration data. Egocentric human manipulation videos offer rich scene and task diversity, and prior work has shown that retargeting and rendering such videos into robot-format data can yield effective per-task policies at small scale. However, whether this approach can provide pretraining benefits for vision-language-action models at scale remains unexplored. We present \textbf{Ego2Robot}, a scalable pipeline that converts egocentric human manipulation videos into robot training data through action retargeting, robot-arm visual synthesis, and multi-level quality curation. Ego2Robot supports both curated datasets and in-the-wild videos, producing 18,561 hours of robot training data spanning 15 robot morphologies, making it the largest ego-to-robot dataset to date. To evaluate generalization, we extend RoboTwin2.0 with disentangled perturbation axes covering visual appearance, scene layout, embodiment morphology, and task semantics. Experiments show that joint pretraining on Ego2Robot-synthesized and robot data consistently improves out-of-distribution generalization across multiple perturbation types, with benefits validated on real-robot deployment. Project page: https://www-ye.github.io/ego2robot_blog/
arXiv PDF
CoWAM: Coordination Contracts for Selective Policy Intervention with WAMs
Shuaijun Liu, Qifu Wen, Shuyang Hao, Qi Luo, Chenglong Zhang, Feiyang You, Chengyu Wu, Ningxin Su
arXiv:2608.02578v1 • 2026-08-03
World Action Models (WAMs) augment robot policies with action-conditioned predicted futures, but a plausible future alone does not justify changing the action that a bimanual policy would execute. We present CoWAM, a selective intervention layer that expresses synchronization, role compatibility, and collision convergence as coordination contracts. Each contract combines typed admissibility checks with event-conditioned verification and calibrated intervention gates. CoWAM preserves the nominal action unless an alternative satisfies every active obligation and provides a clear, low-risk improvement; when the nominal action is also inadmissible, it invokes a predefined abstention fallback. To separate selector quality from proposal quality, all methods operate on identical candidate pools and commit their decisions before shared oracle labeling. Across eight simulated bimanual tasks, CoWAM improves coordination-valid selection by 16.7 percentage points over the contract-only variant and raises closed-loop success by 9.6 percentage points over the strongest selective baseline, while keeping harmful interventions below 1%. Together, these results establish coordination contracts as an effective interface for conservative policy intervention with predicted world-action evidence across coordination-rich bimanual tasks.
arXiv PDF
Situation Aware Frontier Prioritization for Quadruped Search and Rescue
Kevin Farias, Santiago Martin, Barbara Flores, Vinicio Melgar, Igor Nunes, Hiago Sodre, Pablo Moraes, Ricardo B. Grando
arXiv:2608.02571v1 • 2026-08-03
Quadruped robots are a promising platform for search and rescue missions because they can navigate cluttered indoor environments that may be restrictive for wheeled systems. However, in unknown rescue scenarios, autonomous exploration must balance map expansion with the likelihood of finding victims, which is not explicitly addressed by clas- sical frontier selection strategies. This paper presents a situation aware frontier prioritization method for single robot quadruped search and rescue. The proposed approach preserves the frontier exploration framework, but extends frontier ranking with information gain, observation deficit, rescue relevance, terrain penalty, and travel cost. The method is eval- uated in Gazebo simulation with a quadruped robot in two indoor rescue scenarios with different levels of difficulty. The first scenario is used as a sanity check, while the second introduces stronger clutter and frontier ambiguity. Experimental results show that all methods perform reliably in a simple scenario, whereas in a complex scenario is different. In that setting, the proposed method achieves the highest completion rate and the highest victim recovery among the evaluated approaches. These results indicate that situation aware frontier prioritization is beneficial when frontier choice becomes nontrivial and rescue utility must be balanced against generic exploration objectives.
arXiv PDF
Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control?
Filippo Lazzati, Kyle Stachowicz, William Chen, Alberto Maria Metelli, Andrew Wagenmaker, Sergey Levine
arXiv:2608.02547v1 • 2026-08-03
Action chunking---predicting and executing multiple actions instead of a single action---has proven to be a critical component for learning effective robotic control policies. However, our precise understanding of why action chunking improves performance has remained limited. In this work we seek to close this gap. Through rigorous experimental evaluations in both simulated and real-world settings, we show that existing hypotheses for the success of action chunking---temporal consistency, horizon reduction, and representation learning---fail to explain the success of action chunking. Instead, we find that action chunking benefits from greater non-Markovian expressivity and reduced compounding error compared to Markovian policies, but, in many settings of interest, these effects can be fully captured by delayed policies, which at each step predict a single action based on the observation $k$ steps in the past. We then show that there exists an additional benefit of action chunking that we refer to as implicit ensembling. In particular, by learning a diversity of temporal relationships (that is, $a_t | o_t, a_t | o_{t-1}, \ldots$), action-chunked policies exhibit behavior matching that of a model ensemble, increasing their robustness and generalization ability over policies that only learn a single temporal relationship. Building on these insights, we show that in simulated and real-world robotic control settings, we can match the performance of action chunking without action chunking---by deploying an action chunking policy as an ensemble of policies with randomized delays. Furthermore, we propose a policy class that amplifies the benefits of action chunking by explicitly instantiating an ensemble, and which we show significantly improves over the performance of action chunking in many domains.
arXiv PDF
Probabilistic Reachable-Action Verification of Visuomotor Policies via Set-Based Training
Yanliang Huang, Zhuocheng Zhang, Peng Xie, Zhen Zhang, Wenyuan Wu, Majid Khadiv, Zhuoqi Zeng, Amr Alanwar
arXiv:2608.02545v1 • 2026-08-03
Reachability analysis for visuomotor policies is difficult because large visual encoders make end-to-end set propagation computationally expensive and excessively conservative. We therefore freeze the visual encoder and confine set propagation to a low-dimensional interface between it and the downstream policy, with the interface set calibrated from held-out camera-pose perturbations. Propagating this set through the policy with zonotopes yields a terminal output-enclosure width that set-based training optimizes directly. During evaluation, camera-pose perturbations are sampled from the prescribed distribution, and rollout-level split conformal calibration converts the resulting action-deviation scores into a probabilistic reachable-action radius with finite-sample coverage. In controlled manipulation experiments, set-based training reduces this radius while preserving closed-loop task capability, and matched behavior-only, observational-consistency, and pointwise-adversarial controls all leave a larger radius.
arXiv PDF
Video World Models
11
默认显示 5 篇
WorldExam: Benchmarking World Models from Apparent Appearance to Inherent Reactivity
Yuxue Yang, Shuyao Shang, Jiahe Wang, Zitong Zhou, Liang Tan, Junhan Zeng, Ruizhi Li, Junyan Li, Yu Liu, Xiao Yang, Yong Li, Jun Zhu, Hongsheng Li, Tieniu Tan, Lue Fan, Zhaoxiang Zhang
arXiv:2608.02603v1 • 2026-08-03
Controllable video generation models are increasingly being developed as world models. Accordingly, evaluating them in this role extends beyond the apparent appearance of generated videos to the inherent reactivity of the worlds they depict: the ability to infer from the scene state how the world should react and to generate plausible consequences not explicitly described in the input. Yet existing benchmarks mainly assess visual quality or explicit instruction fulfillment by checking whether requested actions and interaction outcomes are realized, leaving inherent reactivity underexamined. We introduce WorldExam, a hierarchical diagnostic benchmark spanning four levels: Visual Quality, Control Adherence, Spatial Consistency, and World Reactivity. It comprises 1,474 cases across eight dedicated tasks and supports unified evaluation of camera-, action-, and language-driven model paradigms. The World Reactivity level evaluates scene-conditioned reactions and goal-directed behaviors beyond what is explicitly specified in the input. Evaluation of 20 representative models reveals a clear capability split. Camera-driven models excel at camera control, but their interfaces do not support dynamic interaction; action-driven models control subjects more precisely but often leave the world unresponsive; and language-driven models perform better on interaction but follow complex controls less faithfully. No model combines broad task coverage with consistently strong performance, showing that high visual quality and explicit instruction fulfillment do not guarantee inherent reactivity.
Comment: Project Website: https://WorldExam.github.io
arXiv PDF
DF$^3$: World Modeling via Decoder-Free Feature Forecasting in Autonomous Navigation
Jiaming Chen, Guoan Xu, Aoshen Huang, Haozhuo Zhang, Yang Li, Wei Pan
arXiv:2608.02428v1 • 2026-08-03
Forecasting future states from video sequences is a critical challenge for autonomous robotic systems and a fundamental objective of world modeling. Prior generative methods operating at the pixel level inevitably overemphasize task-irrelevant details, leading to prohibitive computational overhead. While latent-based approaches attempt to mitigate this by predicting features directly, the persistent reliance on heavy decoders for state-to-task mapping remains a computational bottleneck. In this work, we propose Decoder-Free Feature Forecasting (DF$^3$), a novel framework that models world evolution entirely within the latent space and directly derives task outputs, completely eliminating the need for a decoder. Specifically, DF$^3$ injects learnable spatial queries into the terminal blocks of a frozen vision foundation model to extract future state representations directly. By employing a lightweight, unified Motion-Aware Context Fusion (MACF) mechanism that seamlessly integrates coarse flow warping with fine-grained latent cross-correlation, these queries interact with historical token representations to explicitly align and forecast the feature of the next frame. Subsequently, a specialized set of task queries probes these forecasted features for the downstream task. Extensive experiments on public benchmarks and zero-shot deployment in a robotic simulator demonstrate that DF$^3$ achieves performance comparable to state-of-the-art methods while offering superior efficiency and flexibility for integrated perception and control.
arXiv PDF
MoWorld: A Flash World Model
Team Moxin, Deyi Ji, Tianrun Chen, Xin Zhang, Jiale Yang, Qi Zhu, An Zhao, Zihao Xie, Han Wang, Xuanyi Liu, Yixiang Zhou, Pei Liu, Yi Tan, Cheng Chen, Dayi Zhu, Mingyu Wei, Hanjie Xu, Jun Liao, Siqi Li, Lingyu Lu, Hongye Fang, Hongming Tan, Youjiang Zhu, Taiyu Zhang, Zejian Li, Chaotao Ding, Zhipeng Liang, Wenxuan Song, Yi Li, Baochuan Yang, Xin Jiang, Ben Feng, Jingyuan Zou, Yanlin Liu, Rong Shi, Lingfeng Li, Liyi Yao, Lanyun Zhu, Yunhe Pan, Lingyun Sun
arXiv:2607.06216v2 •updated • 2026-07-07
The future of World Models depends not only on scaling model capability, but also on scaling practicality and inference efficiency. High-frame-rate inference enables responsive perception, planning, and control in real-world autonomous systems. To this end, we present MoWorld, a cost-effective yet high-performance Flash World Model with an end-to-end framework spanning data generation, pre-training, distillation, and efficient inference, enabling up to 50 FPS real-time interaction with cinematic visual quality without the need of high-end GPUs. To enable large-scale real-world deployment, MoWorld jointly optimizes model capability and cost throughout the entire development pipeline. Specifically, unlike existing approaches that primarily rely on large-scale video corpora, MoWorld is built upon a scalable 3D-native data engine accumulated from our large-scale 3D vision and generative modeling pipeline, enabling the efficient construction of geometrically consistent training data across diverse real-world and synthetic environments. Based on this foundation, a curriculum cross-frame pre-training strategy for stable and scalable World Model learning, an efficient denoising-step distillation algorithm to reduce diffusion training cost, and a mixed-precision parallel inference framework for low-cost real-time deployment. MoWorld is the first real-time interactive World Model built on the Neural Processing Unit (NPU) and can achieves up to 50 FPS in such the devices, enabling practical and efficient deployment at scale. Comprehensive evaluations demonstrate that MoWorld achieves leading performance; notably, its average inference cost is only 30\%-50\% of that of existing World Models, providing a practical foundation for large-scale real-world applications of World Models. We also demonstrate diverse applications of MoWorld.
Comment: Project Page: https://moxin-tech.github.io/moworld/
arXiv PDF
Faster-WAM: Do World Action Models Need Deep Action Modules?
Liheng Ma, Rui Heng Yang, Zhanguang Zhang, Mateo Clemente, Ziwen Hu, Tongtong Cao, Yingxue Zhang
arXiv:2608.02365v1 • 2026-08-03
World Action Models (WAMs) couple robot action prediction with video world models. Existing WAMs with shared-backbone and Mixture-of-Transformers designs generally tie the depth of the action module to that of the video backbone, resulting in substantial computational overhead and high inference latency. To address this limitation, we introduce Dock of Transformer (DoT), a video-centric design principle that treats a pretrained video Transformer as a representation hub and connects lightweight output-heads through docking interfaces. This enables flexible output-head design while providing direct access to representations from all layers of the backbone. We then introduce \textbf{Faster-WAM}, an instantiation of DoT for WAMs, which docks a single-layer action head onto a 30-layer video backbone. The docking interface fuses keys and values from all video layers and applies RoPE realignment. Without additional embodied pretraining, Faster-WAM achieves competitive performance on LIBERO and RoboTwin 2.0 while demonstrating strong out-of-distribution generalization on LIBERO-Plus. Faster-WAM also achieves the lowest end-to-end latency in our controlled comparison, requiring only 66.5 ms per inference --- a \(3.2\times\) speedup over Fast-WAM. Overall, these results demonstrate that the video-centric DoT architecture supports flexible task-specific head design while delivering low inference latency, strong action-prediction performance, and robust generalization.
arXiv PDF
PhyCheck: Fine-Grained Evidence-Grounded Dataset for Physical Law Understanding in Video-LLMs
Zhongjie Ba, Shengwang Xu, Peng Cheng, Jinyang Zou, Ting Yu, Zhibo Wang, Zhan Qin
arXiv:2608.02150v1 • 2026-08-03
Embodied intelligence and world models require video understanding systems to go beyond recognizing objects and actions and develop an understanding of physical regularities. However, despite their strong performance on general video understanding tasks, current video-language models still struggle to reliably determine whether an observed event conforms to specific physical laws. Existing benchmarks primarily assess the physical quality of generated videos, providing limited support for systematically evaluating and improving the physical-law understanding of Video Large Language Models (VideoLLMs). To address this gap, we introduce PhyCheck, a video question answering dataset organized at two complementary levels of granularity. The coarse-grained subset asks models to determine whether the phenomenon shown in a video conforms to or violates physical laws, while the fine-grained subset further examines whether models can capture physical details responsible for the violation or compliance. We use these subsets as structured supervision to improve physical understanding. In addition, the dataset contains a diagnostic subset with external causal context that reveal hidden factors affecting physical plausibility, assessing whether models can recalibrate their judgments accordingly. Experiments with Fine-tune Qwen2.5-VL show that training with the proposed data substantially improves the understanding of physical-consistency, while evaluations in the diagnostic subset reveal that current models still have difficulty incorporating additional causal conditions into their decisions. These findings highlight the gap between recognizing surface-level inconsistencies and understanding underlying physical mechanisms, and provide a foundation for evaluating and improving physical understanding in Video-LLMs.
Comment: 15pages, 4 figures, 4 tables
arXiv PDF
2026-08-02
48 篇
Robotics
41
默认显示 5 篇
Interaction Dynamics for Dexterous Manipulation
Yongyan Cao
arXiv:2606.14606v3 •updated • 2026-06-12
Dexterous manipulation is fundamentally a problem of interaction dynamics: the hand must track precise finger trajectories, regulate the contact force exchanged with grasped objects, respect actuation and safety limits, and remain predictable when contact persists -- objectives in tension for any fixed-gain controller. A sustained contact torque $τ_{\text{ext}}$ through a joint stiffness $K_d$ produces the structural bias $e_\infty=τ_{\text{ext}}/K_d$, so stiffening for accuracy sacrifices contact safety while softening yields by design. We make these interaction dynamics explicit and actuator-agnostic through a constant-$A_d$ double-integrator backbone, instantiating the offset-free architecture established for physical human-robot interaction (pHRI) and preserving its modeling assumptions on the reduced residual dynamics. An algebraic feedforward reduces the tendon transmission -- hydraulic, cable, pneumatic, twisted-string, or series-elastic -- to a constant-coefficient double integrator, so the QP cost inverse is precomputed offline and a 10-step receding-horizon QP runs at 500\,Hz under contact-force (ISO/TS 15066), actuation, and jerk constraints. An encoder-only augmented-Kalman disturbance state drives steady-state error to zero under constant contact loads in the nominal detectable case. In simulation, a hydraulically actuated finger -- the worked example, adding pressure and cavitation constraints -- attains 0.6\,mrad RMS, 0.1\,mrad steady-state, and 7.3\,mrad peak deflection under 1.5\,Nm contact: 153$\times$, 1500$\times$, and 21$\times$ better than classical impedance. The realized first-move stiffness (18$\to$323\,Nm/rad with update rate) is independently verified, and the architecture scales to a 16-DOF LEAP Hand MuJoCo model, recovering from 2.5\,N grasp disturbances within 0.7\,s.
arXiv PDF
STAR-VLM: Spatiotemporal Grounding Vision-Language Models for Motion and Velocity Estimation via Automotive Radar Supervision
Pou-Chun Kung, Aryaman Rao, Utkrisht Sahai, Hemanth Murali, Yi Liu, Rui-Yu Lin, Katherine A. Skinner
arXiv:2608.01535v1 • 2026-08-02
Vision-language models (VLMs) are emerging as a key component of embodied intelligence, with growing applications in auto-labeling and end-to-end autonomous driving. However, existing approaches for improving spatiotemporal reasoning in VLMs often rely on complex preprocessing pipelines, expensive human annotations, or synthetic data, which limit scalability and introduce potential sim-to-real gaps. Moreover, although these methods have improved spatiotemporal understanding, they still lack strong metric reasoning capabilities for dynamic scenes, such as estimating object motion in real-world units. Prior work has explored LiDAR-based metric depth supervision to enhance spatial perception, but it does not directly address temporal reasoning. We introduce STAR-VLM, an automotive radar-supervised framework that enhances spatiotemporal VLMs with motion reasoning and metric velocity estimation for autonomous driving. Automotive radar is a low-cost and widely deployed sensor that provides complementary spatiotemporal supervision through range and Doppler measurements. By leveraging these measurements as label-free ground truth during training, STAR-VLM improves the metric spatiotemporal reasoning ability of VLMs. Through experiments on driving scenarios, we show that STAR-VLM achieves state-of-the-art performance on both motion classification and metric velocity estimation, outperforming even task-specific methods designed for each task. These results highlight automotive radar as a scalable and cost-effective source of supervision for building metric-aware spatiotemporal VLMs for real-world autonomous driving.
arXiv PDF
Rapid Embodiment Adaptation for Quadrupedal Locomotion
Dichen Li, Bo Ai, Nico Bohlinger, Jan Peters, Hao Su, Henrik I. Christensen
arXiv:2608.01506v1 • 2026-08-02
Humans readily adapt their movements as their bodies change through aging, injury, or load carrying, but learning-based robot policies often break when hardware properties shift. We introduce an online embodiment adaptation framework for quadrupedal locomotion that infers embodiment parameters from short interaction histories and conditions control on the inferred hardware state. Our method pairs a generalist policy trained under embodiment randomization with a lightweight adaptation module that identifies physical changes within half a second. We evaluate two representative forms of embodiment variation: joint-range constraints and trunk-mass changes, corresponding to joint-level kinematic degradation and body-level dynamic variation. In simulation, the module accurately estimates these changes and enables closed-loop control that substantially outperforms policies conditioned directly on interaction history. On a real Unitree Go2 robot, our system maintains stable locomotion under severe instances of the evaluated changes, including a fully locked leg and a 5 kg payload, where non-adaptive methods fail. These results demonstrate the practicality of explicit online embodiment identification for rapid adaptation to joint-limit and payload-mass changes, and provide a step toward handling broader forms of uncertain, degraded, or changing robot hardware.
arXiv PDF
HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing
Konstantin Gubernatorov, Mikhail Sannikov, Ilya Mikhalchuk, Egor Kuznetsov, Makar Artemov, Ogunwoye Faith Oluwatobi, Marcelino Fernando, Artem Asanov, Ziang Guo, Dzmitry Tsetserukou
arXiv:2603.15257v2 •updated • 2026-03-16
Tactile sensing is a crucial capability for Vision-Language-Action (VLA) architectures, as it enables dexterous and safe manipulation in contact-rich tasks. However, reliance on dedicated tactile hardware increases cost and reduces reproducibility across robotic platforms. We argue that tactile-aware manipulation can be learned offline and deployed without direct haptic feedback at inference. To this end, we present HapticVLA, which proceeds in two tightly coupled stages: Safety-Aware Reward-Weighted Flow Matching (SA-RWFM) and Tactile Distillation (TD). SA-RWFM trains a flow-matching action expert that incorporates precomputed, safety-aware tactile rewards penalizing excessive grasping force and suboptimal grasping trajectories. TD further transfers this tactile-aware capability into a conventional VLA: we distill a compact tactile token from the SA-RWFM teacher and train a student VLA to predict that token from vision and state modalities, enabling tactile-aware action generation at inference without requiring on-board tactile sensors. This design preserves contact-rich tactile-aware reasoning within VLA while removing the need for on-board tactile sensors during deployment. On real-world experiments, HapticVLA achieves a mean success rate of 86.7%, consistently outperforming baseline VLAs - including versions provided with direct tactile feedback during inference.
arXiv PDF
DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration
Haoran Liao, Pengyue Wang, Shuoyu Chen, Kehan Cheng, Xuhang Chen, Yuhao Lin, Mu Lin, Zhizhao Liang, Xiaoyi Fan, Chengyi Xing, Dan Niu, Yi-Lin Wei, Wei-Shi Zheng
arXiv:2608.01452v1 • 2026-08-02
Dynamic manipulation is a critical capability for robots operating in complex and dynamic environments, where robots must interact with objects that are moving or require rapid adjustments. However, learning models for dynamic manipulation tasks face two major challenges: (1) the combinatorial complexity of dynamic scenarios leads to substantial data requirements, and (2) rapid variations in dynamics require real-time and accurate policy execution. In this paper, we propose DynamicManip to address these challenges through an efficient data augmentation pipeline and a low-latency imitation policy. We first propose a static-to-dynamic augmentation pipeline that synthesizes diverse dynamic manipulation demonstrations from a single static demonstration. Second, we introduce a dynamic-aware adaptive policy that adjusts its inference frequency according to task dynamics, enabling responsive and effective dynamic manipulation. Third, we build a dynamic manipulation benchmark, which includes diverse dynamic tasks with an automatic evaluation system for scalable and consistent assessment. Extensive experiments in both simulation and the real world demonstrate that DynamicManip not only provides significant improvements in data efficiency but also achieves better performance in dynamic manipulation tasks, with a mean success rate 18.4 percentage points higher and policy-query latency 32.9% lower.
Comment: Project page: https://liaohr9.github.io/DynamicManip/ Code: https://github.com/liaohr9/DynamicManip
arXiv PDF
Video World Models
7
默认显示 5 篇
Quantum Cinema: An Interactive Cinematic Exploration of Quantum Computing Hardware via Generative World Models
Aoyu Zhang, Dongping Liu, Luyao Zhang
arXiv:2606.17102v3 •updated • 2026-06-14
Quantum computing promises transformative advances across science and industry, yet the physical hardware that enables these computations remains invisible to the public: quantum processors operate inside sealed dilution refrigerators at temperatures near absolute zero, making direct observation impossible. This "imagination gap" between quantum computing's growing societal impact and the public's ability to visualize it represents a significant barrier to quantum literacy and workforce development. We present Quantum Cinema, an open-source, browser-based interactive application that closes this gap by transforming invisible quantum hardware into explorable, cinematic experiences using generative world models. Quantum Cinema guides users through a four-act narrative -- from the foundational Nobel Prize-winning science of quantum entanglement, through curated video introductions to three major quantum computing architectures (trapped-ion, neutral-atom, and superconducting systems), into immersive three-dimensional generative worlds that make invisible quantum phenomena observable, and finally to interactive radar-chart comparisons grounded in real quantum device specifications. All three-dimensional environments are generated using WorldLabs' generative world model platform and are scientifically grounded in curated metrics from Amazon Web Services (AWS) Braket quantum hardware. Quantum Cinema requires no installation, no specialized hardware, and no quantum computing background. It is designed to serve two distinct communities: scholars and developers seeking to replicate or extend the platform, and educators, researchers, and science communicators seeking an intuitive tool for explaining quantum hardware to diverse audiences. This paper describes the system architecture, the generative world model pipeline, use cases for both communities, and directions for future work.
arXiv PDF
Vessel Detection and Localization Using Distributed Acoustic Sensing in Submarine Optical Fiber Cables
Erick Eduardo Ramirez-Torres, Javier Macias-Guarasa, Daniel Pizarro-Perez, Javier Tejedor, Sira Elena Palazuelos-Cagigas, Pedro J. Vidal-Moreno, Sonia Martin-Lopez, Miguel Gonzalez-Herraez, Roel Vanthillo
arXiv:2509.11614v5 •updated • 2025-09-15
Submarine cables play a critical role in global internet connectivity, energy transmission, and communication but remain vulnerable to accidental damage and sabotage. Recent incidents in the Baltic Sea highlighted the need for enhanced monitoring to protect this vital infrastructure. Traditional vessel detection methods, such as synthetic aperture radar, video surveillance, and multispectral satellite imagery, face limitations in real-time processing, adverse weather conditions, and coverage range. This paper explores Distributed Acoustic Sensing (DAS) as an alternative by repurposing submarine telecommunication cables as large-scale acoustic sensor arrays. DAS offers continuous real-time monitoring, operates independently of cooperative systems like the "Automatic Identification System" (AIS), being largely unaffected by lighting or weather conditions. However, existing research on DAS for vessel tracking is limited in scale and lacks validation under real-world conditions. To address these gaps, a general and systematic methodology is presented for vessel detection and distance estimation using DAS. Advanced machine learning models are applied to improve detection and localization accuracy in dynamic maritime environments. The approach is evaluated over a continuous ten-day period, covering diverse ship and operational conditions, representing one of the largest-scale DAS-based vessel monitoring studies to date, and for which we release the full evaluation dataset. Results demonstrate DAS as a practical tool for maritime surveillance, with an overall F1-score of over 90% in vessel detection, and a mean average error of 141 m for vessel distance estimation, bridging the gap between experimental research and real-world deployment.
Comment: 20 pages, 21 figures, 1 table. Accepted for publication in the IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing (author-accepted manuscript)
arXiv PDF
GimbalDiffusion: Gravity-Aware Camera Control for Video Generation
Frédéric Fortier-Chouinard, Yannick Hold-Geoffroy, Valentin Deschaintre, Matheus Gadelha, Jean-François Lalonde
arXiv:2512.09112v4 •updated • 2025-12-09
Recent progress in text-to-video generation has achieved remarkable realism, yet fine-grained control over camera motion and orientation remains elusive, especially with extreme trajectories (e.g., a 180-degree turnaround, or looking directly up or down). Existing approaches typically encode camera trajectories using relative or ambiguous representations, limiting precise geometric control and offering limited support for large rotations. We introduce GimbalDiffusion, a framework that enables camera control grounded in physical-world coordinates, using gravity as a global reference. Instead of describing motion relative to previous frames, our method defines camera trajectories in an absolute coordinate system, allowing accurate, interpretable control over camera parameters. Using panoramic 360-degree videos for training, we cover the full sphere of possible viewpoints, including combinations of extreme pitch and roll that are out-of-distribution of conventional video data. To improve camera control, we introduce null-pitch conditioning, a strategy that prevents the model from overriding camera specifications in the presence of conflicting prompt content (e.g., generating grass while the camera points toward the sky). Finally, we propose new benchmarks to evaluate gravity-aware camera-controlled video generation, assessing models' ability to generate extreme camera angles and quantify their input prompt entanglement.
Comment: Accepted at ECCV 2026. Project page: https://lvsn.github.io/GimbalDiffusion/
arXiv PDF
EndoWAM: A Grounded World-Action Model for Generalizable Endoscopic Navigation
Jinsong Lin, Zikang Pan, Wanhao Liu, Chi Kit Ng, Liangjing Shao, Zihang Yu, Ziyu Wang, Yin Wang, Jiaxi Wang, Jeremy Yuen-Chun Teoh, Zhiyong Xiong, Huxin Gao, Hongliang Ren
arXiv:2608.01221v1 • 2026-08-02
Autonomous endoscopic navigation can reduce clinicians' operational burden, yet robust control remains challenging due to tissue deformation, transient occlusions, and rapidly changing viewpoints. Existing learning-based policies typically predict actions from current observations without explicitly modeling future dynamics, limiting their robustness and reliability in safety-critical settings. World Action Models (WAMs) offer a promising alternative by coupling predictive visual dynamics with action generation, but extending them to robotic endoscopy remains challenging due to limited training data, restricted viewpoint diversity, deformable anatomy, and high inference latency. We present EndoWAM, which is, to our knowledge, the first WAM for generalizable robotic endoscopic navigation. EndoWAM introduces future grounding, which predicts task-relevant target regions in future observations from intermediate denoising features of a video world model. Specifically, EndoWAM couples a lightweight diffusion transformer for future target-region prediction with a discrete action expert through a shared predictive representation. This design injects target-aware supervision into predictive dynamics modeling, improving robustness to visual degradation and viewpoint changes while enabling real-time control in a single denoising pass. We further introduce EndoMotion, a robotic endoscopic motion dataset spanning three anatomically distinct procedures: ureteroscopy, esophagoscopy, and endoscopic retrograde cholangiopancreatography (ERCP). EndoWAM consistently outperforms all baselines and alternative grounding strategies, while demonstrating strong zero-shot generalization to unseen viewpoints, environments, and targets. These results establish EndoWAM as a predictive, target-grounded framework for accurate, generalizable, and long-horizon navigation in visually constrained endoscopic environments.
arXiv PDF
MiniWorld: Democratizing the Training of Video World Models from Scratch
Yian Zhao, Ruochong Zheng, Hongcan Guo, Yu Yan, Jian Zhang, Jie Chen
arXiv:2608.01127v1 • 2026-08-02
Video world models predict future observations conditioned on historical observations and control signals, enabling long-horizon generation through autoregressive state transitions. Unlike conventional video generation models that primarily capture visual appearance and motion, video world models learn the underlying dynamics governing environment evolution under agent actions, providing a foundation for embodied AI and interactive simulation. Recent progress has largely relied on adapting pretrained video generation models through post-training or distillation. Although effective, these approaches often require complex training pipelines, substantial computational resources, and suffer from the mismatch between bidirectional pretraining and causal streaming inference. Recent studies have shown that training autoregressive video world models from scratch is feasible and scalable. However, the community still lacks a lightweight, transparent, and fully reproducible baseline trainable end-to-end with modest computational resources. We present MiniWorld, a reproducible framework for training streaming video world models from scratch. MiniWorld employs a block-causal Video Diffusion Transformer trained with Flow Matching in the latent space of a pretrained Video VAE. Building on Diffusion Forcing, it adopts a chunk-wise non-decreasing noise schedule and two-stage continued training to improve temporal modeling and stability. During inference, MiniWorld combines a rolling KV cache with pipelined asynchronous denoising for efficient streaming generation under bounded computation. The entire model can be trained within several days on a single 8-GPU server. By releasing the training and inference codebase and pretrained checkpoints, we hope MiniWorld will facilitate future research on video world modeling.
Comment: 20 pages
arXiv PDF
2026-08-01
47 篇
Robotics
42
默认显示 5 篇
GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation
Marcelino Julio Fernando, Miguel Altamirano Cabrera, Jeffrin Sam, Yara Mahmoud, Konstantin Gubernatorov, Dzmitry Tsetserukou
arXiv:2604.19522v2 •updated • 2026-04-21
Bimanual mobile manipulation requires a seamless integration between high-level semantic reasoning and safe, compliant physical interaction - a challenge that end-to-end models approach opaquely and classical controllers lack the context to address. This paper presents GenerativeMPC, a hierarchical cyber-physical framework that explicitly bridges semantic scene understanding with physical control parameters for bimanual mobile manipulators. The system utilizes a Vision-Language Model with Retrieval-Augmented Generation (VLM-RAG) to translate visual and linguistic context into grounded control constraints, specifically outputting dynamic velocity limits and safety margins for a Whole-Body Model Predictive Controller (MPC). Simultaneously, the VLM-RAG module modulates virtual stiffness and damping gains for a unified impedance-admittance controller, enabling context-aware compliance during human-robot interaction. Our framework leverages an experience-driven vector database to ensure consistent parameter grounding without retraining. Experimental results in MuJoCo, IsaacSim, and on a physical bimanual platform confirm a 60% speed reduction near humans and safe, socially-aware navigation and manipulation through semantic-to-physical parameter grounding. This work advances the field of human-centric cybernetics by grounding large-scale cognitive models into predictable, high-frequency physical control loops.
Comment: 6 pages, 7 figures
arXiv PDF
DiffPhysCam: Differentiable Physics-Based Camera Simulation for Inverse Rendering and Embodied AI
Bo-Hsun Chen, Nevindu M. Batagoda, Dan Negrut
arXiv:2508.08831v2 •updated • 2025-08-12
Generating synthetic images that closely mimic those from real cameras is instrumental in training visual models and enabling end-to-end visuomotor learning. We introduce DiffPhysCam, a differentiable camera simulator designed to support robotics and embodied AI applications by enabling gradient-based optimization in visual perception pipelines. Differentiable rendering also allows inverse reconstruction of real-world scenes as digital twins, facilitating simulation-based robotics training. Existing virtual cameras offer limited control over intrinsic settings, have difficulty capturing optical artifacts, and lack tunable calibration parameters. DiffPhysCam addresses these limitations through a multi-stage pipeline that provides fine-grained control over camera settings, models key optical effects such as defocus blur, and supports calibration with real-world data. It enables both forward rendering for image synthesis and inverse rendering for 3D scene reconstruction, including mesh and material texture optimization. We show that DiffPhysCam enhances robotic perception performance in synthetic image tasks. As an illustrative example, we create a digital twin of a real-world scene using inverse rendering and use it to set up a virtual experiment in a multi-physics simulation, in which we demonstrate navigation of an autonomous ground vehicle using images generated by DiffPhysCam. The code, data, and output results associated with this paper are available online for reproducibility at Chen, Bo-Hsun (2026a,b,c).
Comment: 37 pages, 24 figures, and 5 tables. Code of DiffPhysCam-CamCaliExp: https://github.com/DanielYamChen/DiffPhysCam-CamCaliExp Code of DiffPhysCam-NovelViewSynthesis: https://github.com/DanielYamChen/DiffPhysCam-NovelViewSynthesis Data of DiffPhysCam_Data: https://huggingface.co/datasets/DanielYamChen/DiffPhysCam_Data Simulation video: https://youtu.be/gQwSMrdmHJI
arXiv PDF
Bicycle Acrobatics with Reinforcement Learning
Shamel Fahmi, Arianna Ilvonen, Samuel Zapolsky, Yu-Ming Chen, Ravi Boggavarapu, Paul Drews, Ashwin Khadke, Dean Molinaro, Kaiyu Zheng, Alfred Rizzi, Gabriel Nelson
arXiv:2608.00880v1 • 2026-08-01
Bicycle robots are fast and energy efficient, but their simple mechanical design and their underactuated and non-holonomic dynamics make highly agile maneuvers difficult to achieve. Here, we use Reinforcement Learning (RL) to enable a bicycle robot to learn and compose a diverse repertoire of dynamic acrobatic stunts. Using different RL formulations such as waypoint following, pose reaching, twist tracking, guided tracking, and motion imitation, the robot acquires autonomous single and multi-table forward and lateral jumps, steerable jumps, front flips, kip-ups, kip-downs, driving, wheelies, bunny hops, and three-point turns. To coordinate these behaviors, we introduce an orchestrator that transitions between policies using state-dependent triggers, enabling robust long-horizon acrobatic stunts. We validate the approach on the Ultra Mobility Vehicle (UMV), a custom bicycle robot, in simulation and hardware. The robot repeatedly traverses tables up to 1 m high, performs more than 15 consecutive autonomous jumps while following waypoints, handles previously unseen multi-table configurations, executes continuous repertoires of kipups, jumps, flips, kip-downs, over more than 20 consecutive trials, and performs more than 10 consecutive autonomous and steerable repertoires of wheelies, lateral jumps, and single-wheel jump downs. These results demonstrate that RL can endow bicycle robots with levels of agility previously associated primarily with legged platforms while preserving the speed and efficiency of wheeled locomotion, establishing a foundation for bicycle acrobatics.
arXiv PDF
Minute-Scale Training for Microrobot Navigation
Yinghan Sun, Aoji Zhu, Xiang Ji, Yamei Li, Jiachi Zhao, Yun Wang, Li Zhang, Huijun Gao, Lidong Yang
arXiv:2608.00854v1 • 2026-08-01
Microrobots hold significant potential for various applications, where targeted navigation is a basic requirement. Deep reinforcement learning (DRL) has recently emerged as a powerful paradigm for fully autonomous microrobot navigation. Yet, current DRL-based approaches pay limited attention to learning efficiency and effectiveness, requiring hours to days for model training. Consequently, this impedes both rapid practical deployment and parameter optimization. To address these challenges, we present a learning framework that enables effective microrobot navigation policies to be trained within minutes. In the proposed framework, we develop a fully vectorized simulator with more than 10,000 artificial vascular environments, parallelizing dynamics, LiDAR-inspired perception, and feasibility checks across thousands of environments to achieve roughly 190,000 transitions per second. To achieve effectiveness in the fast training, we propose a task-shaping-regularization (TSR) reward framework. The TSR framework accelerates convergence, improves final performance, reduces action variation by at least 33.7%, and increases obstacle clearance by at least 2.1% across all evaluated scenarios. Results show that the proposed learning framework reduces training time to under 10 minutes, while supporting zero-shot deployment across distinct microrobot types and navigation scenarios. Collectively, this framework can substantially shorten the design loop and accelerate the deployment of autonomous microrobots.
Comment: Accepted by Nature Machine Intelligence
arXiv PDF
GeminiPainter's sequence-formed pipeline comprised of perception, cognition, planning, and action stages
Miguel Altamirano Cabrera, Aleksey Fedoseev, Iana Zhura, Dzmitry Tsetserukou
arXiv:2608.00829v1 • 2026-08-01
We present an autonomous robotic portrait-generation system combining real-time face detection, AI-based sketch generation, and robotic drawing. The system captures video frames, extracts facial regions, converts them into minimalist single-line sketches using the Gemini Vision API, optimizes stroke order through graph-based path planning, and executes smooth trajectories on a 6-DoF collaborative manipulator. This perception-cognition-action pipeline integrates computer vision, neural artistic abstraction, motion optimization, and robot control. User ratings on a 5-point scale were high for sketch quality 4.33, perceived execution 4.53, and user experience 4.65, indicating recognizable, appealing, and engaging robotic portraits.
arXiv PDF
Video World Models
5
默认显示 5 篇
DynamicWAM: Dual-Path Motion Conditioning for World-Action Models in Dynamic Manipulation
Yunfan Lou, Hewen Gao, Xiyu Zhu, Zhuoran Qiao, Xuan Han, Yifan Yang, Yifan Ye, Boxian Yao, Zhibo Pang
arXiv:2608.00793v1 • 2026-08-01
Dynamic manipulation requires robots to infer target motion and respond promptly, yet existing World-Action Models (WAMs) typically condition only on the current frame and execute large backbones synchronously, limiting motion awareness and responsive control in dynamic scenes. We propose DynamicWAM, a compact WAM for dynamic object manipulation with dual-path motion conditioning. DynamicWAM introduces history-flow conditioning, encoding temporally aligned optical-flow frames alongside the current observation through a frozen pretrained video VAE to preserve spatial motion structure, while injecting kinematic descriptors of displacement, duration, velocity, and acceleration into the action expert to provide motion magnitude and timing. The two complementary paths are fused through joint world-action attention. A distilled compact backbone and real-time chunking (RTC)-based asynchronous execution further enable responsive control. On DOMINO, DynamicWAM achieves a 38.2% success rate and a 53.2 manipulation score, outperforming all evaluated baselines. Across 12 real-world tasks spanning linear, circular, and compound target motion, it achieves a 46.7% average success rate, exceeding the strongest baseline by 22.9 percentage points.
Comment: 18 pages, 9 figures. Project page: https://dynamicwam.github.io/
arXiv PDF
SelfWAM: A Self-Grounded Unified World Action Model for Fast Robot Control
Bikang Pan, Fan Liu, Haotao Lu, Jingya Wang, Ye Shi
arXiv:2608.00725v1 • 2026-08-01
World Action Models (WAMs) improve robot policy learning by jointly modeling actions and future observations. However, conditioning future prediction only on the task prompt and observation context risks capturing generic task progression rather than the action-specific consequences of the executed action. We introduce SelfWAM, a unified self-grounded WAM built on a modality-specialized Mixture-of-Transformers (MoT) architecture that jointly predicts actions, action-conditioned future RGB frames, and robot self-masks, thereby grounding future prediction in the robot's visible body and its action-induced motion. During joint training, SelfWAM allows future visual queries to attend to a clean copy of the demonstrated action, turning the video branch into an action-specific consequence model while leaving the fast action-only inference path unchanged. To focus video learning on action-relevant visual changes, we use prompt-specific objectives for future robot self-mask prediction, which removes appearance details and provides a target whose temporal evolution is tightly coupled with the conditioning action. Together, clean-action conditioning and future self-mask supervision make future predictions more directly reflect how the executed action changes the robot's visible motion and the surrounding scene. Experiments on RoboTwin 2.0 and real-world manipulation tasks show that SelfWAM produces more action-sensitive futures and preserves fast policy inference, while improving policy performance.
arXiv PDF
FlowPilot: Real-Time World-Action Modeling for Agile UAV Navigation
Runqing Wang, Ding Yu, Pengyuan Min, Xinhong Zhang, Wei Xiao, Yu Hu, Jie Chen, Fu Zhang, Gang Wang
arXiv:2608.00635v1 • 2026-08-01
We present FlowPilot, a compact world-action model for real-time onboard UAV navigation from depth. Unlike map-then-optimize pipelines that require local reconstruction or end-to-end policies that lack explicit scene prediction, FlowPilot jointly denoises future depth observations and executable trajectories with flow matching. A dual-stream mixture-of-transformers couples video and action experts through shared attention, allowing future-scene prediction and trajectory generation to inform each other. At deployment, the model runs action-centrically and outputs only a trajectory. To ensure trackability, actions are parameterized as degree-7 Bernstein polynomials: the current state constrains the initial control points, and the network predicts five free control points, yielding C^2-continuous references with closed-form velocity, acceleration and jerk. FlowPilot is trained on a three-level depth pyramid spanning high-throughput simulation, photorealistic simulation, and real onboard data. In closed-loop simulation, it outperforms learning- and optimization-based baselines under increasing clutter and commanded speeds up to 8m/s. On a physical quadrotor, the full perception-to-action pipeline runs in under 18ms on a Jetson Orin NX and reaches 5.5m/s in cluttered indoor and forest environments using only onboard sensing and computation.
Comment: 8 pages, 9 figures, 2 tables, submitted to IEEE Robotics and Automation Letters (RA-L)
arXiv PDF
Freeform Preference Learning for Robotic Manipulation
Marcel Torne, Anubha Mahajan, Abhijnya Bhat, Chelsea Finn
arXiv:2606.32027v3 •updated • 2026-06-30
Reward design remains a central bottleneck for autonomous robot policy improvement, especially in long-horizon manipulation tasks where sparse success labels provide too little signal and binary preferences collapse many competing notions of quality into one ambiguous signal. We introduce Freeform Preference Learning (FPL), a method for learning robot policies from freeform human preferences. Rather than asking annotators which of two trajectories is better overall, FPL lets them define natural-language preference axes, such as speed, safety, quality of placement, or carefulness, and provide pairwise preferences along each axis. These annotations are used to learn a language-conditioned reward model that maps a trajectory and preference label to an axis-specific reward. We use this model to train a reward-conditioned policy that optimizes across the multiple human-specified dimensions. Across four real-world and two simulated long-horizon manipulation tasks, FPL improves over sparse-reward and binary-preference methods by 38 percentage points. Beyond improved performance, FPL learns dense progress signals without explicit subtask segmentation, shows compositionality of behavior not present in the data, and allows users to steer the policy towards different behaviors at test time without retraining. Blog post with videos available at https://freeform-pl.github.io/fpl.website/
arXiv PDF
The 1st AI Children Challenge
Boyi Li, Yifan Shen, Houze Yang, Xu Cao, Guojun Yun, Li Gao, Turong Chen, Long Xu, Jianguo Cao, Meihuan Huang
arXiv:2608.00356v1 • 2026-08-01
The First AI Children Challenge aims to advance real-world applications of computer vision and AI in child healthcare, child education, and pediatrics. The 2026 CV4CHL edition featured the first track in this domain: Children Gait Visual Analysis. The main goal of Children Gait Visual Analysis is the fine-grained analysis of children's gait behaviors from keypoint sequences. This is still a big challenge for human action recognition. Experienced medical doctors can distinguish these subtle nuances, but none of the people test AI models in this domain. To bridge this gap, we introduce thousands of 2D children keypoint sequences walking around videos across various age groups of children (3-16 years old). There is a significant opportunity for batch analysis of these videos to provide clinically relevant insights into medical diagnosis. The Challenge will be launched with two problem tracks: Edinburgh Visual Gait Score (EVGS) Scoring and Classification of Gait Patterns in Bilateral Spastic Cerebral Palsy. Each track is chosen in consultation with board-certified pediatricians based on the value of potential solutions. With the first available dataset for such tasks and ground truth for each track, the challenge enabled participants to evaluate their solutions. Final rankings will be revealed after the competition concludes, fostering reproducibility and mitigating overfitting.
arXiv PDF
2026-07-31
78 篇
Robotics
73
默认显示 5 篇
Action Chunk Scheduling for Batched Robot Policy Serving
Rohan Bansal, David He, Nadun Ranawaka Arachchige, Zhenyang Chen, Soobum Kim, Kexin Rong, Danfei Xu
arXiv:2608.00337v1 • 2026-07-31
Deploying robot foundation models at scale is the next step towards realizing the potential of general-purpose robots. However, Vision-Language-Action (VLA) and other foundation models are computationally demanding, and on-device compute is constrained by power and space. In this paper, we introduce the problem of serving a robot policy to multiple robots from a remote GPU and formulate it as a scheduling problem. We build Armory, a serving system validated on fleets of both simulated and real robots. Our experiments show that naive scheduling heuristics perform well when all robots are the same, but fall short when robots consume action chunks at different rates, uncovering a mismatch between conventional batching methods and the closed-loop requirements of robot policy execution. To address this, we propose a scheduling algorithm that accounts for this heterogeneity and improves overall system throughput by up to $18\%$ in real-world experiments. Additional details are available at https://gatech-rl2.github.io/actionchunkscheduling.
arXiv PDF
Belief-Space Perception Routing under Coupled Sensor Faults and Compute Contention
Sparsh Roy, Vihan Aggarwal, Davin Yin
arXiv:2608.00322v1 • 2026-07-31
A robot that has to see and react on a fixed clock runs into two problems at once. Its cameras degrade in rain, mud, fog, and darkness. And the single onboard processor it runs on is shared with planning and control, so the compute left over for perception moves around from second to second. Most systems model the two separately. We present a perception router that tracks probabilistic estimates of sensor-fault state and compute- contention state, couples them with a noisy-OR term, and uses the coupled estimate to pick one of four detector configurations (YOLO11x/n at 1280 or 640 px) so that the frame finishes before its deadline. Where the two stressors co-occur, the coupled policy cuts the deadline-miss rate by 1.1 to 9.4 percentage points against a policy that treats them independently. The interval excludes zero in five of six conditions, the pooled effect over 10 sequences and 6 conditions has sign-test p = 0.001, and every uncoupled control and the fault-free trajectory sit at exactly 0.0 pp. Routing costs tens of microseconds per frame. We then asked whether the coupling the method exploits arises on its own. Across eight real RADIATE adverse-weather sequences and three workload proxies independent of the fault signal, after Benjamini-Hochberg correction and a replication run, none of 24 tests found it. We report that null and scope the routing result as a proof of mechanism. Whether such coupling occurs in the field is still open, and the released evaluation pipeline lets a deployment settle it on its own traces.
Comment: Submitted to MIT URTC 2026
arXiv PDF
Towards General Language-Conditioned Latent Safety Filters
Ihab Tabbara, Yuxuan Yang, Hussein Sibai
arXiv:2608.00315v1 • 2026-07-31
Robot policies are becoming increasingly general, with vision-language-action (VLA) models enabling a single policy to execute diverse tasks specified in natural language. Safe deployment, however, requires adapting not only to new tasks but also to varying safety requirements across users, environments, and applications. Existing safety filters remain largely constraint-specific and thus must be redesigned or relearned when safety requirements change. In this paper, we investigate language-conditioned safety filtering, in which a Hamilton-Jacobi safety actor and critic are conditioned on language-specified constraints. We evaluate this formulation across pick-and-place, table-wiping, and block-stacking tasks in the vision-based setting, examining its ability to enforce language-specified constraints and transfer to unseen constraint instances within the evaluated constraint families. Our experiments provide evidence that language-conditioned safety filters reduce constraint violations and exhibit partial transfer to unseen constraint instances.
arXiv PDF
RF-HOI: Recognize Human-Object Interaction with Radio Frequency Signals
Lihao Wang, Linlu Gao, Jiacan Yu, Yanyu Lin, Yifan Yin, Jianxin Wang, Tianmin Shu, Renjie Zhao
arXiv:2608.00289v1 • 2026-07-31
Recognizing Human-Object Interactions (HOI) is essential for intelligent systems, underpinning applications in virtual and augmented reality, embodied AI, and assistive robotics. However, vision-based HOI methods face challenges in privacy concerns and poor light conditions. In this work, we introduce RF-HOI, the first framework that only uses radio frequency (RF) signals for HOI recognition. A key challenge of RF-HOI is that single-modality RF sensing is insufficient to recognize both actions and the objects being interacted with. RF-HOI addresses this through a novel modality fusion that combines mmWave radar and RFID, enabling simultaneous action recognition and target identification. Another challenge is limited training data across diverse setups, which impairs the generalizability of the recognition model. To overcome this, we develop a simulator that synthesizes multimodal RF data for diverse HOIs at scale, allowing us to fine-tune with only a small amount of real-world data. Experiment results show that RF-HOI outperforms all baselines, approaching vision model performance, and that our diverse synthetic training data can significantly boost our system's performance on real-world scenarios. These results highlight the potential of multimodal RF sensing for robust and privacy-preserving HOI recognition as well as the effectiveness of our RF data synthesis.
Comment: Accepted by ACM IMWUT
arXiv PDF
Hybrid Attention Estimation Pipeline for Adaptive HRI Using an Expressive Robotic Head
Pablo Moraes, Monica Rodriguez, Christopher Peters, Hiago Sodre, Tobias Doernbach, Bruna Guterres, Ricardo Grando
arXiv:2608.00284v1 • 2026-07-31
This paper presents an applied case study on hybrid visual attention estimation for human-robot interaction using an expressive robotic head based on the InMoov ecosystem. The proposed pipeline combines a fast geometric perception layer with an independent semantic perception layer based on a vision-language model. The geometric layer provides high-frequency face and head-pose information for temporal regulation, while the semantic layer receives only raw egocentric camera frames and produces contextual attention labels related to attention toward the robot, phone use, or attention elsewhere. These signals are integrated through a finite state machine that regulates adaptive interaction behavior, including activation, waiting, interaction resumption, and return to rest. The system was evaluated with 10 participants across 40 trials covering baseline and adaptive interaction conditions. Results show reliable interaction start across all trials, consistent pause behavior in the adaptive distraction condition, and non-redundant semantic information between the geometric and semantic outputs.
arXiv PDF
Video World Models
5
默认显示 5 篇
Real-Time Visual Obstruction Detection in Surgical Augmented Reality
Shih-Chin Yang, Yanming Xiu, Hanting Ye, Qi Chen, Elias Rotondo, Maria Gorlatova
arXiv:2608.00232v1 • 2026-07-31
Surgical augmented reality (AR) can provide contextual guidance by overlaying virtual annotations, tool cues, and procedural information onto the surgical workspace. However, the virtual content may obstruct task-relevant real-world information, such as surgical instruments, and interfere with users' perception during time-sensitive surgical tasks. In this paper, we investigate visual obstruction detection for surgical AR and present a latency-aware pipeline that combines vision-language model (VLM)-based surgical-object recognition with segmentation-based obstruction reasoning. To reduce inference overhead, the system adopts a cascaded small-to-large VLM architecture with segmentation-guided early exiting and attention-based visual token pruning. The small VLM handles easy frames when its key-object prediction is supported by segmentation consistency, while difficult frames are forwarded to a large VLM with pruned visual tokens. We construct a pseudo-AR surgical obstruction detection benchmark by overlaying virtual content onto surgical-tool images and labeling whether the virtual content obstructs task-relevant instruments. Evaluation results show that the proposed system achieves 87.43% obstruction detection accuracy with an average end-to-end latency of 479 ms, reducing latency by 62.90% compared with a cloud large-model baseline. These results demonstrate the feasibility of latency-aware obstruction detection for surgical AR and motivate future work on dynamic surgical videos, multi-object scenes, and clinically grounded AR guidance content.
Comment: ISMAR 2026 Mecidal Workshop
arXiv PDF
FibVLA: An Efficient Temporal Vision-Language-Action Model with Fibonacci Sampling
Li Lin, Wujun Xu, Weiwei Meng, Kaiwen Xia, Kang Hao Cheong, Shuai Wang
arXiv:2607.29596v1 • 2026-07-31
Vision-language-action models (VLAs), which leverage the cognition of multimodal information to infer physical-world actions, provide a generalized solution for embodied AI applications. Conventional VLAs usually concentrate on current digital cognition. While some efforts are made to enhance VLAs' reasoning capabilities by capturing temporal information, encoding the long-context history causes an efficiency-decreasing issue. To reconcile the conflict between capturing temporal information and maintaining inference efficiency in VLAs, this paper introduces FibVLA, an efficient framework featuring temporal perception of long-context history. Specifically, we leverage logarithmic hindsight sampling to both proprioceptive states and visual frames to capture long-term temporal dependencies with minimal redundancy. For the action expert, we introduce the flow matching to produce action distributions, and the Fibonacci recurrent inference strategy to generate long-range planning steps based on real-time closed-loop feedback. Experiments demonstrate that FibVLA significantly improves action smoothness and success rates without retraining large-scale visual encoders. Efficiency analysis demonstrates superior real-time responsiveness compared to video-based baselines in real-world evaluations.
arXiv PDF
BWM: A Low-Cost High-Fidelity World Simulator for Robot Learning
BWM Team
arXiv:2607.29302v1 • 2026-07-31
Reliable robot learning requires a world simulator that can predict action consequences before execution on physical hardware, including risky and failure-prone outcomes. Existing physics simulators require substantial asset construction and calibration and still face a sim-to-real gap, while video generators often lack precise control over their responses to fine-grained robot actions. In this paper, we present the Boundless World Model (BWM), an open-source, low-cost, high-fidelity world simulator for robot manipulation. BWM is an action-conditioned world model that combines initial-environment guidance, dynamic visual history, and temporally aligned robot-action conditioning for stateful autoregressive prediction of future observations. We construct action-aligned training clips through trajectory replay, overlapping clip sampling, and initial-observation enhancement. BWM serves as a data engine that augments imitation-learning data with action-aligned rollouts, and as a policy evaluator for closed-loop assessment, risk anticipation, and policy ranking. Experiments on the WorldArena benchmark and physical robots demonstrate improved simulator fidelity and functional utility across the data-engine and policy-evaluator settings. BWM ranks first overall in the WorldArena Challenge across Track 1 and its two Track 2 applications. We release the BWM open-source ecosystem, including model checkpoints, training and inference code, and interfaces for data generation and policy evaluation.
arXiv PDF
Auto-JEPA: A Latent World Model of Continuous Intent for End-to-End Autonomous Driving
Jiwei Yang, Zhengxian Chen, Chaosheng Huang, Jun Li
arXiv:2607.29031v1 • 2026-07-31
Existing autonomous-driving world models typically perform dense prediction of future videos, occupancy states, BEV representations, or agent motion. We argue that planning need not reconstruct the complete future world, but only focus on scene features that affect future ego action. Based on this perspective, we propose Auto-JEPA, an action-oriented latent world model that learns continuous future driving intent through joint-embedding prediction. Given visual observations, egomotion history, and navigation commands, Auto-JEPA predicts an intent embedding aligned with the latent representation of the future ego trajectory. The predicted intent retrieves executable trajectories from a fixed trajectory memory, which are then ranked by a scene-conditioned candidate selection module. Auto-JEPA keeps the visual encoder frozen, requires no explicit perception annotations, and uses no learned trajectory generator. By optimizing only task-specific modules for trajectory representation, intent prediction, and candidate selection, Auto-JEPA achieves 91.3 PDMS on NAVSIM v1 and 89.1 EPDMS on NAVSIM v2. Semantic occlusion experiments show that masking dynamic-agent regions induces an average intent change 2.97x that of equal-area random masking. Moreover, occluding vehicles that affect future driving substantially changes the predicted intent and selected trajectory, whereas both remain essentially unchanged when non-influential vehicles are occluded. These results show that future-intent prediction encourages the model to focus on planning-relevant visual features and supports high-quality planning without dense future-world modeling.
arXiv PDF
Physics from Video: Identifiability of Time-Invariant Second-Order ODEs under Minimal Trajectory Conditions
Yuanyuan Wang, Wenjie Wang, Kun Zhang, Mingming Gong
arXiv:2606.00115v2 •updated • 2026-05-27
Bridging the gap between visual realism and physical understanding is a core challenge for video-based world models. We study the structural identifiability of continuous-time physical laws from raw pixels, focusing on whether an encoder-only pipeline can uniquely recover the parameters of second-order linear ODEs. We prove that a level-set slope-coverage condition ensures the learned latent space is locally affine to the true physical state, enabling exact parameter recovery. Our theory provides the first characterization of minimal data requirements across damping regimes, establishing that underdamped systems are identifiable from a single video clip, whereas other regimes require three diverse trajectories. We further introduce a variance-floor regularizer to stabilize the decoder-free objective and prevent latent collapse. Validated on synthetic and real-world data, our approach demonstrates that interpretable physical constants can be reliably estimated from video without the need for compute-intensive pixel reconstruction, ensuring both physical correctness and transparency. Code is available at https://github.com/wenjiewang3/PhysicsFromVideo.
Comment: Accepted at ICML 2026. Updated to the camera-ready version; main results unchanged
arXiv PDF
2026-07-30
77 篇
Robotics
60
默认显示 5 篇
Reachability Guarantees for Cart-Pole Swing-Up and Stabilization
Mohamed Khalid M Jaffar
arXiv:2606.28627v2 •updated • 2026-06-26
The cart-pole swing-up is a canonical benchmark for nonlinear control of underactuated systems, yet an end-to-end guarantee linking the global swing-up maneuver to the local stabilizer is seldom formalized. We present a reachability analysis of a switched energy-based/LQR controller that certifies convergence to the upright equilibrium from a compact set of initial conditions. The swing-up design exploits the phase-space geometry of the conservative pendulum: the upright equilibrium lies on the homoclinic orbit, and an energy-shaping law drives the energy error to zero, steering the pendulum onto this orbit; convergence follows from LaSalle's invariance principle. An augmented Lyapunov function additionally regulates the steady-state cart velocity to zero, and we prove almost-global convergence of the resulting closed-loop system. A local LQR with a certified ellipsoidal region of attraction stabilizes the upright equilibrium, and we verify numerically that the swing-up phase delivers the state into this region, formalizing the handoff. Numerical simulations corroborate the theoretical analysis.
arXiv PDF
Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization
Xiaoyu Zhang, Steven Haener, Varun Madabushi, Maegan Tucker
arXiv:2603.09956v2 •updated • 2026-03-10
We present the KinoDynamic Motion Retargeting (KDMR) framework, a novel approach for humanoid locomotion that models the retargeting process as a multi-contact, whole-body trajectory optimization problem. Conventional kinematics-based retargeting methods rely solely on spatial motion capture (MoCap) data, inevitably introducing physically inconsistent artifacts, such as foot sliding and ground penetration, that severely degrade the performance of downstream imitation learning policies. To bridge this gap, KDMR extends beyond pure kinematics by explicitly enforcing rigid-body dynamics and contact complementarity constraints. Further, by integrating ground reaction force (GRF) measurements alongside MoCap data, our method automatically detects heel-toe contact events to accurately replicate complex human-like contact patterns. We evaluate KDMR against the state-of-the-art baseline, GMR, across three key dimensions: 1) the dynamic feasibility and smoothness of the retargeted motions, 2) the accuracy of GRF tracking compared to raw source data, and 3) the training efficiency and final performance of downstream control policies trained via the BeyondMimic framework. Experimental results demonstrate that KDMR significantly outperforms purely kinematic methods, yielding dynamically viable reference trajectories that accelerate policy convergence and enhance overall locomotion stability. Our end-to-end pipeline will be open-sourced upon publication.
arXiv PDF
The Open Motion Planning Library 2.0
Weihang Guo, Theodoros Tyrovouzis, Emiliano Flores, Clayton W. Ramsey, Zachary K. Kingston, Ioan A. Şucan, Mark Moll, Lydia E. Kavraki
arXiv:2605.29301v2 •updated • 2026-05-28
The Open Motion Planning Library (OMPL), first released in 2008, has become a cornerstone of the motion planning community, providing implementations of a wide range of state-of-the-art sampling-based algorithms. Over almost two decades of continuous development, we have steadily expanded the library with new planners, state spaces, and problem formulations. These additions range from asymptotically optimal and lazy planners to constrained motion planning and planning with temporal-logic goals. Building on this foundation, we introduce OMPL 2.0, a major evolution of the library that targets real-time motion planning through hardware acceleration and integrates seamlessly with modern AI research workflows. We also reflect on how OMPL and the field of motion planning have grown together over the years, and discuss the library's broader impact on the research community.
arXiv PDF
AREA3D: Active Reconstruction Agent with Unified Feed-Forward 3D Perception and Vision-Language Guidance
Tianling Xu, Shengzhe Gan, Leslie Gu, Yuelei Li, Fangneng Zhan, Hanspeter Pfister
arXiv:2512.05131v2 •updated • 2025-11-28
Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active reconstruction methods often rely on hand-crafted geometric heuristics, which can lead to redundant observations without substantially improving reconstruction quality. To address this limitation, we propose AREA3D, an active reconstruction agent that leverages feed-forward 3D reconstruction models and vision-language guidance. Our framework decouples view-uncertainty modeling from the underlying feed-forward reconstructor, enabling precise uncertainty estimation without expensive online optimization. In addition, an integrated vision-language model provides high-level semantic guidance, encouraging informative and diverse viewpoints beyond purely geometric cues. Extensive experiments on both scene-level and object-level benchmarks demonstrate that AREA3D achieves state-of-the-art reconstruction accuracy, particularly in the sparse-view regime. Code will be made available at: https://github.com/TianlingXu/AREA3D .
arXiv PDF
Physics-Embedded Neural ODEs for Learning Antagonistic Pneumatic Artificial Muscle Dynamics
Xinyao Wang, Jonathan Realmuto
arXiv:2602.23670v2 •updated • 2026-02-27
Pneumatic artificial muscles (PAMs) enable compliant actuation for soft wearable, assistive, and interactive robots. When arranged antagonistically, PAMs can provide variable impedance through co-contraction but exhibit coupled, nonlinear, and hysteretic dynamics that challenge modeling and control. This paper presents a hybrid neural ordinary differential equation (Neural ODE) framework that embeds physical structure into a learned model of antagonistic PAM dynamics. The formulation combines parametric joint mechanics and pneumatic state dynamics with a neural network force component that captures antagonistic coupling and rate-dependent hysteresis. \rev{The forward model was trained on 29 selected co-contraction conditions and predicted joint motion and chamber pressures over 196 held-out conditions with a mean R$^2$ of 0.88.} An inverse formulation, derived from the learned dynamics, computes pressure commands offline for desired motion and stiffness profiles, tracked in closed loop during execution. Experimental validation demonstrates reliable stiffness control across 126-176 N/mm and consistent impedance behavior across operating velocities, in contrast to a static model, which shows degraded stiffness consistency at higher velocities.
arXiv PDF
Video World Models
17
默认显示 5 篇
ActionParty: Multi-Subject Action Binding in Generative Video Games
Alexander Pondaven, Ziyi Wu, Igor Gilitschenski, Philip Torr, Sergey Tulyakov, Fabio Pizzati, Aliaksandr Siarohin
arXiv:2604.02330v2 •updated • 2026-04-02
Recent advances in video diffusion have enabled the development of "world models" capable of simulating interactive environments. However, these models are largely restricted to single-agent settings, failing to control multiple agents simultaneously in a scene. In this work, we tackle a fundamental issue of action binding in existing video diffusion models, which struggle to associate specific actions with their corresponding subjects. For this purpose, we propose ActionParty, an action controllable multi-subject world model for generative video games. It introduces subject state tokens, i.e. latent variables that persistently capture the state of each subject in the scene. By jointly modeling state tokens and video latents with a spatial biasing mechanism, we disentangle global video frame rendering from individual action-controlled subject updates. We evaluate ActionParty on the Melting Pot benchmark, demonstrating the first video world model capable of controlling up to seven players simultaneously across 46 diverse environments. Our results show significant improvements in action-following accuracy and identity consistency, while enabling robust autoregressive tracking of subjects through complex interactions.
Comment: ECCV 2026 - Project page: https://action-party.github.io/
arXiv PDF
Teaching Video Generators to Remember: Eliciting Dynamic Memory for Out-of-Sight State Evolution
Tianshuo Xu, Yichen Xie, Depu Meng, Chensheng Peng, Quentin Herau, Bo Jiang, Yihan Hu, Wei Zhan
arXiv:2605.25333v2 •updated • 2026-05-25
Video world models should maintain evolving states when evidence is unobserved, yet current generators often freeze hidden states upon interruption. This is not simply a capacity problem: pretrained video diffusion transformers already possess KV-cache mechanisms capable of non-local retrieval, but they are rarely trained to use them as dynamic memory. We introduce ReMind, a framework eliciting dynamic memory behavior via memory-oriented data, event-aware training, and cache adaptation. Organized around a taxonomy of 100+ dynamic events, we build a camera-annotated training mixture combining VLM-filtered real videos, generated hard dynamics, synthetic camera loops, and memory-interruption augmentations. Each clip is converted into a frame graph with protected anchors, degraded intervals, and explicit temporal gaps. A node-structured curriculum -- including node-drop, noisy memory, frontier continuation, and reference-cache training -- forces the model to retrieve relevant past states across interruptions rather than relying solely on local continuity. PM-RoPE, an elegant camera-phase RoPE extension, unlocks spatiotemporal retrieval at a single-attention cost while preserving pretrained pathways. ReMind achieves the best overall scores on STEVO-Bench and recovery tasks. Furthermore, general image-to-video evaluations confirm this curriculum avoids catastrophic forgetting. We have released our code, data, and models on our project page \href{https://remind-applied.github.io/}{https://remind-applied.github.io/}.
arXiv PDF
Mirror Learning
Yunpeng Liu, Matthew Niedoba, Oluwanifemi A. Adekanye, Jason Yoo, Yingchen He, Berend Zwartsenberg, Frank Wood
arXiv:2607.28737v1 • 2026-07-30
We investigate imitation learning through the lens of third-person observation and propose a framework for mirror learning: acquiring actionable policies from passive observation. While behavior cloning (BC) excels under dense, well-aligned first-person data, it fundamentally fails to leverage the rich observational signals arising from third-person demonstrations that humans and animals routinely exploit. We introduce a method that composes (i) a learned perspective transformation that places learners in demonstrators' shoes using a fine-tuned video diffusion model and (ii) an inverse dynamics model that infers action trajectories in the learners' control space. This enables the synthesis of mirror data, pseudo first-person expert data generated from third-person observations of demonstrator behavior. Empirically, we show that mirror data alone can train effective policies, and that augmenting first-person BC training with mirror data further improves downstream policy performance. Our results suggest that modern generative world models implicitly encode sufficient structure to enable a scalable and safe alternative to teleoperation-heavy data collection.
arXiv PDF
ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Engine
Yukang Cao, Haozhe Xie, Beichen Wen, Runmao Yao, Yinghao Liu, Yue Huang, Zhichao Liao, Yunxiang Wang, Haiheng Liu, Xingshun Tian, Dawei Su, Long Zhuo, Dacheng Tao, Xiaogang Wang, Liang Pan, Ziwei Liu
arXiv:2607.28625v1 • 2026-07-30
Embodied intelligence faces a fundamental data bottleneck. Models must capture how first-person perception, whole-body motion, dexterous manipulation, object state, sound, and touch evolve together as humans pursue goals over time. Existing datasets fragment this experience across viewpoints, modalities, or spatial scales, leaving the full perception-action loop only partially observed. We introduce the Ambient Capture Engine (ACE), a human-centric data engine that transforms real home environments into spatially calibrated, temporally synchronized recording studios. ACE operates at two complementary scales: a table-scale configuration resolves hand-object manipulation, while a room-scale configuration captures whole-body motion, locomotion, and interactions across a furnished home. ACE records egocentric and multi-view exocentric video, full-body and articulated hand motion, object geometry and 6-DoF trajectories, audio, and tactile signals as a unified multisensory stream. Using ACE, we build ACE-Data-0, comprising 150 hours and 17M video frames across 200 task categories, performed by 50 participants in 2 environments, for a total of 75,000 interaction episodes. The dataset spans atomic manipulation, long-horizon chains of household activities, and human-scene interaction, while preserving natural behavioral variation through goal-level rather than step-by-step instructions. We further introduce a hierarchical benchmark that progresses from signals to scene components and then to interactions. Evaluations of state-of-the-art methods expose substantial gaps under contact, occlusion, egomotion, and long temporal horizons. ACE-Data-0 provides synchronized human demonstrations with aligned perceptual, kinematic, and contact supervision, offering a scalable foundation for imitation learning, world models, vision-language-action systems, and embodied AI.
Comment: Project Page: https://ace-data-engine.github.io/ACE-Data-0/
arXiv PDF
PhiZero: A World Model Built Around Physical Language
Shuyao Shang, Yuqi Wang, Ruopeng Gao, Xu Chen, Tieniu Tan, Lue Fan, Zhaoxiang Zhang
arXiv:2607.28624v1 • 2026-07-30
We introduce PhiZero, a physical world model built around physical language, a compact discrete representation of world-state transitions. Existing physical world models typically predict future videos directly in pixel space, leaving the underlying world dynamics implicit within high-dimensional visual predictors. Motivated by humans' ability to abstract predictive structure from visual experience and organize it in natural language for explicit reasoning, we learn physical language from in-the-wild videos through self-supervision and use it to explicitly reason about how the physical world evolves. Accordingly, PhiZero adopts a reason-then-render paradigm: it first infers future world evolution as a physical-language sequence and then renders the inferred transitions into videos. Extensive experiments across generation and understanding benchmarks validate the ability of PhiZero to model physically coherent world evolution. We further show its potential for realistic and interactive world modeling, fine-grained action-conditioned simulation, and zero-shot motion transfer.
Comment: Project page: https://phi-zero.github.io/
arXiv PDF
2026-07-29
71 篇
Robotics
58
默认显示 5 篇
Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling
Zhefeng Huang, Yilin Cai, Ankit Patel, Mohammad Hajiha, Brendan Browne, Yue Chen
arXiv:2607.27511v1 • 2026-07-29
Imitation learning has shown increasing promise for autonomous robotic surgery, yet safe deployment remains challenging due to the safety-critical nature of surgical tasks and the complexity and variability of surgical environments. Failure detection is therefore an essential safeguard, but its development remains difficult due to the challenges of scarce failure data, highly variable manipulation dynamics, and the need to balance missed detections against disruptive false alarms. To address these challenges, we introduce FoMo-FD (Flow-Matching World Model for Failure Detection), a failure detection method that learns nominal short-horizon visual dynamics with an action-conditioned flow-matching world model. FoMo-FD scores the inverse-transport nonconformity of observed endpoint latents, enabling window-level detection of visual-action inconsistencies without requiring failure demonstrations. Detection thresholds are obtained by conformal calibration on successful executions, yielding task-specific alarms without assuming future failure types. We evaluate FoMo-FD on four surgically relevant manipulation tasks with twenty failure modes across simulation and real-world experiments using the da Vinci Research Kit (dVRK). Results show that FoMo-FD outperforms observation-level anomaly baselines and a prediction-error variant of the same world model, with the wrist-camera view achieving the strongest performance, including a 96.6% failure detection rate (FDR) at a 1.3% false alarm rate (FAR).
Comment: 9 pages, 6 figures. Submitted to IEEE Robotics and Automation Letters (RA-L)
arXiv PDF
Corrigible Assistance in One Round: Pragmatic-Pedagogic Best Response
Elle Lazarski, Jaime Fernández Fisac
arXiv:2607.27508v1 • 2026-07-29
Assistance games formalize human-robot collaboration under asymmetric information: the human knows the goal, while the robot must infer it from observation and interaction in order to assist effectively. In general, computing optimal assistance game strategies online is intractable, since exact solutions require planning in a POMDP. We identify a class of assistance games in which pragmatic-pedagogic reasoning resolves goal uncertainty in a single time step, rendering the full-horizon game exactly solvable by a tractable best-response procedure. Within this class, we show that mainstream inverse optimal control exhibits an inference ceiling that hinders alignment, while pragmatic-pedagogic reasoning overcomes this barrier by immediately disambiguating goals through actions that look equivalent under task execution alone. Finally, we validate our theoretical results and proposed method on a simple collaborative block-building example.
Comment: World Symposium on the Algorithmic Foundations of Robotics (WAFR) 2026
arXiv PDF
Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning
Tleukhan Mussin, Yafei Ou, Mahdi Tavakoli
arXiv:2607.27494v1 • 2026-07-29
Recent advances in robotics research have created a strong demand for high-performance simulators. Surgical robotics simulation faces unique challenges due to the need to model diverse objects, such as rigid instruments, soft tissue, and fluids. While many studies simulate sutures or soft tissue independently, only a few have considered the complete soft-tissue suturing scenario, including the contact between sutures and deformable tissue during suture insertion. Building on previous work, this paper presents a novel suturing simulation environment using sutures modelled by position-based dynamics (PBD) and soft bodies modelled by the material point method (MPM) while considering two-way contact with frictional and drag forces. We introduce a contact coupling method between the PBD suture and the MPM soft tissue, enabling visually plausible suture-tissue interactions. The simulator is optimized for GPU execution with parallel scenes using multiple CUDA streams, and we present a Reinforcement Learning (RL) environment for autonomous suturing sub-tasks, including needle insertion, driving, and extraction. Using ML-Agents, RL agents trained in the simulator show stable learning and achieve 80% and 68% success rates in needle insertion and extraction, respectively, under the strictest distance threshold.
Comment: 7 pages, 9 figures, accepted for the IEEE RAS/EMBS 11th International Conference on Biomedical Robotics and Biomechatronics (BioRob 2026)
arXiv PDF
MorphQuad: Morphable Quadrotor for Superhuman Maneuverability, Manipulation, and Resiliency
Jose Diaz Peon Gonzalez Pacheco, Jiawei Xu, Andrew Zhao, Hongyu Zhou, Atharva Navsalkar, Andrew Scheffer, Amrith Malli Reddi, Sashreek Shankar, Yuqing Bao, Vasileios Tzoumas
arXiv:2607.02764v4 •updated • 2026-07-02
Infrastructure maintenance, contact-based inspection, and emergency response can benefit from aerial vehicles that act as a flying human hand with extreme maneuverability, manipulation, and resiliency (MMR): maneuverability to fly in arbitrary orientations to reach remote and tight locations; manipulation to point sensors, turn valves, and press tools at arbitrary orientations; resiliency to maintain accurate motion and force control despite disturbances from arbitrary directions, such as wind, ground effects, and friction. Realizing MMR on aerial vehicles requires not only omnidirectional flight; it also requires (I) vectoring of maximum thrust in any direction, to maximize capacity for contact-force application and disturbance rejection, (II) global stability, to enable control over any orientation/position, and (III) compact, standard designs that build upon platforms such as quadrotors to inherit technological know-how. No current aerial vehicle simultaneously enables I--III, due to structural and control limitations that constrain actuation. We present MorphQuad: a morphable quadrotor that enjoys MMR. Key to our approach is a hardware and control co-design: on hardware, we independently articulate each of the four rotor systems via two-axis gimbals; on control, we introduce globally-stable control, and energy-optimal thrust allocation that permits inter-rotor thrust cancellations only to avoid downwash interference and gimbal lock. With fully-onboard autonomy, MorphQuad demonstrates multi-revolution rotation while translating or hovering, for pipe inspection and target tracking (maneuverability); valve turning, perching, and object pressing and pushing with human-level strengths (manipulation); and wind rejection from any direction, even directed to a single rotor, and push-pull recovery (resiliency).
arXiv PDF
ARCSnake V2: Mechanical Adaptations For An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot
Sara Wickenhiser, Lizzie Peiros, Calvin Joyce, Peter Gavrilov, Sujaan Mukherjee, Syler Sylvester, Junrong Zhou, Mandy Cheung, Jason Lim, Florian Richter, Michael C. Yip
arXiv:2511.11970v2 •updated • 2025-11-15
Robotic exploration in extreme environments, such as caves, oceans, and extraplanetary surfaces, poses significant challenges, specifically locomotion across diverse terrains. Conventional wheeled or legged robots often struggle in such contexts due to variability in traction. This paper presents ARCSnake V2, an adaptation of ARCSnake V1 with additional amphibious capabilities for aquatic environments. ARCSnake V2 combines the high mobility of hyper-redundant snake robots with the terrain versatility of Archimedean screw propulsion. Key contributions include a water-sealed mechanical design with serially linked screw and joint actuation, and an integrated buoyancy control system. Extensive experiments validate its underwater capabilities for diving and surfacing, as well as force-regulated actuation. These capabilities position ARCSnake V2 as a versatile platform for exploration, search-and-rescue, and environmental monitoring in multi-domain settings.
Comment: 8 pages, 5 figures, IROS
arXiv PDF
Video World Models
13
默认显示 5 篇
Authoring for Living Worlds: Tool-Constrained LLM Agents for Executable Multi-Actor Scenarios
Nicolae Cudlenco, Mihai Masala, Marius Leordeanu
arXiv:2604.10383v3 •updated • 2026-04-11
Authoring a multi-actor scenario for a living 3D world, where every action changes its state, and each action's validity depends on the state accumulated before it, demands the freedom of storytelling and the rigor of simulation at once. We author such scenarios with LLM agents, as Graphs of Events in Space and Time (GESTs) that a simulation engine executes deterministically into narrative videos with per-frame spatial, temporal, and semantic ground truth. A staged pipeline driving a flagship LLM, the standard design in video generation, failed outright: the model violates rules stated verbatim in its prompt, and cannot track the dynamic world state. We answer with a constraint-enforcing tool layer: our Director and Scene Builder agents explore the world's capabilities page by page and build every scene through operations checked against simulator state, so every specification they emit is valid by construction. Because we generate each seed text from an existing scenario graph, we can measure reconstruction: the agent authors its own graph from the text alone, yet matches the original at 0.83 F1 on its events, each action with its participants (0.55 for a random scenario of the same kind), and 0.77 on their ordering (0.43 random). End to end: the standard staged pipeline produced 0 executable specifications in 50 attempts; our agents, driving a budget model, execute 20 of 25 (80%), and are, to our knowledge, the first to exercise the full expressive capacity of GEST.
arXiv PDF
Wavelet Phase Diffusion for Structurally and Semantically Consistent Sim-to-Real Translation
Kaiwen Wang, Frank Bieder, Yinzhe Shen, Carlos Fernandez, Jan-Hendrik Pauls, Omer Sahin Tas
arXiv:2607.21628v2 •updated • 2026-07-08
Simulation-to-reality translation must bridge the appearance gap between synthetic and real domains while preserving structural and semantic consistency. Conditioning-based methods achieve spatial alignment but introduce computationally expensive control modules. Paired-data methods achieve realism but rely on complex synthesis pipelines, often altering scene geometry and semantics. Training-free editing methods avoid both constraints but lack a learned appearance prior, limiting their perceptual quality. Recently proposed phase-preserving diffusion presents a promising alternative, but Fourier-domain formulations are constrained by global spectral coupling. This coupling induces spatial artifacts such as ringing and boundary leakage, thereby degrading structural and semantic consistency. We introduce Wavelet Phase Diffusion, which addresses this through two components. First, we operate in the Dual-Tree Complex Wavelet Packet Transform domain, whose localized wavelet packets enable spatially adaptive phase injection without global spectral interference. Second, Low-Frequency Randomization (LFR) replaces the low-frequency packet, decoupling the model from the synthetic illumination prior and enabling in-distribution real-world appearance. Both components train on unpaired open-domain data, and introduce negligible inference overhead. The spatial locality further enables instance-level translation, where individual objects or regions are translated to photorealistic appearance independently while the surrounding scene remains untranslated. On vKITTI $\to$ KITTI image translation, ours outperforms prior methods in realism and semantic consistency while maintaining competitive structural alignment. For CARLA video translation, ours approaches the realism of paired-data methods while reducing VLM planner ADE and FDE by $5.4\%$ and $5.1\%$, respectively.
Comment: Project Page: https://kit-mrt.github.io/Wavelet-Phase-Diffusion/
arXiv PDF
Mental World Modeling
Hao Fei, Yiran Zhao
arXiv:2607.27201v1 • 2026-07-29
World models enable a predictive substrate for planning and action, yet existing formulations merely answer a physical question: what/where it is, and how will it evolve. Human behavior, however, is driven by hidden mental state (what a person believes, wants, intends, feels, and considers socially permissible), so a model that tracks the physical scene but not what each agent knows and believes about it predicts the wrong action for the right-looking scene. We formulate Mental World Modeling (MWM), a generic theoretical framework that makes mental variables core components of a world model rather than posthoc rationales: MWM aintains a coupled physical-mental world state, renders a target-specific partial observation, and simulates how candidate actions jointly update both components. We instantiate the framework in MENTIS, a training-free and fully inspectable baseline that decomposes the process into state parsing, target-observation generation, action decomposition, coupled physical and mental transition, and branch-level value evaluation. On a manually constructed, quality-controlled dataset of situated decision scenarios spanning text, image, and sounding-video stories, experiments with 8 modern LLM-based world models demonstrate that explicitly modeling the mental state is essential for predicting human decisions. Deeper analyses further expose the bottlenecks of current mental world modeling. We expect MWM as a next stage of world modeling, from simulating physical scenes to simulating the minds that act in them.
Comment: project website: https://mental-world.github.io/
arXiv PDF
DLAM: Distributional Latent Actions with Temporal Constraints
Zuojin Tang, Feifan Luo, Haoyun Liu, Botai Yuan, Dekang Qi, Ronghan Chen, Yandan Yang, Tong Lin, Xinyuan Chang, Mu Xu, Bin Liu, De Ma, Zhiheng Ma
arXiv:2607.27138v1 • 2026-07-29
Vision-language-action (VLA) models remain constrained by scarce action-labeled robot data, whereas action-free videos offer abundant observations of physical change. Latent action models can extract such priors, but reconstruction-trained codes may predict future observations without the structure required for joint generation with robot actions. Existing structured methods add temporal constraints but retain deterministic transition points, so residual errors in locally inferred transitions may propagate and compound under recursive composition. We introduce DLAM, a distributional latent-action model that represents each transition as a diagonal Gaussian. Reconstruction conditioned on the reference frame grounds the mean in observed visual change, while normalized composition and reversal over equal-gap triplets constrain both the mean and dimension-wise variance. Variance composition uses a lightweight shared-correlation coefficient to account for dependence between adjacent transitions that share an intermediate frame, whereas reversal negates the mean and preserves the variance. For downstream policy learning, we freeze the encoder and train a flow-matching policy to jointly generate mean transition sequences and robot actions. On held-out transitions, DLAM learns more temporally consistent latent dynamics than existing latent-action baselines and achieves stronger direct and cumulative reconstruction on held-out videos. Under the same controlled $π_0$ transfer protocol, it also improves policy performance on MetaWorld MT50, LIBERO, and real-world manipulation tasks. Controlled ablations show that normalized mean constraints account for most of the reconstruction gain, while learned variance and correlation-aware composition provide complementary improvements in downstream control.
arXiv PDF
VEGA: Learning Navigation VLAs from In-the-Wild Egocentric Video with Geometric Trajectory Supervision
Gershom Seneviratne, Yohan Abeysinghe, Jianyu An, Vaibhav Shende, Rahul Kumar, Dinesh Manocha
arXiv:2606.18426v2 •updated • 2026-06-16
We introduce VEGA, an approach for training navigation VisionLanguage-Action (VLA) models from unlabeled egocentric navigation videos. Internet-scale egocentric videos provide a scalable source of navigation-relevant visual observations, capturing cluttered scenes, close-range obstacles, and natural human motion through real-world spaces. However, these videos are not directly usable for policy learning because they do not provide obstacle-aware trajectories conditioned on explicit navigation goals in the robot's coordinate frame. VEGA addresses this gap by reconstructing local scene geometry from monocular video, sampling navigation goals (represented as text, image, or spatial waypoints) and generating obstacle-aware trajectories using the constructed geometry. The resulting trajectory distribution is then used to train a flow-matching VLA navigation policy. By using geometry exclusively during training, VEGA distills obstacle-aware planning directly into a vision-based policy. Furthermore, we introduce VEGA-Bench, a benchmark containing 250k scenes and approximately 5 million navigation goals paired with scene geometry, designed to evaluate goal progress, collision avoidance, and obstacle clearance of VLAs. Our evaluation shows that VEGA achieves competitive goal progress while reducing collisions by 33.0% and improving obstacle clearance by 17.9% over the strongest baseline on VEGABench, while improving success by at least 150.0%, reducing collisions by at least 66.7%, and improving obstacle clearance by at least 60.0% in real-world trials. Ultimately, we demonstrate that video-derived geometric supervision provides a scalable and effective signal for training obstacle-aware navigation VLAs. The code and benchmark will be released at the time of publication.
arXiv PDF
2026-07-28
69 篇
Robotics
64
默认显示 5 篇
MetaKoopman: Bayesian Meta-Learning of Koopman Operators for Modeling Structured Dynamics under Distribution Shifts
Mahmoud Selim, Sriharsha Bhat, Karl H. Johansson
arXiv:2607.26345v1 • 2026-07-28
Modeling and forecasting nonlinear dynamics under distribution shifts is essential for robust decision-making in real-world systems. In this work, we propose MetaKoopman, a Bayesian meta-learning framework for modeling nonlinear dynamics through linear latent representations. MetaKoopman learns a Matrix Normal-Inverse Wishart (MNIW) prior over the Koopman operator, enabling closed-form Bayesian updates conditioned on recent trajectory segments. Moreover, it provides a closed-form posterior predictive distribution over future state trajectories, capturing both epistemic and aleatoric uncertainty in the learned dynamics. We evaluate MetaKoopman on a full-scale autonomous truck and trailer system across a wide range of adverse winter scenarios, including snow, ice, and mixed-friction conditions, as well as in simulated control tasks with diverse distribution shifts. MetaKoopman consistently outperforms prior approaches in multi-step prediction accuracy, uncertainty calibration, and robustness to distributional shifts. Field experiments further demonstrate its effectiveness in dynamically feasible motion planning, particularly during evasive maneuvers and operation at the limits of traction. Project website: https://mahmoud-selim.github.io/MetaKoopman/
arXiv PDF
Reeling It In: Flexible Needle Pick Up via Thread Manipulation for Autonomous Suturing
Emma Huang, Zih-Yun Chiu, Neelay Joglekar, Shanglei Liu, Michael C. Yip
arXiv:2607.26337v1 • 2026-07-28
Suture-needle pickup is necessary for autonomous suturing, as a needle can be unexpectedly dropped or strategically released to adjust the grasping configuration. Current methods for autonomous needle pickup typically guide a robot to move straight toward the needle and grasp it, limited to conditions where the needle is observable and directly approachable. In addition, grasping the needle lying on tissue can lead to the robot pinching nearby tissue or the needle jumping around due to its slippery surface, posing potential safety issues. This work proposes an autonomous framework that uses a suture thread as an assistive tool for indirect needle pickup, avoiding unnecessary tool-tissue contact and enabling pickup even when the needle is occluded or inaccessible. The framework spans the entire workflow, including thread and tissue reconstruction, safe grasp-point selection, stable thread lifting, and bimanual thread-following until securing needle grasping. The robot policies account for visual uncertainty to maximize robustness in real-world environments. We evaluate the proposed framework on a da Vinci Research Kit under various real-world conditions. The results demonstrate robust performance even with a challenging thread configuration or a non-approachable needle, closing the gap in applying autonomous robot policies to unstructured suturing environments.
Comment: Accepted to IROS 2026
arXiv PDF
Learning Implicit Causal World Models from Multi-Agent Demonstrations
Jasorsi Ghosh
arXiv:2607.26336v1 • 2026-07-28
In model-based reinforcement learning, world models exist as internal simulators, but their training often conflates statistical correlations with causal mechanisms. This problem is exacerbated in multi-agent systems where physical transitions are intertwined with strategic agent intents, causing world models to fail under distribution shift. We introduce Implicit Causal World Models to recover environmental dynamics from offline demonstrations without requiring pre-defined causal graphs. By incorporating policy variance, we render world models discoverable via the sequential backdoor condition. Evaluations across coordination tasks (Two-Door, Navigation, and Giveway) demonstrate that these models provide interpretable causal representations under both full and partial observability, with model accuracy scaling directly with interventional strength.
Comment: Preprint
arXiv PDF
Invariant Extended Kalman Filtering with Partial Orientation Measurement Integration: Theoretical Derivations and Application to Autonomous Surface Vessels
Derek R. Benham, Easton R. Potokar, Joshua G. Mangelson
arXiv:2506.10850v2 •updated • 2025-06-12
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor mapping, as even small surface deviations can have significant consequences when sensing the seafloor below. To address this challenge, we propose an Invariant Extended Kalman Filter (InEKF) framework designed to integrate partial orientation measurements. While conventional estimation often relies on relative position measurements to fixed landmarks, open ocean ASVs primarily observe a receding horizon. We leverage forward-facing monocular cameras to estimate roll and pitch with respect to this horizon, which provides yaw-ambiguous partial orientation information. To effectively utilize these measurements within the InEKF, we introduce a novel framework for incorporating such partial orientation data. This approach contrasts with traditional InEKF implementations that assume full orientation measurements and is particularly relevant for vehicles operating in a \say{semi-planar} environment, where the attitude is characterized by a dominant yaw rotation with limited roll and pitch variations. This paper details the developed InEKF framework; its integration with horizon-based roll/pitch observations and dual-antenna GPS heading measurements for ASV state estimation; and provides a comparative analysis against the InEKF using full orientation and a Multiplicative EKF (MEKF). Our results demonstrate the efficacy and robustness of the proposed partial orientation measurements for accurate ASV state estimation in open ocean environments.
Comment: Originally presented at the 2025 IEEE ICRA Workshop on Field Robotics, extended to cover real world experiments. 13 pages, 8 figures, 3 tables
arXiv PDF
Invariant Kalman filtering for extended pose estimation in multi-IMU articulated rigid-body systems
Sven Goffin, Cédric Schwartz, Silvère Bonnabel, Olivier Brüls, Pierre Sacré
arXiv:2606.25083v2 •updated • 2026-06-23
Accurate extended pose estimation (orientation, velocity, and position) for IMU-instrumented articulated rigid-body systems is a key challenge in robotics and human motion analysis. The invariant extended Kalman filter (IEKF) addresses this problem for a single rigid body with convergence guarantees and consistency under unobservability, but extending these properties to articulated systems is nontrivial: inter-body pose coupling prevents a direct application, and incorporating joint kinematic constraints within the invariant framework remains an open problem. To address this gap, we introduce the relative L-extended pose, a Lie group representation for kinematic-tree systems based on relative poses between bodies. With one IMU per body, it yields group-affine dynamics and allows joint constraints to be expressed in invariant form. We incorporate these constraints as noise-free pseudo-measurements within an iterated IEKF (IterIEKF), thereby preserving the convergence and consistency guarantees of invariant filtering. The absolute pose of each body is then recovered by chaining the relative blocks along the kinematic tree. Validated on both a UR5e robot and a human leg, the proposed IterIEKF outperforms all EKF, IterEKF, and absolute-pose IterIEKF baselines. It converges faster, exhibits lower run-to-run variability, and consistently achieves the lowest RMSE, with reductions of at least 50% compared to the second-best filter across all scenarios considered in this work.
arXiv PDF
Video World Models
5
默认显示 5 篇
VideoFDB: Evaluating Full-Duplex Vision-Speech Capabilities in Conversational Agents
Amrita Mazumdar, Seonwook Park, Rajarshi Roy, Nikhil Srihari, Shengze Wang, Yuhao Zhou, Julia Wang, Koki Nagano, Shalini De Mello
arXiv:2605.30256v2 •updated • 2026-05-28
Natural human conversation is full-duplex and audio-visual: people simultaneously speak and listen while continuously interpreting and producing nonverbal cues, such as nods, smiles, and gestures. To support successful human-agent interaction, agents must model full-duplex audiovisual conversation; however, existing full-duplex benchmarks evaluate only speech. In this work, we present VideoFDB, the first benchmark to evaluate full-duplex audio-visual-to-audio-visual (AV2AV) conversational agents. VideoFDB contributes (i) 237 dyadic clips spanning 11 nonverbal conversational dynamics from real-world video calls, (ii) a taxonomy separating perception from generation behaviors, and (iii) a rubric-based LM-as-judge evaluation framework with interpretable axes for assessing conversational quality with respect to nonverbal conversational dynamics. Across open- and closed-source vision-speech agents, we find systematic failure modes: captioning collapse and visual-stream ignorance, and we show that current systems exploit vision for explicit visual question answering but not for the streaming joint audiovisual grounding required in natural conversation. We further evaluate cascaded speech-to-avatar systems and find that their architecture fundamentally precludes the production of full-duplex nonverbal cues. As the first benchmark for full-duplex AV2AV interaction, VideoFDB establishes a foundation for systematic evaluation and, we hope, will accelerate the advancement and development of next-generation multimodal conversational agents.
Comment: Project page: https://research.nvidia.com/labs/amri/projects/video-fdb/
arXiv PDF
WildShadowRemover: In-the-Wild Video Shadow Removal via Detail-Preserving Video Diffusion Models
Jiamin Xu, Cong Wang, Zheng Dong, Chi Wang, Renshu Gu, Weiwei Xu, Gang Xu
arXiv:2607.26203v1 • 2026-07-28
Video shadow removal in the wild remains challenging due to complex illumination, diverse shadow appearances, and limited training data. Despite its importance to numerous vision and graphics applications, it remains largely unexplored in unconstrained real-world scenarios. To address this gap, we present WildShadowRemover, a framework that adapts a pretrained video diffusion model for robust video shadow removal via LoRA fine-tuning. To preserve fine image details while retaining the model's powerful generative prior, we augment the frozen VAE decoder with a detail injection module and introduce a shadow-mask-guided frequency-decomposed modulation module to selectively restore high-frequency textures while suppressing shadow artifacts. Monocular depth priors from Depth Anything 3 further provide geometry-aware guidance under challenging lighting conditions. We also construct WildShadow, a large-scale paired video shadow removal dataset and benchmark, covering diverse synthetic scenes. Extensive experiments demonstrate that our method outperforms existing approaches in shadow removal quality and temporal consistency, producing temporally coherent shadow-free videos with superior visual quality and strong generalization across challenging in-the-wild scenarios.
arXiv PDF
Wonder: Video World Model Done Better
Jiacong Xu, Hanwen Jiang, Zhixin Shu, Kalyan Sunkavalli, Vishal M. Patel, Yiqun Mei
arXiv:2607.26037v1 • 2026-07-28
We present Wonder, a general-purpose video world model for real-time, camera-controllable world exploration. Given an image or a conditional video, Wonder constructs a playable world where users can navigate interactively by moving the camera, discovering unseen regions, and revisiting previously observed areas in real time and over a long-term horizon. Achieving this capability requires a system-level co-design of control method, memory mechanism, and training strategy. We introduce a novel camera conditioning with a dense coordinate field whose renderings provide spatially aligned motion and orientation cues, allowing the model to interpret camera motion directly as visual evidence. To support fast and precise memory retrieval over a growing generation context, we propose an efficient sparse attention-based memory mechanism, enabling the model to selectively attend to a small set of relevant context tokens at inference time, regardless of actual context length. We further develop several techniques to rectify the self-forcing-style distillation pipeline, improving the student model's ability to respect control signals, as well as maintaining diverse generation modes and long-term memory from the teacher. Together, these components enable Wonder to synthesize diverse, minute-scale videos at 16 FPS while preserving coherent geometry, appearance, and dynamics across long rollouts. Beyond image-to-video generation, Wonder naturally supports video-conditioned generation, allowing existing dynamic scenes to be re-shot in real time.
Comment: Project Page: https://wonder-world-model.github.io/
arXiv PDF
DC-WAM: Dynamic-Centric Visual Supervision and Reasoning for World-Action Models
Haoyuan Ji, Lingxiang Fan, Shang Su, Yinqiao Lu, Mengkai Shi, Jun Gao, Shuo Feng
arXiv:2607.25918v1 • 2026-07-28
World-Action Models (WAMs) augment robot policies with future visual prediction, but it remains unclear what the visual modality should learn for control. While photorealistic future prediction provides dense supervision, it also incurs substantial computation and can allocate capacity to texture, illumination, and background variations that are only weakly related to action selection. Recent efficient WAM variants suggest that the main benefit of the video branch may not lie in the rendered future itself, but in the control-relevant visual representations induced during training. In this work, we revisit future video prediction from a dynamic-centric perspective and ask whether an existing RGB-based WAM can be redirected from appearance-dominated reconstruction toward interaction-induced visual dynamics without introducing additional modality-specific predictions or online inputs at deployment. We propose DC-WAM, a dynamic-centric WAM framework that redistributes supervision and computation in the RGB video branch. At the supervision level, DC-WAM combines temporal-difference flow matching with trajectory-guided weighting, emphasizing dense temporal changes and localized regions where the gripper, manipulated objects, and contact areas move. At the reasoning level, DynaRoute predicts token-wise dynamic relevance and converts it into an attention bias, guiding the model toward control-relevant future tokens. Experiments in simulation and on real-world manipulation tasks show that DC-WAM consistently improves policy performance, especially under out-of-distribution perturbations in lighting, object appearance, and background texture.
arXiv PDF
Belief-Aware Influence and Trust (BAIT): Shaping Human Belief During Repeated Human-Robot Interaction
Ye-Ji Mun, Mahsa Golchoubian, Shahabedin Sagheb, Yan Bai, Tianhao Ji, Dylan P. Losey, Katherine Driggs-Campbell
arXiv:2607.25327v1 • 2026-07-28
Repeated human-robot interaction (HRI) requires proactively accounting for humans who continually adapt to evolving beliefs about the robot. Prior frameworks often treat encounters as isolated events, suffering cumulative task performance decay as human perception drifts, or maintain long-term influence through erratic, unpredictable behavior that erodes perceived human trust and relies on computationally unscalable formulations. To address these gaps, we introduce the Belief- Aware Influence and Trust (BAIT) controller. BAIT integrates a hierarchical particle filter, which infers both fast human strategic shifts and slow perceptual belief updates, with a belief-aware Model Predictive Path Integral planner. BAIT explicitly optimizes the trade-off between long-horizon influence and human trust, while enforcing immediate task performance as a strict constraint. Across simulations, a human-subject study, and a real-world GEM vehicle deployments in repeated lane-merging scenarios, BAIT achieves task performance comparable to baselines that optimize long-term influence through unpredictability while yielding significantly higher user trust. The video demonstrating our experiments is available at https://youtu.be/GsPfHRujzVs.
Comment: 8 pages, 4 figures, submitted to IEEE Robotics and Automation Letter (RA-L)
arXiv PDF
2026-07-27
71 篇
Robotics
64
默认显示 5 篇
Reactive 3D Motion Planning for a Franka Arm via Star-World Workspace Reshaping
Gia Dcosta, Saayuj Deshpande, Samhitha Vedire
arXiv:2607.25138v1 • 2026-07-27
Safety inflation can cause nearby obstacles to overlap, violating the disjoint-obstacle assumptions used by many modulation-based reactive planners. We investigate Star-World workspace reshaping for three-dimensional reactive control of a Franka Emika Panda manipulator. At each update, intersecting inflated obstacles are clustered and replaced by star-shaped proxies before a dynamical-system-based end-effector controller is evaluated. A null-space artificial-potential-field term provides complementary arm-body avoidance. We compare reshaped and unreshaped obstacle representations in six PyBullet scenarios using goal attainment, path-length ratio, and computation time. In this preliminary 12-trial evaluation, reshaping reaches the goal in five of six scenarios, compared with four of six for the unreshaped baseline. It resolves the canonical overlapping-wall case and requires 0.68--8.70\,ms per workspace update for scenes containing one to seven obstacles. However, it also increases path length, produces near-equilibria in two cases, and closes a navigable corridor through over-aggressive merging. These results show both the promise and the practical limitations of transferring Star-World guarantees from workspace geometry to a redundant manipulator controlled through inverse kinematics.
arXiv PDF
Coverage Path Planning for Holonomic UAVs via Uniaxial-Feasible, Gap-Severity Guided Decomposition
Pedro Antonio Alarcon Granadeno, Jane Cleland-Huang
arXiv:2505.08060v3 •updated • 2025-05-12
Modern coverage path planning (CPP) for holonomic UAVs in emergency response must contend with diverse environments where regions of interest (ROIs) often take the form of highly irregular polygons, characterized by asymmetric shapes, dense clusters of concavities, and multiple internal holes. Modern CPP pipelines typically rely on decomposition strategies that overfragment such polygons into numerous subregions. This increases the number of sweep segments and connectors, which in turn adds inter-region travel and forces more frequent reorientation. These effects ultimately result in longer completion times and degraded trajectory quality. We address this with a decomposition strategy that applies a recursive dual-axis monotonicity criterion, with cuts guided by a cumulative gap severity metric. This approach distributes clusters of concavities more evenly across subregions and produces a minimal set of partitions that remain sweepable under a parallel-track maneuver. We pair this with a global optimizer that jointly selects sweep paths and inter-partition transitions to minimize total path length, transition overhead, and turn count. We demonstrate that our proposed approach achieves the lowest mean path-length and completion-time overhead among 15 other CPP pipelines.
Comment: Accepted to IEEE International Conference on Robotics and Automation (ICRA 2026)
arXiv PDF
Nanobot Algorithms for Treatment of Diffuse Cancer
Noble Harasha, Nancy Lynch
arXiv:2509.06893v2 •updated • 2025-09-08
Motile nanosized particles, or "nanobots", promise more effective and less toxic targeted drug delivery because of their unique scale and precision. We consider the case in which the cancer is "diffuse", dispersed such that there are multiple distinct cancer sites. We investigate the problem of a swarm of nanobots locating these sites and treating them by dropping drug payloads at the sites. To improve the success of the treatment, the drug payloads must be allocated between sites according to their "demands"; this requires extra nanobot coordination. We present a mathematical model of the behavior of the nanobot agents and of their colloidal environment. This includes a movement model for agents based upon experimental findings from actual nanoparticles in which bots noisily ascend and descend chemical gradients. We present three algorithms: The first algorithm, called KM, is the most representative of reality, with agents simply following naturally existing chemical signals that surround each cancer site. The second algorithm, KMA, includes an additional chemical payload which amplifies the existing natural signals. The third algorithm, KMAR, includes another additional chemical payload which counteracts the other signals, instead inducing negative chemotaxis in agents such that they are repelled from sites that are already sufficiently treated. We present simulation results for all algorithms across different types of cancer arrangements. For KM, we show that the treatment is generally successful unless the natural chemical signals are weak, in which case the treatment progresses too slowly. For KMA, we demonstrate a significant improvement in treatment speed but a drop in eventual success, except for concentrated cancer patterns. For KMAR, our results show great performance across all types of cancer patterns, demonstrating robustness and adaptability.
Comment: 34 pages, 9 figures (plus 1 table)
arXiv PDF
Input Shaping for Point-to-Point Motion with a Continuum Robot Arm
Rodolfo Hdz. Ibarra, Karan Baker, Parsa Molaei, Adrian Stein, Hunter B. Gilbert
arXiv:2607.25071v1 • 2026-07-27
A cable-driven continuum robot arm is an underactuated mechanism and may suffer residual vibration at the end of a rest-to-rest maneuver. In this work, a time-delay filter is applied as an input shaper to the system to eliminate the excitation of vibratory modes. A non-robust and a robust time-delay filter are designed based on a linear system model and demonstrate improved response compared to a velocity-driven pulse input. Experimental results using the continuum robot validate the application of the input shaper, with reduced overshoot and settling time exemplifying the reduction in oscillation at the end of the maneuver. It is also shown that utilizing the robust shaper further improves the response of the arm in comparison to applying the non-robust shaper. These results are significant towards the precise and robust implementation of continuum robots in applications involving arbitrary end-effector trajectories.
arXiv PDF
Hybrid Artificial Potential Fields and Spatio-Temporal Transformers for Real-Time AUV Path Planning
Khadija Rais, Abdelmadjid Benmachiche, Imene Soualmia
arXiv:2607.25056v1 • 2026-07-27
Autonomous Underwater Vehicles (AUVs) operate in complex, unstructured environments where efficient and safe path planning is critical for mission success and energy conservation. This paper presents a comprehensive comparative evaluation of thirteen path planning algorithms, ranging from classical graph-search methods (A*, Dijkstra) and sampling-based approaches (RRT*) to metaheuristics (PSO, GA, ACO, BCO) and learning-based architectures. Special emphasis is placed on a proposed hybrid approach combining Artificial Potential Fields (APF) with a Spatio-Temporal (ST) Transformer. Evaluated across five navigation scenarios on high-resolution underwater terrain maps, all algorithms achieved 100\% task completion; however, significant trade-offs emerged in path optimality, collision avoidance, and computational load. The Hybrid APF + ST-Transformer demonstrated superior balanced performance, achieving the shortest average path length (943.15 units), a low collision rate (0.031), and efficient computation time (0.96 s), outperforming standalone learning models, which required fallback mechanisms and classical methods that incurred higher latency. While classical algorithms guaranteed collision-free paths, their excessive path lengths and processing times render them less suitable for dynamic underwater operations. Conversely, metaheuristic approaches introduced trajectory complexity unsuitable for strict energy constraints. Based on these findings, the Hybrid APF + ST framework is recommended as a principal approach for real-time AUV navigation, offering a robust solution that harmonizes reactive obstacle avoidance with global path optimality in resource-constrained underwater systems.
arXiv PDF
Video World Models
7
默认显示 5 篇
Closing the Loop: Training-Free Revisit Consistency for Autoregressive Generative Rendering
Wenchao Ma, Changran Liu, Sharon X. Huang, Haomiao Jiang
arXiv:2607.21848v2 •updated • 2026-07-23
Recent conditional video generation models have shown promising potentials to transform 3D engine renderings, such as depth maps and untextured geometry, into photorealistic videos for gaming and immersive content creation. These applications require long-horizon auto-regressive generation that continuously synthesizes new frames while preserving a persistent 3D world. Auto-regressive generators synthesize video chunk by chunk with a bounded KV cache, so when the camera revisits a location after its context has been evicted, the model often regenerates inconsistent appearance, even though the conditioning renderings (e.g., depth) remain perfectly aligned with the underlying geometry. We address this revisit inconsistency without any post-training by exploiting correspondences the 3D engine already provides: temporal correspondence retrieves pose-matched historical latent chunks into the KV cache as loop-closure memory, while spatial correspondence from camera pose and depth reprojection biases token-level attention toward geometrically corresponding regions of the retrieved chunks. We demonstrate our method on loop-closure trajectories mined from TartanAir and TartanGround dataset to mirror complicate real-world application scenarios, where it outperforms existing training-free baselines on revisit consistency without losing overall video quality. Project Page: https://wenchao-m.github.io/ClosetheLoop.github.io/
arXiv PDF
Test-Time Adaptation via Dual Distillation for Videos Under Severe Distribution Shifts
André Sacilotti, Samuel Felipe dos Santos, Jurandy Almeida
arXiv:2607.24611v1 • 2026-07-27
Deep learning models have achieved state-of-the-art performance in several computer vision tasks. However, they experience severe performance degradation when applied to real-world scenarios due to unanticipated distribution shifts. Test-Time Adaptation (TTA) attempts to solve this problem by using unlabeled data from the target domain to dynamically adapt to the test distribution at inference time, without access to the source data. However, TTA remains a challenging problem when adapting to continuous, temporally correlated data, such as videos, and in scenarios where the target domain contains severe domain shifts. For this reason, few works in the literature explore TTA for videos under such extreme conditions. To overcome these limitations, we propose Test-time Adaptation via Dual Distillation (TADD), an online adaptation framework that relies on a lightweight projection adapter to bridge the domain gap. The adapter module is pre-trained on the source domain and then adapted to the target using our proposed complementary losses: (i) zero-shot distillation, which encourages alignment with the domain-agnostic features from a pre-trained vision-language model (VLM); and (ii) target distillation, which retains the source domain discriminative knowledge encoded in the pre-trained adapter. Built upon a frozen CLIP backbone, our method introduces this lightweight projection adapter as the sole updatable component during inference. We conducted extensive evaluations on three well-known video action recognition benchmarks: UCF-HMDB, Daily-DA, and Sports-DA. Our experiments in the closed-set scenario demonstrate that our method consistently outperforms state-of-the-art TTA baselines. Notably, our TTA approach improves upon previous methods by up to +3.81% on UCF-HMDB, +2.63% on Daily-DA, and +3.03% on Sports-DA.
arXiv PDF
Let Me Look at You: Advanced Facial Expression Modeling for Conversational Speech Synthesis
Yifan Hu, Shuwei He, Rui Liu, Haizhou Li
arXiv:2607.24430v1 • 2026-07-27
Conversational Speech Synthesis is a fundamental component of human-computer interaction, aiming to generate contextually appropriate, expressive, and empathetic speech. However, facial expressions encode subtle and rich affective cues that are crucial for empathetic speech interaction, whereas existing approaches often overlook this important modality. In addition, the lack of large-scale natural conversational datasets with both speech and visual modalities also limits the development of visual affect understanding in conversational settings.To address these limitations, we propose FacialTalker, a facial-expression-aware CSS framework built upon a large language model backbone. To efficiently encode facial expressions, we propose AUTokenizer, a single-codebook visual tokenizer that discretizes each frame-level facial expression into a compact token, trained with supervision from combinations of facial Action Units. We further introduce a dual direct preference optimization (DualDPO) strategy, which extends the DPO by jointly imposing preference constraints on both visual and speech token sequences, to enhance the model's understanding of facial expressions and speech semantics in multimodal conversational contexts. Moreover, we construct VSDD-1K, a large-scale multimodal dialogue dataset collected through a fully automated pipeline from real-world Internet conversations, comprising over 1,033 hours of synchronized speaker videos and speech, with more than 85\% of frames containing valid faces. Extensive objective and subjective experiments demonstrate that FacialTalker consistently outperforms strong baselines in facial-expression perception and speech synthesis quality, generating speech that is more natural, expressive, and better aligned with the conversational context. The results also validate the effectiveness of our training strategy and dataset construction pipeline.
Comment: 10 pages, 5 figures, 5 tables. Accepted by ACM MM 2026
arXiv PDF
BATON: A Multimodal Benchmark for Bidirectional Automation Transition Observation in Naturalistic Driving
Yuhang Wang, Yiyao Xu, Chaoyun Yang, Lingyao Li, Jingran Sun, Hao Zhou
arXiv:2604.07263v2 •updated • 2026-04-08
Existing driving automation (DA) systems on production vehicles rely on human drivers to decide when to engage DA while requiring them to remain continuously attentive and ready to intervene. This design demands substantial situational judgment and imposes significant cognitive load, leading to steep learning curves, suboptimal user experience, and safety risks from both over-reliance and delayed takeover. Predicting when drivers hand over control to DA and when they take it back is therefore critical for designing proactive, context-aware HMI, yet existing datasets rarely capture the multimodal context, including road scene, driver state, vehicle dynamics, and route environment. To fill this gap, we introduce BATON, a large-scale naturalistic dataset capturing real-world DA usage across 127 drivers, and 136.6 hours of driving. The dataset synchronizes front-view video, in-cabin video, decoded CAN bus signals, radar-based lead-vehicle interaction, and GPS-derived route context, forming a closed-loop multimodal record around each control transition. We define three benchmark tasks: driving action understanding, handover prediction, and takeover prediction, and evaluate baselines spanning sequence models, classical classifiers, and zero-shot VLMs. Results show that visual input alone is insufficient for reliable transition prediction: front-view video captures road context but not driver state, while in-cabin video reflects driver readiness but not the external scene. Incorporating CAN and route-context signals substantially improves performance over video-only settings, indicating strong complementarity across modalities. We further find takeover events develop more gradually and benefit from longer prediction horizons, whereas handover events depend more on immediate contextual cues, revealing an asymmetry with direct implications for HMI design in assisted driving systems.
arXiv PDF
DeVA: Decoupled Video-Action Model with physical guidance for robot policy learning
Mengqi Zhang, Sahil Khose, Simar Kareer, Yuchen Song, Unnat Jain, Judy Hoffman
arXiv:2607.24159v1 • 2026-07-27
Generalizable robot manipulation requires policies that can anticipate how visual scenes evolve while executing language instructions. While recent Vision-Language-Action models benefit from large-scale pretraining, their predominantly static pretraining objectives provide limited supervision for physical dynamics and temporal causality, leaving control-relevant knowledge to be learned from downstream robot demonstrations. Video generative models offer a promising foundation by encoding rich spatiotemporal priors through future predictions. However, existing Video-Action Models either couple video and action prediction in a shared backbone, making policy adaptation harder to optimize, or under-utilize video information when guiding the action branch. In this work, we introduce DeVA, a Decoupled Video-Action model with specialized video and action experts, multi-level feature transfer, and physically salient guidance. DeVA transfers representations from multiple video layers to the action expert, enabling rich information exchange while making policy learning more tractable. It further supervises intermediate video features and the action stream with physically salient guidance (affordance/depth). Experiments on both simulation benchmarks and real-world deployment demonstrate strong performance with limited data, faster convergence than a unified architecture, and clear performance gains from physical guidance.
Comment: Project page with videos, code, and checkpoints: https://deva-model.github.io/
arXiv PDF
2026-07-26
41 篇
Robotics
36
默认显示 5 篇
Cost-Aware Recovery-Pathway Identification and Bayesian Optimization for Autonomous Materials Discovery
Debajyoti Ray, Niranjan Srinivas
arXiv:2607.23896v1 • 2026-07-26
Autonomous laboratories automate experimental execution, but a campaign must also decide which recovery pathway merits optimization. We formulate this as a sequential decision problem with a discrete pathway-identification stage and a continuous within-pathway optimization stage under heterogeneous experimental costs. Our implementation, Coactive learning, combines a cost-sensitive Bayesian hypothesis-discrimination policy motivated by EC2 (Golovin et al., 2010) with Gaussian-process Bayesian optimization (Srinivas et al., 2010). Under explicitly stated assumptions, the expected spend of one fixed-budget campaign attempt is bounded by the expected pathway-identification cost plus the capped within-pathway optimization budget. We evaluate the method on synthetic benchmarks constrained by selected results reported for PNNL's CICERO selective-precipitation study (Ritchhart et al., 2026). The method performs comparably to an oracle-pathway Bayesian-optimization reference and to a strong split-plate baseline that discriminates pathways with its first plate, without receiving an oracle label for the correct pathway. It is given a candidate hypothesis space and a diagnostic likelihood model. On an NdFeB-inspired instance, it avoids the simulated penalty of a commit-first baseline that initially selects a plausible but inferior hydroxide pathway. This hypothetical wrong-first-commitment scenario is motivated by the hydroxide-oxalate performance contrast reported by CICERO. We characterize the sensitivity of these conclusions to the assumed cost model. The code and benchmark are open source.
arXiv PDF
GemNav: Discrete-Token Visual Robot Navigation using a Multimodal Large Language Model
Peter Bohm, Saimunur Rahman, Abdelwahed Khamis, Sagun Man Singh Shrestha, Chris McCool, Peyman Moghadam
arXiv:2607.06882v2 •updated • 2026-07-08
Visual navigation policies built on large pretrained models have so far followed a common recipe: a dedicated visual encoder, a bespoke action head, and training on thousands of hours of cross-embodiment datasets. We ask whether this recipe is necessary. In this paper, we introduce GemNav, a visual robot navigation policy that adapts a frozen Multimodal Large Language Model (MLLM) for short-to-medium horizon waypoint navigation using Low-Rank Adaptation (LoRA) on the language tower alone, with no auxiliary visual encoder and no continuous regression head. Waypoints and categorical navigation signals share a single discrete token vocabulary generated by the language-model head, and a soft-decoded auxiliary loss recovers the metric structure that pure cross-entropy training discards. On a single 8.7-hour open corpus, roughly three orders of magnitude smaller than competing training sets, the policy transfers zero-shot to four physically distinct unseen environments and stops within 0.25-0.42m of the goal across 20 real-world trials covering an open carpark, an obstacle carpark, a long outdoor chemical yard, and an indoor warehouse. Conditioning on short image histories improves offline metrics but yields no robot benefit, pointing to a ceiling on what temporal context adds once pretrained vision features are in place. These results indicate that discrete-token adaptation of frozen MLLMs can provide a data-efficient, deployable alternative for foundation model robot navigation.
arXiv PDF
CoopReflect: Towards Natural Language Communication for Cooperative Autonomous Driving via Multi-Agent Learning
Jiaxun Cui, Chen Tang, Jarrett Holtz, Janice Nguyen, Alessandro G. Allievi, Hang Qiu, Peter Stone
arXiv:2505.18334v2 •updated • 2025-05-23
Past work has demonstrated that autonomous vehicles can drive more safely if they communicate with each other. However, this communication is usually not human-understandable. Using natural language as a vehicle-to-vehicle (V2V) communication protocol offers the potential for autonomous vehicles to drive cooperatively not only with each other but also with human drivers. To explore the potential use of natural language for V2V communication, we develop LLM-based driving agents and study their interactions in a new simulation environment, TalkingVehiclesGym, which features traffic scenarios where communication can potentially help avoid imminent collisions and/or support efficient traffic flow. While LLM agents relying solely on chain-of-thought reasoning struggle to coordinate effectively, we introduce CoopReflect, a multi-agent learning framework that equips agents with knowledge for both natural language message generation and high-level decision-making through trial and error and multi-agent debriefing. Experiments show that CoopReflect produces more meaningful and human-understandable messages than existing baselines, enabling stronger cooperation. Finally, we distill scenario-specific knowledge into a unified language model policy, achieving cross-scenario generalization and substantially reducing decision-making latency. Our code and demo videos are available at https://talking-vehicles.github.io/.
arXiv PDF
VLASH: Real-Time VLAs via Future-State-Aware Asynchronous Inference
Jiaming Tang, Yufei Sun, Yilong Zhao, Shang Yang, Yujun Lin, Zhuoyang Zhang, James Hou, Yao Lu, Zhijian Liu, Song Han
arXiv:2512.01031v2 •updated • 2025-11-30
Vision-Language-Action models (VLAs) are becoming increasingly capable across diverse robotic tasks. However, these models are typically deployed under synchronous inference, where the robot waits for model inference to complete before acting, and cannot perceive or respond to environmental changes during action execution. This not only introduces noticeable action stalls, but also significantly increases reaction latency, fundamentally limiting the applicability of VLAs to dynamic, real-time tasks. Asynchronous inference offers a promising solution to achieve continuous and low-latency control by enabling robots to execute actions and perform inference simultaneously. However, because the robot and environment continue to evolve during inference, a temporal misalignment arises between the prediction and execution intervals. This leads to significant action instability, while existing asynchronous methods either degrade accuracy or introduce runtime overhead to mitigate it. We propose VLASH, a simple yet effective method for asynchronous VLA inference that delivers smooth, accurate, and fast reaction control without architectural changes or additional runtime overhead. VLASH leverages the future execution-time state by rolling the robot state forward with the previous action chunk, thereby bridging the gap between prediction and execution. Experiments show that VLASH reduces reaction latency by up to 11.8x compared to synchronous inference and consistently outperforms all asynchronous baselines in accuracy. With action quantization, it further achieves 1.5-2.0x task completion speedup with minimal accuracy loss. Moreover, it empowers state-of-the-art VLAs such as $π_{0.5}$ to handle fast-reaction, high-precision tasks including playing ping-pong and playing whack-a-mole, where traditional synchronous inference fails. Code is available at https://github.com/mit-han-lab/vlash
arXiv PDF
BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight
Parakh M. Gupta, Matej Mihulka, Matej Novosad, Robert Penicka, Martin Saska
arXiv:2607.23867v1 • 2026-07-26
Trajectory tracking performance of Uncrewed Aerial Vehicles (UAVs) degrades during high-speed and agile flight due to the depletion of the battery and subsequent loss of maximum available thrust. In applications such as drone racing, the consequent trajectory tracking error leads to a collision with obstacles and a subsequent failure to complete the race. In this paper, we present a novel method for integrating battery and propulsion system models into a Nonlinear Model Predictive Controller (NMPC) framework to enable real-time prediction of the voltage, consumed current, power, and maximum available thrust of the platform. This enables our approach to account for the dynamic variations in the maximum available thrust of the UAV caused by battery discharge, allowing it to plan for the depleting thrust and improve trajectory tracking performance. A trajectory planning algorithm is implemented to replan the trajectory in-flight based on evolving thrust limits. The accuracy of the proposed model is verified in real-world flight experiments, while the effectiveness of the replanning algorithm is evaluated in simulation. Compared to an uncompensated flight, our novel approach demonstrates achieves a collision-free flight to achieve a 6-fold decrease in tracking Root Mean Square Error (RMSE), a 46 % increase in flight distance, and a 100 % increase in flight time in an obstacle-ridden environment.
Comment: [Submitted to Elsevier RAS]
arXiv PDF
Video World Models
5
默认显示 5 篇
V-DEAL: Diagnosing Video Safety De-Calibration as an Understanding-Refusal Coupling Failure
Zhetong Zhang, Honghao Fu, Miao Xu, Yiwei Wang, Yujun Cai
arXiv:2607.21151v2 •updated • 2026-07-23
As Video Large Language Models are increasingly deployed in real-world applications, ensuring their safety alignment has become critical. Counterintuitively, we find that harmful videos paired with benign queries achieve higher attack success rates than the same videos paired with explicitly harmful queries. To understand the underlying mechanism of this vulnerability, we present V-DEAL, a three-level diagnostic framework that jointly analyzes this failure across model behaviour, understanding, and internal representations. By progressively ruling out perception failure and quantifying the model's internal refusal tendency, V-DEAL provides a new diagnostic perspective for analyzing the underlying mechanism of the observed vulnerability. We tested six Video LLMs on three public benchmarks and observed that models correctly recognize harmful video content with over 81\% accuracy, yet the average attack success rate still reaches 48.33\% under the condition pairing harmful videos with benign queries. Hidden-state analysis further shows that visual understanding activates a weaker refusal tendency than textual understanding. Furthermore, we introduce a prompt injection intervention method that reduces attack success rates by an average of 48.24 percentage points and achieves performance comparable to prior fine-tuning-based methods, providing an effective and practical means to address such safety risks in Video LLMs.
arXiv PDF
$N_0$-TWAM: Scaling Tactile-Native World-Action Model for Contact-Rich Manipulation
NeoteAI Team, Fudan TEAI Team
arXiv:2607.23783v1 • 2026-07-26
We present $N_0$-TWAM, a tactile-native world-action model for contact-rich manipulation that predicts both future vision and future contact. To our knowledge, it is the first tactile world-action model trained at large scale, and it shows strong capability on contact-rich tasks. We pre-train $N_0$-TWAM at large scale with visuo-tactile joint training over tactile-rich demonstrations spanning six embodiments and 450 tasks. We use NeoForce, a unified force-based tactile representation, to form a physically grounded contact signal that conditions action generation. To improve long-horizon and multi-stage manipulation, we introduce tactile contact events for task staging and advance through them during execution. For real-time efficiency, we adopt an asymmetric Mixture-of-Transformers architecture that pairs a full-width expert for video prediction with slim experts for downstream action and tactile prediction. Evaluations on both real and simulated benchmarks justify the capabilities of $N_0$-TWAM across a range of contact-rich tasks, and demonstrate the benefit of data scaling for precise tactile and action prediction. In summary, $N_0$-TWAM endows a world-action model with predictive capabilities to foresee vision, touch and action, building a solid foundation for fine-grained manipulation on open contact-rich tasks. The codebase and model checkpoints will be made publicly available to foster further research and development in tactile-enabled robotic manipulation.
arXiv PDF
Deblur-Avatar: Animatable Avatars from Motion-Blurred Monocular Videos
Xianrui Luo, Juewen Peng, Zhongang Cai, Lei Yang, Fan Yang, Zhiguo Cao, Guosheng Lin
arXiv:2501.13335v4 •updated • 2025-01-23
We introduce a novel framework for modeling high-fidelity, animatable 3D human avatars from motion-blurred monocular video inputs. Motion blur is prevalent in real-world dynamic video capture, especially due to human movements in 3D human avatar modeling. Existing methods either (1) assume sharp image inputs, failing to address the detail loss introduced by motion blur, or (2) mainly consider blur by camera movements, neglecting the human motion blur which is more common in animatable avatars. Our proposed approach integrates a human movement-based motion blur model into 3D Gaussian Splatting (3DGS). By explicitly modeling human motion trajectories during exposure time, we jointly optimize the trajectories and 3D Gaussians to reconstruct sharp, high-quality human avatars. We employ a pose-dependent fusion mechanism to distinguish moving body regions, optimizing both blurred and sharp areas effectively. Extensive experiments on synthetic and real-world datasets demonstrate that our method significantly outperforms existing methods in rendering quality and quantitative metrics, producing sharp avatar reconstructions and enabling real-time rendering under challenging motion blur conditions. Code and models are available at https://github.com/xianrui-luo/deblur_avatar.
arXiv PDF
KuaiLive-M3: A Multi-Modal, Multi-Domain, and Multi-Feedback Dataset for Live Streaming Recommendation
Ke Guo, Changle Qu, Jiayaqi Cheng, Xiao Zhang, Shijun Wang, Xiaoyu Zhang, Xueliang Wang, Le Zhang, Lantao Hu, Jun Xu
arXiv:2607.24862v1 • 2026-07-26
Existing public live streaming datasets suffer from three major limitations: they provide limited access to temporally evolving multimodal live content, overlook users' cross-domain interactions between short videos and live streams, and contain only implicit behavioral signals without explicit feedback that captures users' perceived content quality and satisfaction. These limitations prevent existing benchmarks from faithfully reflecting real-world live streaming scenarios and hinder comprehensive research on live streaming recommendation. To address these limitations, we introduce KuaiLive-M3, a multi-modal, multi-domain, and multi-feedback dataset for live streaming recommendation, collected from Kuaishou, a leading live streaming and short video platform in China. KuaiLive-M3 covers 21,938 users and contains 35 million live streaming interactions and 111 million short video interactions, with fine-grained timestamps and diverse user behaviors. It further provides approximately 88 million timestamped segment-level multi-modal embeddings that capture the temporal evolution of live streaming content, as well as 25,403 questionnaire-based feedback records that bridge implicit user behaviors and explicit user preferences. Based on these unique signals, we establish benchmarks for cross-domain recommendation, live stream highlight prediction, and questionnaire-enhanced recommendation. Extensive experiments with representative baselines demonstrate that KuaiLive-M3 provides a challenging and realistic benchmark for future live streaming recommendation research. The results further highlight the importance of modeling temporally evolving content, transferring user preferences across domains, and bridging the gap between implicit behaviors and explicit user feedback. The dataset and benchmark code are publicly available at https://imgkkk574.github.io/KuaiLive-M3/.
arXiv PDF
JarvisHub: An Open Harness for Canvas-Native Multimodal Creative Agents
Yunlong Lin, Zixu Lin, Zhaohu Xing, Biqiang Li, Chenxin Li, Haonan Wang, Haitao Wu, Hengyu Liu, Jianghai Chen, Kaituo Feng, Kaixin Li, Shawn Chen, Shijue Huang, Sixiang Chen, Tsung-Yi Ho, Wenxuan Huang, Xiangyan Liu, Xiaomeng Hu, Xuanhua He, Yan Sun, Yunqing Zhao, Zhiqin Yang, Zehan Wang, Zhengyang Tang, Tianyu Pang, Xiangyu Yue
arXiv:2607.23588v1 • 2026-07-26
Creative AI is moving from single-step asset generation toward long-horizon multimodal production. Although recent generative models can synthesize high-quality images, videos, audio clips, UI elements, storyboards, slides, and other creative assets, real-world creative work requires more than isolated prompt-output interactions. It involves references, drafts, alternatives, edits, failed attempts, version relations, tool actions, evaluation signals, and human feedback, which together form an evolving project state. Existing prompt-based, chat-based, and node-based generation systems only partially support this state, as they often discard intermediate context, rely on linear conversations, or require manually specified workflows. Recent commercial systems indicate a shift toward agent-assisted creative production, but their closed architectures make it difficult to study how agents represent context, choose tools, revise artifacts, recover from failures, and maintain consistency over time. To address this gap, we introduce JarvisHub, a canvas-native creative agent harness for long-horizon multimodal creation. JarvisHub treats an editable canvas as the user workspace, the agent's external memory, action space, and shared project state, representing multimodal artifacts, dependencies, versions, and feedback as typed canvas nodes and links. Through a three-layer architecture of canvas state, protocol bridge, and agent runtime, JarvisHub enables agents to act within an inspectable and editable creative state. This design moves creative agents beyond isolated tool use toward sustained, human-steerable creative automation, where agents can progressively plan, generate, revise, and organize multimodal projects while users remain able to inspect, guide, and intervene throughout the process.
Comment: 15 pages, 9 figures. Project page: https://www.jarvishub.site/ Code github: https://github.com/LYL1015/JarvisHub
arXiv PDF
2026-07-25
21 篇
Robotics
21
默认显示 5 篇
Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression
Zhirui Dai, Tianxing Fan, Mani Amani, Jaemin Seo, Ki Myung Brian Lee, Hyondong Oh, Nikolay Atanasov
arXiv:2603.29227v2 •updated • 2026-03-31
Accurate and efficient scene representation is crucial for robotic tasks such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a powerful representation for encoding distance to obstacle boundaries, enabling efficient collision-checking and trajectory optimization. However, existing methods are limited for large-scale uncertainty-aware SDF estimation from streaming sensor data: voxel-based approaches have fixed resolution and lack uncertainty quantification, neural network methods require significant training time, and Gaussian process (GP) methods struggle with scalability, sign estimation, and uncertainty calibration. In this letter, we develop an open-source library, Kernel-SDF, using kernel regression to learn SDF with calibrated uncertainty in real-time. It combines a front-end learning a continuous occupancy field via kernel regression with a back-end that estimates accurate SDF via GP regression using samples from the front-end surface boundaries. Kernel-SDF provides accurate SDF, gradient, uncertainty, and mesh construction in real-time. Evaluations show it achieves superior accuracy over existing methods while maintaining real-time performance, making it suitable for robotics tasks requiring reliable uncertainty-aware geometry.
Comment: Accepted to IEEE Robotics and Automation Letters (RA-L) 2026; code: https://github.com/ExistentialRobotics/kernel_sdf
arXiv PDF
Semantic Semi-Incremental Data-Association-Free Object SLAM
Yihao Zhang, Jungseok Hong, John J. Leonard
arXiv:2607.23384v1 • 2026-07-25
Data association between landmark measurements and landmark variables has long been a central challenge in SLAM, as estimation accuracy depends critically on associating measurements with the correct landmark variables. Recent advances in deep learning have created new opportunities for the problem; data association can now leverage not only positional measurements but also semantic information about object landmarks, such as class labels from neural object detectors and feature vectors from visual foundation models. In this paper, we present a generalized data-association-free SLAM framework that jointly estimates data associations, robot poses, landmark positions, and landmark semantics from odometry, and positional and semantic measurements of landmarks. The proposed framework (i) creates a synergy between data association and landmark semantics estimation; (ii) adopts a semi-incremental estimation scheme for improved accuracy and computational efficiency; and (iii) provides a principled justification, guidelines, and heuristics for landmark-number estimation, improving the interpretability and practical usability of the framework. The proposed framework and algorithms are evaluated on synthetic and real-world datasets with two types of semantic information, class labels and real-valued feature vectors, and demonstrate superior performance compared to strong baselines.
arXiv PDF
Phenology-based learning framework for yield estimation and harvest forecasting of raspberry fruits
Parham Jafary, Lesley G. Campbell, Anna Bazangeya, Michelle Pham, Sajad Saeedi, Kourosh Zareinia, Habiba Bougherara
arXiv:2411.00967v2 •updated • 2024-11-01
The future of agriculture is intertwined with automation. Accurate fruit detection, yield estimation, and harvest time prediction are crucial for efficient supply chain management by optimizing resources and logistic utilization. Computer vision can automate these tasks to reduce labour costs and improve efficiency by training deep learning models on appropriate data to perform knowledge-based tasks. Although fruit detection has been the focus of literature, yield prediction and harvest time estimation remain practical challenges for farmers. This is particularly important for high-value, highly perishable crops, such as raspberries, where contractual obligations require precise harvest timing. This paper addresses this gap by providing a learning-based framework for raspberry maturity detection and harvest time estimation. For this end, a phenology study of raspberry plants from three different cultivars was carried out, and seven development stages were identified based on the BBCH-scale; for the first time, a phenology-based dataset of developing raspberry flowers and fruit was curated and made available publicly, which contains 1,853 high-resolution images and 6,907 manually labelled annotations. A comprehensive benchmark was developed from state-of-the-art object detection models, and finally, a tailored deep learning model capable of real-time inference was established that achieved 92.2% detection accuracy in the vertical farm field test. This paper provides a model that can estimate raspberry yield 28 to 33 days in advance of harvesting, a dataset that can be used by other researchers for object detection and segmentation model development, and a framework that can be extended for precise yield and harvest time estimation.
arXiv PDF
Track-Leakage-Free Hold-Out Self-Validation for Photogrammetric Reconstruction: Protocol, Sensitivity, and Limits
Behnam Asadi
arXiv:2607.24852v1 • 2026-07-25
Automated photogrammetric inspection emits metric measurements from a 3D reconstruction whose own correctness is normally unknown without an external survey. Can a reconstruction estimate its own reliability with no ground truth? We formalise a track-leakage-free hold-out protocol: a deterministic subset of images is withheld and each re-localised against only 3D points seen by at least two retained images -- a track-level barrier so a view is never tested against structure it helped create -- aggregated into an mAA confidence. Held-out observations still entered the bundle adjustment that built the trusted structure, so we call it track-leakage-free (a stricter re-mapping variant confirms this at 3/5 deg). Across operational GNSS-referenced captures plus ETH3D, EuRoC and the IMC 2025 benchmark we report four findings. (i) The protocol is computationally well-posed: good reconstructions score millidegree self-consistency. (ii) Thresholded self-consistency saturates and does not track absolute accuracy: confidence stays near 1.00 while true RTK error swings up to 14x within a capture, and the per-capture correlation is sign-unstable across five captures (-0.57 to +0.98; pooled 95% CI spanning zero), so it cannot gate accuracy. (iii) It flags gross failure only when the failure destroys internal consistency: a fragmenting model drops confidence, but a single self-consistent, globally-distorted model evades it -- three of four captures gave one model wrong by 55-106 m at confidence 1.00. (iv) The same dichotomy holds on independent ETH3D and IMC 2025 ground truth. Track-leakage-free hold-out measures internal geometric consistency, not absolute accuracy: neither a substitute for control-point assessment nor a general gross-failure gate. We release the protocol and degradation harness.
Comment: 16 pages, 4 figures. Submitted to the ISPRS Journal of Photogrammetry and Remote Sensing. Negative/characterisation result: a ground-truth-free self-consistency signal is shown to saturate and to be blind to coherent global distortion
arXiv PDF
Act, Think or Abstain: Complexity-Aware Adaptive Inference for Vision-Language-Action Models
Riccardo Andrea Izzo, Gianluca Bardaro, Matteo Matteucci
arXiv:2603.05147v2 •updated • 2026-03-05
Current research on Vision-Language-Action (VLA) models predominantly focuses on enhancing generalization through reasoning techniques. While effective, these improvements increase computational complexity and inference latency. Furthermore, these mechanisms are typically applied indiscriminately, wasting resources on trivial tasks while failing to provide the uncertainty estimation necessary to prevent catastrophic failure on out-of-distribution scenarios. Inspired by human cognition, we propose an adaptive framework that dynamically routes VLA execution based on the complexity of the perceived state. Our approach transforms the VLA's vision-language backbone into an active detection tool by projecting latent embeddings into a set of parametric and non-parametric estimators. This allows the system to execute known tasks immediately (Act), reason about ambiguous scenarios (Think), and preemptively halt execution when encountering physical or semantic anomalies (Abstain). We find that a Gaussian Mixture Model fitted to fused vision-language embeddings provides the most reliable task-complexity signal, combining visual novelty with instruction context and cross-modal compatibility. Evaluated on the LIBERO and LIBERO-PRO benchmarks as well as on a real robot, our fused configuration achieves up to 87.5% F1-score across two VLA backbones (SmolVLA and $π_0$), retains 83% with as little as 5% of training data, and surpasses state-of-the-art failure detectors.
arXiv PDF
2026-07-24
52 篇
Robotics
46
默认显示 5 篇
Robostral Navigate
Abhijeet Somani, Aditi Kabra, Adrian Valente, Alan Jeffares, Albert Jiang, Aleksandr Timashov, Alexandre Sablayrolles, Amelie Heliou, Andre Jonasson, Andrew Bai, Andrew Ehrenberg, Andrew Zhao, Angele Lenglemetz, Anmol Agarwal, Antonia Calvi, Arata Suzuki, Aylin Guliz Akkus, Aysenur Karaduman, Baptiste Bout, Baptiste Roziere, Baudouin De Monicault, Benjamin Holzschuh, Benjamin Lefaudeux, Bernhard Stadlbauer, Blazej Osinski, Camille Le Scao, Chaoran Yu, Chen-Yo Sun, Christian Wallenwein, Christophe Renaudin, Clemence Lanfranchi, Corentin Barreau, Corentin Sautier, Cristiana-Diana Diaconu, Cyprien Courtot, Daniel Marczak, Darius Dabert, Diego de Las Casas, Dominik Nuss, Dylan Rubini, Dzmitry Soupel, Emilien Fugier, Erik Aas, Etienne Millon, Eujeong Choi, Fabian Paischer, Fabian Schlager, Faruk Ahmed, Federico Baldassarre, Filip Szatkowski, Gabrielle Berrada, Gaetan Ecrepont, Gaetan Lepage, Gaspard Blanchet, Gaspard Donada-Vidal, Gauthier Delerce, Gauthier Guinet, Genevieve Hayes, Georgii Novikov, Giada Pistilli, Gianluca Galletti, Guillaume Breton, Guillaume Martin, Gunjan Dhanuka, Gunshi Gupta, Han Zhou, Hasan Furkan Vural, Indraneel Mukherjee, Ivan Cuevas Salazar, Jan Ludziejewski, Jason Rute, Jean-Hadrien Chabran, Jean-Malo Delignon, Jie Zhang, Joachim Studnia, Joep Barmentlo, Johannes Brandstetter, John Harvill, Jonas Amar, Jonas Schweizer, Josselin Somerville, Julien Denize, Julien Tauran, Kartik Khandelwal, Kush Jain, Larissa Laich, Laura Calem, Laurence Aitchison, Laurent Callot, Leo Cotteleer, Leonard Blier, Lingxiao Zhao, Louis Martin, Louis Serrano, Lucile Saulnier, Luis Montero, Maarten Buyl, Marcin Mozejko, Margaret Jennings, Mathieu Schmitt, Mathilde Guillaumin, Matthieu Dinot, Matthieu Futeral, Mauro Comi, Max Mynter, Maxim Berman, Maxime Darrin, Maxime Louis, Maximilian Augustin, Maximilian Muller, Mert Unsal, Mia Chiquier, Michael Pilcer, Michal Pietruszka, Michal Zajac, Mikhail Biriuchinskii, Minwoo Kang, Morgane Riviere, Namit Katariya, Nathan Grinsztajn, Neeraj Aggarwal, Neha Gupta, Ola Mysiak, Oliver Leicht, Olivier Bousquet, Parag Jain, Patricia Wang, Patrick von Platen, Paul Jacob, Paul Wambergue, Paula Kurylowicz, Pavan Kumar Reddy, Philomene Chagniot, Pierre Stock, Pierre-Andre Savalle, Piotr Milos, Prateek Gupta, Pravesh Agrawal, Quentin Desreumaux, Quentin Torroba, Quercus Hernandez, Ram Ramrakhya, Randall Isenhour, Ranjit Parva, Raul Perez Pelaez, Remi Delacourt, Rishi Shah, Rohin Arora, Romain Sauvestre, Roman Soletskyi, Sagar Vaze, Samuel Humeau, Sanchit Gandhi, Sandeep Subramanian, Sarthak Mittal, Saskia Adaime, Sebastian Kaltenbach, Shashwat Dalal, Sherif Waly, Shrimai Prabhumoye, Siddharth Gandhi, Simon Sorg, Soham Ghosh, Sophie Marbach, Stanislas Lange, Sumukh Aithal, Szymon Antoniak, Teven Le Scao, Thibaut Lavril, Thomas Coste, Thomas Foubert, Thomas Robert, Thomas Wang, Tianyu Zhang, Tim Lawson, Timothee Lacroix, Tobias Kronlachner, Tom Bewley, Tomas Hodan, Tuhin Das, Tyler Wang, Van Phung, Vedant Nanda, Victor Jouault, Victor Letzelter, Victor Paltz, Victor Poucheret, Vincent Pfister, Virgile Richard, Vladislav Bataev, Wassim Bouaziz, Wen Ding Li, William Marshall, Xinghui Li, Xingran Guo, Xinyu Yang, Yann Dreze, Yihan Wang, Zaccharie Ramzi, Zhenlin Xu, Zsofia Csakany, Arjun Majumdar, Avinash Sooriyarachchi, Benjamin Tibi, Chris Bamford, Elliot Chane-Sane, Guillaume Lample, Khyathi Raghavi Chandu, Ludovic Ho Fuh, Mathieu Poiree, Olivier Duchenne, Rosalie Millner, Srijan Mishra, Theo Cachet, Thomas Chabal
arXiv:2607.20785v2 •updated • 2026-07-22
Deploying navigation systems at scale requires a recipe that minimizes sensor assumptions, generalizes across robot embodiments, and trains efficiently. Yet, today's best systems depend on depth sensors, multi-camera rigs, or pre-built maps, limiting the hardware they support and increasing deployment cost. We introduce Robostral Navigate, an 8B vision-language model built around this scalability objective. The model consumes only a stream of monocular RGB images - the most ubiquitous sensor across robotic platforms and predicts waypoints by pointing to the next target location in the current camera view. Operating purely in image space, rather than robot-specific coordinates, makes the policy naturally robust to changes in camera intrinsics and scene scale, enabling deployment across wheeled, legged, and aerial robots without recalibration. We generate 2.4 million trajectories across 350k simulated scenes to reduce the reliance on real-world data collection and scale easily. We further introduce a prefix-caching training recipe that packs entire episodes into single training sequences, reducing training tokens by 22x and cutting training time from months to days. A tree-based attention mask prevents conditioning on previous ground-truth actions, encouraging visually grounded action prediction, and reinforcement learning is used to further improve exploration and recovery capabilities. On the Room-to-Room and Room-Across-Room in Continuous Environments (R2R-CE and RxR-CE) benchmarks, Robostral Navigate sets a new state of the art. On R2R-CE, it achieves a 77.4% success rate, surpassing the best monocular method by 10.5 points and the strongest depth- or multi-camera system by 5.3 points despite using only a single RGB camera. On RxR-CE, it reaches 75.1% success rate, outperforming all monocular baselines.
arXiv PDF
Physical AI Governance: From Theory to Practice Across Life Cycle
Wang Yang, Shaobo Wang, Hongxuan Liu, Xiaoran Cai, Yunyu He, Jingzong Zhou, Mengzhong Ma, Yi Yu, Rohit Sharma, Jingjing Fu, Peng Qi
arXiv:2607.22877v1 • 2026-07-24
With the emergence of Physical AI, artificial intelligence is extending beyond screen-based applications to embodied systems that perceive, interact with, and act in the physical world. Unlike traditional AI, Physical AI operates under real-time safety constraints, continuously interacts with dynamic environments, and coexists with humans, introducing governance challenges that existing AI governance frameworks do not explicitly address. This paper presents a comprehensive survey of Physical AI governance from both scientific and operational perspectives. We synthesize existing governance principles and organize them into a unified governance framework tailored to physical AI systems. Building on this foundation, we propose a five-stage Physical AI lifecycle comprising research, design, data, model development, and deployment, and demonstrate how governance can be operationalized across each stage through concrete implementation practices. By connecting governance principles with engineering workflows, this survey provides a structured reference for researchers, developers, and policymakers to build Physical AI systems that are safe, trustworthy, and aligned with societal values.
arXiv PDF
Emergent Compositional Skills in Mixture-of-Experts VLAs
Shlok Shah, Rhiaan Jhaveri, Tharun Kumar Tiruppali Kalidoss, Chirayu Nimonkar, Ishaan Javali, Dhruv Shah
arXiv:2607.20771v2 •updated • 2026-07-22
We consider the problem of learning compositional robot policies end-to-end from expert demonstrations, without any pre-specified notion of task decomposition or hierarchy. We ask whether a VLA trained with a simplified Mixture-of-Experts (MoE) action head can emergently learn to decompose tasks into reusable, interpretable primitives. We find that learned experts are heavily reused across tasks and consistently correspond to qualitatively distinct low-level behaviors, suggesting that the router implicitly learns to perform high-level sequencing while experts serve as compositional primitives. Our MoE matches the task performance of a monolithic baseline while demonstrating meaningful expert specialization, a step toward modular, interpretable robot policies that emerge from data alone.
Comment: Accepted to the 2nd Workshop on Compositional Learning at ICML 2026
arXiv PDF
Variational Neural Belief Parameterizations for Robust Dexterous Grasping under Multimodal Uncertainty
Clinton Enwerem, Shreya Kalyanaraman, John S. Baras, Calin Belta
arXiv:2604.25897v2 •updated • 2026-04-28
Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse contact realizations. Risk-sensitive POMDPs address this failure mode, but many use particle-filter beliefs that scale poorly, obstruct gradient-based optimization, and estimate Conditional Value-at-Risk (CVaR) with high-variance approximations. We instead formulate grasp acquisition as variational inference over latent contact parameters and object pose, representing the belief with a differentiable Gaussian mixture. We use Gumbel-Softmax component selection and location-scale reparameterization to express samples as smooth functions of the belief parameters, enabling pathwise gradients through a differentiable CVaR surrogate for direct optimization of tail robustness. In simulation, our variational neural belief improves robust grasp success under contact-parameter uncertainty and exogenous force perturbations while reducing planning time by roughly an order of magnitude relative to particle-filter model-predictive control. On a serial-chain robot arm with a multifingered hand, we validate grasp-and-lift success under object-pose uncertainty against a Gaussian baseline. Both methods succeed on the tested perturbations, but our controller terminates in fewer steps and less wall-clock time while achieving a higher tactile grasp-quality proxy. Our learned belief also calibrates risk more accurately, keeping mean absolute calibration error below 0.14 across tested simulation regimes, compared with 0.58 for a Cross-Entropy Method planner. We provide code, simulation assets, and a dataset of 243 force-closed grasps at the following link: www.github.com/coenwerem/vnb-grasp.
Comment: 11 pages, 10 figures. Accepted for publication at IROS 2026. Code, simulation assets, and dataset at https://github.com/coenwerem/vnb-grasp
arXiv PDF
A Replay-Constrained Simulation Framework for Personalization of Powered Knee--Ankle Prosthesis Controllers
Duong Le, Ryan Posh, Shihao Cheng, Maani Ghaffari, Robert D. Gregg
arXiv:2607.22858v1 • 2026-07-24
Personalization of impedance controllers for powered prosthetic legs is critical to accommodating individual gait biomechanics but remains challenging. Existing methods rely on time-intensive human-in-the-loop exploration and/or constrain optimization to low-dimensional, single-joint parameter subspaces. Sim-to-real transfer has enabled high-dimensional locomotion control for legged robots, but in assistive device control the human partner remains un-modelable. We present a replay-constrained simulation framework: a MuJoCo-based simulator reproduces prosthetic knee-ankle dynamics while replaying recorded hip kinematics and feedback-based ground reaction forces from individual walking data, bypassing the need to model complex human neuromuscular control mechanisms. We demonstrate the framework with a deep reinforcement learning policy that personalizes phase-dependent stiffness, damping, and equilibrium angle at both joints simultaneously, maximizing a biomimicry-based reward computed solely from onboard prosthesis measurements. Experiments with three participants with transfemoral amputation during level-ground walking at 0.8~m/s demonstrate strong simulation-to-hardware predictive validity (Pearson $r=0.96$--$0.997$). The best-performing policy on hardware was consistently predicted within the top five simulation policies for all participants. The learned controllers improved overall biomimicry rewards by 42--59\% relative to the unpersonalized baseline. The framework supports scalable high-dimensional personalization of powered prosthetic legs and is amenable to extension to higher-dimensional controller parameterizations such as neural-network controllers.
arXiv PDF
Video World Models
6
默认显示 5 篇
Layering Virtual Try-On
Chun Feng, Bowei Chen, Mengyi Shan, Ira Kemelmacher-Shlizerman
arXiv:2607.22924v1 • 2026-07-24
In the real world, fashion is about layering: adding a jacket over a shirt, or a sequence of adding and removing layers, rather than just a single-layer swap. This fundamental real-world task remains a challenge in existing Virtual Try-On (VTON) methods, which excel at single-layer replacement but are not designed to layer or de-layer an existing outfit. This paper proposes Layering Virtual Try-On (LVTON), a layering benchmark and method that preserves an existing outfit while enabling sequential layering. We find that current VTON paradigms are fundamentally ill-equipped for LVTON, as their reliance on cloth-agnostic representations and single-item datasets discards essential layering context. Our key insight is that the LVTON challenge must be disentangled into two distinct competencies: (1) General VTON Priors (e.g., deformation, identity preservation) and (2) Specific Layering Knowledge (e.g., layering order and occlusion reasoning). First, our model obtains general VTON priors by being trained on data produced by an automatic data generation pipeline that synthesizes samples from fashion videos via segmentation and inpainting. Second, the model is fine-tuned on a small, dedicated LVTON dataset to learn the layering logic. Our method achieves state-of-the-art results on our LVTON benchmark and demonstrates superior generalizability on traditional VTON benchmarks, setting new state-of-the-art results when fine-tuned and exhibiting zero-shot capabilities.
Comment: Accepted to ECCV 2026
arXiv PDF
ID-V2V: Identity-Preserving Video Restylization
Yuancheng Xu, Mingming He, Pablo Salamanca, Li Ma, Yash Kant, Emmett Steven, Paul Debevec, Ning Yu
arXiv:2607.22830v1 • 2026-07-24
In visual storytelling, human performances are central to creative intent and narrative meaning. However, preserving human identity and performance while enabling flexible visual edits remains challenging for generative video models. We formalize this challenge as identity-preserving video restylization, which propagates scene, lighting, and style changes specified by an edited keyframe across a source video, while preserving facial likeness and performance, including expressions, eye gaze, and lip synchronization. A key obstacle is the absence of paired training data, as identity-preserving restylized video pairs are rare in real-world settings. To address this, we propose a decoupling of source-grounded identity preservation and edit-driven video synthesis. Our key insight is that facial appearance and expression should remain invariant, with illumination being the primary permissible variation. We therefore cast identity preservation as a video relighting problem, while modeling visual edit propagation as controlled video synthesis guided by the edited keyframe. Building on this formulation, we introduce ID-V2V, a video-to-video generative framework integrating complementary control signals: relit facial regions and facial normal maps tightly constrain facial likeness and performance, while edited keyframes and depth sequences enable flexible and temporally coherent generation. This design enables constructing training pairs from a single video, eliminating the need for scarce paired data. Extensive experiments demonstrate that ID-V2V significantly outperforms existing methods in preserving facial likeness and fine-grained facial performance, supports both single- and multi-subject scenarios, and delivers high visual quality, highlighting its potential as a human-centric tool for real-world content production. The code is available at: https://github.com/Eyeline-Labs/ID-V2V.
Comment: Accepted to SIGGRAPH Asia 2026
arXiv PDF
Robot-Factored World Models via Robot Rendering
Byungjun Kim, Taeksoo Kim, Hyunsoo Cha, Hanbyul Joo
arXiv:2607.22535v1 • 2026-07-24
Action-conditioned video world models predict future observations from an initial observation and an action signal. In robotics, actions influence future observations through two distinct processes: they are first realized into robot motion by the robot body and controller, and the scene then responds through contact and object motion. Conditioning directly on action commands asks the world model to learn the realization process itself, while conditioning on logged future states leaks the interaction outcomes it is meant to predict. We propose robot-factored world models, which move two robot-specific factors outside the world model. First, action realization: each command is rolled through the robot's own controller and kinematics into a deployment-available nominal trajectory, a middle signal that avoids both action-realization learning and future-state leakage. Second, robot rendering: this nominal trajectory is rendered through the robot URDF, factoring the robot's geometry, kinematics, and appearance out of the model and into explicit rendered robot geometry. To resolve depth ambiguity, we pair end-effector depth with scene depth, giving geometric cues for contact and occlusion beyond image-plane overlap. Together, camera-aware static RGB/depth context and rendered robot geometry form a shared visual world-model interface that stays consistent across viewpoints and robot embodiments, so the model sees the action only as visible robot geometry and learns how objects respond to it. Our experiments show that the rendered interface outperforms vector-conditioned baselines and generalizes to unseen robot embodiments at inference. We further demonstrate that our model generates robot manipulation videos from human demonstrations by retargeting and rendering the hand motion as robot geometry.
Comment: Project Page: https://bjkim95.github.io/rofacto/
arXiv PDF
SM4RT: Learning Structured Motion Geometry for 4D Reconstruction
Shing Ho J. Lin, Wenzhao Zheng, Dong Zhuo, Yuqi Wu, Jie Zhou, Jiwen Lu
arXiv:2607.22534v1 • 2026-07-24
Geometry Foundation Models (GFMs) have substantially advanced monocular 3D reconstruction, yet extending this capability to 4D dynamic understanding remains a fundamental challenge. Most existing motion perception methods (e.g., sparse tracking, dense point-wise flow) treat motion as independent point-wise displacements, ignoring the structured nature of physical motion. However, real-world objects usually obey rigid-body kinematics, and points thus usually move collectively, not in isolation. Motion itself possesses geometric structure: physical objects undergo a set of rigid-body transformations governed by SE(3), rather than unstructured point-wise displacements. Building on this insight, we propose SM4RT, a Structured Motion 4D Reconstruction Transformer for end-to-end 3D reconstruction and structured motion perception. SM4RT introduces Structure-of-Motion to represent scene dynamics, where scene motion is decomposed into a compact set of motion bases, each represented as a temporal sequence of 6D twists in SE(3). Dense scene motion is then recovered by sparse, time-shared per-pixel assignment weights over these bases, ensuring points on the same object share a common rigid-body motion trajectory. SM4RT introduces a parallel motion geometry encoder and decoder that jointly infer 3D geometry, world-coordinate motion, and scene kinematic structure in a single forward pass from monocular RGB video. SM4RT achieves strong motion reconstruction performance while preserving the geometric structure of scene motion.
Comment: Code is available at: https://github.com/wzzheng/SM4RT
arXiv PDF
BiWM: Advancing Open-Source Interactive Video World Models with Bidirectional Autoregression
Shaohao Rui, Xiaofeng Mao, Zhanyu Zhang, Peijia Lin, Yansong Zhu, Yibo Zhang, Haibin Wan, Zhangrui Zhao, Weijie Ma
arXiv:2606.10135v4 •updated • 2026-06-08
Interactive video world models commonly convert bidirectional video generators into causal autoregressive systems through control fine-tuning, autoregressive training, causal initialization, and few-step distillation. This pipeline is costly, while frozen causal histories accumulate errors that degrade long-horizon fidelity and controllability. We present BiWM, the first open-source full-stack training framework for bidirectional autoregressive video world models. BiWM retains full attention within each generated chunk and requires only two stages: camera/action-control fine-tuning and few-step Distribution Matching Distillation (DMD). Both stages converge within a few hundred optimizer steps on 8 H200 GPUs. The framework supports Wan2.1-T2V-1.3B, Wan2.2-TI2V-5B, HunyuanVideo-1.5-TI2V-8B, and LTX-2.3-22B, together with real-world camera control, pluggable long-history compression, and optional low-bit deployment. Supervised and forward-KL anchors mitigate DMD mode collapse and preserve scene dynamics. BiWM provides a compact, reproducible path from pretrained bidirectional video models to interactive, controllable, and efficient world models.
arXiv PDF
2026-07-23
59 篇
Robotics
44
默认显示 5 篇
NVIDIA OmniDreams: Real-Time Generative World Model for Closed-Loop Autonomous Vehicle Simulation
NVIDIA, :, Aarti Basant, Amlan Kar, Despoina Paschalidou, Fangyin Wei, Francesco Ferroni, Guillermo Garcia Cobo, Haithem Turki, Huan Ling, Jaewoo Seo, James Lucas, Jay Zhangjie Wu, Jialiang Wang, Jonathan Lorraine, Jun Gao, Kai He, Katarina Tothova, Kevin Xie, Michał Tyszkiewicz, Qi Wu, Riccardo de Lutio, Ruilong Li, Sanja Fidler, Seung Wook Kim, Tianchang Shen, Tianshi Cao, Tobias Pfaff, William Lew, Xindi Wu, Xuanchi Ren, Yifan Lu, Yuxuan Zhang, Zan Gojcic, Zian Wang
arXiv:2606.03159v2 •updated • 2026-06-02
As autonomous vehicle capabilities advance, the safe evaluation of driving policies in long-tail scenarios remains a critical bottleneck. In closed-loop simulation, the driving policy model actively interacts with the environment, where its actions dynamically update the simulator state and directly influence the next set of generated sensor observations. While recent reconstruction-based neural simulators offer photorealism, they are fundamentally constrained by their initial captured data and struggle to generalize to highly dynamic or novel scenes. To overcome these limitations, we introduce OmniDreams, a foundation generative world model mid- and post-trained from the Cosmos diffusion model to autoregressively generate action-conditioned videos in real time. By leveraging the rich visual priors of Cosmos and mid- and post-training on 21k hours of driving scenarios, OmniDreams synthesizes complex, unobserved phenomena that are hard for traditional simulators to capture, such as extreme weather and unpredictable dynamic agent behaviors. Crucially, it autoregressively conditions its photorealistic sensor generation on past frames, the current simulator state, and immediate driving actions. Deployed in a closed-loop system with the Alpamayo 1 policy model and AlpaSim orchestrator, OmniDreams acts as a highly responsive, reactive environment, providing a scalable and comprehensive solution for training and evaluating next-generation autonomous driving policies. We additionally show preliminary results indicating that a world-action model (WAM) post-trained from OmniDreams achieves strong performance on the Physical AI Autonomous Vehicles NuRec dataset, surpassing the VLA-based Alpamayo 1.5 research policy model while using only 1/5 the total parameters. These results highlight the potential for a real-time world model like OmniDreams to also serve as a backbone for policy architectures.
arXiv PDF
StARS: Socially Appropriate Robot Actions via a Recommender System-Driven Approach
Erencem Ozbey, Fethiye Irmak Dogan, Jin Huang, Hatice Gunes
arXiv:2607.21802v1 • 2026-07-23
Social appropriateness in human-robot interaction (HRI) is not universal: different people can judge the same robot action differently in the same situation. To capture this inter-subject variability, we reformulate socially appropriate action generation as a preference modelling problem inspired by recommender systems, treating annotators as users, contexts/scenes as items, and appropriateness scores over a set of candidate robot actions as targets. We propose StARS, a novel model-agnostic framework that integrates collaborative filtering with learnable scene representations to generate user-specific appropriateness scores over candidate robot actions. StARS is model-agnostic: it can be integrated with various scene encoders and backbones, enabling personalisation without redesigning the underlying model. We evaluate StARS on two socially aware robotics datasets, MannersDB+ and SocNav1, and analyse robustness under sparse preference feedback. Across datasets and backbones, StARS consistently improves performance and agreement with annotators, supporting personalised action selection aligned with user norms. Our code is publicly available at https://github.com/Cambridge-AFAR/StARS.git.
Comment: IROS 2026
arXiv PDF
Addressing the Orchestration Gap in Generalist Robots via Physical Agency
Liane Galanti, Dhruv Shah, Tri Dao
arXiv:2607.21725v1 • 2026-07-23
General-purpose robots need to reason about their actions, combining perception, world knowledge, planning, success detection, recovery, and low-level control. Today's state-of-the-art models attempt to combine all these capabilities into the learned policy via large-scale pre-training. Instead, we show that these capabilities can be decomposed into a general language-conditioned policy/control agent and a high-level agent manager/orchestrator. Rather than training policies to reason via pre-training, we build a closed-loop physical agent orchestrator that can do high-level planning, decompose the goal into achievable subgoals, command low-level motor commands, track and verify the outcome from low-level observations, and recover from failures. Our Physical Agency orchestrator (Pigey) can control existing vision-language-action (VLA) policies as well as parametrized skills to solve complex reasoning tasks in the real world, without any additional data collection or post-training. We evaluate Pigey extensively across simulation benchmarks and challenging real-world robotic manipulation tasks, and demonstrate significant performance improvements over existing generalist policies. On LIBERO-PRO, Pigey advances the state-of-the-art by over 4x (12.8% -> 53.3%) with no task-specific fine-tuning. On a real robot, Pigey lifts the frozen policy from near-zero to over 90% on reasoning-limited tasks. We call the difference between what frozen motor skills achieve alone and inside the agentic loop the orchestration gap.
arXiv PDF
AXIS: A Growable Community-Driven Data Engine for Scalable Robot Manipulation
Mengfei Zhao, Dihong Huang, Yikai Tang, Peihao Li, Mingxuan Yan, Ruiqi Zhuang, Yanjia Huang, Jie Wang, Hai Zhai, Tony Zhou, Rui Zhang, Zhexi Luo, Yuchen Huang, Jianfei Yang, Jiachen Li
arXiv:2607.21588v1 • 2026-07-23
Learning effective robot manipulation policies requires diverse, high-quality demonstrations, yet existing data pipelines are often difficult to scale because they rely on specialized hardware, centralized operators, or fixed task suites. We present AXIS, a growable community-driven data engine and benchmark for scalable robot learning, which enables browser-based teleoperation for large-scale demonstration collection, automatically generates and validates new manipulation tasks, and transforms community-collected demonstrations into training-ready data through automated success checking, quality filtering, trajectory smoothing, and visual and physics-based augmentation. The AXIS dataset currently contains 207 diverse tasks and 50K+ trajectories. Meanwhile, AXIS organizes data into task snapshots and evaluates policies with a systematic held-out protocol. We compare vision-language-action (VLA) policies under a unified AXIS evaluation suite and analyze scaling behavior across different data volumes. Continual pretraining on AXIS substantially improves the overall success rate of $π_{0.5}$ by 5.8%, outperforms the model pretrained on RoboCasa365 by 37.3%, and exhibits consistent scaling with increasing data volume, with the largest gains observed under layout, sensor-noise, and camera perturbations.
Comment: Project Website: https://axisaiorg.github.io/AXIS-V1/
arXiv PDF
Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation
Yu Qi, Zhang Ye, Xinyi Xu, Yuxuan Lu, Amitoj Sandhu, Boce Hu, Haojie Huang, Jonathan Tremblay, Lawson L. S. Wong
arXiv:2607.21582v1 • 2026-07-23
Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this failure to individual \textit{instruction factors}, \textit{e.g.,} reusable semantic components such as color, verb, object, size, and spatial attribute. Our framework formalizes instruction factor bias, the tendency of fine-tuned policies to over-rely on dominant factors as shortcuts, and quantifies it through two metrics: Factor Dominance Rate (FDR), capturing pairwise bias between factors, and Factor Dominance Hierarchy (FDH), aggregating these into a global ranking. Evaluation on six foundation policies reveals broadly consistent ordering, \textit{i.e.}, color $\geq$ object $\geq$ spatial $\geq$ verb $\geq$ size, with color dominant, and verb and size most under-grounded. We further show the diagnosis is actionable: a bias-aware data collection strategy that reallocates a fixed budget toward under-grounded factors outperforms baselines in simulation and on a real robot using half the demonstrations, thereby enabling more sample-efficient and generalizable policy learning.
arXiv PDF
Video World Models
15
默认显示 5 篇
NVIDIA OmniDreams: Real-Time Generative World Model for Closed-Loop Autonomous Vehicle Simulation
NVIDIA, :, Aarti Basant, Amlan Kar, Despoina Paschalidou, Fangyin Wei, Francesco Ferroni, Guillermo Garcia Cobo, Haithem Turki, Huan Ling, Jaewoo Seo, James Lucas, Jay Zhangjie Wu, Jialiang Wang, Jonathan Lorraine, Jun Gao, Kai He, Katarina Tothova, Kevin Xie, Michał Tyszkiewicz, Qi Wu, Riccardo de Lutio, Ruilong Li, Sanja Fidler, Seung Wook Kim, Tianchang Shen, Tianshi Cao, Tobias Pfaff, William Lew, Xindi Wu, Xuanchi Ren, Yifan Lu, Yuxuan Zhang, Zan Gojcic, Zian Wang
arXiv:2606.03159v2 •updated • 2026-06-02
As autonomous vehicle capabilities advance, the safe evaluation of driving policies in long-tail scenarios remains a critical bottleneck. In closed-loop simulation, the driving policy model actively interacts with the environment, where its actions dynamically update the simulator state and directly influence the next set of generated sensor observations. While recent reconstruction-based neural simulators offer photorealism, they are fundamentally constrained by their initial captured data and struggle to generalize to highly dynamic or novel scenes. To overcome these limitations, we introduce OmniDreams, a foundation generative world model mid- and post-trained from the Cosmos diffusion model to autoregressively generate action-conditioned videos in real time. By leveraging the rich visual priors of Cosmos and mid- and post-training on 21k hours of driving scenarios, OmniDreams synthesizes complex, unobserved phenomena that are hard for traditional simulators to capture, such as extreme weather and unpredictable dynamic agent behaviors. Crucially, it autoregressively conditions its photorealistic sensor generation on past frames, the current simulator state, and immediate driving actions. Deployed in a closed-loop system with the Alpamayo 1 policy model and AlpaSim orchestrator, OmniDreams acts as a highly responsive, reactive environment, providing a scalable and comprehensive solution for training and evaluating next-generation autonomous driving policies. We additionally show preliminary results indicating that a world-action model (WAM) post-trained from OmniDreams achieves strong performance on the Physical AI Autonomous Vehicles NuRec dataset, surpassing the VLA-based Alpamayo 1.5 research policy model while using only 1/5 the total parameters. These results highlight the potential for a real-time world model like OmniDreams to also serve as a backbone for policy architectures.
arXiv PDF
Closing the Loop: Training-Free Revisit Consistency for Autoregressive Generative Rendering
Wenchao Ma, Changran Liu, Sharon X. Huang, Haomiao Jiang
arXiv:2607.21848v1 • 2026-07-23
Recent conditional video generation models have shown promising potentials to transform 3D engine renderings, such as depth maps and untextured geometry, into photorealistic videos for gaming and immersive content creation. These applications require long-horizon auto-regressive generation that continuously synthesizes new frames while preserving a persistent 3D world. Auto-regressive generators synthesize video chunk by chunk with a bounded KV cache, so when the camera revisits a location after its context has been evicted, the model often regenerates inconsistent appearance, even though the conditioning renderings (e.g., depth) remain perfectly aligned with the underlying geometry.We address this revisit inconsistency without any post-training by exploiting correspondences the 3D engine already provides: temporal correspondence retrieves pose-matched historical latent chunks into the KV cache as loop-closure memory, while spatial correspondence from camera pose and depth reprojection biases token-level attention toward geometrically corresponding regions of the retrieved chunks. We demonstrate our method on loop-closure trajectories mined from TartanAir and TartanGround dataset to mirror complicate real-world application scenarios, where it outperforms existing training-free baselines on revisit consistency without losing overall video quality. Project Page: https://wenchao-m.github.io/ClosetheLoop.github.io/
arXiv PDF
Streaming Multi-Agent Autoregressive Diffusion Model with World State Registers
Sicheng Mo, Yuheng Li, Ziyang Leng, Krishna Kumar Singh, Bolei Zhou
arXiv:2607.21594v1 • 2026-07-23
Multi-agent interactive world models should not only generate consistent observations, but also maintain world states that persist across agents and evolve across views. Existing autoregressive video diffusion pipelines carry forward observation history as conditioning context, which makes shared state difficult to maintain in multi-agent and multi-view settings. We present WorldWeaver (W^2), a streaming multi-agent video diffusion model that augments rollout with cross-agent world state registers: learnable tokens that store shared world information, track individual agent status, and are dynamically updated after each generated chunk. We ground these registers with supervision signals spanning individual agent status, global state views including bird's-eye views, and scene text. We further improve the architecture with a Mixture-of-Transformers design that uses separate weights for world state modeling and visual frame modeling. Extensive experiments in two-agent Minecraft video generation show that explicit world-state modeling improves logical consistency and generation quality.
Comment: Project page: https://vail-ucla.github.io/worldweaver/
arXiv PDF
Persistent Computational State: A Session-Centric Runtime for Generative World Models
Zhen Lin
arXiv:2607.21686v1 • 2026-07-23
Generative world models are increasingly driven as simulators: a planner forks a state, rolls out futures, backtracks, and returns to a visited viewpoint. Recent benchmarks establish that current video world models fail this usage, and attribute it to the model, prescribing new architectures and training objectives. We show this attribution is incomplete, and for an important class of models simply wrong. Snapshotting the state the runtime already holds -- an observation plus RNG state, a memory bank, or a windowed KV context, by architecture -- and restoring it after a genuine excursion reproduces the never-left continuation byte-identically on all three; corrupting only the RNG degrades it. The capability was never missing: request-centric serving discarded it, inheriting from language-model serving the assumption that runtime state is recomputable -- but world-model state carries a non-recomputable kernel. We define Persistent Computational State (PCS), the minimal non-recomputable state that must survive across requests, show it can be discovered by measurement, and build a session-centric runtime over it. Checkpoint and restore cost 0.012 ms against a 1.85 s generation step; resident sessions become host- rather than device-bounded (measured to 1,024); and world memory must be evicted by relevance to the return, not recency -- the inverse of LLM practice.
Comment: 29 pages, 8 figures, 10 tables
arXiv PDF
Multi-Task Learning for Heterogeneous Prediction from Video Game State with Transfer Learning
Jonas Peché, Aliaksei Tsishurou, Alexander Zap, Günter Wallner
arXiv:2607.21290v1 • 2026-07-23
Multi-task learning (MTL) is a promising approach for prediction tasks derived from video game state data, as modern game telemetry provides multiple related supervision signals from the same structured observations. We study whether a shared model trained jointly across tasks in team-based multiplayer games can improve generalization while reducing training and inference cost compared to specialized single-task models. We adapt a multimodal architecture for endpoint prediction to a general multi-task setting that combines rasterized vision inputs, global match context, and per-unit state information through an image encoder and attention-based interaction modeling. Experiments on a large proprietary World of Tanks dataset compare single-task and multi-task training, evaluate weighting strategies for mixed losses and conflicting gradients, and test pre-training/fine-tuning under limited target-data regimes. We also examine within-game transfer across game maps under structured environment shift.
arXiv PDF
2026-07-22
80 篇
Robotics
71
默认显示 5 篇
GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation
Leesai Park, Jiho HOng, Sanghyun Kim
arXiv:2607.21661v1 • 2026-07-22
Diffusion policies generate multimodal robot action sequences from demonstrations, but steering them toward deployment-time constraints typically relies on differentiable guidance costs. This excludes many practical safety constraints, such as binary collision checks, joint limits, and black-box rollout costs that are nondifferentiable. We propose Gradient-free Robot Action generation via Combined diffusion-MPPI posterior mean Estimation (GRACE), which guides a pretrained diffusion policy with Model Predictive Path Integral (MPPI) control using only forward cost evaluations. Building on the common score-ascent structure of diffusion and MPPI, GRACE constructs a cost-conditioned guidance posterior at each reverse step and estimates its mean with a single MPPI update centered at the diffusion reverse mean. For differentiable costs, GRACE recovers conventional gradient guidance under a first-order, matched-covariance approximation. GRACE attains higher success rates than diffusion-based and sampling-based baselines in simulation. On a real 7-DoF manipulator, GRACE avoids a deployment-time obstacle that the unguided prior collides with in every trial. Code and experiment videos are available at https://anonymous.4open.science/w/grace-70BB/.
arXiv PDF
Robostral Navigate
Arjun Majumdar, Avinash Sooriyarachchi, Benjamin Tibi, Chris Bamford, Elliot Chane-Sane, Guillaume Lample, Khyathi Raghavi Chandu, Ludovic Ho Fuh, Mathieu Poiree, Olivier Duchenne, Rosalie Millner, Srijan Mishra, Theo Cachet, Thomas Chabal
arXiv:2607.20785v1 • 2026-07-22
Deploying navigation systems at scale requires a recipe that minimizes sensor assumptions, generalizes across robot embodiments, and trains efficiently. Yet, today's best systems depend on depth sensors, multi-camera rigs, or pre-built maps, limiting the hardware they support and increasing deployment cost. We introduce Robostral Navigate, an 8B vision-language model built around this scalability objective. The model consumes only a stream of monocular RGB images - the most ubiquitous sensor across robotic platforms and predicts waypoints by pointing to the next target location in the current camera view. Operating purely in image space, rather than robot-specific coordinates, makes the policy naturally robust to changes in camera intrinsics and scene scale, enabling deployment across wheeled, legged, and aerial robots without recalibration. We generate 2.4 million trajectories across 350k simulated scenes to reduce the reliance on real-world data collection and scale easily. We further introduce a prefix-caching training recipe that packs entire episodes into single training sequences, reducing training tokens by 22x and cutting training time from months to days. A tree-based attention mask prevents conditioning on previous ground-truth actions, encouraging visually grounded action prediction, and reinforcement learning is used to further improve exploration and recovery capabilities. On the Room-to-Room and Room-Across-Room in Continuous Environments (R2R-CE and RxR-CE) benchmarks, Robostral Navigate sets a new state of the art. On R2R-CE, it achieves a 77.4% success rate, surpassing the best monocular method by 10.5 points and the strongest depth- or multi-camera system by 5.3 points despite using only a single RGB camera. On RxR-CE, it reaches 75.1% success rate, outperforming all monocular baselines.
arXiv PDF
Socially Consistent Multi-Robot Navigation Using Decoupled Planning and Trajectory Coordination
Matthew M. Sato, Kincho H. Law
arXiv:2607.20772v1 • 2026-07-22
The successful integration of mobile robots in human-centric environments requires navigation that is not only safe and efficient, but also predictable and aligned with social conventions, key precursors for human comfort and acceptance. While significant research addresses short-term human-aware planning, these methods often lack mechanisms for ensuring consistent and predictable behaviors across long horizons. Without socially aware long-term planners, local planners are overburdened, resulting in inefficient and locally reactive movements that undermine predictability. This paper introduces a partially decentralized framework that generates predictable and socially consistent multi-robot motion by decoupling global path planning from trajectory coordination. First, we propose a modified A* planner that embeds macroscopic social norms into the planner cost function. Planned paths are shared across mobile robots to collaboratively build a social graph of established routes, which enforces path consistency and reduces future planning effort. Second, we leverage the emergent structure of the socially constrained paths to formulate the multi-robot trajectory coordination problem as a mixed-integer convex program. The convex program enables efficient computation of conflict- free trajectories, scaling effectively to large fleets and supporting dynamic task assignment. Our results demonstrate that enforcing social consistency at the path planning stage produces predictable, socially compliant mobile robot paths and simplifies the otherwise complex problem of multi-robot coordination.
Comment: Submitted to Civil Engineering Sciences
arXiv PDF
Emergent Compositional Skills in Mixture-of-Experts VLAs
Shlok Shah, Rhiaan Jhaveri, Tharun Kumar Tiruppali Kalidoss, Chirayu Nimonkar, Ishaan Javali
arXiv:2607.20771v1 • 2026-07-22
We consider the problem of learning compositional robot policies end-to-end from expert demonstrations, without any pre-specified notion of task decomposition or hierarchy. We ask whether a VLA trained with a simplified Mixture-of-Experts (MoE) action head can emergently learn to decompose tasks into reusable, interpretable primitives. We find that learned experts are heavily reused across tasks and consistently correspond to qualitatively distinct low-level behaviors, suggesting that the router implicitly learns to perform high-level sequencing while experts serve as compositional primitives. Our MoE matches the task performance of a monolithic baseline while demonstrating meaningful expert specialization, a step toward modular, interpretable robot policies that emerge from data alone.
Comment: Accepted to the 2nd Workshop on Compositional Learning at ICML 2026
arXiv PDF
TOPReward: Token Probabilities as Hidden Zero-Shot Rewards for Robotics
Shirui Chen, Cole Harrison, Ying-Chun Lee, Angela Jin Yang, Zhongzheng Ren, Lillian J. Ratliff, Jiafei Duan, Dieter Fox, Ranjay Krishna
arXiv:2602.19313v2 •updated • 2026-02-22
General-purpose robot learning requires dense, instruction-conditioned feedback that can distinguish meaningful task progress from stalled, failed, or partially completed behavior. Yet obtaining such feedback at scale remains difficult, since existing approaches often rely on manual progress annotations, task-specific demonstrations, or reward models trained on curated robot datasets. We introduce TOPReward, a training-free progress reward method that probes pretrained Video-Language Models (VLMs) through their internal token probabilities rather than asking them to generate numerical progress values. Given a video prefix and a language instruction, TOPReward measures the model's likelihood that the instructed task has been completed, converting latent video-language understanding into a dense reward signal without task-specific reward-model training or manually annotated progress labels. We evaluate TOPReward on ManiRewardBench, our real-world manipulation benchmark spanning 130 unique tasks and four robot platforms, as well as on Open X-Embodiment datasets. Across these settings, TOPReward substantially outperforms prior training-free VLM reward methods on open-source models and is competitive with a trained reward-model baseline on progress-estimation metrics, while requiring no reward-model training. Additional analyses show that the reward is sensitive to the specified instruction and is not explained by time index alone. Finally, TOPReward supports downstream applications including success detection and offline reward-weighted behavior cloning.
arXiv PDF
Video World Models
8
默认显示 5 篇
Rethinking Open-World Video Anomaly Detection: Diagnosing Definition Blindness
Inpyo Song, Jangwon Lee
arXiv:2607.20780v1 • 2026-07-22
Open-world video anomaly detection (OWVAD) is expected to detect events that match a user-specified definition of abnormality. This requirement is stronger than generic anomaly localization: in the same video, changing the definition should change which temporal regions are scored as anomalous. We show that current OWVAD evaluation largely fails to isolate this conditional behavior. Standard VAD metrics and the dynamic-definition protocol can be dominated by target-versus-normal separation, allowing models to obtain strong scores while remaining nearly insensitive to the queried definition. We call this failure mode definition blindness. To explain why it is missed, we decompose dynamic-definition evaluation into target-versus-normal detection and target-versus-other-anomaly discrimination, and find that the former receives 7.2-26.8$\times$ more weight across common VAD benchmarks. Motivated by this diagnosis, we introduce three definition-conditioned evaluation metrics, DC-Disc, DC-Det$Δ$, and DC-Sel$Δ$, which progressively remove normal-frame, generic-anomaly, and multi-event selection shortcuts. Experiments on UCF-Crime, XD-Violence, and MSAD reveal that several strong VAD, OWVAD, and general vision language model baselines localize anomalous moments but exhibit weak definition following, often with near-zero definition-response margins. To validate that the failure is actionable, we further introduce DeCoS, a definition-contrastive scoring rule that subtracts anomaly evidence shared across definitions. DeCoS improves the strongest baseline by 7.3-16.0 AUROC points on DC-Disc and 15.5-28.3 points on DC-Det$Δ$. Overall, our results argue that OWVAD should be evaluated as definition-conditioned anomaly scoring, not as anomaly detection under different prompt labels.
Comment: Preprint
arXiv PDF
TOPReward: Token Probabilities as Hidden Zero-Shot Rewards for Robotics
Shirui Chen, Cole Harrison, Ying-Chun Lee, Angela Jin Yang, Zhongzheng Ren, Lillian J. Ratliff, Jiafei Duan, Dieter Fox, Ranjay Krishna
arXiv:2602.19313v2 •updated • 2026-02-22
General-purpose robot learning requires dense, instruction-conditioned feedback that can distinguish meaningful task progress from stalled, failed, or partially completed behavior. Yet obtaining such feedback at scale remains difficult, since existing approaches often rely on manual progress annotations, task-specific demonstrations, or reward models trained on curated robot datasets. We introduce TOPReward, a training-free progress reward method that probes pretrained Video-Language Models (VLMs) through their internal token probabilities rather than asking them to generate numerical progress values. Given a video prefix and a language instruction, TOPReward measures the model's likelihood that the instructed task has been completed, converting latent video-language understanding into a dense reward signal without task-specific reward-model training or manually annotated progress labels. We evaluate TOPReward on ManiRewardBench, our real-world manipulation benchmark spanning 130 unique tasks and four robot platforms, as well as on Open X-Embodiment datasets. Across these settings, TOPReward substantially outperforms prior training-free VLM reward methods on open-source models and is competitive with a trained reward-model baseline on progress-estimation metrics, while requiring no reward-model training. Additional analyses show that the reward is sensitive to the specified instruction and is not explained by time index alone. Finally, TOPReward supports downstream applications including success detection and offline reward-weighted behavior cloning.
arXiv PDF
Do World Action Models Generalize Better than VLAs? A Robustness Study
Zhanguang Zhang, Zhiyuan Li, Behnam Rahmati, Rui Heng Yang, Yintao Ma, Amir Rasouli, Sajjad Pakdamansavoji, Yangzheng Wu, Lingfeng Zhang, Tongtong Cao, Feng Wen, Xinyu Wang, Xingyue Quan, Yingxue Zhang
arXiv:2603.22078v4 •updated • 2026-03-23
Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-language-action (VLA), which repurpose large-scale vision-language models for robot action generation using action experts, have achieved notable success across a variety of robotic tasks. Nevertheless, their performance remains constrained by the scope of their training data, exhibiting limited generalization to unseen scenarios and vulnerability to diverse contextual perturbations. More recently, world models have been revisited as an alternative to VLAs. These models, referred to as world action models (WAMs), are built upon world models that are trained on large corpora of video data to predict future states. With minor adaptations, their latent representation can be decoded into robot actions. It has been suggested that their explicit dynamic prediction capacity, combined with spatiotemporal priors acquired from web-scale video pretraining, enables WAMs to generalize more effectively than VLAs. In this paper, we conduct a comparative study of prominent state-of-the-art VLA policies and recently released WAMs. We evaluate their performance on the LIBERO-Plus and RoboTwin 2.0-Plus benchmarks under various visual and language perturbations. Our results show that WAMs achieve strong robustness, with LingBot-VA reaching 74.2% success rate on RoboTwin 2.0-Plus and Cosmos-Policy achieving 82.2% on LIBERO-Plus. While VLAs such as $π_{0.5}$ can achieve comparable robustness on certain tasks, they typically require extensive training with diverse robotic datasets and varied learning objectives. Hybrid approaches that partially incorporate video-based dynamic learning exhibit intermediate robustness, highlighting the importance of how video priors are integrated.
arXiv PDF
PerceptDrive: Perception Prior World-Action Modeling with Adaptive Expert Routing for End-to-End Autonomous Driving
Yushan Liu, Tianxiong Lv, Bohua Wang, Hangqi Fan, Chenxu Zhao, He Zheng, Xuchang Zhong, Yifan Xie, Congyang Zhao, Zhihao Liao, Leigang Luo, Yang Cai, Xiao-Ping Zhang, Wenbo Ding
arXiv:2607.20175v1 • 2026-07-22
Frozen perception foundation models encode rich geometric, semantic, and dynamic knowledge. Yet narrow conditioning interfaces may attenuate task-relevant cues, while static fusion cannot adjust expert contributions to each scene. We cast this challenge as the prior-to-plan transfer problem and introduce PerceptDrive, a perception prior world-action modeling framework with adaptive expert routing. PerceptDrive feeds teacher-distilled priors from a frozen, driving-adapted provider and dense observation latents from a frozen self-supervised video encoder into a trainable expert-routed world-action model. Expert-specific query branches process these signals, while a prior-retention objective anchors each branch to its prior. A router predicts soft gates from a shared scene representation and combines the expert conditions before trajectory generation. During training, privileged rule-based sub-metric estimates for branch-specific trajectory drafts provide soft-gate distillation targets. The predicted action-free future latent conditions a flow-matching actor. At inference, privileged components are absent; with one front-facing camera, PerceptDrive generates one trajectory per planning step without test-time scoring, reranking, or search. Experiments show that PerceptDrive achieves state-of-the-art performance with 90.4 PDMS on NAVSIM v1 and 90.2 EPDMS on NAVSIM v2, outperforming existing methods. Ablations confirm complementary gains from prior retention and scene-conditioned routing, alongside differential reliance on the three priors. These results demonstrate that preserving and adaptively routing perception priors improves direct planning without test-time candidate selection.
arXiv PDF
WorldPack: Dynamic Frame Compression for Long-context Video World Modeling
Yuta Oshima, Yusuke Iwasawa, Masahiro Suzuki, Yutaka Matsuo, Hiroki Furuta
arXiv:2512.02473v2 •updated • 2025-12-02
Video world models have attracted significant attention for their ability to produce high-fidelity future visual observations conditioned on past observations and navigation actions. However, achieving temporally and spatially consistent generation over long horizons remains an open challenge: existing approaches either compress past frames using generic importance schedules that do not exploit 3D viewpoint geometry, or retrieve only a handful of spatially relevant frames without increasing the total amount of retained history. In this paper, we propose WorldPack, a video world model that introduces spatially-aware compressed memory to address both limitations simultaneously. The key insight is that compression rates should not be uniform or temporally determined, but should instead be dynamically allocated based on 3D spatial relevance to the current viewpoint.WorldPack achieves this through two tightly coupled mechanisms: trajectory packing, which fits substantially more historical frames into a fixed-length context through hierarchical frame compression, and geometric selection, which leverages camera pose information and field-of-view overlap to assign lower compression to spatially important frames and higher compression to less relevant ones. Together, these mechanisms expand the effective context from 4 to 22 frames with moderate computational overhead: trajectory packing increases diffusion-model inference time by 16%, while FoV-based geometric selection introduces an additional candidate-dependent cost. We evaluate WorldPack on LoopNav, a Minecraft benchmark for long-horizon spatial consistency, and conduct comprehensive experiments on the RECON, real-world navigation dataset, across multiple evaluation protocols. WorldPack outperforms strong baselines, Oasis, Mineworld, DIAMOND, NWM, with pronounced gains on spatial reasoning tasks requiring recall of distant observations.
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
Xiaomi-Robotics-1: Scaling Vision-Language-Action Models with over 100K Hours of Real-World Trajectories
Xiaomi Robotics Team, Jun Guo, Piaopiao Jin, Jason Li, Peiyan Li, Yingyan Li, Futeng Liu, Wanli Peng, Optimus Qin, Yifei Su, Nan Sun, Qiao Sun, Runze Suo, Heyun Wang, Yunhong Wang, Rujie Wu, Caoyu Xia, Lina Zhang, Jack Zhao, Guoliang Chen, Wenlong Chen, Xinze He, Bin Li, Qing Li, Zhuorong Li, Heng Qu, Wenxuan Song, Diyun Xiang, Yifan Xie, Peiran Xu, Hangjun Ye, Wen Ye, Han Zhao, Quanyun Zhou
arXiv:2607.15330v2 •updated • 2026-07-16
We present Xiaomi-Robotics-1, a foundational vision-language-action (VLA) model capable of (1) following diverse language instructions to perform a wide range of mobile manipulation tasks in unseen environments out-of-the-box, and (2) efficiently adapting to novel downstream tasks with minimal fine-tuning data. We propose a two-stage training recipe consisting of pre-training and post-training. During pre-training, we imbue the model with broad and generalizable action-generation capabilities by training on over 100k hours of real-world manipulation trajectories collected via UMI devices. Crucially, we develop a scalable auto-labeling pipeline that annotates trajectory clips with natural languages describing scene state transitions, providing rich and precise conditioning for action learning. During post-training, we aim to align these capabilities with robot embodiments and imperative instructions that humans naturally use to prompt robots. Extensive experiments demonstrate strong scaling behavior. Xiaomi-Robotics-1 consistently improves with increased data scales and model sizes during pre-training. This scaling behavior directly transfers to post-training, where a stronger pre-training model yields better out-of-the-box real-robot performance in unseen environments. Furthermore, Xiaomi-Robotics-1 serves as a strong robot foundation policy that can be efficiently fine-tuned on complex, dexterous tasks with high data efficiency. Across multiple simulation benchmarks, Xiaomi-Robotics-1 outperforms state-of-the-art methods. Notably, it establishes a new state-of-the-art with a 57.4% success rate on RoboCasa365, surpassing the previous best of 46.6%. Furthermore, it achieves an average score of 20.07 on RoboDojo, significantly outperforming the prior state-of-the-art (13.07). Code and model checkpoints will be released. Project page: https://robotics.xiaomi.com/xiaomi-robotics-1.html
Comment: Project page: https://robotics.xiaomi.com/xiaomi-robotics-1.html
arXiv PDF
2026-07-21
80 篇
Robotics
68
默认显示 5 篇
Stress-Sharing for Decentralized Fault Repair in Modular Spacecraft
Sidhdharth D. Sikka, Yue Shen, Shaoshuai Mou
arXiv:2607.13444v2 •updated • 2026-07-15
Structural damage in modular spacecraft can disrupt mechanical and communication connectivity, reducing system capability. Existing approaches rely on redundancy or preplanned reconfiguration and do not enable autonomous repair under local information and physical constraints. We model the spacecraft as a lattice-constrained graph and introduce a fully decentralized, asynchronous stress-sharing repair policy inspired by biological wound healing: local distress signals guide surviving modules toward damaged regions to close fragmented gaps, after which each displaced module locally retraces its own motions to recover the pre-damage shape, using only local information and no absolute position sensing. We evaluate the policy in PyBullet rigid-body simulation across structures of up to 160 modules, three fault densities (10, 20, 30%), and random and localized damage. The policy consolidates the surviving modules into a single connected body: even in the most severe case tested, where 30% of modules fail at random, it gathers roughly 80% or more of the surviving modules into one connected component, and this fraction improves with assembly size, making the approach well suited as a swarm-scale repair policy for large modular spacecraft.
Comment: 6 pages, 3 figures. Submitted to the IEEE Robotics and Automation Letters
arXiv PDF
CRB-Driven Beamforming and Trajectory Optimization for UAV-assisted ISAC System
Yi Yang, Qianqian Zhang, Huaxia Wang
arXiv:2607.19609v1 • 2026-07-21
In this paper, we study an unmanned aerial vehicle (UAV)-assisted integrated sensing and communication (ISAC) system, where a UAV enhances the sensing capability of a base station (BS) towards a target while ensuring reliable communication towards a downlink user. This architecture is practically attractive for future wireless networks due to the UAV's controllable mobility and adaptive sensing coverage in wireless environments. The sensing performance is characterized by the average Cramér-Rao bound (CRB), which quantifies the minimum variance of the unbiased angle-of-arrival estimation. To enhance the sensing performance, the UAV trajectory and beamforming parameters are jointly optimized under power and mobility constraints, while satisfying communication requirements to the downlink user. To address the resulting non-convex problem, we employ null-space projection for beamforming design and adopt deep reinforcement learning for the trajectory optimization over a discrete-time scale. In each time slot, beamforming is optimized based on the channel state information to improve CRB performance while mitigating interference between the BS and the communication user. Simulation results demonstrate that the proposed method significantly reduces the time-averaged CRB by over 10%, compared with the ISAC system without UAV assistance, and also achieves a higher sensing accuracy than both the fixed-UAV-trajectory and the maximum-ratio-transmission-based beamforming benchmarks.
Comment: 7 pages, accepted by 2026 IEEE 104th Vehicular Technology Conference (VTC2026-Fall)
arXiv PDF
A Splitting Architecture for Exact Reduced Coulomb Friction
Hongcheng Song, Ye Fan, Uri M. Ascher, Dinesh K. Pai
arXiv:2607.19599v1 • 2026-07-21
Existing approaches to frictional contact dynamics typically either modify the Coulomb law to improve numerical robustness or solve the exact law in a fully coupled monolithic form. However, in its reduced form, exact Coulomb friction can be written as a cone complementarity problem with an augmented velocity, which reveals a natural split between a cone-constrained linear response and a scalar non-associated coupling induced by tangential velocity. We exploit this structure in the solver design. Our method uses an outer iteration to update the non-associated coupling explicitly, and an inner solve for a strongly convex cone-constrained quadratic program. This separation also makes the inner solver modular, so different numerical schemes can be used without changing the outer iteration. We evaluate the method on rigid-body benchmarks with stick-slip transitions and frictional stacking, and show that it reproduces exact Coulomb complementarity without smoothing or relaxing the friction law.
Comment: 14 pages. Accepted to SCA 2026 (ACM SIGGRAPH / Eurographics Symposium on Computer Animation); published open access in Computer Graphics Forum. DOI: 10.1111/cgf.70576. Project page: https://www.cs.ubc.ca/research/fbf-friction
arXiv PDF
Counterfactual Reasoning and Environment Design for Active Preference Learning
Yi-Shiuan Tung, Bradley Hayes, Alessandro Roncone
arXiv:2507.05458v2 •updated • 2025-07-07
For effective real-world deployment, robots should adapt to human preferences, such as balancing distance, time, and safety in delivery routing. Active preference learning (APL) learns human reward functions by presenting trajectories for ranking. However, existing methods often struggle to explore the full trajectory space and fail to identify informative queries, particularly in long-horizon tasks. We propose CRED, a trajectory generation method for APL that improves reward estimation by jointly optimizing environment design and trajectory selection. CRED "imagines" new scenarios through environment design and uses counterfactual reasoning -- by sampling rewards from its current belief and asking "What if this reward were the true preference?" -- to generate a diverse and informative set of trajectories for ranking. Experiments in GridWorld and real-world navigation using OpenStreetMap data show that CRED improves reward learning and generalizes effectively across different environments.
Comment: RSS 2025 Workshop on Human-in-the-Loop Robot Learning: Teaching, Correcting, and Adapting
arXiv PDF
Learning Personalized Safety Interventions for Haptic Human-Robot Shared Control
Dawei Zhang, Roberto Tron
arXiv:2607.19534v1 • 2026-07-21
Haptic feedback provides an implicit channel for communicating safety intentions during human-robot shared control. Existing haptic guidance systems typically employ predefined intervention strategies that cannot accommodate the diverse safety preferences of individual users or application scenarios. To address this limitation, we propose a Learning from Haptics (LfH) framework that learns user-preferred safety interventions from sparse demonstrations, eliminating the need for manual trial-and-error design. Our framework is built on a differentiable Control Barrier Function (CBF)-based optimization layer that automatically adjusts the underlying safety parameters to match the demonstrated haptic responses. Instead of tuning controller parameters directly, users teach the system how they expect it to intervene during teleoperation. The resulting haptic guidance reflects the demonstrated intervention preferences while preserving the intuitive interaction of haptic shared control. Simulation and hardware experiments demonstrate that the proposed framework can learn personalized safety interventions from sparse user input and reduce the mismatch between the generated haptic feedback and the demonstrated preferences.
arXiv PDF
Video World Models
12
默认显示 5 篇
Multi-Horizon Consistency as Geometry: When Latent Dynamics Contract, and When They Do Not
Kavya Bhand, Aadi Joshi
arXiv:2607.21645v1 • 2026-07-21
Multi-horizon latent consistency is a common training knob in video predictors and world models, but practitioners rarely know what it does to transition geometry. We treat lambda, the weight on multi-step latent agreement, as a diagnostic control and measure an empirical expansion proxy L20,q95 together with horizon-20 prediction error E20. On Moving-MNIST (n=6 seeds at the critical pair), raising lambda from 0 to 0.8 cuts L20 from 4.96 +/- 2.01 to 1.01 +/- 0.06 (paired t p=0.005, Wilcoxon p=0.031) and halves E20 (0.365 to 0.177, paired t p=1.1e-13). Four of six seeds cross L<1 at lambda=0.8. The same loss does not produce population L<1 on action-conditioned Pendulum-v1 or CartPole-v1, nor on KTH Actions video, even when E20 improves. An associational mediation analysis on MMNIST gives r-hat=0.94 (95% CI [0.88, 1.00], n=27, B=2000); lambda was not randomized. Defensive checks (architectural baselines, exogenous stress, WorldTest, MPC, scaling) mostly support a narrow claim: soft consistency can push passive video toward a near-contractive band, and that band is domain-limited. A stochastic-forcing law L20 ~ 1.23 + 1.82 eta at lambda=0.8 (bootstrap slope CI [1.73, 1.92], R^2=0.96) unifies control domains on the same curve via calibrated eta_eff. Complete joint slices at lambda in {0.4, 1.2} (30/30 cells, 5 eta x 3 seeds) show comparable linear L20(eta) slopes (~1.69 and ~2.00); we do not fit a continuous (lambda, eta) surface. We do not report DreamerV3 or TD-MPC2 returns.
Comment: 22 pages, 9 figures. Diagnostic study of multi-horizon latent consistency, expansion proxies (L20), and a stochastic-forcing law for world-model geometry. Code and experiment logs to be released publicly
arXiv PDF
Masked Visual Actions for Unified World Modeling
Hadi Alzayer, Wenlong Huang, Haonan Chen, Christopher Luey, Lvmin Zhang, Maneesh Agrawala, Gordon Wetzstein, Li Fei-Fei, Yilun Du, Jiajun Wu, Jia-Bin Huang
arXiv:2607.19343v1 • 2026-07-21
Video models absorb rich priors over how the visual world moves, interacts, and responds to contact, making them promising substrates for robotic world modeling. The central challenge is how to communicate action to such models in a form aligned with the visual space in which they learned these interaction priors, yet still grounded in physical manipulation. We introduce Masked Visual Actions, a pixel-space control interface that expresses action as a partially revealed trajectory of an arbitrary entity in a video. Revealing robot motion makes the model act as a forward dynamics model that predicts the scene's response to low-level robot actions, while revealing desired object motion makes the same model recover robot behavior consistent with that outcome. Finetuned with only 15 hours of masked examples from real videos and simulation, a single checkpoint achieves strong visual fidelity and controllability across diverse scenes and multiple embodiments. In downstream manipulation settings, the model produces imagined rollouts whose outcomes correlate with real-world execution for policy evaluation, improves decision making by ranking candidate futures in model-based planning, and supports inverse modeling by synthesizing robot motion from desired object motion.
Comment: Project webpage: https://masked-visual-actions.github.io
arXiv PDF
IGGT4D: Streaming 4D Instance-Grounded Geometry Transformer
Zhengyu Zou, Hao Li, Kuixuan Jiao, Liu Liu, Tingyang Xiao, Xiaolin Zhou, Fangzhou Hong, Zhizhong Su, Dingwen Zhang, Ziwei Liu
arXiv:2607.19228v1 • 2026-07-21
Real-world spatial intelligence requires agents to understand scenes from continuous video streams, where objects move, persist, disappear, and reappear over time. While recent spatial foundation models have enabled generalizable feed-forward 3D reconstruction, most streaming methods remain geometry-centric and lack temporally consistent object-level understanding. Meanwhile, existing semantic reconstruction and 3D-aware vision-language methods largely rely on externally extracted 2D semantic cues or loosely coupled geometry inputs, limiting unified geometry-instance learning in long dynamic scenes. In this paper, we propose IGGT4D, a streaming instance-grounded geometry Transformer for online 4D scene understanding. IGGT4D processes video frames sequentially, reuses historical context through causal spatial-temporal modeling, and incrementally updates a unified representation of camera motion, geometry, and object identity. This enables long-sequence feed-forward reconstruction with geometry-instance consistency in dynamic environments. To address the lack of high-quality 4D supervision, we further construct InsScene4D-147K, a large-scale dataset spanning real/synthetic and static/dynamic scenes, with RGB images, depth, poses, and temporally consistent instance masks generated by an automated geometry-guided annotation pipeline. Experiments on 3D reconstruction, pose estimation, instance spatial tracking, and open-vocabulary segmentation demonstrate that IGGT4D outperforms existing streaming baselines while maintaining scalable online inference for long dynamic sequences.
Comment: Project Page: https://iggt4d.github.io
arXiv PDF
Child-Oriented AIGC Video Risk Reviewing: A Benchmark and Knowledge-Supported Iterative Reasoning Framework
Lewen Mi, Manyi Li, Yuling Sun, Yufan Zhang, Yuxin Shi, Yulong Bian, Xiangxian Li, Juan Liu
arXiv:2607.22715v1 • 2026-07-21
The rapid growth of Artificial Intelligence-generated content (AIGC) is reshaping video production and circulation, exposing children to an increasing volume of AIGC videos. Unlike traditionally produced videos, AIGC videos often exhibit greater uncertainty in visual details, narrative coherence, and content expression, which may introduce developmentally inappropriate risks for children. However, existing video safety research is largely designed for general violation detection from an adult perspective and remains insufficient for identifying the fine-grained, implicit, and context-dependent risks that children may encounter when viewing AIGC videos. To address this gap, we study child-oriented AIGC video reviewing, making three contributions. First, we construct CAVSR, a benchmark of 605 real-world videos collected from multiple platforms, and develop a hierarchical risk taxonomy comprising 6 top-level categories and 26 fine-grained labels to support systematic evaluation of children's viewing risks. Second, we propose QVRS-E, a knowledge- and experience-augmented video reviewing framework that combines multi-agent collaboration with expert and experiential knowledge to support targeted evidence acquisition and fact-grounded reviewing decisions. Third, extensive experiments demonstrate that our method significantly enhances the reviewing of child-related risks integrated with vision-language models, and yields more robust review reports.
arXiv PDF
ABot-World-0: Infinite Interactive World Rollout on a Single Desktop GPU
Fan Jiang, Zhaoxu Sun, Mengchao Wang, Ziyu Zhu, Chiyu Wang, Yunpeng Zhang, Wenlin Liu, Yun Wang, Xue Zheng, Rui Sun, Junfeng Ni, Hongyu Pan, Zhongxu Sun, Fei Yu, Zengye Ge, Mengmeng Du, Nianfei Fan, Mingchao Sun, Yu Liu, Yongchang, Yanqing Zhu, Jiahang Wang, Ning Ying, Yuze Xuan, Di Yang, Zhicheng Liu, Zhe Gao, Tingbing Xu, Jiacheng Sui, Wenjin Yang, Junnan Lai, Shufeng Liu, Yuan Liu, Zheng Zhou, Yingliang Peng, Dawei Cao, Kaifeng Sheng, Yuxiang Cai, Fei Lu, Mu Xu, Ning Guo
arXiv:2607.19191v1 • 2026-07-21
We present ABot-World-0, an action-conditioned video world model for real-time, long-horizon closed-loop interaction, supported by a multi-source data infrastructure spanning AAA games, simulation engines, and internet videos to learn controllable world dynamics. WorldExplorer performs agent-driven collection guided by training feedback, while a unified pipeline applies 14 deterministic quality checks, VLM-based assessment, and synchronized action and text annotation. We progressively distill a bidirectional action-conditioned teacher into a causal student through teacher forcing and ODE distillation, and introduce LongForcing to align long student self-rollouts with an extended-horizon teacher, mitigating accumulated distribution shift and autoregressive drift. Raw keyboard actions provide a unified control interface for scene roaming and third-person character interaction, while reference-character memory provides persistent appearance cues for identity consistency during third-person rollouts. For deployment, we co-design a streaming inference stack with a lightweight VAE decoder, efficient attention, memory-aware scheduling, and low-bit DiT inference. Across optimized low-bit configurations, ABot-World-0 streams 720P video at up to 16 FPS on a single NVIDIA RTX 5090 desktop GPU, with 1.2s action-to-first-frame latency and approximately 19GiB peak VRAM. Experiments on WorldRoamBench and extended interactive rollouts demonstrate competitive controllability and coherent long-horizon world evolution.
arXiv PDF
2026-07-20
93 篇
Robotics
80
默认显示 5 篇
Bridging the Sim-to-Real Gap under Real-Time Constraints in Autonomous Racing
Hossein Maghsoumi, Yaser P. Fallah
arXiv:2607.18586v1 • 2026-07-20
Autonomous racing exposes the sim-to-real gap under extreme operating conditions characterized by high speed, tight stability margins, and stringent real-time constraints. Although simulation is indispensable for development, controllers that perform well in simulation often degrade abruptly on physical platforms due to interacting effects of dynamics mismatch, estimation delay, and execution-layer latency. This paper frames sim-to-real transfer in autonomous racing as a full-stack, real-time systems problem. We introduce a structured three-layer perspective (Physical/Cyber/Execution) to analyze how mismatches propagate and amplify through closed-loop feedback. We present diagnostic metrics beyond nominal lap time, including performance flip, stability-oriented measures, sensitivity to delay and noise, and latency distribution characterization. Mitigation strategies are synthesized from a deployment-oriented viewpoint, emphasizing execution-aware and delay-aware design. Finally, we outline benchmarking guidelines that enable reproducible and fair sim-to-real evaluation under compute and timing constraints. The resulting framework clarifies cross-layer failure mechanisms and provides practical design principles for deployable autonomous racing systems operating near dynamic limits.
Comment: Accepted for presentation at the 2026 IEEE 104th Vehicular Technology Conference (VTC2026-Fall). 6 pages, 2 figures, 3 tables
arXiv PDF
STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
Kasra Torshizi, Anukriti Singh, Sidharth Mathur, Khuzema Habib, Leo Du, Pratap Tokekar
arXiv:2607.18580v1 • 2026-07-20
Vision-language-action (VLA) models have shown impressive generalization, but often lack interpretability and can struggle to follow precise natural language instructions that encode spatial, temporal, and logical requirements. We propose a hierarchical framework that uses Signal Temporal Logic (STL) as a shared representation connecting high-level language understanding with low-level robot execution. A high-level policy leverages a VLM to decompose language instructions into high-level subtasks, generate STL specifications for each subtask, and choose a low-level policy for executing each subtask. The STL specifications translate language-derived intent into precise constraints, and the low-level policy selection determines whether those constraints are enforced directly through STL-guided model-predictive control or monitored during execution of a learned policy for perceptually complex, or contact-rich behaviors. By integrating STL into plan validation, low-level policy, subtask monitoring, and replanning, our framework enables language-derived plans to be checked, optimized, and revised at runtime using a common formal structure. We evaluate the approach on a real-world tabletop domain, demonstrating how formal specifications can improve the precision, reliability, and interpretability of language-conditioned robot planning.
Comment: 14 pages, 6 figures
arXiv PDF
Two-Stage Extrinsic Calibration of a Static Line-Scanning Lidar with a Rotary Platform
Vikram Shree, Hike Danakian, Long Nguyen, Rajanish Gokidi, Patrick Nercessian
arXiv:2607.18578v1 • 2026-07-20
A line-scanning lidar yields range and azimuth values in a fixed plane. To perceive surrounding objects in 3D, there must be relative motion between the lidar plane and the object. Thus, using a rotating base-platform is promising for industrial applications where objects need to be scanned or inspected precisely, and is the main focus of this work. In the rotary platform setup, a 3D point cloud of an object can be constructed if the axis of rotation and the precise motion about that axis are known. However, this setup gives rise to the following problem: how can the axis of rotation of the platform be accurately identified with respect to the lidar coordinate system? It is referred to as the calibration problem in the robotics community. Any inaccuracy in this transformation directly affects the quality of the reconstructed point cloud, leading to misrepresentation of the object of interest. In this work, we explore automated approaches to statically and dynamically estimate the transformation of a rotary platform's axis of rotation with respect to a static line-scanning lidar. The proposed algorithms have been validated on real-world datasets obtained from a custom made rotary platform and an FMCW lidar, and their convergence characteristics are studied for various initial conditions.
Comment: 8 pages, 13 figures. Manuscript accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
arXiv PDF
Integrity-Gated Eco-CACC: Epistemic Admissibility for Cooperative Driving at Signalized Intersections
Lyes Saad Saoud, Moussa Ayyash
arXiv:2607.18565v1 • 2026-07-20
Eco-Cooperative Adaptive Cruise Control (Eco-CACC) systems rely on accurate localization, signal timing, and interaction awareness to optimize energy consumption at signalized intersections. Existing approaches typically assume that the internal world model used for optimization remains valid, making them vulnerable when sensing outages or semantic inconsistencies invalidate planning premises. This letter proposes an Integrity-Gated Eco-CACC framework that explicitly monitors the consistency between internal vehicle beliefs and external sensing. A unified integrity metric is constructed by combining positional innovation, observability loss, and semantic inconsistencies. The resulting trust score regulates control authority, enabling a transition between nominal eco-driving and a safety-dominant fallback maneuver. Unlike robust control methods that attempt to preserve performance under uncertainty, the proposed framework regulates whether energy-optimal control remains admissible. Scenario-based simulations demonstrate that the method preserves nominal efficiency when model consistency is maintained, while enabling early and conservative responses under integrity degradation.
arXiv PDF
Recti-Q: Feature-Space Rectification for Out-of-Distribution-Robust Quantized Perception in Edge Robotics
Hamidreza Yaghoubi Araghi, Parastoo Pilevar, Ming C. Lin
arXiv:2607.18540v1 • 2026-07-20
Robotic perception pipelines increasingly rely on large vision backbones deployed on SWaP-constrained edge platforms, making post-training quantization (PTQ) attractive for real-time inference. However, while PTQ often preserves clean in-distribution accuracy, we show that it can substantially degrade reliability under deployment-relevant distribution shifts (e.g., sensor noise, severe weather, and novel operating environments), creating a Quantization-Induced Robustness Gap. Across foundational vision benchmarks (ImageNet-C and PACS), 4-bit PTQ models exhibit pronounced robustness degradation despite negligible ID accuracy loss. To address this, we propose Recti-Q, a lightweight feature-space rectification framework that freezes the quantized backbone and trains a small classifier-head LoRA adapter using only source data. Recti-Q is architecture-agnostic across CNNs and Transformers, supports efficient teacher-free training, and recovers a significant portion of the lost robustness, in some cases matching or exceeding FP32 performance. At less than 1% parameter overhead (as small as 6 KB), Recti-Q preserves over 99% of PTQ memory savings, adds negligible compute, and enables low-bandwidth Over-The-Air (OTA) resilience patching for deployed robotic fleets operating in unpredictable physical environments.
Comment: Accepted at the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)
arXiv PDF
Video World Models
13
默认显示 5 篇
AniGS: Bridging Rendering and Diffusion Prior for 3D Scene Animation
Yen-Chi Cheng, Chen Gao, Chuhan Chen, Tuotuo Li, Rajvi Shah, Ayush Saraf, Changil Kim, Liangyan Gui, Alexander Schwing, Johannes Kopf, Hung-Yu Tseng
arXiv:2607.18539v1 • 2026-07-20
Novel view rendering of large and complex reconstructed scenes is becoming increasingly photorealistic. However, most reconstructions remain static and lack the ambient motion that makes environments immersive. We present AniGS, a method for scene-level animation of 3D Gaussian Splatting (3DGS) reconstructions that adds subtle, distributed dynamics, e.g., vegetation motion, while preserving rigid structures. Unlike existing 3D animation techniques which are limited to object-centric subjects or small regions, AniGS is designed for large, cluttered, navigable scenes. AniGS represents the scene with a canonical 3DGS and models motion using a time-conditioned deformation field. To animate the entire scene, we leverage a pretrained video diffusion model and introduce an iterative dataset--model update strategy that progressively expands viewpoint coverage and repeatedly updates camera-fixed training videos using a render-and-refine scheme. To prevent artifacts from unintended motion in static areas, we further introduce a composed video-to-video refinement scheme that restricts motion to desired regions. Experiments on five real-world, large-scale outdoor scenes demonstrate that AniGS produces natural ambient dynamics and high-quality novel view videos, enabling more immersive viewing experiences of reconstructed environments.
Comment: Preprint. Project page: https://yccyenchicheng.github.io/AniGS/
arXiv PDF
AHEAD: Advancing Multi-Class Label Aggregation with Interpretable Cross-Annotator Modeling
Ju Chen, Sijia Xu, Jun Feng, Zhiqiang Gao, Zhengyi Yang
arXiv:2607.18465v1 • 2026-07-20
Crowdsourced labeling provides valuable labeled data for domains across natural language processing, computer vision, and video. Label aggregation aims to infer latent true labels from noisy and biased annotations, with the key lying in annotator reliability estimation. Despite promising progress, existing approaches struggle with one real-world bottleneck: most individual annotators label only a small subset of tasks, making accurate annotator estimation highly intractable. In this paper, we focus on the considerably more challenging multi-class label aggregation and propose AHEAD (cross-Annotator learning and High-confidEnce Annotator-guideD label aggregation), a cross-annotator learning framework that advances annotator reliability estimation by leveraging the population-level data. Specifically, AHEAD first learns high-dimensional cross-annotator contexts via a graph neural network, deriving multi-view, complementary annotator embeddings by aggregating individual-level annotator features with contextual information. These embeddings are then decoded into interpretable annotator-specific confusion matrices to fit the observed labels. We formulate a composite objective incorporating high-confidence annotators to alleviate the unsupervised training issues faced by prior models. Experiments on 10 real-world datasets spanning NLP, CV, Video, and Audio show that AHEAD substantially improves label accuracy, increasing average accuracy from 68.75% to 73.23%, with gains of up to 14.9% in the best case. Meanwhile, scalability experiments on the largest dataset further demonstrate the overall superiority of our method.
arXiv PDF
Patch Policy: Efficient Embodied Control via Dense Visual Representations
Gaoyue Zhou, Zichen Jeff Cui, Ada Langford, Bowen Tan, Yann LeCun, Lerrel Pinto
arXiv:2607.18236v1 • 2026-07-20
Pretrained dense visual features from Vision Transformers (ViTs) are powerful yet have been underutilized in robot learning. Modern robot policies either compress each observation into a single global token, or rely on visual backbones trained from scratch, sacrificing both fine-grained spatial detail and the benefits of large-scale visual pre-training. While there exist policies that do operate on dense patch features like large vision-language-action models (VLAs), they tend to be heavy and slow, inheriting the full cost of a billion-parameter vision-language model (VLM) backbone. We close this gap with Patch Policy, a minimal architectural extension that enables transformer-based policies to consume dense pre-trained patch tokens directly without the computational overhead of a full VLM. At its core is a block-causal attention mask that preserves the temporal causality of standard policies while letting the model attend over many patch tokens per observation, alongside other state information. Patch Policy is lightweight, fast, and highly effective. Across four simulated and three real-world environment suites, our method achieves a 40% relative improvement over policies using state-of-the-art global-pooled representations. Furthermore, it surpasses fine-tuned OpenVLA-OFT by 18% while using roughly 0.7% of the parameters. We believe Patch Policy provides a pipeline for the robotics community to readily leverage continuing progress in visual representation learning, without sacrificing the training efficiency or inference speed required for high-frequency, reactive control. Videos can be viewed at https://patch-policy.github.io
arXiv PDF
3D and 4D World Modeling: A Survey
Lingdong Kong, Yu Yang, Jianbiao Mei, Youquan Liu, Ao Liang, Dekai Zhu, Dongyue Lu, Wei Yin, Xiaotao Hu, Mingkai Jia, Junyuan Deng, Kaiwen Zhang, Yang Wu, Tianyi Yan, Shenyuan Gao, Song Wang, Linfeng Li, Liang Pan, Yong Liu, Jianke Zhu, Wei Tsang Ooi, Steven C. H. Hoi, Ziwei Liu
arXiv:2509.07996v4 •updated • 2025-09-04
World modeling has become a cornerstone in AI research, enabling agents to understand, represent, and predict the dynamic environments they inhabit. While prior work largely emphasizes generative methods for 2D image and video data, they overlook the rapidly growing body of work that leverages native 3D and 4D representations such as RGB-D imagery, occupancy grids, and LiDAR point clouds for large-scale scene modeling. At the same time, the absence of a standardized definition and taxonomy for "world models" has led to fragmented and sometimes inconsistent claims in the literature. This survey addresses these gaps by presenting the first comprehensive review explicitly dedicated to 3D and 4D world modeling and generation. We establish precise definitions, introduce a structured taxonomy spanning video-based (VideoGen), occupancy-based (OccGen), and LiDAR-based (LiDARGen) approaches, and systematically summarize datasets and evaluation metrics tailored to 3D/4D settings. We further discuss practical applications, identify open challenges, and highlight promising research directions, aiming to provide a coherent and foundational reference for advancing the field. A systematic summary of existing literature is available at https://github.com/worldbench/awesome-3d-4d-world-models
Comment: Survey; Project Page at https://worldbench.github.io/survey GitHub Repo at https://github.com/worldbench/awesome-3d-4d-world-models
arXiv PDF
AlayaWorld: Interactive Long-Horizon World Modeling -- Full Technical Report
AlayaWorld Team, Kaipeng Zhang, Chuanhao Li, Yifan Zhan, Yongtao Ge, Yuanyang Yin, Jiaming Tan, Kang He, Liaoyuan Fan, Mingliang Zhai, Ruicong Liu, Xiaojie Xu, Xuangeng Chu, Zhen Li, Zhengyuan Lin, Zhixiang Wang, Zian Meng, Zihui Gao
arXiv:2607.18367v1 • 2026-07-20
Unlike conventional video game development, which relies on labor-intensive pipelines for asset production, animation, physics, and programming, video world models generate interactive environments from user inputs instantly. It enable us to create customized, explorable, and continuously evolving virtual world from text, an image, or video. Realizing this vision requires four tightly coupled capabilities: interaction, persistent spatiotemporal consistency, stable long-horizon generation, and efficient response. We present AlayaWorld, an interactive long-horizon video world model that generates 24-fps video at 540p and 720p. Built on a 15B video diffusion transformer, AlayaWorld generates short latent chunks autoregressively under camera trajectories and switchable text prompts. Its bounded visual context combines a persistent sink frame, compressed temporal history, geometry-aligned spatial memory, and recent-frame conditioning. To reduce long-term drift, the model is trained with corrupted histories and prediction residuals collected from its own roll-outs. We further introduce a discrete autoregressive distillation formulation that combines distribution-matching distillation, self-forcing++, and consistency distillation, reducing inference from approximately 30 sampling steps to four steps per chunk. On iWorld-Bench, AlayaWorld achieves the best performance over long-horizon generation. Conceived as a full-stack, open-source, and long-term project, AlayaWorld is intended to provide an extensible foundation for future research on interactive video world models.
Comment: Authors are listed alphabetically by the first name and their role. See the contribution section for details
arXiv PDF
2026-07-19
32 篇
Robotics
28
默认显示 5 篇
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
Xiao Chen, Weishuai Zeng, Xiaojie Niu, Zirui Wang, Jianan Li, Huayi Wang, Furui Xu, Jiahe Chen, Weixiang Zhong, Lihe Ding, Kailin Li, Jiangmiao Pang, Tai Wang, Tianfan Xue, Jingbo Wang
arXiv:2606.30362v2 •updated • 2026-06-29
While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute pre-defined reference motions. As a result, they are vulnerable to environmental shifts and incapable of reactive whole-body coordination. Naively cascading them with generative motion planners fails to achieve true reactivity, as inevitable tracking discrepancies induce fatal cumulative exposure bias. To bridge this gap, we propose ReactiveBFM, a real-time closed-loop planning-control framework. At its core, we effectively mitigate exposure bias via a scheduled prefix sampling curriculum, forcing the generative planner to actively learn error-recovery behaviors from imperfect physical states rather than ground-truth trajectories. Systematically, to reconcile the severe latency mismatch between auto-regressive planning and high-frequency tracking, we introduce an asynchronous replanning mechanism. Combined with trajectory chunking to temporally ensemble spatial references, our system guarantees spatio-temporally fluid execution without physical jitter. Deployed on the Unitree G1 humanoid, ReactiveBFM demonstrates unprecedented physical agility across a vast repertoire of text-conditioned closed-loop motions. Notably, ReactiveBFM achieves zero-shot moving target reaching, showcasing intricate whole-body coordination and on-the-fly replanning. In sim-to-sim benchmarking under severe perturbations, ReactiveBFM achieves a 93.1% success rate, significantly outperforming cascaded open-loop baselines by 28.6%.
Comment: Project page: https://xiao-chen.tech/reactivebfm/
arXiv PDF
TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies
Dong Jing, Jingchen Nie, Tianqi Zhang, Jiaqi Liu, Huaxiu Yao, Zhiwu Lu, Mingyu Ding
arXiv:2606.06491v2 •updated • 2026-06-04
Robot manipulation alternates between low-risk transit phases that call for fast execution and high-risk contact stages that demand slow, precise motion. Yet existing Vision-Language-Action models (VLAs) only inherit a single fixed speed from training demonstrations. Prior efforts to accelerate VLAs through model compression, KV-cache reuse, or reinforcement learning only shift the policy from one fixed speed to another, and leave deceleration almost unexplored. We observe that the magnitude of each predicted action already governs how fast the robot moves, opening a direct route to controllable execution speed. We turn this observation into TempoVLA, a single VLA whose execution speed is controlled by an explicit condition. TempoVLA combines two coupled components. (1) A data-side Variable-Speed Trajectory Augmentation (VSTA) that re-times demonstration to any target speed by merging or splitting actions while preserving its motion semantics. (2) A model-side conditioning mechanism that feeds the speed to the policy. Statistics show that VSTA reaches the requested speed with negligible motion error. Experiments in simulation and on real-world tasks demonstrate that TempoVLA achieves flexible speed control in both directions, while VSTA additionally boosts the default $1\times$ performance via better data utilization. Furthermore, by cooperating with a large multimodal model, TempoVLA realizes dynamic speed control, accelerating through low-risk phases and decelerating for high-risk ones.
arXiv PDF
Seeing Where to Deploy: Metric RGB-Based Traversability Analysis for Aerial-to-Ground Hidden Space Inspection
Seoyoung Lee, Shaekh Mohammad Shithil, Durgakant Pushp, Lantao Liu, Zhangyang Wang
arXiv:2603.14639v2 •updated • 2026-03-15
Inspection of confined infrastructure such as culverts often requires accessing hidden spaces whose entrances are reachable primarily from elevated viewpoints. Aerial-ground cooperation enables a UAV to deploy a compact UGV for interior exploration, but selecting a suitable deployment region from aerial observations requires metric terrain reasoning involving scale ambiguity, reconstruction uncertainty, and terrain semantics. We present a metric RGB-based geometric-semantic reconstruction and traversability analysis framework for aerial-to-ground hidden space inspection. A feed-forward multi-view RGB reconstruction backbone produces dense geometry, while temporally consistent semantic segmentation yields a 3D semantic map. To enable deployment-relevant measurements without requiring LiDAR-based dense mapping, we introduce an embodied motion prior that recovers metric scale by aligning predicted camera motion with onboard platform egomotion. From the metrically grounded reconstruction, we construct a confidence-aware geometric-semantic traversability map and evaluate candidate deployment zones under reachability constraints. Experiments on a tethered UAV-UGV platform demonstrate reliable deployment-zone identification in hidden space scenarios.
Comment: Accepted to IROS 2026. Project page: https://seoyoung1215.github.io/seeing-where-to-deploy/
arXiv PDF
Thermopneumatic Pixels: Fast, Localized, Robust, Low-Voltage Touch Feedback
Max Linnander, Yon Visell
arXiv:2603.16750v2 •updated • 2026-03-17
We present thermopneumatic pixels (TPPs) -- low-profile pixels and arrays that generate dynamic tactile feedback. These devices are thin, fast, reconfigurable, and output localized transient displacements at each pixel. Their parsimonious design -- a layered architecture without internal moving parts -- and low-voltage ($\lesssim$10 V) operation may facilitate practical integration in a wide variety of interfaces. Each TPP converts brief electrical pulses into transient air pressure increases in an internal cavity, yielding out-of-plane forces and displacements for tactile feedback. We demonstrate TPPs that output displacements of 1 mm and forces exceeding 1 N, with millisecond response times, in packages that are less than 3 mm thick. Force and displacement increase with pixel surface area, facilitating tailorability. The pixels can also generate oscillating feedback at pulse rates up to 300 Hz range. We report designs for compact arrays of pixels at 4 mm spacing, and simple pulse driving architectures using miniature transistors driven by microcontrollers. We characterize the mechanical, dynamic, and thermal response of TPPs, and their robustness and consistency over tens of thousands of cycles. We report perceptual experiments on spatial localization and intensity as a function of driving power. Together, these results establish thermopneumatic pixels as a compact, adaptable tactile technology that blends performance and practicality.
arXiv PDF
DeeperRadar: End-to-End MIMO Radar Design and Multi-Modal Fusion for Autonomous Vehicle Perception
Eli Goldenshluger, Barak Pinkovich, Chaim Baskin
arXiv:2607.17351v1 • 2026-07-19
DeeperRadar is a radar-centric, sensor-stack-conditioned framework that co-designs radar sensing and multi-modal 3D detection for autonomous mobility by learning a sparse acquisition pattern end-to-end with the fusion model. A learnable MIMO design module is trained end-to-end within a fusion network that operates directly on raw radar ADC data together with camera images and LiDAR point clouds. During training, the design module is supervised by the other sensors, enabling the system to learn both which receiver antennas to activate and the effective number of them. At deployment, the design module is removed and replaced by the learned sparse subsampling mask, leaving the downstream model architecture unchanged. Evaluated on the RADIal dataset, DeeperRadar discovers sparse, task-aware radar configurations that match or exceed full-array baselines while using fewer receivers, potentially reducing radar cost and integration complexity. These results show that learned optimal MIMO radar design depends on the fusion stack and the downstream perception task.
Comment: Accepted for publication at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)
arXiv PDF
Video World Models
4
默认显示 4 篇
MemoBench: Benchmarking World Modeling in Dynamically Changing Environments
Haoyu Chen, Kaichen Zhou, Hang Hua, Kaile Zhang, Jingwen Qian, Wufei Ma, Haonan Chen, Chunjiang Liu, Yizhou Zhao, Xiaoyuan Wang, Weiyue Li, Alan Yuille, Paul Pu Liang, Yilun Du
arXiv:2606.27537v6 •updated • 2026-06-25
Video generation models aspire to simulate dynamic environments, and several benchmarks now evaluate memory consistency across frames. However, most assess consistency only while the target remains in view, and the few that force objects out of view evaluate static scenes where nothing changes during occlusion. To bridge this gap, we introduce MemoBench, a diagnostic benchmark built around the disappear-and-reappear paradigm in dynamically changing environments: a target object undergoes a physical process, disappears from view, and must be correctly recovered in its updated state upon reappearance. We curate 360 ground-truth clips spanning synthetic and real-world scenes, and design an evaluation suite combining automated metrics with VQA-based assessment across four diagnostic pillars. Evaluation of eight state-of-the-art models reveals key insights and open challenges regarding memory consistency under the disappear-and-reappear paradigm.
arXiv PDF
BiWM: Advancing Open-Source Interactive Video World Models with Bidirectional Autoregression
Shaohao Rui, Xiaofeng Mao, Zhanyu Zhang, Peijia Lin, Yansong Zhu, Yibo Zhang, Haibin Wan, Zhangrui Zhao, Weijie Ma
arXiv:2606.10135v3 •updated • 2026-06-08
Interactive video world models commonly convert bidirectional video generators into causal autoregressive systems through control fine-tuning, autoregressive training, causal initialization, and few-step distillation. This pipeline is costly, while frozen causal histories accumulate errors that degrade long-horizon fidelity and controllability. We present BiWM, the first open-source full-stack training framework for bidirectional autoregressive video world models. BiWM retains full attention within each generated chunk and requires only two stages: camera/action-control fine-tuning and few-step Distribution Matching Distillation (DMD). Both stages converge within a few hundred optimizer steps on 8 H200 GPUs. The framework supports Wan2.1-T2V-1.3B, Wan2.2-TI2V-5B, HunyuanVideo-1.5-TI2V-8B, and LTX-2.3-22B, together with real-world camera control, pluggable long-history compression, and optional low-bit deployment. Supervised and forward-KL anchors mitigate DMD mode collapse and preserve scene dynamics. BiWM provides a compact, reproducible path from pretrained bidirectional video models to interactive, controllable, and efficient world models.
arXiv PDF
GhostShell: Streaming LLM Function Calls for Concurrent Embodied Programming
Jian Gong, Youwei Huang, Bo Yuan, Ming Zhu, Zhou Liao, Jianhang Liang, Juncheng Zhan, Jinke Wang, Hang Shu, Zihao Xu, Mingyue Xiong, Yanjun Ye, Yufan Zu, Yang Zhou, Yihan Ding, Xuannian Chen, Xingyu Lu, Runjie Ban, Bingchao Huang
arXiv:2508.05298v3 •updated • 2025-08-07
We present GhostShell, a novel approach that leverages Large Language Models (LLMs) for streaming and concurrent behavioral programming in embodied systems. In contrast to predefined behavioral structures and plan-then-execute paradigms, GhostShell enables reasoning-while-acting by incrementally invoking functions during LLM streaming generation. We define function tokens as an XML-based function-call representation that GhostShell parses from the LLM generation stream and maps to callable functions. A multi-channel scheduling algorithm further orchestrates these calls with intra-channel synchronous and inter-channel asynchronous dispatch, coordinating sequential-parallel behavior execution across multiple robotic components. We evaluate GhostShell on our robotic prototype CoCo across 33 real-world tasks with LLMs from nine providers. On 30 grounded Human-Robot Interaction (HRI) tasks, our approach achieves the highest Directed Structured Behavior Correctness (DSBC) score of 0.83 with Claude-Sonnet-4, while on three long-horizon multimodal tasks, GPT-4.1 attains a top human evaluation score of 7.0/10. Compared to native LLM function calling, our function token schema achieves a 15/15 task completion rate versus 6/15, particularly in coordinating concurrent linguistic and physical actions. Supplementary materials, including videos, are available at https://coco-robot.github.io/GhostShell.
Comment: 22 pages, 7 figures, conference
arXiv PDF
RobustVLA: On Robustness of Vision-Language-Action Model against Multi-Modal Perturbations
Jianing Guo, Zhenhong Wu, Chang Tu, Yiyao Ma, Xiangqi Kong, Zhiqian Liu, Jiaming Ji, Shuning Zhang, Yuanpei Chen, Kai Chen, Qi Dou, Yaodong Yang, Xianglong Liu, Huijie Zhao, Weifeng Lv, Simin Li
arXiv:2510.00037v5 •updated • 2025-09-26
In Vision-Language-Actionf(VLA) models, robustness to real-world perturbations is critical for deployment. Existing methods target simple visual disturbances, overlooking the broader multi-modal perturbations that arise in actions, instructions, environments, and observations. Here, we first evaluate the robustness of mainstream VLAs under 17 perturbations across four modalities. We find (1) actions as the most fragile modality, (2) Existing visual-robust VLA do not gain robustness in other modality, and (3) pi0 demonstrates superior robustness. To build multi-modal robust VLAs, we propose RobustVLA against perturbations in VLA inputs and outputs. For output robustness, we perform offline robust optimization against worst-case action noise that maximizes mismatch in flow matching objective. This can be seen as adversarial training, label smoothing, and outlier penalization. For input robustness, we enforce consistent actions across input variations that preserve task semantics. To account for multiple perturbations, we formulate robustness as a multi-armed bandit problem and apply an upper confidence bound algorithm to automatically identify the most harmful noise. Experiments on LIBERO demonstrate our RobustVLA delivers absolute gains over baselines of 12.6% on the pi0 backbone and 10.4% on the OpenVLA backbone across all 17 perturbations, achieving 50.6x faster inference than existing visual-robust BYOVLA that requires external LLMs, and a 10.4% gain under mixed perturbations. On the real-world FR5 robot, under four types of multimodal perturbations, RobustVLA shows strong low-data performance, outperforming pi0 by 65.6% success rate with 25 demonstrations. Even with abundant demos, our method still outperform pi0 by 30% success rate. Code and demo videos available at https://github.com/gakakulicc/RobustVLA.
Comment: Published as a conference paper at ICLR 2026
arXiv PDF
2026-07-18
40 篇
Robotics
37
默认显示 5 篇
ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots
Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng, Kaveh Akbari Hamed
arXiv:2607.17007v1 • 2026-07-18
This paper presents a safety-critical distributed nonlinear model predictive control (DNMPC) framework for cooperative payload transportation by teams of quadrupedal robots. The proposed approach models the robotic team and the shared payload as a dynamically coupled networked system with rigid holonomic coupling constraints arising from cooperative transportation. To enable distributed real-time optimization, the centralized finite-horizon optimal control problem is decomposed into parallel local NMPC subproblems coordinated through the alternating direction method of multipliers (ADMM). The resulting distributed framework enforces consensus over both payload-state and interaction-wrench trajectories while explicitly incorporating acceleration-level holonomic coupling constraints within the distributed predictive control formulation. Safety-critical obstacle avoidance constraints for both the robotic agents and payload are enforced using higher-order control barrier functions (HOCBFs). The framework is validated through numerical simulations with teams of two, three, and four quadrupedal robots transporting shared payloads in cluttered environments. Real-time experiments on two- and three-robot teams demonstrate safe and robust transportation under payload uncertainty and external disturbances. Compared with centralized NMPC, the proposed framework achieves up to 23% reduction in average NLP solve time while maintaining comparable closed-loop performance. Ablation studies further demonstrate robustness to communication delays and show that explicit payload-state consensus and holonomic constraints substantially improve payload tracking and distributed coordination over existing wrench-only consensus formulations.
Comment: Supplementary video available at: https://youtu.be/w8hg52T8Luc?si=nzQrGsqP5ZBNFlGp
arXiv PDF
User-Driven Learning from Demonstration: A Trajectory and Impedance Learning Method
Zi-Qi Yang, Mehrdad R. Kermani
arXiv:2607.16998v1 • 2026-07-18
This paper presents a method for user-driven robot Learning from Demonstration (LfD) that reduces user effort while ensuring compliant and precise reproduction. The method eliminates repeated teaching for the same task and enables real-time learning from a single demonstration. Demonstrated motions are reproduced with high precision, while impedance variations are learned in real time to provide both compliance and robustness against perturbations. This mitigates potential safety issues in Human-Robot Interaction (HRI) that arise from conventional time-indexed trajectories lacking compliance. The proposed approach integrates a three-dimensional (3D) Fast Diffeomorphic Matching (FDM) algorithm with a Dynamical System (DS)-based motion generator to achieve real-time single-shot demonstration learning and reproduction. An Extended Kalman Filter (EKF) framework compensates for reproduction errors and recovers from external interactions. Furthermore, an impedance parameterization function is incorporated to learn impedance variations from demonstrations and maintain surface contact for specific applications. The proposed approach is validated through comprehensive experiments on a 7 Degree-of-Freedom (DOF) KUKA LWR IV+ robot.
Comment: Accepted at IEEE International Conference on Automation Science and Engineering (CASE) 2026, 7 pages
arXiv PDF
Relative Entropy-Bounded Ambiguous Chance Constraints for Robust Planning in Nonlinear Systems
Trevor N. Wolf, Jay W. McMahon
arXiv:2607.16977v1 • 2026-07-18
We consider defining risk probability in stochastic control problems under distribution ambiguity. Current approaches for chance-constrained control typically assume that the true state distribution is known and Gaussian distributed. These assumptions are not amenable to many real-world engineering applications where system dynamics are nonlinear and only approximately modeled. In this work, we define a distribution ambiguity set and, with a variational expression for exponential integrals, bound the expected risk value under an unknown distribution that resides within a relative entropy distance of a nominal Gaussian reference distribution. Our bound recovers the reference risk value in the zero-divergence limit. A method is presented to determine the relative entropy distance defining the ambiguity set that is a function of the reference covariance evolution and second-order dynamical truncation errors. The resulting contributions provide a framework for handling distributional ambiguity in nonlinear covariance steering problems. A stochastic spacecraft guidance example is presented to demonstrate our contributions.
Comment: European Control Conference (ECC) 2026
arXiv PDF
Tracking Through Decoupling Singularities: A Singularity-Robust Homotopy-Continuation Extension of Feedback Linearization
Alex Borisevich
arXiv:2607.10436v2 •updated • 2026-07-11
Input--output feedback linearization fails at decoupling singularities, where the decoupling matrix loses rank, the relative degree is lost, and the linearizing control becomes unbounded. This paper develops a singularity-robust trajectory-tracking controller for square nonlinear control-affine systems that tracks through isolated decoupling singularities with bounded control. The method recasts tracking as real-time arc-length homotopy continuation, equivalently a continuous-time Newton/Davidenko flow, and replaces the inverse decoupling matrix by the least-norm Moore--Penrose solution of an augmented matrix $A=[Λ\mid b]$, where $b$ is the homotopy direction. A transversality condition $w^T b \ne 0$, with $w$ in the left null space of the decoupling matrix, keeps the augmented matrix full row rank through a generic rank-one loss. The resulting flow agrees with feedback linearization away from the singular set, tracks with $O(1/k)$ error, and re-locks after each crossing. The theory also characterizes the reflection-versus-branch-crossing dichotomy at Whitney folds and relates the reflection case to a Filippov sliding mode. Extensions cover dynamic relative-degree-one minimum-phase systems and arbitrary relative degree via filtered-error reduction. Simulations include a redundant 2-DOF manipulator, relative-degree-one and relative-degree-two plants, and a dual-active-bridge series-resonant DC/DC converter, where the method performs bounded inversion across buck/boost and resonance singularities while preserving zero-voltage soft switching.
Comment: Python code to reproduce all numerical results is included as ancillary files
arXiv PDF
Unsupervised Discovery of Failure Taxonomies from Deployment Logs
Aryaman Gupta, Yusuf Umut Ciftci, Somil Bansal
arXiv:2506.06570v4 •updated • 2025-06-06
As robotic systems become increasingly integrated into real-world environments, ranging from autonomous vehicles to household assistants, they inevitably encounter diverse and unstructured scenarios that lead to failures. While such failures pose safety and reliability challenges, they also provide rich perceptual data for improving system robustness. However, manually analyzing large-scale failure datasets is impractical and does not scale. In this work, we introduce the problem of unsupervised discovery of failure taxonomies from large volumes of raw failure logs, aiming to obtain semantically coherent and actionable failure modes directly from perceptual trajectories. Our approach first infers structured failure explanations from multimodal inputs using vision language reasoning, then clusters them in the resulting semantic reasoning space, discovering recurring failure modes rather than isolated episode-level descriptions. We evaluate our method across robotic manipulation, indoor navigation, and autonomous driving domains, demonstrating that the discovered taxonomies are consistent, interpretable, and useful in practice. In particular, we show that structured failure taxonomies guide targeted data collection for offline policy refinement and enhance runtime failure monitoring systems. Website: https://mllm-failure-clustering.github.io/
arXiv PDF
Video World Models
3
默认显示 3 篇
Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning
Zishuo Li, Bowen Yang, Changtao Miao, Kai Zhu, Hao Chen, Qingze Guan, Zhengxing Wu, Wanke Zhan, Yang Sun, Zhiyi Huang, Zitong Shan, Zhenchao Jin, Jiadong Hong, Taowen Wang, Yushi Feng, You Liu, Yibo Wang, Yifan Yang, Zhaowen Zhou, Man Luo, Hao Cheng, Bo Zhang, Jianshu Li, Jiansheng Cai, Guocai Yao, Jize Zhang, Chenhao Lin, Renjing Xu, Lequan Yu, Chao Shen, Chunhua Shen, Zhe Li
arXiv:2607.14183v2 •updated • 2026-07-15
Egocentric videos of human manipulation provide scalable supervision for embodied intelligence, yet existing resources rarely combine low-cost continuous capture, manipulation-level structured annotations, and reusable tools for robot learning. We present Open-AoE, an open, community-oriented egocentric manipulation dataset and toolchain spanning the full pipeline from smartphone capture to model training. Its first release contains approximately 2,000 hours of manipulation video collected in natural environments by 500+ contributors using 400+ smartphones. The dataset provides text annotations, MANO-based hand poses, camera trajectories, and temporally localized atomic actions. Open-AoE further includes a data processing pipeline that transforms raw recordings into structured samples through temporal action segmentation, semantic annotation, hand reconstruction, and camera trajectory reconstruction. Meanwhile, we provide a separate downstream toolchain supports visualization, cross-embodiment retargeting, model-specific data conversion, and training recipes for VLA policies, WAMs, and World Models. By integrating scalable capture, structured processing, and downstream adaptation, Open-AoE reduces the barriers to both data contribution and reuse, providing practical open infrastructure for embodied model training, human-to-robot transfer, and world modeling.
arXiv PDF
Logic-Guided Socially-aware Robot Navigation World Model
Weizheng Wang, Obi Ike, Soyun Choi, Sungeun Hong, Aniket Bera, Byung-Cheol Min
arXiv:2510.23509v3 •updated • 2025-10-27
Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabling movement in dynamic human spaces. However, relying solely on LLMs for planning often leads to unpredictable and unsafe behaviors, especially in dynamic human spaces, due to limited physical grounding and weak logical consistency. In this work, we introduce NaviWM, a socially-aware robot Navigation World Model that augments LLM reasoning with a structured world model and a logic-driven chain-of-thought process. NaviWM consists of two main components: (1) a spatial-temporal world model that captures the positions, velocities, and activities of agents in the environment, and (2) a deductive reasoning module that guides LLMs through a multi-step, logic-based inference process. This integration enables the robot to generate navigation decisions that are both socially compliant and physically safe, under well-defined constraints such as personal space, collision avoidance, and timing. Unlike previous methods based on prompting or fine-tuning, NaviWM encodes social norms as first-order logic, enabling interpretable and verifiable reasoning. Experiments show that NaviWM improves success rates and reduces social violations, particularly in crowded environments. These results demonstrate the benefit of combining formal reasoning with LLMs for robust social navigation. Additional experimental details and demo videos for this work can be found at: https://sites.google.com/view/NaviWM.
Comment: The authors have decided to withdraw this manuscript due to concerns regarding its current scope, framing, and presentation. Please do not cite this version
arXiv PDF
PAVXploreRL: Physical-Action-Visual World Model Reinforcement Learning with Action Exploration
Han Wang, Zijun Wang, Shuoshuo Xue, Rui Cao, Fenjiao Cheng, Xiaodang Liang, Roy Ka-Wei Lee
arXiv:2607.16602v1 • 2026-07-18
Action-conditioned world models are a key component of embodied AI, serving as scalable policy evaluators that reduce reliance on expensive real-world rollouts. To accurately capture diverse action-induced dynamics, such models should satisfy three key objectives-Physical Plausibility (P), Action Adherence (A), and Visual Fidelity (V), collectively referred to as PAV-while remaining robust to both in-distribution (ID) expert demonstrations and out-of-distribution (OOD) actions. However, existing methods primarily rely on ID action-video pairs and pixel-level reconstruction losses, which do not explicitly optimize PAV objectives and generalize poorly beyond expert data. To address this, we propose PAVXploreRL, a reinforcement learning framework built on a pretrained latent world model that explicitly optimizes PAV objectives through reward-driven training. To improve action generalization, our method jointly leverages ID trajectories and noise-driven OOD action exploration, without paired video supervision. Experiments show that PAVXploreRL consistently outperforms pretrained baselines, achieving a 5.6% average gain across benchmarks and producing higher-quality PAV properties. As a policy evaluator, it also yields more reliable performance estimates and reduces the overestimation bias of prior expert-only world models such as Ctrl-World. Code: https://github.com/Social-AI-Studio/PAVXploreRL
Comment: 9 pages, 5 figures
arXiv PDF
2026-07-17
89 篇
Robotics
77
默认显示 5 篇
Compositional Diffusion with Guided Search for Long-Horizon Planning
Utkarsh A Mishra, David He, Yongxin Chen, Danfei Xu
arXiv:2601.00126v3 •updated • 2025-12-31
Generative models have emerged as powerful tools for planning, with compositional approaches offering particular promise for modeling long-horizon task distributions by composing together local, modular generative models. This compositional paradigm spans diverse domains, from multi-step manipulation planning to panoramic image synthesis to long video generation. However, compositional generative models face a critical challenge: when local distributions are multimodal, existing composition methods average incompatible modes, producing plans that are neither locally feasible nor globally coherent. We propose Compositional Diffusion with Guided Search (CDGS), which addresses this mode averaging problem by embedding search directly within the diffusion denoising process. Our method explores diverse combinations of local modes through population-based sampling, prunes infeasible candidates using likelihood-based filtering, and enforces global consistency through iterative resampling between overlapping segments. CDGS matches oracle performance on seven robot manipulation tasks, outperforming baselines that lack compositionality or require long-horizon training data. The approach generalizes across domains, enabling coherent text-guided panoramic images and long videos through effective local-to-global message passing. More details: https://cdgsearch.github.io/
Comment: 38 pages, 18 figures, ICLR 2026 ORAL
arXiv PDF
Differentiable Reinforcement Learning for Path Tracking by an Agile Fish-Like Robot
Prashanth Chivkula, Kartik Loya, Venkata Ravindhra Reddy Varikuti, Phanindra Tallapragada
arXiv:2607.16508v1 • 2026-07-17
Fish-like swimming has inspired the design of several dozens if not hundreds of bioinspired robots in the last few decades. But the control and motion planning of such robots has been challenging due to the poorly modeled fluid-structure interaction and the nonlinear underactuated dynamics of such robots. While reinforcement learning has allowed significant advances in the context of ground and aerial robots, the lack of a suitable simulation environment with appropriate computational speed and accuracy have prevented similar progress for fish-like robots. We address this two-fold problem by developing a simulation platform that approximates the motion of our fish-like robot with computational efficiency. Then the motion control and path tracking by the robot is performed using PID control where the (variable) gains are learned using back propagation through time and training on a curriculum. The policy learned in the simulation is then applied on the physical platform, demonstrating an excellent match.
Comment: Accepted to IROS 2026, 9 pages, 12 Images, 1 Table
arXiv PDF
Foresight Residual RL for Long-Horizon Robot Manipulation with Vision-Language-Action Models
Yuhan Liu, Xinyu Zhang, Litao Liu, Abdeslam Boularias
arXiv:2607.16506v1 • 2026-07-17
Vision-Language-Action (VLA) policies offer strong general-purpose manipulation priors, but often fail on tight-tolerance, contact-rich assembly due to long-horizon credit assignment and subtask coupling: a state that is geometrically successful for the current skill can be brittle for downstream skills. We show this failure mode in residual reinforcement learning (RL) over a frozen VLA base policy: constant sparse success rewards improve each subtask in isolation yet yield little or no gain when skills are chained, because terminal state quality is uncontrolled. We propose Foresight Residual RL, which optimizes handoff quality by augmenting each subtask's sparse success reward with an offline-estimated foresight value -- the probability of future subtask success conditioned on the terminal state of the current subtask. Concretely, we (i) train a visual foresight predictor from images of terminal states of the base policy, labeled using downstream rollout statistics, and (ii) train residual policies via backward foresight induction, using the predictor output as a reward multiplier. On a three-phase wrench-based nut-tightening assembly task in Isaac Gym (grasp, move-insert, rotate), our method achieves 85.6% full-task success, outperforming standard subtask residual RL (54.5%) and VLA baselines, while leaving per-subtask success unchanged. These results highlight that improving long-horizon performance requires shaping which successful states are produced at each sub-task, not only whether success occurs.
Comment: Accepted at IROS2026. Project website: https://jaysparrow.github.io/foresight-residual-rl
arXiv PDF
Certifiable Safe Model-Based Reinforcement Learning with Control-Affine Dynamics Approximation
Hao Zhou, Yanze Zhang, Cameron Reid, Wenhao Luo
arXiv:2607.16501v1 • 2026-07-17
Safe model-based reinforcement learning (RL) often bridges control-theoretic analysis and RL for robots to safely explore (partially) unknown system dynamics while deriving control actions for task efficiency. The control performance and safety assurance typically rely on prior knowledge of partially modeled nominal system dynamics and the data-driven models that compensate for residual model uncertainties. However, existing methods often overlook the structure of residual model uncertainties (e.g., components affine in control), which could lead to overly conservative robot behaviors or invalid safety guarantees under the safe learning-based controllers. This paper proposes a safe reinforcement learning framework that learns control-affine dynamics with a certifiable data-driven safe policy using control barrier functions (CBF). Specifically, we first use Control-Affine Random Fourier Features (ARFF) to model robot dynamics in a control-affine form, which offers computational efficiency that scales with dataset size and reduces potential model bias for model-based reinforcement learning. Then, a model-free, efficient uncertainty quantification method using adaptive conformal prediction (ACP) is applied to quantify the uncertainty in the safety constraint arising from the learned control-affine dynamics. This allows for data-driven safety assurance amenable to principled and efficient controller synthesis with CBF. Simulation results on the cartpole and the 3D quadrotor platforms demonstrate the effectiveness of the proposed framework.
Comment: 8 pages, accepted to IROS 2026
arXiv PDF
ICLR: In-Context Imitation Learning with Visual Reasoning
Toan Nguyen, Weiduo Yuan, Songlin Wei, Hui Li, Daniel Seita, Yue Wang
arXiv:2603.07530v2 •updated • 2026-03-08
In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit representations of task intent. This limitation hinders performance in complex and ambiguous task settings where the same actions may be consistent with different objectives. To address this, we present In-Context Imitation Learning with Visual Reasoning (ICLR), a novel framework that augments demonstration prompts with structured visual reasoning traces representing anticipated future robot trajectories in image space. ICLR also jointly learns to generate reasoning traces and low-level actions within a unified autoregressive transformer, enabling the model to mimic not only action prediction but also the reasoning process that leads to those actions. We extensively evaluate ICLR in both simulation and real-world manipulation tasks and demonstrate consistent improvements in success rates and generalization to unseen tasks and novel object configurations compared to other in-context imitation learning methods. These results suggest that incorporating embodied visual reasoning represents a promising direction for enhancing the robustness and generalization of robotic in-context learning systems.
Comment: Accepted to IROS 2026. Project website: https://toannguyen1904.github.io/ICLR
arXiv PDF
Video World Models
12
默认显示 5 篇
Apple-$π$: Benchmarking Thinking with Video Towards Law-Grounded Physical Intelligence
Runmao Yao, Kairui Hu, Yukang Cao, Ruisi Wang, Shulin Tian, Ziang Cao, Weichen Fan, Ziqi Huang, Yuhao Dong, Hao Li, Zhaoxi Chen, Zhongang Cai, Lei Yang, Ziwei Liu
arXiv:2607.16401v1 • 2026-07-17
Modern video generation models are increasingly hailed as emerging world models with an internalized grasp of physical law. Yet existing benchmarks largely evaluate physical plausibility only at the output level, without verifying whether the model arrives there through a faithful, law-grounded reasoning process. We introduce Apple-PI, the first benchmark that anchors video-model evaluation explicitly in physical laws. Apple-PI comprises three components. 1) Orchard: a dataset of 400 videos covering ten canonical tasks in classical mechanics. It separates single-law tasks for confounder-free diagnosis from multi-law tasks for probing generalization. 2) Benchmark Protocol: a three-stage protocol based on scientific reasoning, including Perception, Formulation, and Deduction. It uses chain-of-frames prompting on infographic-annotated first frames, treating the generated video as the model's visible reasoning trace. 3) Evaluation Suite: a hybrid evaluation suite that combines MLLM-based subjective scoring with physics-law-grounded objective measures. This enables stage-resolved diagnosis of not only whether a model fails, but where it fails. Benchmarking 11 models shows that current video models remain far from reliable law-grounded world simulators, with the best video model scoring only 0.473. Our stage-, pillar-, and source-resolved analyses further expose a Perception-to-Formulation-to-Deduction bottleneck, weak multi-law state transfer, and a persistent Sim-to-Real gap. These findings position Apple-PI as a diagnostic foundation for guiding future video models toward world models with law-grounded physical intelligence.
arXiv PDF
MotionForesight: Re-purposing Video Models for Future 3D Scene-Flow Prediction
Homanga Bharadhwaj, Yash Jangir
arXiv:2607.16192v1 • 2026-07-17
Humans can infer how objects are likely to move from passive observation: a cup may be lifted, a drawer may slide, and a lid may rotate shut. Such predictions expose the physical consequences of interaction needed to act in the real world. We study how to learn this anticipation from ordinary monocular videos of human-object interaction. Given a short observed video context, MotionForesight predicts future 3D trajectories for points on the manipulated object. This casts interaction prediction as object-centered 3D motion forecasting without any assumptions on the object properties. Our key insight is that video prediction models already encode rich priors about how objects move during human interactions. We redirect these priors from pixel prediction toward future 3D scene flow. We start from a dense 3D tracker built on a pretrained video model, generate pseudo-ground-truth tracks from complete clips, and train the forecaster using only the observed frames. We replace future RGB and geometry with learned mask latents and train a lightweight adapter to turn the retrospective tracking representation into a forward predictor, while freezing the large video and tracking components. Using just 40k human videos and no auxiliary inputs such as language, MotionForesight generalizes across diverse out-of-distribution objects, environments, viewpoints, and interactions. It also outperforms substantially larger models that use over a million training videos. These results show that we can efficiently re-purpose video priors into explicit geometric forecasts for embodied intelligence. https://motionforesight.github.io/
Comment: Website with visual results motionforesight.github.io
arXiv PDF
Vision-Language Assistant for Emotional Reactions to Risky Driving
Harine Choi, Eun Hak Lee, Zhengzhong Tu
arXiv:2607.16181v1 • 2026-07-17
This study introduces a vision-language pipeline that detects risky driving behaviors and generates emotionally expressive responses to support driver awareness and comfort. Although vision-language models have advanced perception and reasoning in autonomous driving, existing systems rarely consider the emotional dimension or real-world user experience. Keep Yelling Assistant (KYA) detects high-risk driving maneuvers in real time, such as sudden cut-ins. It then produces emotional responses through a large language model tailored to driver preferences. The framework comprises two core modules. The vision module uses YOLOv8 variants to detect nearby vehicles and identify risky behaviors such as sudden cut-ins. Key driving metrics, including relative distance, speed, and projected reach time, are extracted and normalized to produce a structured behavior log. The language module processes this log with user-defined emotional tone settings, such as neutral, humorous, and analytical, and generates verbal reactions using state-of-the-art large language models, including ChatGPT-4o, Claude 3, Gemini 2.5, and Copilot. We evaluated the proposed system using dashcam videos containing risky driving behaviors and a user study involving 108 participants. Participants selected preferred response styles, and the large language models were evaluated based on emotional alignment. All models received favorable ratings, although preferences varied across personas. Notably, the combination of YOLOv8s and ChatGPT-4o achieved the highest score of 4.29 out of 5.00. By integrating real-world perception with emotionally adaptive dialogue, KYA introduces a new paradigm for emotionally intelligent in-vehicle artificial intelligence. It offers promising directions for improving safety, trust, and emotional well-being in both conventional and autonomous vehicles.
Comment: Transportation Research Record. Advance online publication (2026)
arXiv PDF
Audio-Visual Flamingo: Open Audio-Visual Intelligence for Long and Complex Videos
Sreyan Ghosh, Arushi Goel, Kaousheik Jayakumar, Lasha Koroshinadze, Nishit Anand, Siddharth Gururani, Hanrong Ye, Pritam Biswas, Yuanhang Su, Ehsan Hosseini-Asl, Sang-gil Lee, Zhifeng Kong, Jaehyeon Kim, Sungwon Kim, S Sakshi, Ramani Duraiswami, Dinesh Manocha, Andrew Tao, Mohammad Shoeybi, Bryan Catanzaro, Ming-Yu Liu, Wei Ping
arXiv:2607.16107v1 • 2026-07-17
We present Audio-Visual Flamingo (AV-Flamingo), a fully open state-of-the-art audio-visual large language model (AV-LLM) for joint understanding and reasoning over audio, images, and long-form videos. Unlike prior AV-LLMs that primarily focus on short clips, AV-Flamingo is designed for understanding and reasoning over long and complex real-world (audio-visual) videos. To support this, we make three key contributions: (i) Audio-Visual-Skills, a large-scale collection of real-world videos with ~7M caption and question-answer training instances designed to emphasize temporal, compositional, and cross-modal audio-visual reasoning; (ii) a novel three-stage curriculum that progressively trains the model from short-range perception to long-horizon multi-event reasoning; and (iii) Temporal Audio-Visual Interleaved Chain-of-Thought, a reasoning framework that explicitly grounds intermediate reasoning steps to timestamps in long audio-visual streams, improving temporal alignment and interpretability. Extensive experiments across 15+ audio-visual, omni-modal, audio, and vision benchmarks show that AV-Flamingo outperforms similarly sized open models by clear margins and remains highly competitive with, and in some cases surpasses, much larger open-weight and closed models, particularly on long and complex real-world audio-visual understanding and reasoning tasks. Beyond benchmark performance, AV-Flamingo exhibits strong real-world utility and transfers well to unseen tasks, highlighting its robustness and generalization ability.
Comment: Project Page: https://avflamingo.pages.dev/
arXiv PDF
GigaWorld-Policy-0.5: A Faster and Stronger WAM Empowered by AutoResearch
GigaWorld Team, Angen Ye, Angyuan Ma, Boyuan Wang, Chaojun Ni, Fangzheng Ye, Guan Huang, Guo Li, Guosheng Zhao, Haodong Yan, Hengtao Li, Jiwen Lu, Kai Wang, Mingming Yu, Qitang Hu, Qiuping Deng, Songling Liu, Xiaoyu Tian, Xiaofeng Wang, Xinyu Zhou, Xiuwei Xu, Xinze Chen, Yang Wang, Yejun Zeng, Yifan Chang, Yun Ye, Zhenyu Wu, Zhanqian Wu, Zheng Zhu
arXiv:2607.13960v3 •updated • 2026-07-15
World Action Models (WAMs) improve robot policy learning by jointly modeling actions and future visual observations, using future scene evolution as dense supervision for physically grounded action generation. However, a common design in existing WAMs is to explicitly generate future videos at inference time, incurring substantial computational overhead and hindering real-time closed-loop deployment. GigaWorld-Policy addresses this issue with an action-centered formulation, where future visual dynamics are used during training while action-only decoding is used at inference time. Building upon this framework, we present GigaWorld-Policy-0.5, an enhanced action-centered WAM designed for more efficient robot control. During pretraining, GigaWorld-Policy-0.5 adopts a mixed Action-Conditioned World Modeling (AC-WM) and WAM training strategy. This strengthens the coupling between visual dynamics and robot actions and improves the transferability of action representations for downstream policy learning. For efficient inference, GigaWorld-Policy-0.5 introduces a Mixture-of-Transformers architecture that separates visual dynamics modeling and action generation into specialized experts, reducing active computation during action-only inference and achieving 85 ms inference latency on a local RTX 4090 setup. In addition, we employ an agent-based AutoResearch pipeline to systematically search training configurations, enabling more efficient identification of optimal experimental setups while reducing the time and manual intervention required for hyperparameter tuning. Experiments and ablations show that GigaWorld-Policy-0.5 preserves the training benefits of future visual dynamics while improving inference efficiency for robot control.
Comment: project page: https://open-gigaai.github.io/giga-world-policy/
arXiv PDF
2026-07-16
95 篇
Robotics
83
默认显示 5 篇
Multi-Objective Kinodynamic Motion Planning with Asymptotic Pareto Optimality
Yusif Razzaq, Anne Theurkauf, Nisar Ahmed, Morteza Lahijanian
arXiv:2607.15508v1 • 2026-07-16
In this paper, we address the challenge of multi-objective motion planning for systems under kinodynamic constraints. We consider three problem classes: (i) lexicographic optimization, in which objectives are minimized according to a strict priority ordering, (ii) constrained optimization, in which a primary objective is minimized subject to bounds on the remaining costs, and (iii) Pareto front optimization, in which the goal is to approximate the full set of optimal trade-offs among competing objectives. We first show that established cost scalarization methods for multi-objective problems cannot be extended to continuous-domain systems with correctness guarantees. Then, we propose a unified algorithmic framework built upon the Stable Sparse-RRT (SST) algorithm, in which the single representative maintained at each witness neighborhood is replaced by a representative set of locally Pareto-optimal nodes. This structure gives rise to three distinct algorithms: lexSST for lexicographic minimization, coSST for constrained optimization, and poSST for Pareto-front approximation. We provide theoretical guarantees for the completeness and optimality of our algorithms and demonstrate their effectiveness through extensive empirical evaluations.
arXiv PDF
See, Learn, Assist: Safe and Self-Paced Robotic Rehabilitation via Video-Based Learning from Demonstration
Ali Alabbas, Camillo Murgia, Joanne Regan, Philip Long
arXiv:2603.14160v2 •updated • 2026-03-15
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic Movement Primitives (DMPs), ensuring accurate posture-independent spatial generalisation across diverse patient anatomies. Crucially, we execute these trajectories through a decoupled hybrid control architecture that constructs a spatially compliant virtual tunnel, paired with an effort-based temporal dilation mechanism. This architecture is applied to three distinct rehabilitation modalities: Passive, Active-Assisted, and Active-Resistive, by dynamically linking the exercise's execution phase to the patient's tangential force contribution. To guarantee safety, a Gaussian Mixture Regression (GMR) model is learned on-the-fly from the patient's own limb. This allows the detection of abnormal interaction forces and, if necessary, reverses the trajectory to prevent injury. Experimental validation demonstrates the system's precision, achieving an average trajectory reproduction error of 3.7cm and a range of motion (ROM) error of 5.5 degrees. Furthermore, dynamic interaction trials confirm that the controller successfully enforces effort-based progression while maintaining strict spatial path adherence against human disturbances.
arXiv PDF
Environment Design for Reliable Shared Autonomy with Probabilistic Guarantees
Yi-Shiuan Tung, Himanshu Gupta, Gyanig Kumar, Heyang Huang, Bradley Hayes, Alessandro Roncone
arXiv:2607.15487v1 • 2026-07-16
Shared autonomy enables humans and robots to collaboratively perform tasks by combining human input with autonomous assistance. Most prior work focuses on improving intent inference under a fixed environment, overlooking how workspace design itself affects inference difficulty. We observe that the physical arrangement of objects directly influences the separability of candidate goals under noisy user inputs. We formulate workspace design as an optimization problem and derive a probabilistic correctness guarantee under a bounded noise model. Through simulation experiments across multiple tabletop scenarios, we show that optimized layouts improve goal inference reliability and reduce ambiguity compared to baseline arrangements. We further demonstrate a real-world shared autonomy system that integrates the proposed inference framework. This highlights the role of environment design as a complementary axis for improving shared autonomy systems.
Comment: ICRA 2026 Workshop Shared Challenges in Human-Centered and Resilient Robotic Autonomy
arXiv PDF
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs
Julian Nubert, Turcan Tuna, Jonas Frey, Cesar Cadena, Katherine J. Kuchenbecker, Shehryar Khattak, Marco Hutter
arXiv:2504.06479v2 •updated • 2025-04-08
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation and accurate global localization. While most sensor-fusion approaches are designed for specific scenarios, this work introduces a flexible open-source solution for task- and setup-agnostic multimodal sensor fusion distinguished by its generality and usability. Holistic Fusion formulates sensor fusion as a combined estimation problem of i) the local and global robot state and ii) a (theoretically unlimited) number of dynamic variables, including automatic alignment of reference frames; this formulation fits countless real-world applications without conceptual modifications, offering a comprehensive solution beyond hard-coded/task-specific approaches. The proposed factor-graph formulation enables direct fusion of an arbitrary number of absolute, local, and landmark measurements expressed with respect to different frames by explicitly including them as states in the optimization and modeling their evolution as random walks. Moreover, local smoothness and consistency receive particular attention to prevent estimation jumps. Holistic Fusion enables low-latency and smooth online state estimation on typical robot hardware while simultaneously providing low-drift global localization at the IMU measurement rate. The efficacy of this released framework [1] is demonstrated in five real-world scenarios on three robotic platforms with distinct task requirements, highlighting the advantages of fusing multiple absolute measurement types [2]. [1] Code: https://github.com/leggedrobotics/holistic_fusion [2] Project: https://leggedrobotics.github.io/holistic_fusion
Comment: 21 pages, 25 figures, 9 tables, Transactions on Robotics, accepted
arXiv PDF
EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation
Iana Zhura, Sausar Karaf, Faryal Batool, Nipun Dhananjaya Weerakkodi Mudalige, Valerii Serpiva, Ali Alridha Abdulkarim, Aleksey Fedoseev, Didar Seyidov, Hajira Amjad, Dzmitry Tsetserukou
arXiv:2512.02851v4 •updated • 2025-12-02
Visual traversability estimation is central to autonomous navigation, yet most approaches either rely on prompt-driven Vision-Language Model (VLM) or decouple traversability from trajectory planning, requiring separate planners with heavy mapping, manual tuning, and extended deployment time. We propose EmbodiedDiffusion, a diffusion-based framework that simultaneously predicts traversability maps and generates feasible trajectories from RGB images using planner-free synthetic supervision and embodiment conditioning for cross-platform transfer. The framework distills category-level traversability semantics from a VLM teacher into a lightweight student model during training, enabling prompt-free, real-time inference at deployment. A modular FiLM-based conditioning mechanism isolates embodiment-specific reasoning into a compact trainable subset of the network, allowing rapid adaptation to new robot platforms without retraining the visual backbone or the trajectory diffusion model. Across indoor environments with quadruped and aerial robots, EmbodiedDiffusion achieves 80-100% navigation success in the full-data regime with real-time inference (90 ms) and adapts to new platforms using only 10 min of visual data collection, demonstrating scalable, unified traversability reasoning and trajectory generation for heterogeneous robots.
Comment: This work has been submitted for publication and is currently under review
arXiv PDF
Video World Models
11
默认显示 5 篇
Hierarchical Denoising For Multi-Step Visual Reasoning
Zezhong Qian, Xiaowei Chi, Chak-Wing Mak, Tianze Zhou, Ruibin Yuan, Yuhan Rui, Hengzhe Sun, Zhuoqun Wu, Yuming Li, Siyuan Qian, Sirui Han, Shanghang Zhang
arXiv:2607.15278v1 • 2026-07-16
Video models are evolving into vision foundation models, yet they still lack human-like multi-step reasoning. Streaming autoregressive diffusion models are efficient but limited in reasoning, while bidirectional diffusion enables global revision with high inference costs due to dense frame-level denoising. Both paradigms struggle to achieve logical consistency and low-latency streaming for complex reasoning tasks. We propose HDR (Hierarchical Denoising for Visual Reasoning), a unified framework that integrates hierarchical latents into causal video generation for multi-step reasoning. HDR organizes video latents into a tree-structured hierarchy, enabling coarse-to-fine reasoning before streaming output. Coarse denoising layers preserve uncertain hypotheses for global planning, while finer layers progressively refine them into concrete visual states. A sparse hierarchical attention pattern (SHAP) further reduces temporal attention costs. We introduce a level-stratified multi-step video reasoning benchmark with out-of-distribution cases, covering six tasks: maze navigation, Tower of Hanoi, one-line drawing, sliding puzzle, Sokoban, and water pouring. Compared with streaming autoregressive diffusion baselines, HDR improves success from 34.22 to 60.29 (76.2% relative gain) and increases average progress from 76.00 to 89.56, demonstrating more consistent reasoning trajectories. HDR maintains low-latency streaming at 0.70 seconds per latent, achieving 54.2 times faster inference than bidirectional diffusion. It also retains 82.9% of full-data performance with only 2% training data, compared with 52.0% for bidirectional diffusion. Real-world robot experiments further demonstrate HDR's potential for physical interaction and world modeling. Project demo: https://hierarchical-diffusion-reasoning.github.io/.
arXiv PDF
MAGiSt3R: Multi-Agent Feed-forward 3D Reconstruction from Monocular RGB Videos
Ziren Gong, Xiaohan Li, Fabio Tosi, Ninghui Xu, Stefano Mattoccia, Jianfei Cai, Matteo Poggi
arXiv:2607.15211v1 • 2026-07-16
This paper presents MAGiSt3R, a multi-agent 3D reconstruction framework performing reconstruction and camera tracking for monocular RGB videos at almost 10 FPS. MAGiSt3R relies on a feed-forward model from the 3R family to process RGB videos and regress local point maps, and on a merging model, MAGMA, that combines local maps at both intra-agent and inter-agent levels to obtain the final global point map. Furthermore, MAGiSt3R performs pose graph optimization to mitigate cumulative camera drift occurring along the feed-forward pipeline. We evaluate MAGiSt3R on both synthetic and real-world datasets, demonstrating its superior reconstruction and camera tracking accuracy compared to state-of-the-art approaches.
arXiv PDF
Concept-Guided Spatial Regularization for World Models in Atari Pong
Yukuan Lu, Zaishuo Xia, Weyl Lu, Yubei Chen
arXiv:2607.15142v1 • 2026-07-16
World models are usually evaluated as components of model-based reinforcement learning (MBRL) systems, while the world models themselves are rarely studied in isolation. We examine five representative visual world-model agents in Atari Pong: DreamerV3, DIAMOND, TWISTER, Simulus, and STORM. After reproducing their training pipelines and matching the reported agent performance, we freeze the learned world models and evaluate them with a closed-loop rollout diagnostic: a policy trained separately from the corresponding MBRL agent interacts with each frozen model, and the generated video trajectories are inspected for visual and dynamical errors. Across all five models, the rollouts contain clear failures, including ball disappearance, incorrect ball motion, and invalid ball-paddle interactions. Beyond visual trajectories, we further evaluate them with pixel-space zero-shot MBRL, where a new policy is trained entirely inside a frozen world model and then evaluated in the real environment. Across all five models, the resulting policies substantially underperform those produced by the corresponding original MBRL training pipelines. The gap is particularly large for DreamerV3, whose mean return drops from -5.5 to -20.9, near the minimum Pong return of -21. We hypothesize that insufficient modeling of task-critical concepts, such as the ball in Pong, may contribute to these failures. We therefore propose Concept-Guided Spatial Regularization (CGSReg), an auxiliary pixel reconstruction loss applied to segmented concept regions. Experiments show that CGSReg improves both closed-loop rollouts and pixel-space zero-shot MBRL in DreamerV3, DIAMOND, and TWISTER. Its effects vary across the remaining models and evaluation metrics, indicating that CGSReg alone does not address all world-model bottlenecks.
Comment: 16 pages, 5 figures
arXiv PDF
Native Video-Action Pretraining for Generalizable Robot Control
Qihang Zhang, Lin Li, Luyao Zhang, Shuai Yang, Yiming Luo, Shuaiting Li, Ruilin Wang, Junke Wang, Jiahao Shao, Gangwei Xu, Jiaming Zhou, Yishu Shen, Yudong Jin, Fangyi Xu, Shuailei Ma, Jiaqi Liao, Guanxing Lu, Zifan Shi, Yongkun Wen, Yujie Zhao, Weixuan Tang, Xinyang Wang, Chaojian Li, Jiapeng Zhu, Ka Leong Cheng, Nan Xue, Xing Zhu, Yujun Shen, Yinghao Xu
arXiv:2607.08639v2 •updated • 2026-07-09
The advent of video-action models offers a promising path for robot control. Nevertheless, we argue that repurposing video generative models designed for digital content creation is inherently inadequate for physical environments. To bridge this gap, we present LingBot-VA 2.0, a video-action foundation model built from the ground up for embodiment. Four core design principles showcase its evolution from LingBot-VA. (1) Departing from traditional reconstruction-focused VAEs, we introduce a semantic visual-action tokenizer, which aligns visual representations with both semantics and actions, improving instruction following and action precision in subsequent policy learning. (2) Given the strictly causal nature of temporal dynamics, we adopt a causal pretraining paradigm, training from scratch to circumvent the catastrophic forgetting that frequently occurs when adapting bidirectional architectures. (3) To meet the demands of high-frequency inference, our model employs a sparse MoE backbone, expanding model capacity without compromising efficiency. (4) Real-time closed-loop control is realized through an enhanced asynchronous inference scheme, which predicts future latents in parallel with action execution while re-grounding each rollout on the latest observation via learned forward dynamics. Real-world deployment validates LingBot-VA 2.0 as a robust foundation model, as evidenced by its few-shot generalization across complex manipulation tasks.
arXiv PDF
Video = World + Event Stream
Lianghua Huang, Zhi-Fan Wu, Yupeng Shi, Wei Wang, Mengyang Feng, Cheng Yu, Chen Liang, Junjie He, Chen-Wei Xie, Yu Liu, Jingren Zhou, Ang Wang, Bang Zhang, Baole Ai, Chongyang Zhong, Jinwei Qi, Kai Zhu, Pandeng Li, Peng Zhang, Wenyuan Zhang, Xinhua Cheng, Yitong Huang, Yun Zheng, Yuxiang Bao, Yuzheng Wang, Zhiwei Lin, Zoubin Bi
arXiv:2607.15038v1 • 2026-07-16
We present Wan-Streamer v0.3, which reframes our native-streaming interaction model under a single organizing view: a video is a world plus an event stream. The world is the persistent context in which a video unfolds, including the environment, scene, subjects, ambient acoustic conditions, voice characteristics, and other relatively stable conditions. The event stream is everything that changes over time within that world, including scene or environmental changes, subject behavior, speech, and other sounds. This yields a general-purpose pretraining task over large amounts of real video: given a world and incoming input, predict how the world moves, changes, and responds in real time. The resulting competence can be specialized to a broad family of real-time downstream tasks. We instantiate it on real-time full-duplex audio-visual interaction, where the event stream is the agent's speech together with free-form behavior. Functionally, the model's multimodal understanding process is vision-language-action-like: it maps multimodal user input to language-form speech and behavior actions. Wan-Streamer v0.3 preserves the v0.2 operating point: 640x368 video at 25 FPS, a 160 ms streaming unit, approximately 200 ms model-side response latency, and approximately 550 ms total interaction latency under a 350 ms bidirectional network budget.
Comment: website; https://wan-streamer.com/
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
Xiaomi-Robotics-1: Scaling Vision-Language-Action Models with over 100K Hours of Real-World Trajectories
Xiaomi Robotics Team, Jun Guo, Piaopiao Jin, Jason Li, Peiyan Li, Yingyan Li, Futeng Liu, Wanli Peng, Optimus Qin, Yifei Su, Nan Sun, Qiao Sun, Runze Suo, Heyun Wang, Yunhong Wang, Rujie Wu, Caoyu Xia, Lina Zhang, Jack Zhao, Guoliang Chen, Wenlong Chen, Xinze He, Bin Li, Qing Li, Zhuorong Li, Heng Qu, Wenxuan Song, Diyun Xiang, Yifan Xie, Peiran Xu, Hangjun Ye, Wen Ye, Han Zhao, Quanyun Zhou
arXiv:2607.15330v1 • 2026-07-16
We present Xiaomi-Robotics-1, a foundational vision-language-action (VLA) model capable of (1) following diverse language instructions to perform a wide range of mobile manipulation tasks in unseen environments out-of-the-box, and (2) efficiently adapting to novel downstream tasks with minimal fine-tuning data. We propose a two-stage training recipe consisting of pre-training and post-training. During pre-training, we imbue the model with broad and generalizable action-generation capabilities by training on over 100k hours of real-world manipulation trajectories collected via UMI devices. Crucially, we develop a scalable auto-labeling pipeline that annotates trajectory clips with natural languages describing scene state transitions, providing rich and precise conditioning for action learning. During post-training, we aim to align these capabilities with robot embodiments and imperative instructions that humans naturally use to prompt robots. Extensive experiments demonstrate strong scaling behavior. Xiaomi-Robotics-1 consistently improves with increased data scales and model sizes during pre-training. This scaling behavior directly transfers to post-training, where a stronger pre-training model yields better out-of-the-box real-robot performance in unseen environments. Furthermore, Xiaomi-Robotics-1 serves as a strong robot foundation policy that can be efficiently fine-tuned on complex, dexterous tasks with high data efficiency. Across multiple simulation benchmarks, Xiaomi-Robotics-1 outperforms state-of-the-art methods. Notably, it establishes a new state-of-the-art with a 57.6% success rate on RoboCasa365, surpassing the previous best of 46.6%. Furthermore, it achieves an average score of 20.07 on RoboDojo, significantly outperforming the prior state-of-the-art (13.07). Code and model checkpoints will be released. Project page: https://robotics.xiaomi.com/xiaomi-robotics-1.html
Comment: Project page: https://robotics.xiaomi.com/xiaomi-robotics-1.html
arXiv PDF
2026-07-15
111 篇
Robotics
93
默认显示 5 篇
ConFlow: Constraints-Guided Learning with Flow Matching for Motion Generation
Nutan Chen, Jianxiang Feng, Marvin Alles, Botond Cseke
arXiv:2607.14424v1 • 2026-07-15
In recent years Flow Matching has become a prominent method for generative modeling robot motion generation. In its generic form Flow Matching is an ODE-based neural sampler that is trained by regressing empirical flow fields associated with motion samples as data. However, in robot motion generation we often have additional constraints that might not be present in the collected data. The majority of current approaches train the flow on the available data and use inference-time guidance to enforce task-specific constraints. To address this mismatch, we propose \textbf{ConFlow}, a constraint-guided flow matching framework that incorporates constraint information directly into the training objective via differentiable barrier or cost functions. To address design specifications such as smoothness and boundary conditions, we propose replacing the standard Gaussian source distribution used in flow matching training with a conditional Gaussian Process. Our approach also uses infeasible demonstrations as negative supervision, improving constraint satisfaction without requiring additional expert data. Experiments on a two-robot navigation task demonstrate that ConFlow achieves lower collision rates and higher trajectory quality than standard flow matching baselines, with or without inference-time guidance. These results validate training-time constraint integration as an effective approach to closing the training--inference gap in generative motion models.
Comment: RSS 2026 Workshop on Diffusion for Robot Learning
arXiv PDF
An offline approach to fNIRS-guided reinforcement learning for robot behavior
Julia Santaniello, Madelaine Brower, Benson Jiang, Donatello Sassaroli, Robert Jacob, Jivko Sinapov
arXiv:2607.14393v1 • 2026-07-15
Human-in-the-loop Reinforcement Learning has become a popular approach to training, finetuning, and aligning robot behavior with user preferences. Our paper explores the feasibility of using brain signals via functional near-infrared spectroscopy (fNIRS) to modulate robot learning in simulation. We compare agents trained on passive (observational) versus active (demonstrative) interaction tasks, and test multiple methods for enhancing the RL algorithm with the neural signal, focusing on parameter augmentation rather than replacement. We further examine how model granularity and noise affect agent learning. Our results show that this framework is effective: the neural signal improves learning when augmenting trajectory priorities and state-action q-values. Additionally, the framework learns successfully from offline data, offering a practical alternative for settings where real-time BCI setups are impractical or only limited data is available.
Comment: Preliminary results
arXiv PDF
Chat2Scenic: An Iterative RAG-Based Framework for Scenario Generation in Autonomous Driving
Yuan Gao, Wenting Miao, Mattia Piccinini, Haoyu Wang, Qunying Song, Johannes Betz
arXiv:2607.14387v1 • 2026-07-15
Validating autonomous driving systems requires diverse, regulation-compliant test scenarios. In simulation-based testing, scenarios are defined as executable scripts. Yet automatically generating such scripts from regulatory descriptions remains an open challenge, and existing approaches face fundamental trade-offs. Retrieval-assemble methods achieve reasonable compilation rates but lack scalability, whereas retrieval-based full-script generation suffers from low compilation success rates. We present Chat2Scenic, the first iterative retrieval-augmented framework to generate scenario scripts in Domain Specific Language (DSL). Specifically, Chat2Scenic provides a chatbot interface that supports interactive scenario refinement and integrates Retrieval-augmented Generation (RAG) to ground scenario generation in regulatory knowledge and DSL syntax. Furthermore, we propose an open benchmark for scenario generation comprising 123 scenarios from various regulations, including NHTSA and United Nations Vehicle Regulations, as well as other sources. Extensive evaluation with State-of-the-Art (SOTA) Large Language Models (LLMs) demonstrates that Chat2Scenic achieves 76.42% Compilation Success Rate (CSR) and 58.17% Framework Accuracy (FA), outperforming existing methods (Retrieval Assemble with 30.08% CSR, 11.03% FA and Retrieval full script generation with 16.26% CSR, 10.86% FA). To facilitate future research, we release our code as open source at https://github.com/TUM-AVS/chat2scenic.
Comment: Accepted at 2026 IEEE International Conference on Intelligent Robots and Systems (IROS)
arXiv PDF
Technical Report: Asynchronous Distributed Trajectory Estimation of Multi-Robot Systems
Adam Pooley, Matthew Hale
arXiv:2607.01106v2 •updated • 2026-07-01
Distributed trajectory estimation arises in many applications across robotics, but existing implementations typically do not consider asynchrony in agents' communications and computations. Therefore, we propose an asynchronous block coordinate descent algorithm for distributed trajectory estimation. We consider a team of agents that observes a team of robots and estimates the robots' states over a sliding window. The agents solve an approximation of the maximum a posteriori estimation problem, which we derive. We show this approximation introduces negligible errors and eliminates up to 96.9% of communications among agents. Next, we prove that agents' iterates converge exponentially fast to the optimal estimate of the robots' states. Simulations show that this approach has up to 64% less error than a comparable state-of-the-art algorithm. Experiments on mobile robots show this approach is robust to delays whose lengths span three orders of magnitude.
Comment: 13 pages, 3 figures
arXiv PDF
Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution
Hanyi Zhang, Khang Nguyen, Charith Munasinghe, Basu Hela, Tianyu Li, Zihong Luo, Hoan Nguyen, Hans Wernher van de Venn, Yalin Zheng, Ravi Prakash, Tung D. Ta, Anh Nguyen, Baoru Huang
arXiv:2607.14341v1 • 2026-07-15
Robust robotic grasping remains a fundamental challenge for complex real-world applications. Recent advances in large-scale models demonstrate promising capabilities for reasoning in robotic tasks. However, existing benchmarks for grasping primarily focus on isolated, visual-based grasp pose detection, failing to capture the complexity of grasping tasks that require multi-step reasoning and semantic understanding during execution. To address this gap, we propose GCA-Bench, a benchmark featuring challenging \textit{grasping with complex action} scenarios that involve both scene-level reasoning and semantic constraints. GCA-Bench enables the evaluation of recent large foundation models under the same settings. To demonstrate the effectiveness of our new benchmark, we implement a diverse set of baselines, ranging from traditional grasp detection pipelines to end-to-end learning methods. Empirical studies achieve success rates below 70\% on complex grasping scenarios, underscoring critical limitations. In addition, we propose new evaluation metrics, analyze critical failure models, and provide insights to guide the development of more robust and generalizable grasping strategies.
arXiv PDF
Video World Models
17
默认显示 5 篇
FlashDiff: Efficient Regional Execution and Scheduling for Diffusion Model Serving
Yaqi Qiao, Ping He, Songrun Xie, Ayush Barik, Chensong Zhang, Zhengzhong Tu, Fan Lai
arXiv:2607.12121v2 •updated • 2026-07-13
Diffusion models have become the central backbone for modern image, video, and audio generation, but their efficient service remains a challenge. Unlike autoregressive decoding, diffusion inference repeatedly updates high-dimensional spatial or temporal latents over many denoising steps. This all-region execution pattern makes generation latency high and limits serving throughput. Existing multi-GPU parallelization methods can reduce per-step computation, but often introduce substantial activation exchange overhead, causing communication to offset or even outweigh the benefits of parallel execution. This paper presents FlashDiff, a diffusion serving system that improves inference efficiency through adaptive regional execution and scheduling. FlashDiff is based on the observation that diffusion refinement is not uniform across latent regions or denoising steps: different regions often stabilize at different rates, while neighboring steps exhibit strong temporal correlation. FlashDiff leverages these properties to selectively execute only regions that require further refinement and to reallocate the resulting compute slack across concurrent serving requests. FlashDiff consists of three mechanisms. First, it decomposes the latent representation into coherent execution regions using early-stage attention signals, preserving semantic structure while exposing fine-grained parallelism. Second, it uses a lightweight runtime controller to estimate region activity and bypass low-impact updates when further refinement is unlikely to affect output quality. Third, it applies an affinity-aware online scheduler that co-locates dependent regions, balances residual load across GPUs, and reuses reclaimed compute capacity to improve serving efficiency. Across real-world image, video, and audio workloads, FlashDiff reduces end-to-end serving latency by 30-97% and improves throughput by 1.2-2.2x.
arXiv PDF
From Pixels to States: Rethinking Interactive World Models as Game Engines
Zhen Li, Zian Meng, Shuwei Shi, Mingliang Zhai, Jiaming Tan, Chuanhao Li, Kaipeng Zhang
arXiv:2607.14076v1 • 2026-07-15
Building interactive worlds that respond coherently to player actions has long been a shared goal of computer graphics, games, and artificial intelligence. Recent video generative models provide a data-driven route toward this goal by predicting future observations conditioned on user actions, and are increasingly regarded as potential next-generation game engines. Realizing a genuinely interactive game world, however, requires interaction outcomes that follow rules over evolving game conditions, consequences that persist over long horizons, and a generation loop that operates in real time. Conventional game engines realize these properties through a recurrent action-state-observation loop, in which player actions update an explicit game state according to predefined rules and observations are rendered from the resulting state. Taking this loop as an organizing lens, this paper examines interactive game world modeling along four dimensions: player action control, game state dynamics, state-observation persistence, and real-time interactive generation. For each dimension, we start from the capabilities required by an interactive game world, group existing approaches into representative families, and discuss the strengths and trade-offs of each family. Complementing this analysis, we present a scalable data engine for Black Myth: Wukong that collects over 90 hours of gameplay with frame-aligned player actions, ground-truth game states, and visual observations, together with structured and semantic annotations, as a resource for state-aware game world modeling. We hope this paper offers a clear picture of where the field stands and fosters progress toward interactive game worlds.
arXiv PDF
M$^\text{4}$World: A Multi-view Multimodal Driving World Model for Interactive Object Manipulation and Minute-long Streaming
Ke Cheng, Hanqiao Ye, Lei Shi, Yahui Liu, Yunhan Shen, Jingtao Dong, Zhenke Wang, Wenxuan Ao, Weixiang Xu, Kaining Huang, Shuhan Shen
arXiv:2607.14005v1 • 2026-07-15
Driving-world generation has emerged as a core capability for scalable autonomous-driving simulation, yet existing methods remain limited in object-level controllability and long-horizon stability. We present M$^\text{4}$World, a Multi-view and Multimodal generative driving world model that synthesizes future surround-view video streams and synchronized LiDAR scans while supporting interactive object Manipulation and stable Minute-long streaming. Fine-grained object manipulation is realized through a flexible conditioning interface that supports explicit control over both the spatial layout and visual appearance of individual objects. Stable minute-long streaming, on the other hand, is achieved through a multi-stage training framework that enables online causal generation in only four denoising steps while maintaining coherent world dynamics throughout extended rollouts. Building on these components, we introduce an efficient few-clip post-training as well as a suite of visual reference-conditioned generation models, preserving general generation ability while allowing rare-case customization for long-tail controllability. To assess controllability beyond realism, we further introduce an automated VLM-based judging pipeline that evaluates scene-level condition adherence, view-wise object controllability, and cross-view object consistency. Comprehensive experiments show that M$^\text{4}$World consistently delivers high generation quality, precise controllability, and stable minute-long streaming. Together with downstream long-tail augmentation and scene editing, these results demonstrate the potential of M$^\text{4}$World for controllable, scalable driving simulation.
Comment: 24 pages, 13 figures
arXiv PDF
LLM-Based User Personas for Recommendations at Scale
Haoting Wang, Haokai Lu, Zheyun Feng, Jenny Huang, Yifat Amir, Gregory Hinkson, Ben Most, Zelong Zhao, Yixin Kelly Cui, Rein Zhang, Fabio Soldo, Yu Xia, Nihar Bhupalam, Minmin Chen, Konstantina Christakopoulou, Lichan Hong, Ed H. Chi
arXiv:2606.12198v2 •updated • 2026-06-10
Large Language Models (LLMs) offer unprecedented potential for enhancing recommendation systems through their world knowledge and reasoning capabilities. However, existing approaches often rely on structured IDs or offline processing, limiting semantic richness, real-time adaptability, and user-facing interpretability. In this paper, we introduce a novel framework that enables real-time generation of LLM-based user interest personas for a large-scale commercial video recommendation platform. Our method generates natural-language user interest personas that address the exploitation-exploration trade-off by combining the summarization of existing interests with novel topics, directly during serving. To overcome the computational challenges of online LLM inference at a billion-user scale, we design a cost-efficient architecture leveraging knowledge distillation, asynchronous inference, and input optimization via semantically clustered video representations. Extensive offline evaluations, user studies, and live A/B tests demonstrate significant improvements in viewer value. This work bridges the gap between high-level semantic understanding and industrial-scale recommendation, paving the way for more dynamic, explainable, and satisfying personalized experiences.
Comment: Accepted by 2026 RecSys Industry Track
arXiv PDF
GigaWorld-Policy-0.5: A Faster and Stronger WAM Empowered by AutoResearch
GigaWorld Team, Angen Ye, Angyuan Ma, Boyuan Wang, Chaojun Ni, Fangzheng Ye, Guan Huang, Guo Li, Guosheng Zhao, Haodong Yan, Hengtao Li, Jiwen Lu, Kai Wang, Mingming Yu, Qitang Hu, Qiuping Deng, Songling Liu, Xiaoyu Tian, Xiaofeng Wang, Xinyu Zhou, Xiuwei Xu, Xinze Chen, Yang Wang, Yejun Zeng, Yifan Chang, Yun Ye, Zhenyu Wu, Zhanqian Wu, Zheng Zhu
arXiv:2607.13960v1 • 2026-07-15
World Action Models (WAMs) improve robot policy learning by jointly modeling actions and future visual observations, using future scene evolution as dense supervision for physically grounded action generation. However, a common design in existing WAMs is to explicitly generate future videos at inference time, incurring substantial computational overhead and hindering real-time closed-loop deployment. GigaWorld-Policy addresses this issue with an action-centered formulation, where future visual dynamics are used during training while action-only decoding is used at inference time. Building upon this framework, we present GigaWorld-Policy-0.5, an enhanced action-centered WAM designed for more efficient robot control. During pretraining, GigaWorld-Policy-0.5 adopts a mixed Action-Conditioned World Modeling (AC-WM) and WAM training strategy. This strengthens the coupling between visual dynamics and robot actions and improves the transferability of action representations for downstream policy learning. For efficient inference, GigaWorld-Policy-0.5 introduces a Mixture-of-Transformers architecture that separates visual dynamics modeling and action generation into specialized experts, reducing active computation during action-only inference and achieving 85 ms inference latency on a local RTX 4090 setup. In addition, we employ an agent-based AutoResearch pipeline to systematically search training configurations, enabling more efficient identification of optimal experimental setups while reducing the time and manual intervention required for hyperparameter tuning. Experiments and ablations show that GigaWorld-Policy-0.5 preserves the training benefits of future visual dynamics while improving inference efficiency for robot control.
Comment: project page: https://open-gigaai.github.io/giga-world-policy/
arXiv PDF
Foundation Models
1
默认显示 1 篇
Unleashing Multimodal Large Language Models for Training-free HOI Detection in the Wild
Ting Lei, Jialin Liu, Zhu Xu, Yuxin Peng, Yang Liu
arXiv:2607.13881v1 • 2026-07-15
Human-object interaction detection (HOID) has traditionally been formulated as a supervised detection problem over predefined interaction categories. While such paradigms achieve strong performance on closed-set benchmarks, they fundamentally entangle interaction understanding with dataset-specific supervision, limiting their ability to generalize to open-world and compositional scenarios. Recent HOI detectors attempt to leverage MLLMs through prompting strategies to transfer interaction-specific knowledge. However, such prompt-based approaches primarily focus on extracting discriminative representations from pretrained models, while underexploring their inherent multimodal reasoning capabilities. As a result, they struggle to provide informative contextual reasoning for ambiguous and open-world interaction scenarios. In this work, we present AgentHOI, a training-free, agentic framework that transfers the generalist multimodal reasoning capabilities of foundation models to HOI detection in the wild. Instead of learning interaction classifiers, AgentHOI modularly orchestrates complementary vision foundation modules to perform open-ended semantic reasoning and spatial grounding in a coordinated manner. To address the challenges of incomplete interaction discovery and ambiguous localization in complex scenes, we introduce two key mechanisms: (1) Context-aware Multi-round Reasoning, which progressively refines interaction hypotheses to ensure exhaustive and compositional HOI discovery, and (2) Multifaceted Interaction Localization, which enhances grounding precision by generating instance-specific descriptions that integrate semantic, spatial, and appearance cues. Extensive experiments demonstrate that AgentHOI achieves superior performance over state-of-the-art supervised and weakly supervised methods in real-world settings, despite requiring no HOID data for training.
arXiv PDF
2026-07-14
79 篇
Robotics
65
默认显示 5 篇
Design and Characterization of a Limb Encircling Actuator
Japmanjeet Singh Gill, Gray Cortright Thomas, Nikko Van Crey, Roberto Leo Medrano, Elliott J. Rouse
arXiv:2607.13337v1 • 2026-07-14
Lower-limb powered exoskeletons have demonstrated substantial improvements in mobility and function, but most designs place actuation components lateral to the legs or remotely at the waist or back. These configurations often extend beyond the body's natural envelope, making devices intrusive in everyday use and potentially limiting societal adoption. We posit that rethinking actuation geometry could enable exoskeletons that conform more closely to the body. Here, we explored an actuation layout in which the actuator encircles the limb in a plane orthogonal to the limb axis, potentially reducing its spatial footprint around the body. We developed the Limb-Encircling Actuator (LEA) and characterized its electromechanical properties using a custom-built testbed. The LEA also features a novel radial bearing layout with potential as a lightweight or lower-cost alternative to traditional large-diameter bearings. The actuator achieved a continuous torque density of 7.5 Nm/kg with a mass of 894 g. Despite this high torque density and innovative layout, the system remained difficult to contain close to the body. These results highlight opportunities and challenges in limb-encircling actuation and provide insights into torque-dense exoskeleton designs that could integrate more readily into everyday apparel if challenges in actuator sizing and geometry are overcome.
Comment: 10 pages, 6 figures
arXiv PDF
Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains
Rwik Rana, Jesse Quattrociocchi, Christian Ellis, Nathan Tsoi, Garrett Warnell, Joydeep Biswas
arXiv:2607.13319v1 • 2026-07-14
High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains. Recent forward kinodynamic (FKD) prediction foundation models suggest a promising path, starting from a generalist model and specializing it to the target platform. However, effective specialization remains challenging, as it often requires substantial real-world data, and models adapted to one setting can still overfit to specific terrains or driving regimes. We present OptCar (Optimized Car), a recipe for bridging the gap from generalist to specialist FKD models that preserves cross-terrain generalization while optimizing performance for a specific vehicle. $\texttt{OptCar}$ introduces a history-conditioned dynamics adaptation module that encodes recent state-action observations into a dynamics context token, and then fine-tunes the generalist model using limited real-world data together with targeted synthetic rollouts from environment-specific system identification. In closed-loop model predictive control (MPC) experiments across three terrains and an out-of-distribution cart-pulling task, the largest gains appear at 6~m/s, the highest speed evaluated and the regime in which slip dominates tracking error. On vegetation and dirt, the most slip-diverse terrain, OptCar reduces 6~m/s trajectory tracking error by roughly 55% relative to a fine-tuned AnyCar baseline, and remains the most accurate even when an unseen cart payload changes the dynamics. With only 5 minutes of real data per terrain, OptCar is competitive on road with a specialist trained on 30 minutes of road data, and substantially outperforms it once the terrain changes.
arXiv PDF
Parsimonious disturbance-aware minimum-time planning with parametric uncertainty
Martino Gulisano, Matteo Masoni, Marco Gabiccini
arXiv:2607.13312v1 • 2026-07-14
This study presents and validates a minimum-lap-time planning (MLTP) framework for motorsport applications that embeds robustness against both state disturbances and parameter uncertainty. The methodology builds upon a prior disturbance-aware framework that, at each track point, propagates stochastic vehicle dynamics over a short horizon and tightens tyre-friction constraints based on the worst-case scenario at horizon end. We extend the formulation to account for uncertainty in key vehicle parameters: moment of inertia, centre-of-mass position, and aerodynamic drag coefficient. To keep the extended formulation computationally tractable, a spatially selective, parsimonious activation strategy confines the robust constraints to the circuit segments where they are most critical. We demonstrate the improved driveability of the robust references by employing a model predictive controller (MPC) as a virtual test driver. For each reference, the same MPC drives a simulated FSAE (Formula SAE) car over 1000 runs on a representative Barcelona-Catalunya sector, with randomly realised impulsive disturbances and parameter scatter. We compare a nominal reference, planned without robustness, against its robust counterparts. The latter yield consistently fewer failed runs and, at a moderate sector-time cost, show tighter dispersion of key signals (vehicle inputs, axle saturations) around the reference values, evidence of better trackability.
arXiv PDF
PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner
Eugene Ku, Yiwei Lyu
arXiv:2603.10330v2 •updated • 2026-03-11
Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert demonstrations. Diffusion-based trajectory planners have recently shown strong closed-loop performance by iteratively denoising a full-horizon plan, but they remain difficult to certify and can fail catastrophically in rare or out-of-distribution scenarios. To address this challenge, we present PC-Diffuser, a safety augmentation framework that embeds a certifiable, path-consistent barrier-function structure directly into the denoising loop of diffusion planning. The key idea is to make safety an intrinsic part of trajectory generation rather than a post-hoc fix: we enforce forward invariance along the rollout while preserving the diffusion model's intended path geometry. Specifically, PC-Diffuser (i) evaluates collision risk using a capsule-distance barrier function that better reflects vehicle geometry and reduces unnecessary conservativeness, (ii) converts denoised waypoints into dynamically feasible motion under a kinematic bicycle model, and (iii) applies a path-consistent safety filter that eliminates residual constraint violations without geometric distortion, so the corrected plan remains close to the learned distribution. By injecting these safety-consistent corrections at every denoising step and feeding the refined trajectory back into the diffusion process, PC-Diffuser enables iterative, context-aware safeguarding instead of post-hoc repair...
arXiv PDF
Attitude Estimation Using Inertial and Barometric Measurements
Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
arXiv:2607.13254v1 • 2026-07-14
Accurate and robust attitude estimation is a key challenge for autonomous vehicles, particularly in GNSS-denied conditions and during highly accelerated flight. In such conditions, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt estimation due to the ambiguity between gravitational and inertial accelerations. Although auxiliary velocity sensors such as GNSS, Pitot tubes, Doppler radar, or Visual Inertial Odometry are commonly used, they may be unavailable, intermittent, or costly. This paper introduces a barometer-aided attitude estimation architecture that exploits barometric altitude measurements to provide complementary information on the vehicle's vertical motion, thereby enhancing attitude estimation within nonlinear observers on SO(3). The contributions are twofold. First, we design a deterministic Riccati observer cascaded with a complementary filter, ensuring almost-global asymptotic stability (AGAS) under a uniform observability (UO) condition while preserving the geometric structure of the attitude dynamics. Second, we propose a nonlinear observer evolving on SO(3)xR2, which integrates IMU measurements as inputs and barometer and magnetometer measurements as outputs within a unified framework, guaranteeing local exponential stability (LES) under relaxed uniform observability conditions. The proposed approaches are validated using both simulated and real flight data. The results demonstrate that barometer-aided estimation provides a lightweight, reliable, and effective complementary sensing modality for attitude estimation in minimal-sensing configurations, offering a practical alternative when conventional velocity measurements are unavailable or degraded.
Comment: 15 pages, 9 figures
arXiv PDF
Video World Models
14
默认显示 5 篇
Autonomous Video Generation with Counterfactual Controllability for Self-Evolving World Models
Xin Wang, Wenxuan Liu, Tongtong Feng, Wenwu Zhu
arXiv:2606.24152v2 •updated • 2026-06-23
Large-scale video generation models are increasingly described as world models because they can learn rich spatiotemporal regularities from visual data. However, we argue that an ideal world model should benefit in a self-evolving generative character. Traditional visually plausible predictions alone are not enough to establish whether an imagined future is physically actionable for a particular embodied agent, failing to provide informative feedback from environments for self-evolving improvement. To realize self-evolving world models, this article proposes the concept of autonomous video generation, which is evaluated through counterfactual controllability, i.e., the ability to i) generate intervention-conditioned futures, ii) bind these future frames to embodiment constraints, iii) verify them under distribution shifts, and iv) distil surviving branches into compact variables for decision-making. We formalize a four-stage closed-loop optimization of Generation, Binding, Verification and Distillation, together with four corresponding evaluation metrics: novelty, consistency, out-of-distribution (OOD) and efficiency. We further discuss two examples, i.e., drones and manipulators, as early embodied testbeds where wind, sensing limits, actuation delay, contact dynamics and recovery constraints can be systematically perturbed and verified. The central claim is that the framework of autonomous video generation for self-evolving world models should not be judged by video fidelity alone, but by whether the generated frames improve valid action under counterfactual interventions and various embodiment constraints.
Comment: 10 pages, 1 figure
arXiv PDF
Active Learning for Efficient Annotation of Surgical Videos with Weak Supervision
Manasa Dendukuri, Matjaz Jogan, Daniel A. Hashimoto, Guiqiu Liao
arXiv:2607.13237v1 • 2026-07-14
Precise spatial-temporal annotation of laparoscopic videos is time-consuming and requires expert knowledge. We propose a human-in-the-loop knowledge acquisition framework that combines active learning with dual-loss optimization to significantly reduce the annotation effort needed for automatic localization and segmentation of objects in the surgical field. Our method employs a foundation model to generate temporally consistent class activation maps (CAMs) from video using two complementary training objectives: a weak supervision loss on video-level tool presence labels for weakly annotated data, and an image-level mask loss on human-corrected annotations obtained through active learning. Rather than requiring dense pixel-level annotation upfront, our pipeline iteratively proposes pseudo-masks that guide the expert annotator to refine the knowledge previously captured by the model. We demonstrate that our framework reduces the effort of surgical video annotation by 50% by the end of training in comparison to fully manual annotation. Through eliminating the need for large, fully annotated datasets from the start, this framework enables scalability to the development of surgical tool segmentation models. This iterative human-in-the-loop refinement supports efficient knowledge acquisition with minimal expert input, providing a practical and deployable strategy for expanding tool segmentation to larger, more diverse datasets and real-world clinical settings.
Comment: Accepted to IPCAI 2026
arXiv PDF
Continuously Evolving Deepfake Detection: An Architecture and Public-Benchmark Evaluation of a Dynamic Detection System
Ken Jon Miyachi, Dylan Uys
arXiv:2607.13234v1 • 2026-07-14
Deepfake detectors that achieve near-perfect scores on academic benchmarks collapse on real-world content: recent in-the-wild evaluations report AUC drops of 45-50% for state-of-the-art open-source models. We argue this gap is structural: static detectors are trained once against a moving generative frontier. We present BitMind Forensics (BMF), trained through Bittensor SN34, an open adversarial competition that continually refreshes the training distribution. We evaluate one dated export comprising image, general-video, and human-video checkpoints across nineteen public datasets: the canonical face-swap suites (FaceForensics++, Celeb-DF v1/v2/++, DFDC, DFD, UADFV, DF40) and recent in-the-wild and AI-generated-media benchmarks (Sumsub, Deepfake-Eval-2024, WildRF, Community Forensics, AIGCDetectBench, GenImage, AI-GenBench, AIGIBench, RAID, GenVidBench, GenVideo-100K). BMF reaches 0.936 AUC on Sumsub's original images and 0.872 pooled AUC over its full four-condition manipulation battery (1.4M images), staying robust under perturbation (0.855 JPEG, 0.799 downscaled), while GPEN enhancement improves detection (0.996). On Deepfake-Eval-2024, it matches the best commercial detector on images (0.915 vs 0.90) and exceeds it on video (0.822 vs 0.79), far above the best open-source detectors (0.56 and 0.63). It reaches 0.991 AUC on a 21-generator AI-image panel and 0.918 on GenVidBench, and exceeds the FF++-trained frontier on DFDC (0.947 vs 0.843) and Celeb-DF v2 (0.9985 vs 0.956), both contamination-audited, with statistical parity on Celeb-DF++. In a temporal study, successive dated exports improve on held-out media from generators absent from the static baseline's training (image 0.842 to 0.902; video 0.864 to 0.936). Our evaluation harness is public, and at publication the production API serves the exact evaluated snapshot for independent verification.
Comment: 16 pages, 1 figure
arXiv PDF
FlowWAM: Optical Flow as a Unified Action Representation for World Action Models
Yixiang Chen, Peiyan Li, Yuan Xu, Qisen Ma, Jiabing Yang, Kai Wang, Jianhua Yang, Dong An, He Guan, Gaoteng Liu, Jianlou Si, Jun Huang, Jing Liu, Nianfeng Liu, Yan Huang, Liang Wang
arXiv:2607.13017v1 • 2026-07-14
World Action Models (WAMs) are able to leverage pretrained video generators for both world modeling and action prediction. However, directly leveraging such video generators for control raises a new challenge: how to represent actions in a suitable form that aligns with pretrained video generators while carrying enough motion cues for accurate control. Existing numerical actions fail to satisfy the former, and prior visual action representations overlook the temporal motion structure across frames. We address this issue with FlowWAM, a dual-stream diffusion framework that adopts optical flow as a unified, video-native action representation. Flow videos share the same format as RGB videos and encode rich per-pixel displacement. By jointly modeling them within a shared pretrained video generator, FlowWAM can naturally implement two modes of WAMs. In policy mode, FlowWAM generates flow for action prediction, while in world-model mode, it uses target flow sequences to guide future video generation. Moreover, since flow can be easily extracted from raw videos without action labels, FlowWAM can leverage large-scale action-unlabeled video datasets for pretraining. We empirically find that our flow-based action representation delivers gains across both modes. On RoboTwin manipulation, FlowWAM raises the success rate to 92.94% on the Clean setting and 92.14% on Random, outperforming both VLA and WAM baselines. On WorldArena world modeling, it achieves the best overall EWMScore (63.71) with an 18.4% relative improvement in trajectory accuracy. More results can be found on our project website: https://flow-wam.github.io .
arXiv PDF
Motubrain: An Advanced World Action Model for Robot Control
Motubrain Team, Chendong Xiang, Fan Bao, Haitian Liu, Hengkai Tan, Hongzhe Bi, James Li, Jiabao Liu, Jingrui Pang, Kiro Jing, Louis Liu, Mengchen Cai, Rongxu Cui, Ruowen Zhao, Runqing Wang, Shuhe Huang, Yao Feng, Yinze Rong, Zeyuan Wang, Jun Zhu
arXiv:2604.27792v4 •updated • 2026-04-30
Vision-Language-Action (VLA) models generalize semantically well but often lack fine-grained modeling of world dynamics. We present Motubrain, a unified World Action Model that jointly models video and action under a UniDiffuser formulation with a three-stream Mixture-of-Transformers architecture. A single model supports policy learning, world modeling, video generation, inverse dynamics, and joint video-action prediction, while scaling to heterogeneous multimodal data such as video-only, task-agnostic, and cross-embodiment robot data. Building on Motus, Motubrain further introduces unified multiview modeling, an independent text stream for stronger language-action coupling, a shared cross-embodiment action representation, and an efficient post-training and deployment recipe for long-horizon real-world control. Our inference stack combines step reduction, compilation, FP8 quantization, DiT caching, V2A-style action-only inference, and real-time chunked closed-loop execution, achieving over 50x speedup over a naive baseline and up to 11 Hz inference. Experimentally, Motubrain achieves 95.8% and 96.1% average success on RoboTwin 2.0 under clean and randomized settings, respectively, attains the strongest reported EWMScore in our WorldArena comparison, and adapts to new humanoid embodiments with only 50--100 trajectories. These results show that unified world action models can scale in generality, predictive accuracy, and real-world deployability.
arXiv PDF
2026-07-13
106 篇
Robotics
85
默认显示 5 篇
Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformers
Ian Chuang, Jinyu Zou, Andrew Lee, Dechen Gao, Iman Soltani
arXiv:2507.15833v3 •updated • 2025-07-21
Human vision is a highly active process driven by gaze, which directs attention to task-relevant regions through foveation, dramatically reducing visual processing. In contrast, robot learning systems typically rely on passive, uniform processing of raw camera images. In this work, we explore how incorporating human-like active gaze into robotic policies can enhance efficiency and robustness. We develop GIAVA (Gaze Integrated Active-Vision ALOHA), a robot vision system that emulates human head and neck movement, and gaze adjustment for foveated processing. Extending the AV-ALOHA robot platform, we introduce a framework for simultaneously collecting eye-tracking, perspective control, and robot manipulation demonstration data from a human operator. We also open-source a simulation benchmark and dataset for training robot policies that incorporate human gaze. Inspired by recent work in foveated image segmentation and given the widespread use of Vision Transformers (ViTs) in robot learning, we integrate gaze information into ViTs using a foveated patch tokenization scheme. Compared to uniform patch tokenization, this significantly reduces the number of tokens, and thus computation. Our results show that our method for foveated robot vision drastically reduces computational overhead, and enhances robustness to background distractors. Notably, on certain high-precision tasks, foveated vision also improves performance, as reflected in higher success rates. Together, these findings suggest that human-inspired foveated visual processing offers untapped potential and should be further considered as a useful inductive bias in robotic vision systems. https://soltanilara.github.io/giava/
Comment: Project page: https://soltanilara.github.io/giava/
arXiv PDF
Contract-Grounded Behavior Tree Synthesis via Coding Agents
Jonathan Salfity, Robert Blake Anderson, Mitch Pryor
arXiv:2607.12220v1 • 2026-07-13
Synthesizing deployable robot behavior trees (BTs) from natural language (NL) requires grounding to ensure every generated BT references only skills a robot can actually execute. Existing LLM-based BT synthesis approaches often place this grounding responsibility on the prompt author. This makes deployment brittle when the author does not know which skills the robot can execute, how those skills are parameterized, or how the robot runtime software constrains valid BT structure. This paper proposes a contract-grounded BT synthesis architecture in which a coding agent queries a robot-side Model Context Protocol (MCP) server to retrieve an explicit contract consisting of a skill library, permitted BT operators, and optional BT composition templates, before synthesizing a BT for validation and execution. In our framework, non-expert operators issue NL commands without knowledge of robot implementation details, while a robot runtime validation gate enforces correctness before execution. We evaluate two LLMs, a closed model (Sonnet 4.6) and a smaller open-source model (Gemma4:31b), across 110 simulated tasks in PyRoboSim and 14 tasks on a physical Husarion Panther robot. Results show that contract grounding enables near-perfect BT validation and high task success, that BT composition templates substantially recover success on reactive control-flow tasks for the smaller model, and that the architecture transfers to physical hardware running a Nav2 stack opaque to both operator and agent.
Comment: IEEE RA-L Submission
arXiv PDF
RoboDesign1M: A Large-scale Dataset for Robot Design Understanding
Tri Le, Toan Nguyen, Quang Tran, Quang Nguyen, Baoru Huang, Hoan Nguyen, Minh Nhat Vu, Tung D. Ta, Anh Nguyen
arXiv:2503.06796v2 •updated • 2025-03-09
Robot design is a complex and time-consuming process that requires specialized expertise. Gaining a deeper understanding of robot design data can enable various applications, including automated design generation, retrieving example designs from text, and developing AI-powered design assistants. While recent advancements in foundation models present promising approaches to addressing these challenges, progress in this field is hindered by the lack of large-scale design datasets. In this paper, we introduce RoboDesign1M, a large-scale dataset comprising 1 million samples. Our dataset features multimodal data collected from scientific literature, covering various robotics domains. We propose a semi-automated data collection pipeline, enabling efficient and diverse data acquisition. To assess the effectiveness of RoboDesign1M, we conduct extensive experiments across multiple tasks, including design image generation, visual question answering about designs, and design image retrieval. The results demonstrate that our dataset serves as a challenging new benchmark for design understanding tasks and has the potential to advance research in this field. RoboDesign1M will be released to support further developments in AI-driven robotic design automation. Our project is available at https://airvlab.github.io/robotdesign1m/
Comment: 8 pages, accepted to IROS 2026
arXiv PDF
Analysis of Mutual and Referential Human and Robot Gazes in a Collaborative Word Association Game
Jens V. Rüppel, Tim Schreiter, Andrey Rudenko, Achim J. Lilienthal
arXiv:2607.12181v1 • 2026-07-13
Robot gaze is a major component of human-robot dialogue coordination. Most studies of gaze in human-robot dialogue focus on face-to-face social conversations, but little is known about gaze in demanding task-focused interactions. In this paper, we investigate how the gaze of a robot game partner affects human visual attention and if humans tend to direct confirmation-seeking gazes towards the robot. In our study, we let participants play a collaborative word association game with a NAO robot acting as an embodied, LLM-driven conversational partner. Our experiments are conducted under two conditions, which implement mutual and referential gazes of the robot respectively. We record participants' gaze using eye tracking glasses and analyze the interactions using gaze coordinates, speech segments, key events and areas of interests. We find that robot gaze orientation does not affect the time to first fixation on words the robot proposed. We also find that participants gaze more often at the robot when their dialogue line contains confirmation requests, compared to when it does not. Our results indicate (likely also due to the cognitively demanding nature of the game) that the verbal aspect of this task overshadows the effects of referential robot gaze. These findings offer valuable insights for designing and validating robot gaze and turn-taking behavior in collaborative tasks which require coordination and efficient communication.
Comment: This paper has been accepted as a Late-Breaking Report to the 35th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), which will be held in Kitakyushu, Netherlands on August 24-28, 2026. Copyright 2026 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses
arXiv PDF
Post-Training in End-to-End Autonomous Driving
Ruining Yang, Muxing Wang, Yixiao Chen, Tongfei Guo, Yi Xu, Can Cui, Zichong Yang, Yitian Zhang, Ziran Wang, Yun Fu, Lili Su
arXiv:2607.08072v2 •updated • 2026-07-09
End-to-end models that map multimodal inputs directly to future trajectories/maneuvers have emerged as an increasingly prominent research paradigm in autonomous driving. This class of models includes both Vision-Language-Action models and trajectory-generative planners. Unlike classic machine learning applications, autonomous vehicles operate in safety-critical and interaction-intensive environments where traditional open-loop imitation of expert demonstrations is not sufficient to ensure reliability. In particular, small execution errors can accumulate over time, while recovery behaviors are scarce in training data. In addition, long-horizon objectives such as safety and driving comfort are not captured by pointwise labels either. These limitations have motivated a shift toward post-training techniques, which further refine driving policies beyond pure imitation. This survey presents a unified view of post-training for autonomous driving by defining its scope and organizing the existing literature into four major families based on the form of supervision they use. For each family, we discuss its capabilities, limitations, and open challenges. We aim to facilitate a systematic understanding of this emerging area and stimulate future research on reliable and efficient post-training for autonomous driving.A collection of related papers is available at https://github.com/RYNing/Awesome-Post-Training-In-Autonomous-Driving-Papers.
arXiv PDF
Video World Models
20
默认显示 5 篇
Xray-Visual Models: Scaling Vision models on Industry Scale Data
Shlok Mishra, Tsung-Yu Lin, Linda Wang, Hongli Xu, Yimin Liu, Michael Hsu, Chaitanya Ahuja, Hao Yuan, Jianpeng Cheng, Hong-You Chen, Haoyuan Xu, Chao Li, Sreya Dutta Roy, Abhijeet Awasthi, Jihye Moon, Don Husa, Michael Ge, Sumedha Singla, Arkabandhu Chowdhury, Phong Dingh, Satya Narayan Shukla, Yonghuan Yang, David Jacobs, Qi Guo, Jun Xiao, Xiangjun Fan, Aashu Singh
arXiv:2602.16918v2 •updated • 2026-02-18
We present Xray-Visual, a unified vision model architecture for large-scale image and video understanding trained on industry-scale social media data. Our model leverages over 15 billion curated image-text pairs and 10 billion video-hashtag pairs from Facebook and Instagram, employing robust data curation pipelines that incorporate balancing and noise suppression strategies to maximize semantic diversity while minimizing label noise. We introduce a three-stage training pipeline that combines self-supervised MAE, semi-supervised hashtag classification, and CLIP-style contrastive learning to jointly optimize image and video modalities. Our architecture builds on a Vision Transformer backbone enhanced with efficient token reorganization (EViT) for improved computational efficiency. Extensive experiments demonstrate that Xray-Visual achieves state-of-the-art performance across diverse benchmarks, including ImageNet for image classification, Kinetics and HMDB51 for video understanding, and MSCOCO for cross-modal retrieval. The model exhibits strong robustness to domain shift and adversarial perturbations. We further demonstrate that integrating large language models as text encoders (LLM2CLIP) significantly enhances retrieval performance and generalization capabilities, particularly in real-world environments. Xray-Visual establishes new benchmarks for scalable, multimodal vision models, while maintaining superior accuracy and computational efficiency.
arXiv PDF
FlashDiff: Efficient Regional Execution and Scheduling for Diffusion Model Serving
Yaqi Qiao, Ping He, Songrun Xie, Ayush Barik, Chensong Zhang, Zhengzhong Tu, Fan Lai
arXiv:2607.12121v1 • 2026-07-13
Diffusion models have become the central backbone for modern image, video, and audio generation, but their efficient service remains a challenge. Unlike autoregressive decoding, diffusion inference repeatedly updates high-dimensional spatial or temporal latents over many denoising steps. This all-region execution pattern makes generation latency high and limits serving throughput. Existing multi-GPU parallelization methods can reduce per-step computation, but often introduce substantial activation exchange overhead, causing communication to offset or even outweigh the benefits of parallel execution. This paper presents FlashDiff, a diffusion serving system that improves inference efficiency through adaptive regional execution and scheduling. FlashDiff is based on the observation that diffusion refinement is not uniform across latent regions or denoising steps: different regions often stabilize at different rates, while neighboring steps exhibit strong temporal correlation. FlashDiff leverages these properties to selectively execute only regions that require further refinement and to reallocate the resulting compute slack across concurrent serving requests. FlashDiff consists of three mechanisms. First, it decomposes the latent representation into coherent execution regions using early-stage attention signals, preserving semantic structure while exposing fine-grained parallelism. Second, it uses a lightweight runtime controller to estimate region activity and bypass low-impact updates when further refinement is unlikely to affect output quality. Third, it applies an affinity-aware online scheduler that co-locates dependent regions, balances residual load across GPUs, and reuses reclaimed compute capacity to improve serving efficiency. Across real-world image, video, and audio workloads, FlashDiff reduces end-to-end serving latency by 30-97% and improves throughput by 1.2-2.2x.
arXiv PDF
Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting
Robert Jomar Malate, Erik Bauer, Norica Bacuieti, Stefanos Charalambous, Elvis Nava, Robert K. Katzschmann, Benedek Forrai
arXiv:2607.07491v2 •updated • 2026-07-08
Advances in learning-based robotic manipulation, such as Vision-Language-Action (VLA) models and Video Action Models (VAMs), heavily rely on high-quality teleoperation data. Their capabilities are strictly upper-bounded by the quality of the underlying human demonstrations. Current gradient-based retargeting algorithms often converge to different local minima, resulting in jitter that affects data quality and teleoperation experience. To address this, we introduce the Sampling-Based Retargeter (SBR), a novel gradient-free retargeting method drawn from the rich literature of sampling-based control and explicitly designed for low-jitter, real-time kinematic retargeting. We evaluate SBR both in simulation and through a rigorous real-world user study involving 18 participants performing 3 complex manipulation tasks. Compared to gradient-based baselines, SBR achieved the highest overall task success rate (54.1%) while significantly reducing operator cognitive fatigue, recording the lowest NASA-TLX workload score (36.4 out of 100). Ultimately, we establish SBR as a highly effective, intuitive retargeter for dexterous manipulation, providing the community with a rigorous benchmarking methodology to guide future retargeting research.
Comment: Minor cosmetic updates to figures
arXiv PDF
Cycle-World: Mitigating Error Accumulation in Long-term Video World Models via Reverse-Prediction Cycle Consistency
Zihan Su, Teng Hu, Jiangning Zhang, Ruiyan Wang, Ran Yi, Lizhuang Ma, Dacheng Tao
arXiv:2607.11836v1 • 2026-07-13
Autoregressive diffusion models have enabled high-quality video generation, yet their sequential nature inherently suffers from error accumulation. In long-horizon video synthesis, minor prediction deviations compound over time, inevitably leading to unconstrained generative drift, structural collapse, and severe visual degradation. To address this, we propose Cycle-World, a novel framework designed for stable and temporally consistent long-video generation. Our approach tackles error drift by enforcing strict temporal reversibility across both the training and inference phases. Theoretically, we demonstrate that forward generative drift can be strictly bottlenecked by a cycle-consistency objective. During training, we integrate an efficient reverse-prediction model to implicitly embed causal constraints into the forward generator, compelling it to produce reversible sequences that tightly adhere to the natural video manifold. At inference time, we repurpose this frozen reverse model as a runtime corrector. Through gradient-based cycle guidance, it iteratively refines the generated latent representations, actively suppressing accumulated errors before they are committed to the historical context. Extensive experiments on the VBench benchmark demonstrate that Cycle-World's dual-phase synergy significantly mitigates error drift, achieving state-of-the-art overall generation quality and long-horizon temporal consistency in 60-second synthesis.
Comment: Accepted by ECCV 2026
arXiv PDF
GTASA: Ground Truth Annotations for Spatiotemporal Analysis, Evaluation and Training of Video Models
Nicolae Cudlenco, Mihai Masala, Marius Leordeanu
arXiv:2604.10385v2 •updated • 2026-04-12
Game engines hold what video models struggle to learn: a complete, explicit world state behind every frame. We turn one into a data instrument. GEST-Engine, our production-grade open-source system, deterministically executes Graphs of Events in Space and Time (GESTs), whether procedurally generated or derived from text, into videos of synchronized multi-actor scenarios, recording ground truth as it renders: 3D entity and camera state, pairwise spatial relations, event-to-frame mappings, instance segmentation, and long descriptions, at zero marginal annotation cost. With it we release GTASA, a 938-video sample of what the system can generate at arbitrary scale, carrying, to our knowledge, the densest spatial-relation coverage of any video dataset: a complete entity-pair relation graph at every frame, ~84x denser than the state of the art, frame-for-frame. We validate GTASA both qualitatively, through human evaluation of physical validity and semantic alignment where frontier neural generators, given the same prompts, largely fail, and quantitatively, with GTASA pretraining improving VLM video captioning. Probing six frozen video encoders across 11 spatio-temporal tasks enabled by GTASA's exact 3D ground truth, a previously untestable inter-entity relational probe of frozen video features, reveals that who-is-near-whom barely rises above chance for all of them. We release the engine, the corpus, and the benchmark, making this gap a measurable, trainable target.
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
Towards Predictive, Aligned, and Scalable Robot Learning
Peijun Tang, Shangjin Xie, Baifu Huang, Binyan Sun, Haotian Yang, Kuncheng Luo, Weiqi Jin, Shilin Fang, Jianan Wang
arXiv:2607.11270v1 • 2026-07-13
Learning, at its core, extends beyond memorization to the ability to reason and solve novel problems by navigating a space of possibilities. We introduce Lumo-2, a latent world-action model that generates actions by reasoning over world dynamics in latent space. The learned latent world dynamics capture physically grounded visual transitions, naturally encoding future possibilities and providing a unified substrate for cross-modal alignment. This formulation enables predictive reasoning akin to world modelling while remaining lightweight and focused on physical dynamics relevant to control. Central to our approach is the hypothesis that action generation quality is governed by the geometry of the latent space. We observe that standard reconstruction-based action tokenization objectives induce representations biased toward low-level signal fidelity, leading to misalignment between reconstruction quality and downstream control performance. To address this limitation, we propose a multi-stage modality pre-alignment strategy in which action representations are progressively aligned with latent world dynamics, vision, and language. This process enforces cross-modal consistency, promotes abstraction, and induces a structured latent space for predictive reasoning. We provide a systematic empirical study of latent world modelling and modality alignment, analyzing their roles in scaling laws and out-of-distribution generalization. Results show that Lumo-2 consistently outperforms strong vision-language-action (VLA) and world-action model (WAM) baselines, with gains on challenging real-world tasks requiring temporal reasoning, physical understanding, or high control complexity, including long-horizon and dexterous manipulation. These findings suggest that structured multimodal alignment and predictive reasoning are fundamental principles for advancing embodied intelligence.
arXiv PDF
2026-07-12
39 篇
Robotics
34
默认显示 5 篇
Mapping Pamir: Multi-Session Visual-Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck
Michalis Chatzispyrou, Luke Horgan, Hyunkil Hwang, Harish Sathishchandra, Chinmay Burgul, Monika Roznere, Alberto Quattrini Li, Philippos Mordohai, Ioannis Rekleitis
arXiv:2607.10925v1 • 2026-07-12
This paper presents a framework for multi-session mapping of underwater environments utilizing an affordable action camera. The Visual-Inertial data are augmented by water depth recordings from a dive computer. SVIn2, an open-source VI-SLAM framework, is utilized to generate a trajectory and a sparse reconstruction for each session. Utilizing the keyframes extracted from SVIn2 and the estimated camera poses, a Structure-from-Motion (SfM) framework, COLMAP, is employed for global optimization and to produce a dense reconstruction of the target environment. The presence of calibration targets at fixed locations, when available, is used to estimate the coordinate transformation between different data collection sessions, thus transforming the different sessions into the same coordinate frame. The proposed pipeline is employed for the mapping of a shipwreck off the coast of Barbados. For the first time, both the exterior and the accessible interior parts of the wreck were mapped in two sessions, while a third session employed two cameras with different fields of view.
Comment: 8 pages, 12 figures. Accepted to ICRA 2026, Vienna, Austria
arXiv PDF
Fast Asymptotically Optimal Kinodynamic Planning via Vectorization
Yitian Gao, Andrew Lu, Zachary Kingston
arXiv:2607.03987v2 •updated • 2026-07-04
Sampling-based motion planners have been shown to be effective for systems with complex kinodynamic constraints and high dimensionality. However, these algorithms struggle to achieve real-time performance, leading to recent efforts to parallelize planning. While GPU-accelerated planners have achieved significant speedups, existing approaches require specialized CUDA programming that limits accessibility and portability. We present Parallel Asymptotically Optimal Kinodynamic RRT (PAKR), a massively parallel kinodynamic planner leveraging JAX and the XLA compiler to achieve GPU acceleration through standard Python tooling. By combining our parallel planner with the AO-x meta-algorithm, we achieve asymptotic optimality through fast iterative replanning. We provide a theoretical analysis of probabilistic completeness, analyze the effects of batch size and branching factor on convergence, and demonstrate scalability to complex dynamics using the MuJoCo-XLA simulator. Experiments show competitive runtimes with state-of-the-art GPU planners and superior solution quality.
Comment: 8 pages, 5 figures, 4 tables. Accepted to IROS 2026
arXiv PDF
Adaptive Reinforcement Learning for Unobservable Random Delays
John Wikman, Alexandre Proutiere, David Broman
arXiv:2506.14411v2 •updated • 2025-06-17
In standard reinforcement learning (RL) settings, the interaction between the agent and the environment is typically modeled as a Markov decision process (MDP), which assumes that the agent observes the system state instantaneously, selects an action without delay, and executes it immediately. In real-world dynamic environments, such as cyber-physical systems, this assumption often breaks down due to delays in the interaction between the agent and the system. These delays can vary stochastically over time and are typically unobservable when deciding on an action. Existing methods deal with this uncertainty conservatively by assuming a known fixed upper bound on the delay, even if the delay is often much lower. In this work, we introduce the interaction layer, a general framework that enables agents to adaptively handle unobservable and time-varying delays. Specifically, the agent generates a matrix of possible future actions, anticipating a horizon of potential delays, to handle both unpredictable delays and lost action packets sent over networks. Building on this framework, we develop a model-based algorithm, Actor-Critic with Delay Adaptation (ACDA), which dynamically adjusts to delay patterns. Our method significantly outperforms state-of-the-art approaches across a wide range of locomotion benchmark environments, including real-world measured delays.
Comment: Published at ICML 2026 (https://openreview.net/forum?id=QpgIOT06k3)
arXiv PDF
A Single Diffusion-Policy Controller for Multi-Task Block Pushing with Zero-Shot Sim-to-Real Transfer
Haitong Ma, Haldun Balim, Yang Hu, Bo Dai, Na Li
arXiv:2607.10892v1 • 2026-07-12
Diffusion policies have shown promising empirical performance in representing and learning complex maneuvers for robots using behavior cloning (BC). In this paper, we explore training diffusion policies from scratch using reinforcement learning (RL) for multi-task robotic manipulation. Specifically, we aim to train a single diffusion policy for block-pushing tasks with multiple shapes. The proposed framework features a simple policy loss function, which is a reweighted evidence lower bound used in BC-based diffusion policy training and can seamlessly serve as the policy learning module in RL algorithms. To address the exploration challenges arising from the absence of demonstrations, we incorporate reverse curriculum generation and objective-centric representations. Combined with the expressiveness of diffusion policies, our design supports learning of multi-task block-pushing policies in our sparse-reward simulation setting. We further evaluate whether the trained diffusion policy transfers in zero-shot to real-world tasks under varying environmental conditions including goal positions, block shapes, block weights and surface friction, providing evidence that this pipeline can transfer to our real-world block-pushing setup under the tested variations.
Comment: 8 pages, 7 figures
arXiv PDF
Rethinking Gaussian Trajectory Predictors: Calibrated Uncertainty for Safe Planning
Fatemeh Cheraghi Pouria, Mahsa Golchoubian, Katherine Driggs-Campbell
arXiv:2603.10407v2 •updated • 2026-03-11
Accurate trajectory prediction is critical for safe autonomous navigation in crowded environments. While many trajectory predictors output Gaussian distributions to represent the multi-modal distribution over future pedestrian positions, the reliability of their confidence levels often remains unaddressed. This limitation can lead to unsafe or overly conservative motion planning when the predictor is integrated with an uncertainty-aware planner. Existing Gaussian trajectory predictors primarily rely on the Negative Log-Likelihood loss, which is prone to predict over- or under-confident distributions, and may compromise downstream planner safety. This paper introduces a novel loss function for calibrating prediction uncertainty which leverages Kernel Density Estimation to estimate the empirical distribution of confidence levels. The proposed formulation enforces consistency with the properties of a Gaussian assumption by explicitly matching the estimated empirical distribution to the Chi-squared distribution. To ensure accurate mean prediction, a Mean Squared Error term is also incorporated in the final loss formulation. Experimental results on real-world trajectory datasets show that our method significantly improves the reliability of confidence levels predicted by different State-Of-The-Art Gaussian trajectory predictors. We also demonstrate the importance of providing planners with reliable probabilistic insights (i.e. calibrated confidence levels) for collision-free navigation in complex scenarios. For this purpose, we integrate Gaussian trajectory predictors trained with our loss function with an uncertainty-aware Model Predictive Control on scenarios extracted from real-world datasets, achieving improved planning performance through calibrated confidence levels.
arXiv PDF
Video World Models
5
默认显示 5 篇
Incantation: Natural Language as the Action Interface for Multi-Entity Video World Models
Shangwen Zhu, Qianyu Peng, Zhao Pu, Zhilei Shu, Xiangrui Ke, Zhaohu Xing, Zizhao Tong, Zeqing Wang, Xinyu Cui, Zian Zheng, Huangji Wang, Jian Zhao, Yeying Jin, Fan Cheng, Ruili Feng
arXiv:2605.18601v2 •updated • 2026-05-18
Modern interactive video world models have achieved impressive visual fidelity, yet lack fine-grained multi-entity control and cross-entity, cross-world generalization. We trace this gap to the action interface: standard control protocols (e.g. animation IDs, device inputs, scene-level captions) bind action semantics to specific entities or engines at design time. We propose natural language as the interface to unlock expressiveness that no prior interface can achieve, and we present Incantation, the first interactive video world model with per-latent-frame (0.25 s) natural-language conditioning that supports simultaneous multi-entity control and concept-level cross-entity transfer beyond any fixed rendering pipeline. We pair a pretrained bidirectional video backbone with frame-local text cross-attention, and enable real-time long-horizon streaming through ODE-initialized Self-Forcing distillation with a RoPE-decoupled sliding KV-cache. We surpass the Action-Index baseline on cross-entity transfer (89% vs. 43%) and out-of-vocabulary prompts (90% vs. 0%), and our 2-step student sustains 19.7 FPS at 480p with stable FVD over 2-hour rollouts. We further apply the same architecture and training recipe to The King of Fighters, changing only the per-entity action vocabulary slots. We have released a preview subset of the Incantation dataset at https://huggingface.co/datasets/zhush/incantation-elden-ring-scenes, containing manually collected Elden Ring player-boss combat clips with structured action-oriented metadata. Larger-scale Elden Ring and KOF data will be released with the full project.
arXiv PDF
Detecting AI-Generated Video: A Vision-Language Dual-View Survey
Dylan Xinming Hou, Juntian Zhang, Xu Gu, Yichen Wu, Nils Lukas, Gus Xia, Xiuying Chen, Yuhan Liu
arXiv:2607.10787v1 • 2026-07-12
The evolving realism of AI-generated Videos (AIGC-V) is rapidly rendering traditional artifact-centric detection insufficient, necessitating a paradigm shift from low-level inspection to high-level semantic verification. This paper presents a comprehensive survey of AIGC-V detection, reframing the task as Factual Fidelity Verification, which asks whether the events, entities, and physical processes depicted in a video are consistent with real-world facts. To systematize this rapidly evolving field, we propose a Vision-Language Dual-View taxonomy that organizes existing methods into a hierarchical, four-layer landscape, spanning intrinsic cue analysis, spatiotemporal consistency modeling, cross-modal consistency reasoning, and language-guided world-level reasoning. This dual-view framing highlights a fundamental transition from artifact matching in traditional deepfake detection to evidence-based semantic verification enabled by vision-language models and agentic reasoning pipelines. Based on a systematic review of 221 works, we synthesize AIGC-V generation paradigms, survey the landscape of detection methods, and review evaluation metrics and benchmarks in line with proposed views. Finally, we discuss current challenges and identify promising directions toward robust, explainable, and trustworthy detection.
Comment: 51 pages, accepted by ACL 2026
arXiv PDF
Is Energy Guidance All You Need? Training-Free Norm Injection for Driving World Models
Xiyan Su, Frank Diermeyer, Markus Lienkamp
arXiv:2607.10781v1 • 2026-07-12
Driving world models built on large video-diffusion backbones generate realistic scenes but are hard to control: enforcing a traffic norm typically means retraining the backbone or conditioning it on hand-built layouts. We ask whether controllability requires training at all. Our experiment shows that a rectified-flow driving world model, which jointly generates future video and a planned ego trajectory, can have its planned trajectory steered entirely at sampling time by differentiable energy functions that encode driving norms, without knowledge-specific retraining of the diffusion backbone. Concretely, we demonstrate that a world model built on Open-Sora 2.0 MM-DiT backbone can be steered to brake at a counterfactual target by injecting energy guidance at sampling time. However, we find that the generated video does not yet follow the steered trajectory through the backbone's joint self-attention and identify the cross-stream coupling as a crucial requirement for end-to-end-controllable rollouts.
Comment: Accepted to Robotics: Science and Systems 2026 Robot World Models Workshop
arXiv PDF
RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperation
Haoyu Zhao, Xingyue Zhao, Hangyu Li, Biao Gong, Kehan Li, Siteng Huang, Xin Li, Deli Zhao, Zhongyu Li
arXiv:2607.06558v2 •updated • 2026-07-07
Scaling robot learning requires massive, diverse trajectory data, yet collection is currently bottlenecked by physical teleoperation, where every demonstration binds operator time to specific hardware and workspaces. We introduce digital teleoperation, a paradigm that decouples data collection from physical constraints by replacing the real robot with a generative world model. In this framework, an operator's hand-pose stream drives a robot-centric generative world model to synthesize high-fidelity egocentric videos from a single reference image. The recorded pose stream serves as an embodiment-agnostic action label transferable to any target robot via standard retargeting, yielding complete state-action trajectories for imitation learning independent of physical hardware. We instantiate this paradigm in RynnWorld-Teleop, a system that integrates depth-aware skeletal conditioning, progressive human-to-robot training on a video Diffusion Transformer, and streaming autoregressive distillation. This pipeline compresses the generative process into a single-pass inference, enabling 40+ FPS, real-time interactive generation on a single H100 GPU. Policies trained exclusively on RynnWorld-Teleop-generated data achieve effective zero-shot Sim2Real transfer across dexterous and diverse bimanual tasks. Moreover, augmenting real-world datasets with our digitally teleoperated data consistently improves success rates, demonstrating that RynnWorld-Teleop serves as a high-fidelity, scalable data engine for the next generation of robotic agents.
Comment: Project Page: https://alibaba-damo-academy.github.io/RynnWorld-Teleop.github.io, Github: https://github.com/alibaba-damo-academy/RynnWorld-Teleop
arXiv PDF
DIM-WAM: World-Action Modeling with Diverse Historical Event Memory
Kai Wang, Zhaopeng Gu, Yixiang Chen, Yuan Xu, Qisen Ma, Jiabing Yang, Zhaowen Li, Yan Huang, Liang Wang, Peng Su
arXiv:2606.27677v2 •updated • 2026-06-26
World-action models have shown promising robot-manipulation performance by jointly predicting future visual states and actions. However, existing methods mainly rely on short-term history and short-horizon future prediction, which is insufficient for long-horizon tasks whose correct execution depends on earlier observations and task progress. Such temporally dependent tasks require effective use of complementary temporal information, including recent local context, cross-stage historical events, immediate future dynamics, and global task progress. To address long-term forgetting and poor awareness of the global task state, we introduce DiM-WAM, a memory-augmented world-action model that integrates multi-scale historical context, local future dynamics, and global task progress. The memory extracts compact visual event information from real observations, updates multiple memory banks through independent similarity-based merging, and then reads the bank-identity- and time-embedded long-term context to condition video and action denoising. A progress-supervision objective further encourages memory tokens to encode not only completed historical events but also the current task stage and its implications for the remaining task. On RMBench, DiM-WAM raises average success from 28.4% with LingBot-VA to 69.8%, exceeding the explicit-memory Mem-0 baseline at 42.0%. On four real-world Franka tasks, it improves average stage success from 70.7% to 91.5% and full-task success from 52.5% to 80.0%. Project page: https://wangkai-casia.github.io/dim-wam.
arXiv PDF
2026-07-11
50 篇
Robotics
45
默认显示 5 篇
SUREFlow: State-space Uncertainty-aware REsidual Flow Matching for Robust Robot Manipulation
Md Tanvir Islam, Sai Navaneet Peddapalli, Sangmoon Lee, Sangtae Ahn
arXiv:2607.10504v1 • 2026-07-11
Generative vision-language-action policies have advanced robot manipulation, but they often exhibit instability under noise, partial observability, and stochastic initial conditions. During extended rollouts, small velocity errors accumulate, degrading execution reliability. Existing diffusion and flow-based policies typically assume homoscedastic residuals and lack explicit uncertainty modeling within action generation, limiting robustness during iterative rollout. We propose SUREFlow, a state-space uncertainty-aware residual flow matching framework built on a Mamba backbone. The method jointly predicts action velocities and input-dependent residual uncertainty, enabling selective refinement of unreliable action dimensions without environment feedback while preserving computational efficiency. On LIBERO, SUREFlow achieves 92.5% average success rate (SR), outperforming the Mamba-based MaIL by 34.2%. On LIBERO-PRO, it attains around 49% SR using only 179M parameters, achieving performance comparable to large VLAs with 3-7B parameters. SUREFlow source code is available on: https://github.com/tanvirnwu/SUREFlow
Comment: Accepted at IEEE/RSJ International Conference on Intelligent Robots & Systems (IROS) 2026, Pittsburgh, PA, USA
arXiv PDF
Contact-Consistent Interaction Dynamics Normalization for Predictive Physical Human--Robot Interaction
Yongyan Cao
arXiv:2606.14617v2 •updated • 2026-06-12
Safe physical human--robot interaction on floating-base robots requires interaction regulation under changing contact constraints. We develop a contact-consistent normalization in which the residual end-effector channel is represented as a linear double integrator in acceleration coordinates. Both discrete prediction matrices are independent of configuration and support mode; posture and contact enter only through task-inertia force recovery and constraints. The controller combines a constant-Hessian receding-horizon QP, an acceleration-disturbance observer, and a priority-consistent realization. Classical operational-space impedance is shown to be the unconstrained infinite-horizon limit. MuJoCo experiments on a 17-DOF biped and a Menagerie-derived Unitree G1 model evaluate sustained forces, transmitted shocks, and scheduled contact-model changes. Disturbance estimation is the dominant source of fixed-stance accuracy, while covariance inflation gives only scenario-dependent transient benefit. Dynamic walking and hardware validation remain outside the present evidence.
arXiv PDF
Interaction Dynamics MPC for Knee Rehabilitation Exoskeletons: A Series-Elastic Instantiation
Yongyan Cao, Jinshan Tang
arXiv:2606.13485v2 •updated • 2026-06-11
Safe rehabilitation is an interaction-dynamics problem: the controller must regulate a prescribed motion while absorbing involuntary spasm, voluntary effort, actuator compliance, and model mismatch as interaction disturbances. This paper instantiates the predictive interaction-dynamics framework of the base pHRI formulation on a series-elastic-actuated knee joint. SEA feedforward reduces the gravity-compensated knee to the same constant-coefficient scalar double integrator used in the base framework, while a dynamic-residual measurement from spring deflection supplies an interaction-disturbance observation. A steady-state target converts the estimated disturbance into a cancelling input, and a finite-horizon quadratic program regulates deviations from that target under range-of-motion, torque, and velocity constraints. The evaluation is stiffness- and damping-matched so improvements cannot be attributed to higher impedance. Under a motion-opposing $15\unit{Nm}$ step, classical impedance and MPC without estimation produce about $500\unit{mrad}$ steady-state error, whereas Kalman-augmented interaction MPC reduces this to $1.17\unit{mrad}$ at 100~Hz and $0.70\unit{mrad}$ at 500~Hz; the 500~Hz peak is $7.27\unit{mrad}$. In 30 randomized trials, the 95th-percentile peak is $21.57\unit{mrad}$. Bounded Assist-as-Needed scheduling, a corrective-channel energy tank, inequality-constrained OSQP stress cases, direct MuJoCo execution, and a posture-clamped MyoSuite knee-slice run are implemented. The results support the SEA-knee instantiation of the interaction-dynamics framework while separating it from clinical intent recognition, full-system passivity, safety certification, hardware trials, and free-standing multi-joint validation.
arXiv PDF
Large Language Model Enhanced Differentiable Trajectory Planning for IoT-Enabled Autonomous Driving
Shihao Zhang, Jing Yang, Ziyu Song, Zheng Lin, Sunil Prajapat, Zhaochen Xia, Hemant Ghayvat, Haitao Ding, Lip Yee Por, Ashok Kumar Das
arXiv:2607.10438v1 • 2026-07-11
Autonomous driving planning is a key component of IoT-enabled intelligent transportation systems, requiring vehicles to generate safe, efficient, and executable trajectories in complex urban environments from multi-source contextual information. While imitation learning (IL) has shown promise on large-scale datasets, IL-based planners still suffer from limited coverage of complex long-tail interactions, weak consistency with downstream constrained refinement, and insufficient use of high level scene semantics under real time constraints. To address these issues, this paper proposes a large language model (LLM) enhanced differentiable trajectory planning framework for IoT-enabled autonomous driving. Specifically, we introduce a surrounding agent centric data augmentation strategy to reorganize sur rounding agent trajectories as additional planning supervision, thereby improving the training distribution without collecting additional raw data. We further design a complexity-aware asyn chronous LLM-based semantic enhancement module to extract scene-related high-level semantic features with controlled online overhead. In addition, a differentiable optimization module is incorporated to refine generated trajectories with explicit residual penalties while backpropagating optimization gradients to the upstream planner. Experiments show that the proposed method achieves the best overall scores of 83.63 and 78.29 on the nuPlan closed-loop nonreactive and reactive Hard20 benchmarks, respectively, and CARLA-ROS tests further verify its online deployment and real time closed-loop execution capability.
Comment: 13 pages, 5 figures
arXiv PDF
Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments
Ruochu Yang, Ziyi Xia, Huibo Zhang, Yatong Han, Yiming Zhao, Yingke Li, Fumin Zhang, Yorai Wardi, Mengxue Hou
arXiv:2607.10437v1 • 2026-07-11
Multi-object search in unknown household environments requires planning under extensive uncertainty - from unknown object locations to cluttered spaces with unobserved obstacles. POMDPs offer a principled framework for such problems but remain intractable in large domains. We propose Inter-POMDP, a novel interleaved POMDP planning algorithm that decomposes this challenge into two interacting levels: a high-level POUCT planner reasons over object distributions using LLM-informed histogram beliefs, while a low-level motion planner models navigation uncertainty with obstacle-aware particle beliefs as domain knowledge to guide high-level POUCT. This interleaved design balances planning quality and efficiency despite the large search space across unknown multi-room environments. Both simulation and real-world experiments show that our Inter-POMDP algorithm reduces collision counts by up to 63%, navigation steps by up to 35%, and detection counts by up to 32% compared with baseline methods. Full videos are https://sites.google.com/view/inter-pomdp
arXiv PDF
Video World Models
5
默认显示 5 篇
On the Real-World Generalisability of Optical Flow Models
Petter Reijalt, Sander Gielisse, Rickard Karlsson, Jan van Gemert
arXiv:2607.10470v1 • 2026-07-11
Real-world deployment of vision models to broadly benefit society is arguably a main research objective. In optical flow, however, the difficulty to obtain the ground truth has focused research mainly on synthetic data and domain-specific benchmarks. Here, we investigate the severity of this mismatch. We study how well modern optical flow estimation models generalise to real-world video and question if accuracy on synthetic benchmark proxies actually predicts accuracy on real-world optical flow. To address this, we build a real-world evaluation benchmark and evaluate the real-world generalisability of a broad set of recent optical flow models using standard checkpoints. Our benchmark contains 8,204 frame pairs across TAP-Flow, Slow Flow, and our own dataset FlowFactor. FlowFactor is a manually annotated real-world benchmark of 1,000 HD frame pairs organised into four confounding factors: large displacements, repetitive textures, occlusions, and lighting variation. Each setting mainly varies only one factor, enabling diagnostic, confounder-specific analysis. Using FlowFactor, we reveal that performance on varying lighting and large displacements correlates most strongly with real-world accuracy, and that improvements on large-motion regimes can trade off against robustness in small-motion, stationary scenes. Our experiments show that progress on Sintel, KITTI and Spring only weakly predicts accuracy on real-world data, highlighting the need for a broad real-world optical flow benchmark. Interestingly, scaling up the amount of training data does not necessarily resolve the gap, calling for new innovative research instead of simply scaling data and compute.
Comment: Accepted @ ECCV 2026
arXiv PDF
VGGRPO: Towards World-Consistent Video Generation with 4D Latent Reward
Zhaochong An, Orest Kupyn, Théo Uscidda, Andrea Colaco, Karan Ahuja, Serge Belongie, Mar Gonzalez-Franco, Marta Tintore Gazulla
arXiv:2603.26599v2 •updated • 2026-03-27
Large-scale video diffusion models achieve impressive visual quality, yet often fail to preserve geometric consistency. Prior approaches improve consistency either by augmenting the generator with additional modules or applying geometry-aware alignment. However, architectural modifications can compromise the generalization of internet-scale pretrained models, while existing alignment methods are limited to static scenes and rely on RGB-space rewards that require repeated VAE decoding, incurring substantial compute overhead and failing to generalize to highly dynamic real-world scenes. To preserve the pretrained capacity while improving geometric consistency, we propose VGGRPO (Visual Geometry GRPO), a latent geometry-guided framework for geometry-aware video post-training. VGGRPO introduces a Latent Geometry Model (LGM) that stitches video diffusion latents to geometry foundation models, enabling direct decoding of scene geometry from the latent space. By constructing LGM from a geometry model with 4D reconstruction capability, VGGRPO naturally extends to dynamic scenes, overcoming the static-scene limitations of prior methods. Building on this, we perform latent-space Group Relative Policy Optimization with two complementary rewards: a camera motion smoothness reward that penalizes jittery trajectories, and a geometry reprojection consistency reward that enforces cross-view geometric coherence. Experiments on both static and dynamic benchmarks show that VGGRPO improves camera stability, geometry consistency, and overall quality while eliminating costly VAE decoding, making latent-space geometry-guided reinforcement an efficient and flexible approach to world-consistent video generation.
Comment: Accepted at ECCV 2026. Project Page: https://zhaochongan.github.io/projects/VGGRPO
arXiv PDF
Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments
Ruochu Yang, Ziyi Xia, Huibo Zhang, Yatong Han, Yiming Zhao, Yingke Li, Fumin Zhang, Yorai Wardi, Mengxue Hou
arXiv:2607.10437v1 • 2026-07-11
Multi-object search in unknown household environments requires planning under extensive uncertainty - from unknown object locations to cluttered spaces with unobserved obstacles. POMDPs offer a principled framework for such problems but remain intractable in large domains. We propose Inter-POMDP, a novel interleaved POMDP planning algorithm that decomposes this challenge into two interacting levels: a high-level POUCT planner reasons over object distributions using LLM-informed histogram beliefs, while a low-level motion planner models navigation uncertainty with obstacle-aware particle beliefs as domain knowledge to guide high-level POUCT. This interleaved design balances planning quality and efficiency despite the large search space across unknown multi-room environments. Both simulation and real-world experiments show that our Inter-POMDP algorithm reduces collision counts by up to 63%, navigation steps by up to 35%, and detection counts by up to 32% compared with baseline methods. Full videos are https://sites.google.com/view/inter-pomdp
arXiv PDF
VINE: Taming Generative Control Policies for Reinforcement Learning
Rushuai Yang, Zhuo Han, Houlin Li, Hecheng Wang, Zhichao Wu, Rui Zhang, Zhaowei Zhang, Zihong Chen, Xiaohan Yan, Chiming Liu, Yi Chen, Wei Shan, Maoqing Yao
arXiv:2607.10369v1 • 2026-07-11
Flow-matching policies have emerged as an effective policy parameterization for robot learning. They iteratively generate actions from noise, enabling highly expressive modeling of complex and multimodal action distributions. However, prior works observed that scaling these policies with value-gradient reinforcement learning (RL) often leads to training instability. Existing methods attribute this instability to iterative generation and therefore avoid end-to-end value-gradient optimization by sacrificing iterative generation, high expressiveness, or value-gradient optimization. Contrary to prior belief, we show the instability does not stem from iterative generation itself, but from the vanilla sampling strategy originally designed for behavior cloning, which becomes brittle under value-gradient RL. Motivated by this insight, we propose VINE, an RL-oriented sampling method that enables stable end-to-end value-gradient optimization for flow-matching policies. Instead of following a single flow trajectory, VINE reconstructs a new interpolation state at every denoising step, creating a stable differentiable path for value-gradient propagation while remaining compatible with the original flow-matching denoising process. As a result, VINE preserves the expressiveness and iterative generation of flow-matching without sacrificing end-to-end value-gradient optimization. Despite performing end-to-end backpropagation through all ten denoising steps, VINE achieves stable policy improvement and consistently outperforms state-of-the-art RL methods on the OGBench offline RL benchmark and real-world robotic manipulation task. Videos are available on our website: https://agibottech.github.io/vine.
arXiv PDF
Structured Evidence Selection for Weakly Supervised Video Anomaly Detection
Chenglizhao Chen, Tianxiang Nan, Wen Li, Xinyu Liu, Guisheng Zhang, Mengke Song, Xiaomin Yu
arXiv:2607.10298v1 • 2026-07-11
Weakly supervised video anomaly detection relies solely on video-level labels for training, making it difficult to accurately localize anomalous events in complex scenes. In real-world videos, anomalous behaviors exhibit large variations in appearance and temporal duration, while scene appearance and action dynamics are often tightly entangled. Consequently, existing models tend to rely on scene-related statistical cues rather than true behavioral deviations, resulting in unstable detection performance. To address this challenge, we propose a Structured Evidence Selection framework (SESAD) that reformulates anomaly detection as a structured reasoning process over clip-level visual evidence. Instead of directly mapping aggregated features to anomaly scores, SESAD reorganizes clip representations into semantically structured candidate evidence and performs context-conditioned selection under scene and action constraints. This mechanism adaptively emphasizes anomaly-relevant semantics while suppressing scene interference, thereby alleviating semantic entanglement under weak supervision. Furthermore, we introduce a lightweight geometric discrimination module that constructs a dual-prototype structure in the embedding space, enabling anomaly decisions through relative geometric relations. Extensive experiments on UBnormal, ShanghaiTech, and UCF-Crime show that SESAD achieves 67.92, 97.99, and 88.46 AUC, respectively, while maintaining high computational efficiency and overall consistently stable anomaly discrimination.
arXiv PDF
2026-07-10
63 篇
Robotics
54
默认显示 5 篇
Plug-and-Play Reweighting for Resilient Collaborative Decision-Making in Connected Autonomous Driving
Jiewen Liu, Rui Liu, Matthew Lee, Ming C. Lin, Xiaorui Liu, Peng Gao
arXiv:2607.10037v1 • 2026-07-10
Collaborative decision-making is a fundamental capability in multi-robot systems, such as connected autonomous vehicles. However, perceptual noise and adversarial attacks in collaborators can severely affect decision reliability. Overall, existing methods typically rely on retraining with attack-specific defenses or on restrictive perturbation assumptions to improve resilience, which limits their practicality. In this paper, we propose a novel Resilient Collaborative Decision-Making (RCDM) framework that consists of an attention-based encoder for extracting individual robot perceptual embeddings and an attention-based decoder for fusing collaborator perceptions and making decisions. To improve resilience to corrupted observations, we design a novel plug-and-play reweighting module that down-weights the influence of corrupted inputs by analyzing the consistency of neighborhood points relative to the local structure and assigning smaller weights to points that deviate strongly from the local median. This module can be seamlessly integrated into attention-based collaborative decision-making without requiring additional training. We evaluate our method in high-fidelity simulations, considering perceptual noise and five types of attacks across diverse accident-prone scenarios. Experimental results demonstrate that our approach consistently outperforms existing methods by up to 26% and achieves state-of-the-art resilient performance.
Comment: 8 pages, 4 figures, 2 tables. Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)
arXiv PDF
Runtime Safety Filtering for Learned Small UAS Separation Policies under GNSS Degradation
Alex Zongo, Peng Wei
arXiv:2607.10014v1 • 2026-07-10
Learning-based separation assurance for small Unmanned Aircraft Systems (sUAS) achieves near-zero collision rates in simulation, but assumes accurate position and velocity information from Global Navigation Satellite Systems (GNSS). This assumption fails in urban environments, where multipath propagation, signal blockage, and intentional interference degrade navigation integrity. This raises a fundamental architectural question for deploying learned separation policies under GNSS degradation: should runtime safety mechanisms filter the policy's actions or its observations? This work evaluates both approaches for multi-agent sUAS separation under adversarial GNSS degradation. Both architectures first estimate a worst-case traffic state consistent with bounded observation uncertainty, then diverge: action filtering constrains policy outputs via discrete-time control barrier functions evaluated at the worst-case state, while observation filtering presents the worst-case state directly to the policy as corrected input. Experimental results show that action filtering provides negligible safety improvement, while observation filtering reduces near mid-air collisions by 90% and remains robust to the barrier function's tradeoff between separation distance and closing rate. These results suggest that, for policies with learned safety behaviors, preserving the policy's decision authority outperforms overriding its actions with hand-designed constraints.
Comment: Accepted for publication at the 2026 IEEE/AIAA Digital Avionics Systems Conference (DASC). 9 pages, 8 figures
arXiv PDF
A 3DGS-Driven Dynamic Viewpoint and Vibrotactile Framework for Subsea Teleoperation Validated via fNIRS
Fang Xu, Tianyu Zhou, Ruitong Tian, Md Jahidul Islam, Jing Du
arXiv:2607.13067v1 • 2026-07-10
Teleoperating remotely operated vehicles (ROVs) in flooded, cluttered infrastructure is fundamentally limited by narrow 2D egocentric views and subsea communication latency. We present a multimodal teleoperation architecture built on a ROS-Unity framework that decouples proactive spatial planning from reactive boundary avoidance. The system replaces static camera feeds with a Dynamic Adaptive Viewpoint System (DAVS), which uses continuous optimization and real-time 3D Gaussian Splatting (3DGS) to synthesize an occlusion-free exocentric viewpoint from onboard state estimation. To further reduce sensory workload, a torso-mounted vibrotactile suit maps local obstacle clearance to intuitive haptic proximity cues. The architecture was evaluated in a controlled human-subject study (N = 30) using a BlueROV2 navigating a complex simulated underwater facility. A 3 x 4 repeated-measures design compared three interaction modalities (Egocentric, Haptic, Exocentric) under four communication delays (0.0-1.0 s). Performance was quantified using behavioral measures and functional near-infrared spectroscopy (fNIRS) to assess task-evoked prefrontal activation. Results show that reactive haptic feedback improves path adherence under minimal delay, whereas the 3DGS-driven exocentric visualization provides superior resilience under severe latency (0.5-1.0 s), significantly outperforming the other modalities. fNIRS further revealed a cognitive disengagement effect: increasing latency during conventional egocentric teleoperation overloaded working memory and reduced prefrontal activation, whereas the proactive spatial context provided by DAVS sustained executive control. These findings demonstrate that spatially grounded, multimodal assistance can substantially improve operator performance and cognitive endurance during latency-degraded underwater teleoperation.
Comment: 9 pages, 6 figures
arXiv PDF
VehAnchor: Metadata-Free Metric Scale Recovery from Vehicle Cues in Aerial Imagery
Yifei Chen, Chenqian Le, Jiayi Cheng, Xupeng Chen
arXiv:2603.04277v2 •updated • 2026-03-04
Autonomous aerial robots operating in GPS-denied or communication-degraded environments frequently lose access to camera metadata and telemetry, leaving onboard perception systems unable to recover the absolute metric scale of the scene. As LLM/VLM-based planners are increasingly adopted as high-level agents for embodied systems, their ability to reason about physical dimensions becomes safety-critical -- yet our experiments show that five state-of-the-art VLMs suffer from \emph{spatial scale hallucinations}, with median area estimation errors exceeding 50\%. We propose VehAnchor, a lightweight, deterministic \emph{Geometric Perception Skill} designed as a callable tool that any LLM-based agent can invoke to recover Ground Sample Distance (GSD) from ubiquitous environmental anchors: small vehicles detected via oriented bounding boxes, whose modal pixel length is robustly estimated through kernel density estimation and converted to GSD using a pre-calibrated reference length. The tool returns both a GSD estimate and a composite confidence score, enabling the calling agent to autonomously decide whether to trust the measurement or fall back to alternative strategies. On the DOTA~v1.5 benchmark, VehAnchor achieves 6.87\% median GSD error on 306~images. Integrated with SAM-based segmentation for downstream area measurement, the pipeline yields 19.7\% median error on a 100-entry benchmark -- with 2.6$\times$ lower category dependence and 4$\times$ fewer catastrophic failures than the best VLM baseline -- demonstrating that equipping agents with deterministic geometric tools is essential for safe autonomous spatial reasoning.
arXiv PDF
PinFT: Miniature 5-Axis Force/Torque Sensor Embeddable to Tweezer-like Tool
Leo King, Jenny Chen, Tae Myung Huh
arXiv:2607.10000v1 • 2026-07-10
We present PinFT, a miniature five-axis capacitive force/torque sensor designed for direct tip-level integration into tweezer-like tools. The sensor employs a compact three-PCB stack with segmented plated through-hole electrodes and a silicone elastomer dielectric, enabling five-degree-of-freedom force and torque sensing ($F_x$, $F_y$, $F_z$, $T_x$, $T_y$) through displacement of a central 2\,mm-diameter stainless steel pin. The fabricated prototype was calibrated using a higher-order polynomial mapping, yielding mean absolute errors of approximately 0.23\,N for forces and 2.5\,mN$\cdot$m for torques, with coefficients of determination ($R^2$) exceeding 0.97 across all axes. To demonstrate practical utility, a 3D-printed tweezer integrating PinFT sensors at both tips was mounted on a parallel-jaw gripper and evaluated across three representative manipulation tasks: grasping a sub-millimeter SMD capacitor, pulling a simulated hair from a silicone substrate, and tearing a compliant silicone specimen. In all cases, per-tip force sensing reliably captured characteristic force signatures that distinguish successful manipulation from failure events -- including slip and object ejection -- using gradient-based features derived from internal grasp force and net interaction force. These results demonstrate that direct, per-tip force sensing enables standard parallel-jaw grippers to monitor and interpret fine manipulation tasks performed through a handheld tweezer.
arXiv PDF
Video World Models
9
默认显示 5 篇
On Occlusions in Video Action Detection: Benchmark Datasets And Training Recipes
Rajat Modi, Vibhav Vineet, Yogesh Singh Rawat
arXiv:2410.19553v2 •updated • 2024-10-25
This paper explores the impact of occlusions in video action detection. We facilitate this study by introducing five new benchmark datasets namely O-UCF and O-JHMDB consisting of synthetically controlled static/dynamic occlusions, OVIS-UCF and OVIS-JHMDB consisting of occlusions with realistic motions and Real-OUCF for occlusions in realistic-world scenarios. We formally confirm an intuitive expectation: existing models suffer a lot as occlusion severity is increased and exhibit different behaviours when occluders are static vs when they are moving. We discover several intriguing phenomenon emerging in neural nets: 1) transformers can naturally outperform CNN models which might have even used occlusion as a form of data augmentation during training 2) incorporating symbolic-components like capsules to such backbones allows them to bind to occluders never even seen during training and 3) Islands of agreement can emerge in realistic images/videos without instance-level supervision, distillation or contrastive-based objectives2(eg. video-textual training). Such emergent properties allow us to derive simple yet effective training recipes which lead to robust occlusion models inductively satisfying the first two stages of the binding mechanism (grouping/segregation). Models leveraging these recipes outperform existing video action-detectors under occlusion by 32.3% on O-UCF, 32.7% on O-JHMDB & 2.6% on Real-OUCF in terms of the vMAP metric. The code for this work has been released at https://github.com/rajatmodi62/OccludedActionBenchmark.
Comment: NeurIPS 2023
arXiv PDF
PanoWorld: Real-World Panoramic Generation
Haoyuan Li, Dizhe Zhang, Yuemei Zhou, Xiangkai Zhang, Haoran Feng, Xiaofan Lin, Wenjie Jiang, Bo Du, Ming-Hsuan Yang, Lu Qi
arXiv:2607.09661v1 • 2026-07-10
In this work, we aim to address the challenge of long-range memory in panoramic world models by exploiting the rotation-equivariant property of omnidirectional representations, where rotation can be treated as an implicit geometric transformation.Building on this insight, we propose PanoWorld, which simplifies camera trajectories into translations via fixed headings for both current-action modeling and long-range memory through Dense Panoramic Ray-Conditioning (DPRC) and Geometry-aware Memory Augmentation (GMA).Then, a three-stage training pipeline is introduced to progressively optimize each component. To better evaluate physical consistency under large-scale spatial variations and diverse illumination conditions, where existing datasets are relatively stable, we construct World360, a large-scale dataset consisting of both real-world video clips collected via panoramic unmanned aerial vehicles and high-quality simulated clips generated by AirSim360.Extensive experiments on World360 demonstrate the effectiveness of PanoWorld, outperforming alternative methods by a large margin.Our models, training code, and dataset will be publicly available. More information can be found on our project page: https://lihaoy-ux.github.io/panoworld-page/.
Comment: Project page: https://lihaoy-ux.github.io/panoworld-page/ Code:https://github.com/Insta360-Research-Team/PanoWorld
arXiv PDF
OpenLongTail: Generative Scaling of Long-Tail Driving Data
Lulin Liu, Nuo Chen, Yan Wang, Bangya Liu, Wenyan Cong, Hezhen Hu, Boris Ivanovic, Hao Wang, Ziyao Zeng, Xinyu Gong, Yang Zhou, Zixiang Xiong, Dilin Wang, Zhangyang Wang, Weisong Shi, Ruohan Zhang, Marco Pavone, Zhiwen Fan
arXiv:2607.09655v1 • 2026-07-10
Scaling robust driving policies is fundamentally bottlenecked by the scarcity of edge cases in curated datasets. While the real world continuously captures these critical events, such long-tail events remain underutilized when collected from heterogeneous sources. Specifically, diverse but valuable in-the-wild long-tail videos lack the full view coverage required for training policy models, often missing multi-view poses or originating solely from monocular dash cameras. This modality gap prevents these ubiquitous observations from being converted into scalable training data for long-tail generalization. We introduce OpenLongTail, an open-source generative data engine for scaling autonomous driving policies under long-tail events. To transform heterogeneous data sources into view-aligned and temporally coherent multi-view assets that are useful for policy learning, we develop a pose-informed extrapolative view synthesis pipeline that generates the missing views. We further enhance cross-view consistency and the temporal alignment for the newly generated views by injecting Plücker ray geometry into the scalable generation engine. By synthesizing heterogeneous long-tail data, we observe a significant improvement in closed-loop driving robustness in handling long-tail events. By measuring the extrapolative view synthesis and pose metrics, we validate the effectiveness of OpenLongTail in visual fidelity, cross-view consistency, and ego-trajectory recovery.
Comment: Project page: https://openlongtail.github.io/
arXiv PDF
GenVid2Robot: From Video Generation to Robot Manipulation via Rigid-Geometric Consistency
Haohui Huang, Xi Yuan, Panpan Liao, Tao Teng, Chenguang Yang, Jing Guo, Yi Guo
arXiv:2607.09191v1 • 2026-07-10
Generated videos provide useful visual motion priors for robot manipulation, but their visual plausibility does not imply physical executability. A generated video usually lacks metric geometry, grasp grounding, robot kinematic feasibility, and execution-time feedback, which makes direct trajectory replay unreliable in real-world manipulation. This paper presents GenVid2Robot, a rigid-geometric consistency framework that converts generated video motion into executable real-robot manipulation trajectories. Given an initial RGB-D observation and a task instruction, GenVid2Robot samples task-relevant semantic anchors from the real first frame, tracks these anchors through generated video candidates, and verifies whether the resulting 2D motion can be explained by first-frame RGB-D anchors under a sparse relative $SE(3)$ model. In this way, generated videos are treated as uncertain visual motion hypotheses rather than direct robot demonstrations. Only geometrically consistent motion is transferred to the robot. The accepted relative motion is then applied to the real grasp-time TCP pose selected by mask-constrained grasping, producing a grasp-conditioned execution trajectory that is consistent with both the visual motion prior and the physical grasp configuration. To reduce execution mismatch caused by RGB-D noise, calibration residuals, and small contact-induced displacement, a bounded depth-compensation module corrects local depth-direction errors without assuming full online replanning. Real-robot experiments demonstrate that GenVid2Robot improves the reliability of generated-video-guided manipulation by grounding visual motion priors with sparse metric geometry, grasp constraints, robot feasibility checking, and bounded execution feedback.
Comment: Preprint
arXiv PDF
Causally Debiased Latent Action Model for Embodied Action Conditioned World Models
Yufan Wei, Kun Zhou, Lingjun Mao, Zijun Zhang, Ziming Xu, Ziqiao Xi, Shuang Liang, Ruobing Han, Yuchen Yan, Xinyue Wang, Fan Feng, Biwei Huang
arXiv:2607.09185v1 • 2026-07-10
Action-conditioned world models (ACWMs) aim to simulate future observations conditioned on embodied actions, offering a promising foundation for robot planning, policy evaluation, and data augmentation. However, learning controllable ACWMs requires large-scale action-labeled data, which remains costly to collect in the real world. Latent action models (LAMs) mitigate this bottleneck by inferring latent actions from unlabeled videos, but existing LAMs are typically trained with reconstruction-only objectives and therefore entangle action-relevant dynamics with action-irrelevant visual factors such as backgrounds and untouched objects. In this work, we identify this action-irrelevant bias as a key obstacle to controllable ACWMs and introduce evaluation metrics to measure latent-action bias, action following, and robustness. We propose CD-LAM, a causally debiased framework for LAM-based ACWMs. CD-LAM introduces three efficient fine-tuning objectives: embodiment-centric reconstruction, action-centric contrastive learning, and latent space calibration, which together encourage embodiment-focused, action-aware, and calibrated non-collapsed latent action representations. Experiments on 2B and 14B ACWM backbones show that CD-LAM substantially improves latent-action controllability, downstream robot-action following, visual fidelity, and adaptation efficiency, requiring only 6k fine-tuning steps and more than 12$\times$ fewer robot-action adaptation updates than the baseline.
arXiv PDF
2026-07-09
66 篇
Robotics
55
默认显示 5 篇
CLAP: Direct VLM-to-VLA Adaptation via Language-Action Grounding
Yuri Ishitoya, Jeremy Siburian, Masashi Hamaya, Kuniaki Saito, Cristian C. Beltran-Hernandez, Mai Nishimura
arXiv:2607.08974v1 • 2026-07-09
Vision-language-action models (VLAs) inherit semantic capabilities from pretrained VLMs, yet large-scale post-training on robot data and architectural modifications can reshape the backbone so extensively that it becomes difficult to isolate what the VLM contributes to control. Directly converting pretrained VLMs into VLAs with minimal architectural change offers a more transparent path to understanding how VLM capabilities transfer across model scales. The core obstacle is output-distribution mismatch: predicting actions as bare numeric token sequences moves generation away from the VLM's pretrained language distribution, degrading the capabilities we seek to preserve. To address this, we propose CLAP (Causal Language-Action Prediction), which prepends each numeric action sequence with a natural-language action description, causally conditioning precise action-token prediction on a language-action plan without modifying the backbone architecture. With single-epoch fine-tuning alone, 2B CLAP achieves 90.8% on LIBERO (+14.9 pt over VLA-0) and improves robustness on LIBERO-PRO under language, object, and spatial perturbations. We will release CLAP at 0.8B, 2B, and 4B as an open-weight, multi-scale compact VLA family from a single VLM lineage, enabling controlled analysis of VLM-to-VLA capability transfer.
Comment: Project website: https://omron-sinicx.github.io/clap/
arXiv PDF
Impedance-Guided Programmable Transmission of Localized Deformation in Modular Soft Metamaterials
Weiyun Xu, Daewon Hong, Zhi Zhao, Rahul Dev Kundu, Xiaojia Shelly Zhang
arXiv:2607.08966v1 • 2026-07-09
Soft metamaterials provide a promising platform for robotics, biomedical devices, and flexible electronics. The localized mechanical responses by nonuniform excitation are ubiquitous in soft materials, yet their controlled transmission across assemblies remains largely overlooked in metamaterial design, which critically constrains nontrivial functionalities with end-to-end and long-range deformation transmission. Here, we introduce an impedance-guided design framework that enables programmable transmission of localized deformation in modular soft metamaterials, achieving behaviors unattainable by intuitive design. By establishing a nonlinear model considering position-dependent interactions and integrating the concept of mechanical impedance within metamaterials, we regulate assembly-level transmission solely through unit-cell topology optimization. The resulting framework enables effective synthesis of module families, allowing both homogeneous and heterogeneous assemblies to be custom-built with markedly enhanced transmission characteristics. Leveraging the highly combinatorial and extensible design space, we physically realize diverse on-demand displacement manipulation architectures, including obstacle-bypassing modular soft-metamaterial assemblies, defect-tolerant soft gripping, and embodied signal processing. Beyond deformation programming, the reconfigurability and reassemblability of these soft modules can embed electric logic signals, enabling energy-efficient and low-latency information processing through compliant-switch-controlled mechanical LED displays and wearable finger-motion-sensing controllers. Our method provides fundamental insights into localized deformation transmission in modular soft metamaterials and establishes a scalable route toward embodied-intelligence material systems, particularly for soft-metamaterial-centric actuation, sensing, and collective computing.
arXiv PDF
Exploring the Intrinsic Geometry of Diffusion Models with Constrained Inverse Kinematics
Miguel Angel Rogel Garcia, Phone Thiha Kyaw, Jonathan Kelly
arXiv:2606.26408v2 •updated • 2026-06-24
Recent studies suggest that diffusion models can recover geometric structure in the data manifolds they are trained on, yet the supporting evidence has so far come mostly from natural-image data, where the underlying geometry itself is unknown. We study this question in a setting where the geometry is analytically tractable: constrained inverse kinematics (IK). Each task-space constraint defines a configuration-space manifold with known intrinsic dimension, giving direct ground truth for evaluating the geometry learned by the model. For each of the 6-DoF UR5 and 7-DoF Franka, we train a single conditional diffusion model across seven constraint families, spanning solution manifolds from discrete IK branches to self-motion manifolds. Our empirical results reveal that the intrinsic dimension recovered from the model's score function matches the analytical degrees of freedom of the corresponding constraint manifold across both robots. Moreover, linear interpolation in the latent space leads to generated solutions that remain close to the appropriate constraint manifold, indicating that the learned representation further captures geometric structure of the constraint family beyond intrinsic dimension alone. Constrained IK therefore offers a controlled setting for studying the intrinsic geometry learned by diffusion models.
Comment: Accepted to Robotics: Science and Systems (RSS) 2026 Workshop on Diffusion for Robot Learning
arXiv PDF
SplatCtrl: Perception-Action Coupling via Gaussian Scene Representations and Reactive Robot Control
Siddarth Jain, Ho Jin Choi
arXiv:2607.08948v1 • 2026-07-09
Robotic manipulators excel in structured environments but face substantial challenges in unstructured and dynamic settings. This paper presents SplatCtrl, a unified framework for real-time scene reconstruction and reactive robot motion generation to enable collision-free robotic arm control in previously unseen and continuously changing environments. Building on 3D Gaussian Splatting (3D-GS), we introduce a hybrid voxel-based filtering and dynamic Gaussian relocation strategy that supports efficient scene reconstruction from RGB-D streams while accommodating environmental changes. For safe and reactive control, we further propose a method for deriving continuous signed distance functions from isotropic Gaussians, providing stable and differentiable collision probability estimates that bridge classical distance fields with the modern implicit representation. These continuous distance metrics are incorporated into control barrier functions, resulting in a unified perception-action coupling framework that supports smooth and reliable real-time motion generation in response to scene changes. Experimental validation in simulation, on physical robot, and within shared human-robot workspace demonstrates the framework's effectiveness, achieving integrated scene reconstruction and reactive control in uncertain, and dynamic environments.
Comment: Published in 2026 International Conference on Robotics and Automation (ICRA). 8 pages, 8 figures
arXiv PDF
Adaptive MPPI with Online Disturbance Covariance Estimation: Provable Stability Tightening via Spatial Smoothing
Hyung-Jin Yoon, Hunmin Kim
arXiv:2607.08942v1 • 2026-07-09
We study Model Predictive Path Integral (MPPI) control for nonlinear systems with additive process disturbances whose covariance is unknown, spatially varying, and slowly time-varying. A mismatched disturbance covariance produces a persistent penalty in closed-loop stability certificates, while online estimation can reduce this penalty as data are collected. We propose a cell-wise recursive covariance estimator with spatial diffusion and prove a finite-horizon error bound that separates stochastic-approximation error, spatial-smoothing bias, and temporal-drift effects. The diffusion kernel is chosen to be reversible with respect to the stationary visitation measure, making the diffusion operator dissipative in the weighted Lyapunov analysis. We then substitute the resulting covariance estimate into the MPPI sampling distribution and derive an adaptive stability certificate with an explicit learning penalty. The main result is a payoff theorem: after a computable crossover time, the adaptive controller achieves a strictly tighter certified stability bound than any fixed covariance choice whose mismatch exceeds the residual smoothing and drift allowance. Numerical experiments illustrate the estimator convergence and the resulting stability-tightening effect.
Comment: 19 pages. Companion papers: arXiv:2607.04006 and arXiv:2607.06945. Simulation code: https://github.com/LCAS-Lab/mppi-noise-covariance-estimation
arXiv PDF
Video World Models
11
默认显示 5 篇
Test-Time Adaptation via Cache Personalization for Facial Expression Recognition in Videos
Masoumeh Sharafi, Muhammad Osama Zeeshan, Soufiane Belharbi, Alessandro Lameiras Koerich, Marco Pedersoli, Eric Granger
arXiv:2603.21309v3 •updated • 2026-03-22
Facial expression recognition (FER) in videos requires model personalization to capture considerable variations across subjects. Vision-language models (VLMs) offer strong transfer to downstream tasks through image-text alignment, but their performance can degrade under inter-subject distribution shifts. Test-time adaptation (TTA) can mitigate this challenge. However, most state-of-the-art TTA methods rely on unsupervised parameter optimization, introducing computational overhead that is impractical in many real-world applications. This paper introduces TTA through Cache Personalization (TTA-CaP), a cache-based TTA method that enables cost-effective, gradient-free personalization of VLMs for video FER. Prior cache-based TTA methods rely solely on dynamic memories that store test samples, which can accumulate errors and drift because of noisy pseudo-labels. TTA-CaP instead introduces three complementary caches: a personalized static cache constructed through feature-statistics matching, a positive target cache that accumulates reliable subject-specific samples, and a negative target cache that stores low-confidence cases as negative samples. To prevent target-cache corruption, a tri-gate mechanism controls cache updates based on temporal stability, confidence, and consistency with the personalized static cache. Together, these caches provide complementary, subject-matched positive and negative evidence for robust online personalization. TTA-CaP further refines predictions by fusing embeddings, yielding representations that support temporally stable video-level predictions. Experiments on BioVid, StressID, and BAH show that TTA-CaP outperforms state-of-the-art TTA methods under subject-specific and environmental shifts while maintaining low computational and memory overhead. Our code is publicly available at https://github.com/MasoumehSharafi/TTA-CaP.
arXiv PDF
LongE2V: Long-Horizon Event-based Video Reconstruction, Prediction, and Frame Interpolation with Video Diffusion Models
Cheng-De Fan, Chun-Wei Tuan Mu, Chen-Wei Chang, Chin-Yang Lin, Kun-Ru Wu, Yu-Chee Tseng, Yu-Lun Liu
arXiv:2607.08770v1 • 2026-07-09
Recovering high-quality video from sparse event streams is a challenging task. Regression methods often blur textures, while existing generative models struggle with long-term stability. We propose LongE2V, a novel approach that leverages pre-trained video diffusion priors to jointly handle event-based video reconstruction, prediction, and frame interpolation. By fine-tuning a foundational video model, our approach achieves high data efficiency and superior perceptual quality. We introduce Autoregressive Unrolling and Adaptive Context Switching to mitigate temporal drift in extremely long sequences. We also propose Reencoding Alignment with Cross Residual Correction to ensure precise bidirectional consistency during frame interpolation. Furthermore, Event Voxel Density Augmentation ensures robustness across varying sensor resolutions. Extensive experiments on real-world benchmarks demonstrate that LongE2V outperforms state-of-the-art methods across all three tasks, exhibiting exceptional temporal coherence and zero-shot generalization. Project page: https://cdfan0627.github.io/LongE2V-page/
Comment: SIGGRAPH 2026. Project page: https://cdfan0627.github.io/LongE2V-page/
arXiv PDF
AUTOPILOT VQA: Benchmarking Vision-Language Models for Incident-Centric Dashcam Understanding
Siddharth Damodharan, Radhika Gupta, Ali Alshami, Ryan Rabinowitz, Jugal Kalita
arXiv:2607.08745v1 • 2026-07-09
Recent advances in Vision-Language Models, Large Language Models, and Multimodal Large Language Models have improved autonomous driving tasks such as scene understanding, decision making, trajectory prediction, and visual question answering. However, evaluating whether these models can reliably reason about safety-critical incidents remains challenging. To address this gap, we present AUTOPILOT-VQA, an incident-centric visual question answering benchmark for dashcam video understanding. The dataset evaluates different systems through structured questions designed around real-world driving incidents and near-incidents. The benchmark covers diverse safety-relevant categories, including weather and lighting conditions, traffic environment, road layout, road surface state, signage, involved entities, accident occurrence, impact location, and avoidability-related reasoning. By requiring models to answer grounded questions about both contextual scene properties and event-level incident details, AUTOPILOT-VQA moves beyond object recognition toward temporally grounded, safety-aware reasoning. The dataset is released as part of the AUTOPILOT CVPR 2026 competition and provides a standardized benchmark for assessing the reliability of autonomous driving systems in different scenarios. Our benchmark support developments for more interpretable, robust, and safety-conscious vision-language systems for real-world autonomous driving.
Comment: CVPR Autopilot Workshop
arXiv PDF
Pose-to-Biomechanics: Bridging 3D Human Pose Estimation and Biomechanical Attribute Prediction
Ayda Eghbalian, Kevin Desai
arXiv:2607.08725v1 • 2026-07-09
Recent progress in 3D human pose estimation has made markerless recovery of skeletal motion increasingly accurate and scalable. However, most pose estimators remain optimized for geometric keypoint accuracy, while many real-world applications in rehabilitation, sports science, ergonomics, and clinical movement analysis require biomechanical quantities that describe how the body moves, loads, and activates. In this work, we propose BioModule, a lightweight plug-in temporal transformer that attaches downstream of any 3D pose estimator and predicts biomechanical attributes from standard 17-joint 3D skeletons. BioModule is estimator-agnostic and requires no modification of the upstream pose model, enabling existing pose estimators to be extended toward physically interpretable motion analysis. To train and evaluate BioModule, we construct a large-scale aligned dataset pairing Human3.6M video and 3D keypoints with the biomechanical label space of Human3.6Mplus. We establish and verify anatomical correspondence between coordinate systems of the two datasets, enabling frame-accurate cross-modal supervision. Using this aligned supervision, BioModule predicts biomechanical quantities. We further benchmark BioModule across seven state-of-the-art 3D pose estimators, providing the first systematic analysis of how upstream pose estimation quality propagates to downstream biomechanical prediction fidelity. The results position BioModule as a compact, modular bridge between vision-based pose estimation and biomechanically meaningful human motion analysis.
Comment: 23 pages, 2 figures
arXiv PDF
Native Video-Action Pretraining for Generalizable Robot Control
Qihang Zhang, Lin Li, Luyao Zhang, Shuai Yang, Yiming Luo, Shuaiting Li, Ruilin Wang, Junke Wang, Jiahao Shao, Gangwei Xu, Jiaming Zhou, Yishu Shen, Yudong Jin, Fangyi Xu, Shuailei Ma, Jiaqi Liao, Guanxing Lu, Zifan Shi, Yongkun Wen, Yujie Zhao, Weixuan Tang, Xinyang Wang, Chaojian Li, Jiapeng Zhu, Ka Leong Cheng, Nan Xue, Xing Zhu, Yujun Shen, Yinghao Xu
arXiv:2607.08639v1 • 2026-07-09
The advent of video-action models offers a promising path for robot control. Nevertheless, we argue that repurposing video generative models designed for digital content creation is inherently inadequate for physical environments. To bridge this gap, we present LingBot-VA 2.0, a video-action foundation model built from the ground up for embodiment. Four core design principles showcase its evolution from LingBot-VA. (1) Departing from traditional reconstruction-focused VAEs, we introduce a semantic visual-action tokenizer, which aligns visual representations with both semantics and actions, improving instruction following and action precision in subsequent policy learning. (2) Given the strictly causal nature of temporal dynamics, we adopt a causal pretraining paradigm, training from scratch to circumvent the catastrophic forgetting that frequently occurs when adapting bidirectional architectures. (3) To meet the demands of high-frequency inference, our model employs a sparse MoE backbone, expanding model capacity without compromising efficiency. (4) Real-time closed-loop control is realized through an enhanced asynchronous inference scheme, which predicts future latents in parallel with action execution while re-grounding each rollout on the latest observation via learned forward dynamics. Real-world deployment validates LingBot-VA 2.0 as a robust foundation model, as evidenced by its few-shot generalization across complex manipulation tasks.
arXiv PDF
2026-07-08
77 篇
Robotics
68
默认显示 5 篇
FastTrack: GPU-Accelerated Tracking for Visual SLAM
Kimia Khabiri, Parsa Hosseininejad, Shishir Gopinath, Karthik Dantu, Steven Y. Ko
arXiv:2509.10757v2 •updated • 2025-09-13
The tracking module of a visual-inertial SLAM system processes incoming image frames and IMU data to estimate the position of the frame in relation to the map. It is important for the tracking to complete in a timely manner for each frame to avoid poor localization or tracking loss. We therefore present a new approach which leverages GPU computing power to accelerate time-consuming components of tracking in order to improve its performance. These components include stereo feature matching and local map tracking. We implement our design inside the ORB-SLAM3 tracking process using CUDA. Our evaluation demonstrates an overall improvement in tracking performance of up to 2.8x on a desktop and Jetson Xavier NX board in stereo-inertial mode, using the well-known SLAM datasets EuRoC and TUM-VI.
Comment: Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)
arXiv PDF
TurboMap: GPU-Accelerated Local Mapping for Visual SLAM
Parsa Hosseininejad, Kimia Khabiri, Shishir Gopinath, Soudabeh Mohammadhashemi, Karthik Dantu, Steven Y. Ko
arXiv:2511.02036v5 •updated • 2025-11-03
In real-time Visual SLAM systems, local mapping must operate under strict latency constraints, as delays degrade map quality and increase the risk of tracking failure. GPU parallelization offers a promising way to reduce latency. However, parallelizing local mapping is challenging due to synchronized shared-state updates and the overhead of transferring large map data structures to the GPU. This paper presents TurboMap, a GPU-parallelized and CPU-optimized local mapping backend that holistically addresses these challenges. We restructure Map Point Creation to enable parallel Keypoint Correspondence Search on the GPU, redesign and parallelize Map Point Fusion, optimize Redundant Keyframe Culling on the CPU, and integrate a fast GPU-based Local Bundle Adjustment solver. To minimize data transfer and synchronization costs, we introduce persistent GPU-resident keyframe storage. Experiments on the EuRoC and TUM-VI datasets show average local mapping speedups of 1.3x and 1.6x, respectively, while preserving accuracy.
Comment: Accepted for presentation at IROS 2026, preprint
arXiv PDF
In vivo feasibility study of humanoid robots in surgery
Zekai Liang, Nikita Thareja, Peihan Zhang, Calvin Joyce, Soofiyan Atar, Florian Richter, Garth Jacobsen, Shanglei Liu, Ryan Broderick, Michael Yip
arXiv:2607.07972v1 • 2026-07-08
Recent advances in actuation, control and learning have rapidly pushed humanoid robots from a distant vision towards near-term real-world deployment. Healthcare is a particularly pressing domain, in which staffing shortages and increasing care demand are widening the gap between clinical workload and available skilled labour. Although current automation has largely focused on digital and logistical tasks, much hospital work remains embodied, requiring mobility, manipulation and safe interaction in human-designed environments. Humanoid form factors offer unique potential, particularly for assisting with surgical tasks. Traditionally, robotic systems for surgery are purpose-built platforms such as Intuitive Surgical's da Vinci Surgical System, and it remains unclear how close current humanoid systems are to meeting the precision, control and safety requirements of minimally invasive surgery. Here we present a systematic evaluation of contemporary humanoid technology for laparoscopic surgical tasks. We develop a humanoid-based laparoscopic teleoperation framework using general-purpose instruments and assess its abilities through benchtop characterization, dry-laboratory user studies spanning diverse surgical experience levels and in vivo porcine studies. Across these evaluations, we quantify technical feasibility, task performance and clinical readiness relative to established surgical platforms. Together, our study provides an evidence-based assessment of current humanoid abilities and limitations for surgical applications, highlighting both their promise and key technical challenges that must be addressed before clinical deployment.
arXiv PDF
ZAPS-DA: Zero-Phase Action Policy Smoothing with Decoupled Actor for Continuous Control in Reinforcement Learning
Faiq Shamass
arXiv:2605.30612v2 •updated • 2026-05-28
Continuous control policies trained with off-policy reinforcement learning frequently exhibit high-frequency action jitter, impractical for direct deployment on physical actuators. Post-hoc filtering attenuates jitter but adds phase lag; embedding smoothness penalties in the actor's loss couples them with the RL gradient and conflates reward regression with over-aggressive smoothing. We present ZAPS-DA, which reduces action jitter at deployment with negligible phase lag and no post-processing. ZAPS-DA pairs an unmodified main actor (trained by the base RL loss) with a separate decoupled actor trained via supervised imitation of zero-phase filtered targets stored in the replay buffer. The deployed policy is the decoupled actor: a feed-forward map from observation to smooth action, with no inference-time filter and no action-history input -- causal distillation of a non-causal filter. A magnitude-matched MSE loss gives zero-hyperparameter portability across optimizer classes. Validated with Soft Actor-Critic and a Savitzky-Golay filter in two driving simulators (paired n=150): on MetaDrive (anchor protocol), ZAPS-DA cuts steering jitter 14-21x and throttle jitter 3-5x (all $p<10^{-4}$, Bonferroni) while matching task-completion (p=0.28 success, p=0.31 crash) at 6.3% reward cost; on a custom Webots adaptive cruise control task, the same configuration yields a Pareto improvement -- reward parity (p=0.121), 8-45x steering-jitter reduction, task-failure rate 2.0% to 0.7%. Against CAPS, the standard penalty-based baseline -- at both its auto-entropy and native fixed-entropy operating points, with penalty weight, spatial noise, and entropy coefficient re-tuned per environment -- ZAPS-DA reaches 14.7x steering-jitter reduction versus CAPS's best 3.2x at matched seeds, a ~4.6x gap, with no per-environment tuning of the smoothness signal and post-hoc applicability to trained policies.
Comment: 9 pages, 4 figures, 5 tables. Submitted to IEEE Transactions on Intelligent Vehicles
arXiv PDF
Soft Robotic Exogloves for Dexterous Mobility -- Towards Personalized Rehabilitation
Paul Dela Cruz, Mostafa Mo. Massoud, Jacqueline Libby
arXiv:2607.07968v1 • 2026-07-08
Soft robotic exogloves can provide hand rehabilitation and assistance. Fitting these gloves often relies on standardized measurements not tailored to the individual, limiting their effectiveness, especially for fine articulation necessary for dexterous manipulation. We present the design, fabrication, modeling, and testing of a personalized pneumatically-actuated soft robotic exoglove. The glove was fit to a user's hand with topological scans and fabricated with silicone mold casting. Finite element analysis (FEA) was performed to evaluate actuator bending and forces from physical human-robot interaction (pHRI) between an actuator and a simplified personalized biomechanical finger model. Pneumatic pressure control experiments were conducted to flex the user's finger with static and dynamic references. Fabrication results show that topological scans enable precise tailoring to hand anatomy. Simulations showed that anatomical personalization enables analysis of pHRI contact forces, and results indicate sufficient joint mobilization with non-ideal compression on the proximal phalanx. Pneumatic testing indicates that pressure control allows accurate and targeted mobility of the metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joints with intrinsic stiffness. Testing of multiple designs showed that relaxing the strain-limiting layer improves actuator-to-finger joint alignment during actuation. This work presents personalization to the human hand in structural conformability, joint topology, modeling of pHRI contact, and time-dependent actuation-deformation profiles. This lays a groundwork for informing exoglove design optimization to enable assistance in dexterous manipulation and neuromuscular rehabilitation of fine motor skills.
Comment: 8 pages, 14 figures. To be published in The IEEE RAS/EMBS 11th International Conference on Biomedical Robotics and Biomechatronics (BioRob 2026)
arXiv PDF
Video World Models
9
默认显示 5 篇
Time-to-Collision Based Dynamic Obstacle Avoidance Using Pretrained Vision Models for Robots in Unstructured Environments
Erik Jagnandan, Mulugeta Haile, Gregory Barber, Pratik Chaudhari
arXiv:2607.07885v1 • 2026-07-08
Dynamic obstacle avoidance in unstructured outdoor environments remains a critical challenge for autonomous mobile robots, particularly when large-scale robot-specific training data and simulation-based policies are impractical. We present a data-efficient, interpretable method for vision-based dynamic obstacle avoidance that operates entirely on real-world data, avoiding the sim-to-real transfer problem inherent in simulation-trained policies. Our approach leverages UniDepth, a large pretrained monocular depth estimation model, to produce dense depth maps from RGB video without requiring stereo cameras or LiDAR at inference time. Dynamic obstacle avoidance is achieved by extending the SuperPoint and SuperGlue feature correspondence pipeline to track keypoints across long frame sequences, projecting their 2D pixel-space positions into 3D using camera intrinsics and predicted depth, running bundle adjustment initialized from these 3D keypoints, and computing per-keypoint time-to-collision (TTC). A 2D motion primitive in the ground plane is then selected to move the robot away from the closest point of approach of the minimum-TTC keypoint. Evaluated on real-world data from the M3ED dataset, our pipeline achieves a precision of 0.49 and a recall of 0.38 in identifying frames with a ground truth TTC below 1 second, and correctly generates the evasive motion direction in 84\% of true positive detections. Crucially, it detects at least one frame with TTC less than 1 second for 20 out of 22 unique physical obstacles present in our test sequences. Unlike end-to-end learned methods that demand thousands of hours of robot-specific training data, our approach eliminates model training entirely, requiring only 74 seconds of data for hyperparameter tuning. This demonstrates exceptional data efficiency while preserving interpretable and generalizable behavior across diverse obstacle types.
Comment: 9 pages, 8 figures
arXiv PDF
Scaling Mixture-of-Experts Video Pretraining for Embodied Intelligence
Shuailei Ma, Jiaqi Liao, Xinyang Wang, Jingjing Wang, Chaoran Feng, Zijing Hu, Chong Bao, Zichen Xi, Yuqi Gan, Weisen Wang, Yanhong Zeng, Qin Zhao, Zifan Shi, Wei Wu, Hao Ouyang, Qiuyu Wang, Shangzhan Zhang, Jiahao Shao, Yipengjing Sun, Liangxiao Hu, Lunke Pan, Nan Xue, Kecheng Zheng, Yinghao Xu, Xing Zhu, Yujun Shen, Ka Leong Cheng
arXiv:2607.07675v1 • 2026-07-08
Despite the recent promise in robot control, video generative models suffer from a domain mismatch due to their primary focus on content creation. For example, their design inherently prioritizes visual fidelity and creativity over computational efficiency and physical realism. In this work, we present LingBot-Video, a DiT-based video pretraining paradigm specifically tailored for embodied intelligence. From the architecture perspective, we adopt the Mixture-of-Experts (MoE), instead of dense, framework to achieve a better trade-off between modeling capacity and inference efficiency, and manage to scale it up from scratch. From the data perspective, we construct a data profiling engine that augments standard internet videos with extensive robot-oriented footage, encompassing manipulation, navigation, and egocentric perspectives, to equip the base model with an intrinsic understanding of actions and world dynamics. From the training perspective, we develop a multi-dimensional reward system to enforce the alignment regarding physical rationality and task completion, going beyond standard criteria such as aesthetics, prompt-following, and motion consistency. Comprehensive evaluations validate its performance and efficiency as a video foundation model. We contribute LingBot-Video as the inaugural large-scale, open-source MoE video foundation model to the community, in a pioneering effort to bridge digital creativity and physical actuation.
Comment: Project page: https://technology.robbyant.com/lingbot-video
arXiv PDF
Infinite Worlds with Versatile Interactions
Zelin Gao, Qiuyu Wang, Jiapeng Zhu, Jingye Chen, Zichen Liu, Qingyan Bai, Jiahao Wang, Yufeng Yuan, Hanlin Wang, Yichong Lu, Ka Leong Cheng, Haojie Zhang, Jian Gao, Tianrui Feng, Yuzheng Liu, Yao Yao, Yinghao Xu, Xing Zhu, Yujun Shen, Hao Ouyang
arXiv:2607.07534v1 • 2026-07-08
We present LingBot-World 2.0 (also known as LingBot-World-Infinity), an advanced iteration of LingBot-World featuring four distinct upgrades. (1) Our model achieves an unbounded interaction horizon while maintaining consistent output quality, benefiting from a carefully crafted causal pretraining paradigm. (2) Through distilling a real-time variant from the base model, our system guarantees rapid response time, sufficient to drive 720p video streams at 60 fps. (3) Compared to the previous version, this update introduces highly diverse interactive elements, comprising a broader spectrum of actions (e.g., attacking, archery, spell-casting, and shooting) alongside a richer variety of text-driven events. (4) We pioneer the integration of an agentic harness within the domain of world modeling, wherein a pilot agent is tasked with planning and executing character behaviors, while a director agent is responsible for synthesizing novel environmental elements as the scene progresses. Additionally, to facilitate a shared experience, we develop an interface that permits multiple players to simultaneously immerse themselves in this vivid world simulator. We pair our primary 14B model with a lightweight 1.3B counterpart, which supports effortless deployment on a single GPU.
Comment: Project page: https://technology.robbyant.com/lingbot-world-v2 Code: https://github.com/robbyant/lingbot-world-v2
arXiv PDF
Unlocking Temporal Generalization in Hamiltonian Video Dynamics Models
Eli Laird, Corey Clark
arXiv:2607.07763v1 • 2026-07-08
World models are typically trained to predict discrete-time physical dynamics with a fixed step size baked into the model weights, preventing prediction at variable temporal resolutions. This matters for hierarchical planning, sim-to-real transfer, and scientific or game-engine applications that must query the same dynamics at multiple timescales. Hamiltonian Generative Networks (HGN) offer a principled path forward, grounding predictions in a continuous-time energy function that is, in principle, independent of the observation frame rate. In practice, however, their temporal generalization breaks down in non-conservative settings. We show that in externally forced, dissipative environments, HGN rollouts at step sizes beyond the training regime fail due to distinct failure modes, including latent magnitude growth driven by an unconstrained action-force map, and global truncation error accumulation from an under-resolved integrator. We identify a targeted fix for each mechanism and demonstrate stable dynamics prediction at temporal resolutions well outside the training distribution. In a detailed analysis, we recommend several strategies for enabling temporal generalization in continuous-time video generation.
Comment: To appear in the 1st Workshop on Physics-Aware Video Generation and Restoration at the 28th International Conference on Pattern Recognition
arXiv PDF
Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting
Robert Jomar Malate, Erik Bauer, Norica Bacuieti, Stefanos Charalambous, Elvis Nava, Robert K. Katzschmann, Benedek Forrai
arXiv:2607.07491v1 • 2026-07-08
Advances in learning-based robotic manipulation, such as Vision-Language-Action (VLA) models and Video Action Models (VAMs), heavily rely on high-quality teleoperation data. Their capabilities are strictly upper-bounded by the quality of the underlying human demonstrations. Current gradient-based retargeting algorithms often converge to different local minima, resulting in jitter that affects data quality and teleoperation experience. To address this, we introduce the Sampling-Based Retargeter (SBR), a novel gradient-free retargeting method drawn from the rich literature of sampling-based control and explicitly designed for low-jitter, real-time kinematic retargeting. We evaluate SBR both in simulation and through a rigorous real-world user study involving 18 participants performing 3 complex manipulation tasks. Compared to gradient-based baselines, SBR achieved the highest overall task success rate (54.1%) while significantly reducing operator cognitive fatigue, recording the lowest NASA-TLX workload score (36.4 out of 100). Ultimately, we establish SBR as a highly effective, intuitive retargeter for dexterous manipulation, providing the community with a rigorous benchmarking methodology to guide future retargeting research.
arXiv PDF
2026-07-07
118 篇
Robotics
96
默认显示 5 篇
WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation
Justin Yu, Andrew Goldberg, Kavish Kondap, Karim El-Refai, Ethan Ransing, Qianzhong Chen, Mac Schwager, Fred Shentu, Philipp Wu, Ken Goldberg
arXiv:2606.28320v2 •updated • 2026-06-26
Scaling imitation learning requires large datasets, yet human teleoperation inevitably produces mixed-quality demonstrations containing hesitations and recoveries. Prior frame-level progress reward models supervise on absolute temporal progress proxies that suffer from label noise, or require costly human annotations to define subtask boundaries. We present WARP (Warp-Augmented Relative Progress), a novel fully self-supervised algorithm for learning dense, signed relative progress magnitudes directly from successful demonstrations. WARP generates per-frame progress targets via time-warp augmentations of demonstrations (variable playback speeds and reversals) and we train WARP-RM to predict the normalized elapsed time between input frames. Aggregating these predictions across overlapping windows yields a dense frame-level progress signal. We then introduce WARP-BC, which leverages these scalar reward estimates to upweight high-advantage action chunks during behavior cloning, where chunk-level advantage is obtained by aggregating per-frame rewards. We evaluate our approach on a physical bimanual robot system performing a long-horizon deformable object manipulation task: folding T-shirts from a random crumpled start. To evaluate policy robustness against suboptimal data, we construct training datasets of varying quality using episode length as a proxy for teleoperation sub-optimality. As the dataset is widened to admit more inefficiencies, WARP-BC maintains a 19/20 success rate compared to vanilla BC's collapse to 2/20, improving throughput by up to 18x. Project page: https://uynitsuj.github.io/warp-rm/
arXiv PDF
CaLiSym: Learning Symplectic Dynamics of Real-World Systems through Structured Canonical Lifts
Aristotelis Papatheodorou, Pranav Vaidhyanathan, Natalia Ares, Ioannis Havoutis, Gerard J. Milburn
arXiv:2607.06824v1 • 2026-07-07
Physics-informed learning promises data-efficient and stable dynamics prediction, yet its strongest geometric guarantees have largely remained confined to closed conservative systems. This excludes many robotic systems of practical interest, where actuation, dissipation, and constraints continuously exchange energy and momentum with the environment. We introduce CaLiSym, a lightweight framework that extends exact symplectic learning to such systems by changing where the geometric prior is imposed. Rather than enforcing symplecticity on the measured physical state, CaLiSym embeds the state and its physical ports into a structured lifted canonical phase space, where the learned dynamics evolve through an exactly symplectic map. The lift is explicit and algebraic, requiring neither recurrent latent states, transformer decoders, implicit optimization, nor inference-time ODE integration. We instantiate the framework with generalized-ridge SympNet predictors and introduce GRB-SympNet, a B-spline variant that combines local approximation with exact symplectic structure. Experiments on a controlled dissipative double pendulum, a real-world quadrotor, and a contact-rich quadruped demonstrate consistent improvements in out-of-distribution autoregressive prediction while using parameter-efficient models. At the same time, the learned lifted dynamics preserve the symplectic form to numerical precision. These results show that symplectic learning can be extended beyond conservative mechanics through structured canonical lifts, enabling geometry-preserving dynamics models for real-world robotic systems.
Comment: 18 pages, 4 figures, 5 tables
arXiv PDF
Object Search in Partially-Known Environments via LLM-informed Model-based Planning and Prompt Selection
Abhishek Paudel, Abhish Khanal, Raihan I. Arnob, Shahriar Hossain, Gregory J. Stein
arXiv:2603.23800v2 •updated • 2026-03-25
We present a novel LLM-informed model-based planning framework, and a novel prompt selection method, for object search in partially-known environments. Our approach uses an LLM to estimate statistics about the likelihood of finding the target object when searching various locations throughout the scene that, combined with travel costs extracted from the environment map, are used to instantiate a model, thus using the LLM to inform planning and achieve effective search performance. Moreover, the abstraction upon which our approach relies is amenable to deployment-time model selection via the recent offline replay approach, an insight we leverage to enable fast prompt and LLM selection during deployment. Simulation experiments demonstrate that our LLM-informed model-based planning approach outperforms the baseline planning strategy that fully relies on LLM and optimistic strategy with as much as 11.8% and 39.2% improvements respectively, and our bandit-like selection approach enables quick selection of best prompts and LLMs resulting in 6.5% lower average cost and 33.8% lower average cumulative regret over baseline UCB bandit selection. Real-robot experiments in an apartment demonstrate similar improvements and so further validate our approach.
Comment: 10 pages, 8 figures. Accepted to IROS 2026
arXiv PDF
Rapidly Learning Soft Robot Control via Implicit Time-Stepping
Andrew Choi, Dezhong Tong, Xiaonan Huang
arXiv:2511.06667v2 •updated • 2025-11-10
With the explosive growth of rigid-body simulators, policy learning in simulation has become the de facto standard for most rigid morphologies. In contrast, soft robotic simulation frameworks remain scarce and are seldom adopted by the soft robotics community. This gap stems partly from the lack of easy-to-use, general-purpose frameworks and partly from the high computational cost of accurately simulating continuum mechanics, which often renders policy learning infeasible. In this work, we demonstrate that rapid soft robot policy learning is indeed achievable via implicit time-stepping. Our simulator of choice, DisMech, is a general-purpose, fully implicit soft-body simulator capable of handling both soft dynamics and frictional contact. We further introduce delta natural curvature control, a method analogous to delta joint position control in rigid manipulators, providing an intuitive and effective means of enacting control for soft robot learning. To highlight the benefits of implicit time-stepping and delta curvature control, we conduct extensive comparisons across four diverse soft manipulator tasks against one of the most widely used soft-body frameworks, Elastica. With implicit time-stepping, parallel stepping of 500 environments achieves up to 6x faster speeds for non-contact cases and up to 40x faster for contact-rich scenarios. Finally, a comprehensive sim-to-sim gap evaluation--training policies in one simulator and evaluating them in another--demonstrates that implicit time-stepping provides a rare free lunch: dramatic speedups achieved without sacrificing accuracy.
Comment: Accepted to IROS 2026. Code: https://github.com/QuantuMope/dismech-rl
arXiv PDF
Let the Dynamics Flow: Stable Flow Matching Dynamical Systems
Rodrigo Pérez-Dattari, Francisco Leiva, Andrea Testa, Leonel Rozo, Javier Ruiz del Solar, Noémie Jaquier
arXiv:2606.03834v2 •updated • 2026-06-02
Flow matching has recently emerged as a powerful approach for imitation learning, enabling scalable, expressive, and multimodal motion policies. However, when modeling these policies as dynamical systems, incorporating formal stability guarantees into these generative models is a prerequisite to ensure safe and generalizable robot behaviors, which remains a significant challenge. This paper introduces Stable Flow Matching Dynamical Systems (SFMDS), a novel framework that bridges the gap between highly expressive generative modeling and formal stability guarantees. SFMDS parametrizes dynamical systems via flow matching while constraining the model to satisfy positive invariance and/or Lyapunov stability conditions. We propose two variants: a soft constraint based on a penalty term, and a hard structural constraint embedded directly into the model architecture. We further extend both formulations to Lie groups to robustly handle orientation trajectories. Experiments on benchmark datasets, in simulation, and on a humanoid robot show that SFMDS learns stable, scalable, and multimodal dynamical systems in low- and high-dimensional state spaces, enabling safe and expressive robot motion generation. SFMDS matches or outperforms state-of-the-art methods on unimodal datasets, while substantially improving performance on multimodal datasets, where competing approaches fail to capture multi-modal behaviors. Accompanying source code and video are available at: https://let-the-dynamics-flow.github.io/SFMDS/.
arXiv PDF
Video World Models
21
默认显示 5 篇
X-Foresight: A Joint Vision-Action Causal Forecasting Network via Predictive World Modeling
Baolu Li, Jingyu Qian, Rui Guo, Yilun Chen, Hanpeng Liu, Yuan Lin, Junhong Zhou, Ruixin Liu, Liu Yang, Yutong Zheng, Zhenli Zhang, Sean Li, Chaoda Zheng, Boyang Wang, Tenglong, Gu, Zhuangzhuang Ding, Pengkun Zheng, Yu Zhang, Xianming Liu
arXiv:2605.24892v4 •updated • 2026-05-24
Physical world knowledge resides mainly in videos. Equipping Vision-Language-Action (VLA) models with such knowledge is fundamental for safe and generalizable planning. Predictive world modeling enables VLA to internalize physical dynamics and long-term causality by predicting future video from past observations. However, naive next-frame prediction faces two challenges: 1) unlike semantically distinct text tokens, video tokens are low-entropy and redundant, causing prediction to degenerate into trivial extrapolation. 2) world modeling poses a temporal dilemma: dense prediction captures instantaneous dynamics, but cannot efficiently model long-horizon causality. To learn world knowledge effectively, we introduce X-Foresight, a predictive world model integrated directly into the VLA architecture to jointly learn world modeling and real-time action control. At its core lies a long-horizon chunk-wise auto-regressive strategy that addresses both challenges: by predicting semantically distant chunks rather than adjacent frames, it escapes trivial extrapolation, while preserving dense intra-chunk frames for instantaneous dynamics and sparse inter-chunk transitions for long-term causality. A curriculum learning schedule progressively extends prediction horizons and stabilizes long-horizon training. To capture long-term causality effectively, we present temporal importance sampling, which concentrates supervision on safety-critical chunks identified by ego-motion and behavioral signals. We further delegate photorealistic synthesis to a diffusion-based multi-view renderer, improving photorealistic appearance. Comprehensive experiments demonstrate that X-Foresight significantly outperforms VLA baselines in planning performance while maintaining strong generative fidelity, establishing a robust paradigm for world-knowledge-driven autonomous systems.
arXiv PDF
CoMind: Understanding Collaborative Human Activity from Multiple Minds and Views
Alexey Gavryushin, Dingxi Zhang, Zhao Huang, Alexandros Delitzas, Jiaqi Chen, Ben Ellis, Cedric Zöllner, Manthan Patel, Manuel Kaufmann, Marc Pollefeys, Xi Wang
arXiv:2607.06691v1 • 2026-07-07
Human-human collaboration is a fundamental aspect of everyday life, essential to success in a wide range of goal-directed activities from household tasks to professional teamwork. While much research has focused on modeling coordination and task execution, the cognitive processes that support such collaboration, particularly Theory of Mind (the ability to infer the mental states of others), remain difficult to study in natural settings. To address this gap, we introduce a novel egocentric and exocentric video dataset capturing real-world collaboration in cooking scenarios. The dataset integrates multi-perspective video, high-quality audio, gaze tracking, and 3D scene and object scans, with annotations for shared attention to objects, social cues and interactions between agents, as well as agent-object interactions. We establish benchmarks for Joint Attention Estimation, Socially Conditioned Object Interaction Anticipation, and Collaborative Handover Prediction, enabling research on multimodal perception, proactive assistance, and collaborative planning. By providing temporally aligned, richly annotated multimodal data, CoMind facilitates the development and evaluation of AI systems capable of modeling complex social interactions and reasoning about human behaviors in collaborative environments. Our dataset and benchmarks are made available at https://comind.ethz.ch/.
Comment: Accepted to ECCV 2026
arXiv PDF
RynnWorld-4D: 4D Embodied World Models for Robotic Manipulation
Haoyu Zhao, Xingyue Zhao, Siteng Huang, Xin Li, Deli Zhao, Zhongyu Li
arXiv:2607.06559v1 • 2026-07-07
Robotic manipulation in the open world requires not only recognizing what a scene looks like, but also anticipating how its 3D structure moves under interaction. We argue that synchronized RGB, depth, and optical flow, namely RGB-DF, provide a physically grounded representation that captures the underlying 4D dynamics of a scene. Compared to 2D pixel videos, this multi-modal synergy aligns visual appearance with geometric structure and temporal motion, creating a representation space significantly closer to the low-level end-effector actions demanded by robotic systems, thereby narrowing the gap between world prediction and policy learning. Building on this insight, we introduce RynnWorld-4D, a generative model that co-produces future RGB frames, depth maps, and optical flow from a single RGB-D image and a language instruction within one unified diffusion process. This 4D world model features a tri-branch architecture that integrates cross-modal attention with frame-wise 3D RoPE, ensuring that appearance, geometry, and motion evolve consistently. To supply training data at scale, we curate Rynn4DDataset 1.0, a massive dataset of over 254.4 million frames across egocentric human and robotic manipulation videos with high-quality pseudo-labels for depth and optical flow. We further propose RynnWorld-4D-Policy, an inverse dynamics head that consumes the internal 4D representations of RynnWorld-4D in a single forward pass, bypassing expensive multi-step denoising, to output robot actions in a closed-loop manner. Experiments show that RynnWorld-4D produces temporally and spatially coherent 4D predictions, and that RynnWorld-4D-Policy achieves state-of-the-art performance on real-world dexterous bimanual manipulation tasks, particularly excelling in tasks demanding spatial precision and temporal coordination.
Comment: Project Page: https://alibaba-damo-academy.github.io/RynnWorld-4D.github.io, Github: https://github.com/alibaba-damo-academy/RynnWorld-4D
arXiv PDF
RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperation
Haoyu Zhao, Xingyue Zhao, Hangyu Li, Biao Gong, Kehan Li, Siteng Huang, Xin Li, Deli Zhao, Zhongyu Li
arXiv:2607.06558v1 • 2026-07-07
Scaling robot learning requires massive, diverse trajectory data, yet collection is currently bottlenecked by physical teleoperation, where every demonstration binds operator time to specific hardware and workspaces. We introduce digital teleoperation, a paradigm that decouples data collection from physical constraints by replacing the real robot with a generative world model. In this framework, an operator's hand-pose stream drives a robot-centric generative world model to synthesize high-fidelity egocentric videos from a single reference image. The recorded pose stream serves as an embodiment-agnostic action label transferable to any target robot via standard retargeting, yielding complete state-action trajectories for imitation learning independent of physical hardware. We instantiate this paradigm in RynnWorld-Teleop, a system that integrates depth-aware skeletal conditioning, progressive human-to-robot training on a video Diffusion Transformer, and streaming autoregressive distillation. This pipeline compresses the generative process into a single-pass inference, enabling 40+ FPS, real-time interactive generation on a single H100 GPU. Policies trained exclusively on RynnWorld-Teleop-generated data achieve effective zero-shot Sim2Real transfer across dexterous and diverse bimanual tasks. Moreover, augmenting real-world datasets with our digitally teleoperated data consistently improves success rates, demonstrating that RynnWorld-Teleop serves as a high-fidelity, scalable data engine for the next generation of robotic agents.
Comment: Project Page: https://alibaba-damo-academy.github.io/RynnWorld-Teleop.github.io, Github: https://github.com/alibaba-damo-academy/RynnWorld-Teleop
arXiv PDF
Multiplayer Interactive World Models with Representation Autoencoders
Anthony Hu, Václav Volhejn, Adrien Ramanana Rahary, Chris Mulder, Aditya Makkar, Alyx Liao, Amélie Royer, Manu Orsini, Adam Jelley, Eloi Alonso, Florian Laurent, Fredrik Norén, James Swingos, Jan Hünermann, Kent Rollins, Lucas Hosseini, Matthieu Le Cauchois, Maxim Peter, Pim de Witte, Tim Brown, Vincent Micheli, Moritz Böhle, Gabriel de Marmiesse, Viktoriia Sharmanska, Lucia Specia, Michael Black, Patrick Pérez
arXiv:2607.05352v2 •updated • 2026-07-06
We introduce the first multiplayer world model for highly dynamic environments governed by complex physical interactions. Whereas single-player world models treat the other agents as part of the environment, ours conditions on the action streams of multiple agents, learning to attribute changes in the scene to the correct player and to stay coherent under arbitrary combinations of their actions. We study this problem in the game of Rocket League, where players compete and cooperate under fast, tightly coupled dynamics. Trained on 10,000 hours of gameplay collected with publicly available bots, our 5-billion-parameter latent diffusion model generates four-player matches in real time, producing 20 frames per second on a single Nvidia B200 GPU. Although trained only on short clips, its rollouts stay stable far beyond the training horizon: distributional quality holds steady out to five minutes, the longest horizon we measure, and in practice we observe rollouts continuing for hours with no sign of collapse. We systematically investigate the central design choices: the video codec, the generative objective, and the multiplayer conditioning scheme. In addition, we characterize how behavior changes with model and data scale, including the capabilities that emerge and the failure modes that persist. We further develop targeted evaluations that probe the model's physical understanding rather than visual appearance alone. To support continued research on multiplayer world models, we release our dataset, our full training and inference codebase, and a live demo.
Comment: Technical report
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
From Foundation to Application: Improving VLA Models in Practice
Wei Wu, Fangjing Wang, Fan Lu, He Sun, Shi Liu, Yunnan Wang, Yibin Yan, Yong Wang, Shuailei Ma, Xinyang Wang, Yibin Liu, Shuai Yang, Tianxiang Zhou, Kejia Zhang, Lei Zhou, Cheng Su, Nan Xue, Bin Tan, Han Zhang, Youchao Zhang, Fei Liao, Xing Zhu, Yujun Shen, Kecheng Zheng
arXiv:2607.06403v1 • 2026-07-07
Despite recent progress of VLA foundation models, the disparity between laboratory conditions and real-world applications continues to impede their practical implementation. To bridge this gap, we present LingBot-VLA 2.0, which advances LingBot-VLA through improvements in three functional domains. (1) Generalization across tasks and embodiments. Compared to the previous version, we revamp the data processing pipeline and curate around 60,000 hours of data for pretraining, including 50,000 hours of robot trajectories spanning 20 robot configurations and 10,000 hours of egocentric human videos. (2) Expanded action space in addition to dual-arm hardware platforms. In particular, our system accommodates degrees of freedom for the heads, waists, mobile bases, and dexterous hands, thereby empowering the robots to tackle more complex tasks in practical scenarios. (3) Predictive dynamics modeling for improved temporal reasoning. Specifically, we formulate future prediction as a proxy task, facilitated by a video representation model for semantic priors and a depth estimation model for geometric cues. Evaluations on the GM-100 benchmark, conducted in a generalist setting, validate the beneficial impact of these proposed modifications. Furthermore, benefiting from the expanded pretraining data that covers whole-body degrees of freedom, LingBot-VLA-2.0 demonstrates strong cross-embodiment long-horizon mobile manipulation capability across the two robotic platforms.
Comment: Website: https://technology.robbyant.com/lingbot-vla-v2, Github: https://github.com/robbyant/lingbot-vla-v2, Checkpoints: https://huggingface.co/collections/robbyant/lingbot-vla-v2
arXiv PDF
2026-07-06
83 篇
Robotics
67
默认显示 5 篇
IMR: Iterative Mode-World Weighted Regression for Multi-Agent Trajectory Prediction
Honglin Wang, Shiyao Pan, Yun-Fu Liu
arXiv:2607.05705v1 • 2026-07-06
Multi-agent motion prediction is essential for automated vehicles to understand the intentions of surrounding vehicles. However, previous prediction-based and anchor-based methods have limitations in mode diversity and prediction accuracy, respectively. These limitations may cause inadequate safety assessments and behavioral deviations in automated vehicles. To address this issue, a mode-world weighted regression loss is proposed to bridge the gap between these features. Specifically, this approach mitigates mode collapse while simultaneously improving world ranking and top-1 confidence. Furthermore, the proposed iterative decoder improves prediction accuracy by recurrently and segmentally generating trajectories. Experimental results show the proposed method ranks first in the Argoverse 2 multi-agent motion forecasting benchmark against other methods.
arXiv PDF
Uncertainty-Aware Velocity Correction for Proprioceptive Vehicle Localization using Evidential Mamba
Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick, Michael Botsch
arXiv:2607.05669v1 • 2026-07-06
Reliable localization in GNSS-denied environments remains a fundamental challenge for intelligent vehicles, as inertial navigation systems accumulate unbounded drift without external correction. Existing approaches provide drift correction through dedicated infrastructure, expensive external sensors, or complex multi-sensor fusion, each introducing practical deployment barriers. We propose Evidential Velocity Correction using Mamba (EVC-Mamba), a learning-based architecture that transforms onboard vehicle sensor data into a virtual velocity sensor for IMU drift correction without additional hardware. A Mamba-based selective state space model captures the temporal dynamics of vehicle motion, while evidential deep learning with a Normal-Inverse-Gamma distribution provides principled uncertainty quantification. The resulting uncertainty-aware velocity estimate is incorporated as a virtual correction measurement into an Error-State Extended Kalman Filter to reduce position drift. Evaluation on real-world vehicle data demonstrates that inertial navigation using the proposed velocity correction achieves localization accuracy within 10% of a dedicated external velocity sensor across different outage durations. The proposed architecture supports real-time onboard deployment at 40 Hz on edge hardware, enabling reliable localization during prolonged GNSS outages.
Comment: Accepted at the 2026 International Conference on Indoor Positioning and Indoor Navigation (IPIN 2026), Rome, Italy. 6 pages, 4 figures
arXiv PDF
Efficient Transfer Learning of Robot Dynamic Models Using Morphological Similarity
Pavlo Kupyn, Yuya Hamamatsu, Roza Gkliva, Asko Ristolainen, Maarja Kruusmaa
arXiv:2607.05665v1 • 2026-07-06
This study proposes a neural network-based transfer learning framework for modeling the dynamics of soft, fin-actuated underwater robots. We focus on morphologically similar robots that differ in scale and hydrodynamic properties. A model trained on data from a larger robot (source domain) is adapted to a smaller one (target domain) with limited labeled data. To enable label-efficient transfer, we develop an autoencoder-based domain adaptation approach that learns a shared latent representation aligning the dynamics of both robots. Experiments on two real underwater robots show that the proposed method enables accurate state estimation of the body-frame velocities on a target platform without labeled data, highlighting its potential for efficient cross-robot dynamics transfer among morphologically similar platforms.
Comment: Accepted for publication in the 2026 12th International Conference on Control, Decision and Information Technologies (CoDIT)
arXiv PDF
Physics-Regularized Machine Learning for Proprioceptive Vehicle Localization Using Onboard Sensors
Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick, Michael Botsch
arXiv:2607.05663v1 • 2026-07-06
Accurate and robust localization is essential for autonomous mobility systems in real-world environments. While fusing Inertial Measurement Unit (IMU) data with satellite-based correction signals provides precise vehicle pose estimates, performance degrades substantially during outages. Recent studies indicate that Machine Learning (ML) can improve IMU-based proprioceptive localization, highlighting untapped potential for onboard sensors readily available in production vehicles. This paper introduces Physics-Regularized Machine Learning for Localization (PRML2), a hybrid framework that combines the complementary strengths of Kalman filtering and data-driven learning to estimate vehicle pose directly from onboard sensors. A key aspect of PRML2 is its physics-regularized learning, enabled by end-to-end training of an ML model through a differentiable Kalman filter. This improves consistency with vehicle motion models, thereby enhancing both localization accuracy and generalization across driving conditions. We evaluate the performance limits of ML-enhanced onboard odometry on a publicly available dataset and show that PRML2 achieves superior localization accuracy and demonstrates real-time capability. This work also introduces a novel dataset to support vehicle localization research under low-friction conditions. The proposed framework provides a robust and cost-effective solution for vehicle localization under degraded sensing conditions by integrating learning with physics-based priors.
Comment: Accepted at the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026). 8 pages, 4 figures
arXiv PDF
HJCD-IK: GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent
Cael Yasutake, Andrew H. Liu, Zachary Kingston, Brian Plancher
arXiv:2510.07514v2 •updated • 2025-10-08
Inverse Kinematics (IK) is a core problem in robotics, in which joint configurations are found to achieve a (collision-free) desired end-effector pose. Modern IK solvers face a fundamental trade-off: analytical methods are fast but lack generality, while numerical optimization-based methods are broadly applicable but prone to local minima and high computational costs. To overcome this challenge, we introduce HJCD-IK, a GPU-accelerated, sampling-based hybrid solver. By pairing a novel orientation-aware greedy coordinate descent initialization with Jacobian-based polishing and a parallel collision filter, our method achieves up to order-of-magnitude gains in speed and accuracy over state-of-the-art solvers, consistently finding collision-free solutions on the accuracy-latency Pareto frontier, while producing a diverse distribution of high-quality samples. We validate our solver on a physical Franka manipulator and release our code open-source.
Comment: Accepted to IROS 2026. 8 pages, 6 figures, 3 tables, 4 algorithms
arXiv PDF
Video World Models
16
默认显示 5 篇
Deform360: A Massive Multi-view Visuotactile Dataset for Deformable World Models
Hongyu Li, Wanjia Fu, Xiaoyan Cong, Zekun Li, Binghao Huang, Hanxiao Jiang, Xintong He, Yiqing Liang, Rao Fu, Tao Lu, Srinath Sridhar, Kevin A. Smith, George Konidaris, Yunzhu Li
arXiv:2607.05390v1 • 2026-07-06
Predicting object dynamics (i.e., world modeling) is a fundamental challenge for robotic manipulation, and modeling deformable objects presents a particularly difficult case due to their high-dimensional state spaces and complex material properties. While current world models approach this through two distinct paradigms: learning the dynamics over the 2D pixel space or more explicit 3D geometric space. A systematic understanding of their relative strengths and limitations remains elusive due to the lack of diverse, large-scale real-world data. To address this, we present Deform360, a large-scale visuotactile dataset featuring 198 daily-life objects, 1,980 interaction sequences, and over 215 hours of observations from 41 surround-view cameras and bimanual tactile grippers to capture both global motion and contact-induced local deformations. Leveraging a novel markerless visuotactile 3D tracking pipeline to extract dense geometry and motion, we systematically evaluate current state-of-the-art world models, comparing 2D video models against 3D particle models. Finally, we provide a preliminary demonstration indicating the real-world applicability of our dataset by performing robot planning tasks on deformable objects. Our analysis reveals key insights into the trade-offs between structural priors and scalability, providing a solid benchmark for future research in generalizable deformable object-centric world modeling. Project website: https://deform360.lhy.xyz
Comment: Accepted by ECCV 2026
arXiv PDF
InFlux++: Real and Synthetic Data for Estimating Dynamic Camera Intrinsics
Erich Liang, Caleb Kha-Uong, Chinmaya Saran, Sreemanti Dey, David W. Liu, Junhan Ouyang, Benjamin Zhou, Jia Deng
arXiv:2607.05389v1 • 2026-07-06
Camera intrinsics are vital for recovering 3D structure from 2D video. However, most 3D algorithms assume fixed intrinsics throughout a video, an assumption that often fails for real-world in-the-wild videos. Consequently, estimating per-frame intrinsics from RGB images is critical for making 3D methods robust to videos with dynamic intrinsics. InFlux previously advanced this research direction by establishing the first real-world benchmark with per-frame ground truth intrinsics for dynamic intrinsics videos. Nevertheless, existing methods remain inaccurate due to two obstacles: (i) training data is scarce and lacks intrinsics diversity; and (ii) benchmarks, including InFlux, have limited scene and camera motion diversity, making it difficult to properly evaluate methods. To address both gaps, we present InFlux++, consisting of two components. InFlux++ Synth is a large-scale procedurally generated synthetic video dataset with 441K+ annotated frames from 1841 high-resolution videos, providing accurate per-frame ground truth intrinsics for training dynamic intrinsics prediction models; a subset also includes per-frame pose, depth, and normals. The videos feature rich intrinsics diversity through changes in camera zoom and focus, as well as dynamic objects and realistic rendering effects such as lens distortion and defocus blur. InFlux++ Real is a large-scale real-world benchmark that extends InFlux with 514K+ newly captured frames across 334 high-resolution videos, spanning a wider range of scenes and camera motions. Finetuning existing intrinsics prediction methods on InFlux++ Synth consistently improves focal length estimation across both InFlux++ Real and InFlux, suggesting that synthetic supervision is promising for RGB-based intrinsics prediction. For the dataset, benchmark, code, videos, submission instructions, and live leaderboard, please visit https://influx.cs.princeton.edu/ .
Comment: Accepted to ECCV 2026
arXiv PDF
Cortex: A Bidirectionally Aligned Embodied Agent Framework for Long-horizon Manipulation
Jiaqi Peng, Xiqian Yu, Delin Feng, Yuqiang Yang, Wenzhe Cai, Jing Xiong, Ganlin Yang, Jinliang Zheng, Jiafei Cao, Xueyuan Wei, Jiangmiao Pang, Yuan Shen, Tai Wang
arXiv:2607.05377v1 • 2026-07-06
While recent Vision-Language-Action (VLA) models show promise toward generalist manipulation policies, they struggle with long-horizon tasks due to their Markovian nature-relying solely on current observations. Hierarchical dual-system methods address this but suffer from a gap between high-level planning semantics and low-level execution kinematics. We introduce Cortex, a bidirectionally aligned embodied agent framework with a customized planning interface that conveys executable and tractable subtask plans from high-level VLM to low-level VLA. Specifically, we standardize manipulation subtasks into 32 canonical skill primitives and inject tractability principles, such as representative object attributes and improved trajectory reachability, into the data generation pipeline. This enables automatic annotation of over 4k hours of open-source video data and generation of 30 hours of simulation data. We further devise an event-balanced sampling strategy to construct training data for fine-tuning the framework to better handle planning ambiguity during subtask transitions, enhanced by carefully designed harness engineering from task contexts to skill constraints during inference. Both open-loop VLM and closed-loop system evaluations demonstrate Cortex's efficacy, e.g., it outperforms monolithic baselines by 3.1% on Libero-long and 4.1% on RoboTwin. Notably, Cortex's generalist VLM enables zero-shot completion of unseen real-world long-horizon tasks, such as multi-stage chemistry experiments, by simply combining with a fine-tuned VLA-a capability infeasible through VLA fine-tuning alone.
Comment: Project website: https://steinate.github.io/cortex.github.io/
arXiv PDF
MV-Forcing: Long Multi-View Video Generation via 4D-Grounded Spatio-Temporal Self-Forcing
Gal Fiebelman, Hadar Averbuch-Elor, Sagie Benaim
arXiv:2607.05376v1 • 2026-07-06
Recent advances in video diffusion models have enabled either long single-view generation through temporal autoregression, or short multi-view synthesis through bidirectional attention. However, generating long, multi-view consistent videos of dynamic scenes remains unsolved. In this work, we present MV-Forcing, a framework that composes temporal and view-wise autoregression within a single diffusion model by introducing a 4D geometric bridge between sequentially generated views. Our key insight is that an autoregressive 3D reconstruction model naturally interfaces between autoregressively generated views. Given a completed source view, we reconstruct its 3D structure and render a geometric prior of the next target viewpoint, which the diffusion model refines into a high-quality video. To extend generation beyond the teacher's fixed temporal window, we introduce a joint denoising regime where both view slots are initialized from noise during training, enabling temporally unbounded generation. We distill the model via Distribution Matching Distillation with Spatio-Temporal Self-Forcing, closing the train-inference exposure bias gap for both temporal and view-sequential autoregression. Extensive experiments on both synthetic and real-world data demonstrate that MV-Forcing produces geometrically consistent multi-view videos of dynamic scenes at arbitrary lengths and viewpoint counts using a single few-step student model.
Comment: Accepted to ECCV 2026. Project webpage: https://galfiebelman.github.io/mv-forcing/
arXiv PDF
Multiplayer Interactive World Models with Representation Autoencoders
Anthony Hu, Václav Volhejn, Adrien Ramanana Rahary, Chris Mulder, Aditya Makkar, Amélie Royer, Manu Orsini, Alyx Liao, Adam Jelley, Eloi Alonso, Florian Laurent, Fredrik Norén, James Swingos, Jan Hünermann, Kent Rollins, Lucas Hosseini, Matthieu Le Cauchois, Maxim Peter, Pim de Witte, Tim Brown, Vincent Micheli, Moritz Böhle, Gabriel de Marmiesse, Viktoriia Sharmanska, Lucia Specia, Michael Black, Patrick Pérez
arXiv:2607.05352v1 • 2026-07-06
We introduce the first multiplayer world model for highly dynamic environments governed by complex physical interactions. Whereas single-player world models treat the other agents as part of the environment, ours conditions on the action streams of multiple agents, learning to attribute changes in the scene to the correct player and to stay coherent under arbitrary combinations of their actions. We study this problem in the game of Rocket League, where players compete and cooperate under fast, tightly coupled dynamics. Trained on 10,000 hours of gameplay collected with publicly available bots, our 5-billion-parameter latent diffusion model generates four-player matches in real time, producing 20 frames per second on a single Nvidia B200 GPU. Although trained only on short clips, its rollouts stay stable far beyond the training horizon: distributional quality holds steady out to five minutes, the longest horizon we measure, and in practice we observe rollouts continuing for hours with no sign of collapse. We systematically investigate the central design choices: the video codec, the generative objective, and the multiplayer conditioning scheme. In addition, we characterize how behavior changes with model and data scale, including the capabilities that emerge and the failure modes that persist. We further develop targeted evaluations that probe the model's physical understanding rather than visual appearance alone. To support continued research on multiplayer world models, we release our dataset, our full training and inference codebase, and a live demo.
Comment: Technical report
arXiv PDF
2026-07-05
47 篇
Robotics
39
默认显示 5 篇
Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenance
Dilermando Almeida, Juliano Negri, Guilherme Lazzarini, Thiago H. Segreto, Ranulfo Bezerra, Gustavo J. G. Lahr, Ricardo V. Godoy, Marcelo Becker
arXiv:2603.07866v3 •updated • 2026-03-09
Offshore inspection and maintenance have increasingly been using legged robots for routine sensing, yet many useful interventions still require physical interaction with tools, containers, and task-relevant objects. Employing robots for these tasks can reduce operators' exposure in confined, elevated, or potentially explosive areas. This paper presents a language-guided grasping pipeline for a legged mobile manipulator operating under partial observation. An operator defines the target, the system grounds it in RGB with open-vocabulary detection and promptable segmentation, extracts an object-centric RGB-D point cloud, improves sparse geometry through depth compensation and point-cloud completion, and selects a 6-DoF grasp using collision, clearance, reachability, and approach constraints. The system is implemented on a quadruped robot with an arm and evaluated in two cluttered tabletop scenes motivated by small-object retrieval during inspection and maintenance. Across paired trials, the proposed pipeline achieved 9/10 successful grasps, compared with 3/10 for a view-dependent deployment baseline. In this controlled setting, object-centric completion and execution-aware selection reduced approach collisions and improved the reliability of language-guided grasping for supervised field manipulation.
arXiv PDF
Mask2Real-WM: Segmentation Masks as a Sim-to-Real Bridge for Controllable Dexterous World Models
Riccardo O. Feingold, Davide Liconti, Chenyu Yang, Robert K. Katzschmann
arXiv:2607.04546v1 • 2026-07-05
Action-conditioned world models allow robots to predict the future consequences of candidate actions without additional physical interaction, supporting policy evaluation, planning, and data augmentation. We present Mask2Real-WM, a two-stage action-conditioned world model for dexterous manipulation that decouples pixel prediction into a dynamics model and a rendering model. The dynamics model predicts future segmentation masks from past masks and 23-DoF action sequences. The rendering model maps the predicted masks to photorealistic RGB using a ControlNet-augmented Stable Video Diffusion backbone. The smaller sim-to-real gap in segmentation space enables the dynamics model to benefit from large-scale pretraining on over 50 h of synthetic simulation data, followed by fine-tuning on fewer than 2.5 h of real demonstrations. Experiments on a dexterous pick-and-place benchmark show that mask conditioning and simulation pretraining are both required for per-DoF action controllability across all 23 degrees of freedom. In contrast, monolithic baselines capture broad hand and end-effector trajectories but do not reliably reflect fine-grained, per-joint action effects.
Comment: 23 pages, 24 figures, 4 tables. Preprint. Project page: https://srl-ethz.github.io/Mask2Real-WM/
arXiv PDF
CRISP: A Spatiotemporal Camera-Radar Backbone for Driving via Forecasting-Based World-Model Pretraining
Jingyu Song, Yi Liu, Katherine A. Skinner
arXiv:2607.04541v1 • 2026-07-05
Camera-radar (CR) fusion is a practical sensing configuration for autonomous driving, but existing models are typically trained with task-specific supervision, limiting reusable representation learning. We present CRISP, a spatiotemporal CR backbone pretrained through forecasting-based representation learning. Given historical multi-view images and radar sweeps, CRISP learns a unified bird's-eye-view (BEV) representation by predicting future LiDAR point clouds. LiDAR is used only as privileged supervision during pretraining; the deployed model requires only camera and radar. To make forecasting-based pretraining effective for CR fusion, CRISP introduces an enhanced radar encoder, radar-enhanced temporal self-attention, and multimodal feature rendering with modality innovation gating. These components inject radar range and Doppler cues into BEV temporal propagation and allow BEV tokens to selectively incorporate camera and radar evidence. Experiments on nuScenes show that CRISP improves long-horizon point cloud forecasting and transfers effectively to downstream tasks, including 3D detection, tracking, online mapping, motion forecasting, future occupancy prediction, and planning, suggesting that predictive CR pretraining is a promising path toward scalable driving representations under practical sensor configurations. The project website is https://umfieldrobotics.github.io/CRISP.
Comment: 17 pages, under review
arXiv PDF
Compressing the Validation Bottleneck: An Agentic Self-Driving Lab for Scientific Discovery
Kyunghoon Hur, Chihun Lee
arXiv:2607.04508v1 • 2026-07-05
Agentic AI-for-Science can automate ideation, planning, and analysis, but final validation still depends on real experiments. A self-driving lab (SDL) can execute those experiments, yet the loop still has bottlenecks: the agent may spend too many rounds on low-value experiments, or each round may require a high-cost experiment. We target these two physical bottlenecks with one agent. First, a prior-aware agentic DOE loop uses domain knowledge and past results to propose feasible and informative next experiments, reducing trials-to-target. Second, a cost-aware surrogate agent predicts high-cost, high-resolution measurements from low-cost, low-resolution measurements. It chooses between a high- and a low-cost measurement based on the predicted uncertainty. We examine these directions in the biology and materials domains, respectively. Together, under a single agent, these components aim to accelerate the SDL loop by reducing both the number of loops and the cost per experiment.
Comment: Accepted at ICML 2026 AI for Science Workshop ; AI Scientist Competition
arXiv PDF
Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force
Jaden Clark, Changhao Wang, Yihuai Gao, Seongheon Hong, Hojung Choi, Mark Cutkosky, Yifan Hou, Shuran Song
arXiv:2606.30988v3 •updated • 2026-06-29
Robot manipulation often relies on sensory feedback beyond vision, particularly in contact-rich settings where force, tactile, or audio signals reveal interaction states that are not directly observable from images. However, these modalities are often hardware- and task-specific, and large-scale multisensory robot datasets remain scarce. As a result, it is impractical to pretrain policies with every sensor they may encounter. We study multisensory continual learning: adapting a pretrained robot policy to new tasks with newly introduced modalities while preserving performance under the original sensor suite. We propose MultiSensory World Model (MuSe), which incorporates limited multisensory data into pretrained vision-only policies through multi-stage fusion, multisensory future prediction, and experience replay over pretraining data. We instantiate MuSe by augmenting a pretrained vision-only policy with force-torque sensing and evaluate it on real-world manipulation tasks. Our experiments show that MuSe performs strongly on contact-rich finetuning tasks while preserving, and in some cases improving, performance on the original pretraining tasks. These results suggest that a modest multisensory dataset can improve general robot capabilities beyond the finetuning distribution. Project website: https://jadenvc.github.io/multisensory-continual-learning/
arXiv PDF
Video World Models
8
默认显示 5 篇
Mask2Real-WM: Segmentation Masks as a Sim-to-Real Bridge for Controllable Dexterous World Models
Riccardo O. Feingold, Davide Liconti, Chenyu Yang, Robert K. Katzschmann
arXiv:2607.04546v1 • 2026-07-05
Action-conditioned world models allow robots to predict the future consequences of candidate actions without additional physical interaction, supporting policy evaluation, planning, and data augmentation. We present Mask2Real-WM, a two-stage action-conditioned world model for dexterous manipulation that decouples pixel prediction into a dynamics model and a rendering model. The dynamics model predicts future segmentation masks from past masks and 23-DoF action sequences. The rendering model maps the predicted masks to photorealistic RGB using a ControlNet-augmented Stable Video Diffusion backbone. The smaller sim-to-real gap in segmentation space enables the dynamics model to benefit from large-scale pretraining on over 50 h of synthetic simulation data, followed by fine-tuning on fewer than 2.5 h of real demonstrations. Experiments on a dexterous pick-and-place benchmark show that mask conditioning and simulation pretraining are both required for per-DoF action controllability across all 23 degrees of freedom. In contrast, monolithic baselines capture broad hand and end-effector trajectories but do not reliably reflect fine-grained, per-joint action effects.
Comment: 23 pages, 24 figures, 4 tables. Preprint. Project page: https://srl-ethz.github.io/Mask2Real-WM/
arXiv PDF
Measuring the Robustness of Audio Deepfake Detection under Real-World Corruption
Xiang Li, Pin-Yu Chen, Wenqi Wei
arXiv:2503.17577v2 •updated • 2025-03-21
Deepfakes have emerged as a widespread and rapidly escalating concern in generative AI, spanning images, audio, and videos. Among these, audio deepfakes are particularly alarming due to the growing accessibility of high-quality voice synthesis tools and the ease with which synthetic speech can be distributed through social media and robocalls. Consequently, detecting audio deepfakes is critical for combating the misuse of AI-generated speech. However, real-world audio is often affected by corruptions such as noise, audio modification, and compression, which can significantly degrade detection performance. In this work, we systematically evaluate the robustness of 10 audio deepfake detection models against 18 common corruption types, grouped into three categories: noise perturbation, audio modification, and compression. Using both traditional deep learning models and state-of-the-art speech foundation models, our study yields four key insights. (1) Most models are robust to noise but remain vulnerable to audio modifications and compression, especially neural codecs. (2) Speech foundation models consistently outperform traditional models across most corruption scenarios, likely due to large-scale pre-training on diverse audio datasets. (3) Increasing model size improves robustness, although the gains diminish as models become larger. (4) Robustness to unseen corruptions can be improved through targeted data augmentation during training or speech enhancement at inference time. These findings highlight the importance of evaluating audio deepfake detectors under diverse real-world corruptions and developing more robust detection frameworks for practical deployment. We further advocate that future research on deepfake detection across all media should account for the diverse and unpredictable distortions encountered in real-world environments.
arXiv PDF
WorldMesh: Generating Navigable Multi-Room 3D Scenes via Mesh-Conditioned Image Diffusion
Manuel-Andreas Schneider, Angela Dai
arXiv:2603.22972v3 •updated • 2026-03-24
Recent progress in image and video synthesis has inspired their use in advancing 3D scene generation. However, we observe that text-to-image and -video approaches struggle to maintain scene- and object-level consistency beyond a limited environment scale without a persistent, explicit geometric representation. We thus present a geometry-first approach that decouples this complex problem of large-scale 3D scene synthesis into its structural composition, represented as a mesh scaffold, and realistic appearance synthesis, which leverages powerful image synthesis models conditioned on the mesh scaffold. From an input text description, we first construct a mesh capturing the environment's geometry (walls, floors, etc.), and then use image synthesis, segmentation and object reconstruction to populate the mesh structure with objects in realistic layouts. This mesh scaffold is then rendered to condition image synthesis, providing a structural backbone for consistent appearance generation. This enables scalable, arbitrarily-sized 3D scenes of high object richness and diversity, combining robust 3D consistency with photorealistic detail. We believe this marks a significant step toward generating truly environment-scale, immersive 3D worlds.
Comment: Accepted to ECCV 2026. Project page: https://mschneider456.github.io/world-mesh/ Video: https://www.youtube.com/watch?v=MKMEbPT38-s Code: https://github.com/mschneider456/worldmesh
arXiv PDF
WAM4D: Fast 4D World Action Model via Spatial Register Tokens
Ying Li, Xiaobao Wei, Jiajun Cao, Hao Wang, Xiaowei Chi, Chengyu Bai, Qianpu Sun, Jiajun Li, Xiaojie Zhang, Jian Tang, Sirui Han, Shanghang Zhang
arXiv:2606.14048v2 •updated • 2026-06-12
World action models (WAMs) have recently shown promise in jointly modeling future observations and executable robot actions. However, most existing WAMs still operate in 2D video or latent spaces, where visually plausible rollouts miss the 3D spatial constraints and occluded contact geometry required for precise manipulation. While geometric foundation models offer strong priors for recovering dense 3D structure and motion from visual observations, forcing WAMs to predict the dense 4D representation introduces costly geometric decoding and slows down causal action generation. To address the trade-off, we present WAM4D, a fast 4D world action model that uses lightweight spatial register tokens as training-time future-depth readouts to transfer pretrained geometric priors into a causal video-action transformer, then removes the register branch for lightweight action inference. To prevent non-causal shortcuts, we further design causal mixture attention for the Mixture-of-Transformers (MoT) WAM backbone, defining modality-specific visibility among video, action, and geometry tokens. Comprehensive experiments on RoboTwin 2.0 and challenging real-world manipulation tasks show that WAM4D improves spatial consistency and achieves competitive action prediction while maintaining efficient inference.
Comment: 15 pages, 7figures, 9tables
arXiv PDF
MIND-V: Hierarchical World Model for Long-Horizon Robotic Manipulation with RL-based Physical Alignment
Ruicheng Zhang, Mingyang Zhang, Jun Zhou, Xiaofan Liu, Zunnan Xu, Zhizhou Zhong, Puxin Yan, Haocheng Luo, Xiu Li
arXiv:2512.06628v4 •updated • 2025-12-07
Scalable embodied intelligence is constrained by the scarcity of diverse, long-horizon robotic manipulation data. Existing video world models in this domain are limited to synthesizing short clips of simple actions and often rely on manually defined trajectories. To this end, we introduce MIND-V, a cognitive hierarchical world model designed to synthesize physically plausible and logically coherent videos of long-horizon robotic manipulation. Inspired by cognitive science, MIND-V bridges high-level reasoning with pixel-level synthesis through three core components: a Semantic Reasoning Hub (SRH) that leverages a pre-trained vision-language model for task planning; a Behavioral Semantic Bridge (BSB) that translates abstract instructions into domain-invariant representations; and a Motor Video Generator (MVG) for conditional video rendering. MIND-V employs Staged Visual Future Rollouts, a test-time optimization strategy to enhance long-horizon robustness. To enforce adherence to physical laws, we introduce a GRPO reinforcement learning post-training phase guided by a novel Physical Foresight Coherence (PFC) reward. PFC leverages the V-JEPA2 world model as a physics referee to penalize implausible dynamics in the latent feature space. Experiments confirm MIND-V's SOTA performance in long-horizon simulation and its significant value for policy learning, introducing a scalable and fully autonomous framework for embodied data synthesis.
arXiv PDF
2026-07-04
35 篇
Robotics
31
默认显示 5 篇
PreSIST: Vision-Language-Informed Object Persistence Prediction in Open-World Scenes
Amanda Adkins, Tarunvidyut Ravisankar, Joydeep Biswas
arXiv:2607.04057v1 • 2026-07-04
Robots deployed over long periods must reason about environments that change over time. Existing long-term perception systems often address object change reactively, updating their maps only after revisiting a scene and observing that an object has moved. Instead, robots should reason proactively about how long objects are likely to persist using the context in which they appear. For example, a car at a traffic light and a car in a parking spot share the same semantic class, but their contexts imply different persistence durations. We propose PreSIST (Predictive Scene-conditioned Instance Survival over Time), a method for predicting whether an observed object will remain in its last seen pose at arbitrary future times. PreSIST estimates instance-level persistence priors from object properties and scene context, then integrates these priors with a probabilistic persistence filter as observations become available. Its key insight is that the reasoning capabilities of vision-language models (VLMs) can relate scene context to likely object use and human activity, enabling persistence prediction before long-term observations are available. We develop two interchangeable variants: PreSIST-Lang, which estimates persistence priors using a VLM, and PreSIST-Vis, a novel vision-only model trained using PreSIST-Lang pseudo-labels for efficient deployment. Experiments on a new dataset of in-the-wild object persistence annotations show that PreSIST-Lang and PreSIST-Vis outperform baselines on open-world persistence prediction.
Comment: 8 pages, 6 figures, 3 tables
arXiv PDF
CABTO: Context-Aware Behavior Tree Grounding for Robot Manipulation
Yishuai Cai, Xinglin Chen, Yunxin Mao, Kun Hu, Yaodong Yang, Yuanpei Chen, Wenjing Yang, Ji Wang, Minglong Li
arXiv:2603.16809v2 •updated • 2026-03-17
Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT planning, an emerging field, provides theoretical guarantees for the automated generation of reliable BTs. However, BT planning typically assumes that a well-designed BT system is already grounded -- comprising high-level action models and low-level control policies -- which often requires extensive expert knowledge and manual effort. In this paper, we formalize the BT Grounding problem: the automated construction of a complete and consistent BT system. We analyze its complexity and introduce CABTO (Context-Aware Behavior Tree grOunding), the first framework to efficiently solve this challenge. CABTO leverages pre-trained Large Models (LMs) to heuristically search the space of action models and control policies, guided by contextual feedback from BT planners and environmental observations. Experiments spanning seven task sets across three distinct robotic manipulation scenarios demonstrate CABTO's effectiveness and efficiency in generating complete and consistent behavior tree systems.
arXiv PDF
Finite Reliability Representations: Noise-Calibrated Belief-Space Covers for Reliable Decision-Making
Hyung-Jin Yoon, Hunmin Kim
arXiv:2607.04019v1 • 2026-07-04
Physical sensing and actuation noise floors should inform how much belief resolution a decision-making system can reliably use. We introduce Finite Reliability Representations (FRR), a framework for covering belief spaces by reliability cells: regions within which the optimal action-value function Q*(b,u) varies by at most a tolerance epsilon, uniformly over actions. The framework is formulated on beliefs rather than states and uses a cover rather than an equivalence quotient, because approximate decision-closeness is not transitive in general. A central technical point is that noisy Bayesian updates should not be treated as globally contractive on arbitrary beliefs. We therefore separate three objects: the fixed-observation filter map, the predictive observation law, and the controlled belief-transition kernel. For nonlinear continuous-state systems, FRR is obtained under a reachable-set Lipschitz modulus for the belief-transition kernel. For finite-state POMDPs, the same construction becomes exact on the belief simplex: prediction is linear, Bayesian correction is a normalized positive linear map, sensor noise enters through observation-distribution distinguishability, and actuation uncertainty enters through an action-execution channel. Under the corresponding action-value Lipschitz condition, an FRR cover supports a cell-constant policy whose suboptimality is bounded by 2 epsilon/(1 - gamma). We also introduce reliability entropy, the logarithm of the minimal number of reliability cells, as a measure of certified decision-relevant belief complexity. The framework distinguishes representation sufficiency from fundamental performance floors imposed by sensing, process, and actuation noise. It applies to finite POMDPs, linear-Gaussian filters, locally linearized nonlinear filters, and particle-filter implementations through analytic or empirical certification of reliability cells.
Comment: 25 pages. Introduces Finite Reliability Representations for noise-calibrated belief-space covers and policy sufficiency
arXiv PDF
Finite-Sample Closed-Loop Stability of Model Predictive Path Integral Control for Linear Time-Invariant Systems
Hyung-Jin Yoon, Hunmin Kim
arXiv:2607.04006v1 • 2026-07-04
We establish finite-sample closed-loop stability guarantees for Model Predictive Path Integral (MPPI) control applied to discrete-time Linear Time-Invariant (LTI) systems with additive Gaussian process disturbances. The key observation is that, for unconstrained LTI/quadratic systems with the DARE terminal cost, the exact finite-horizon MPC law has the same first control action as the infinite-horizon LQR law for every planning horizon. Thus, finite-sample MPPI can be analyzed as a stochastic perturbation of LQR. First, we show that the MPPI control law approximates the LQR feedback with high probability. The approximation error decomposes into a Monte Carlo term that decreases with the sample count and an infinite-sample temperature bias that persists at finite temperature but vanishes as the temperature is reduced. The resulting constants are written in terms of the horizon-dependent stacked cost matrices, making explicit that the finite-sample certificate is parametrized by the selected planning horizon. Second, we use a Lyapunov perturbation argument to prove practical exponential stability in expectation. On sample paths that remain in a compact Lyapunov sublevel set over a finite operating horizon, the expected state norm decays exponentially up to three residual floors: a process-noise floor, an MPPI approximation floor, and a confidence floor from the per-step sampling failure probability. The sufficient sample threshold is explicit and computable from the DARE solution, LQR stability margin, MPPI sampling parameters, temperature, and planning horizon. In the joint limit of infinite samples and vanishing temperature bias, the result recovers the stochastic LQR stability bound.
Comment: 11 pages. Companion papers extend the analysis to nonlinear MPPI and adaptive covariance estimation
arXiv PDF
Fast Asymptotically Optimal Kinodynamic Planning via Vectorization
Yitian Gao, Andrew Lu, Zachary Kingston
arXiv:2607.03987v1 • 2026-07-04
Sampling-based motion planners have been shown to be effective for systems with complex kinodynamic constraints and high dimensionality. However, these algorithms struggle to achieve real-time performance, leading to recent efforts to parallelize planning. While GPU-accelerated planners have achieved significant speedups, existing approaches require specialized CUDA programming that limits accessibility and portability. We present Parallel Asymptotically Optimal Kinodynamic RRT (PAKR), a massively parallel kinodynamic planner leveraging JAX and the XLA compiler to achieve GPU acceleration through standard Python tooling. By combining our parallel planner with the AO-x meta-algorithm, we achieve asymptotic optimality through fast iterative replanning. We provide a theoretical analysis of probabilistic completeness, analyze the effects of batch size and branching factor on convergence, and demonstrate scalability to complex dynamics using the MuJoCo-XLA simulator. Experiments show competitive runtimes with state-of-the-art GPU planners and superior solution quality.
Comment: 8 pages, 5 figures, 4 tables. Accepted to IROS 2026
arXiv PDF
Video World Models
4
默认显示 4 篇
Self-Supervised Learning from Structural Invariance
Yipeng Zhang, Hafez Ghaemi, Jungyoon Lee, Shahab Bakhtiari, Eilif B. Muller, Laurent Charlin
arXiv:2602.02381v2 •updated • 2026-02-02
Joint-embedding self-supervised learning (SSL), the key paradigm for unsupervised representation learning from visual data, learns from invariances between semantically-related data pairs. We study the one-to-many mapping problem in SSL, where each datum may be mapped to multiple valid targets. This arises when data pairs come from naturally occurring generative processes, e.g., successive video frames. We show that existing methods struggle to flexibly capture this conditional uncertainty. As a remedy, we introduce a latent variable to account for this uncertainty and derive a variational lower bound on the mutual information between paired embeddings. Our derivation yields a simple regularization term for standard SSL objectives. The resulting method, which we call AdaSSL, applies to both contrastive and distillation-based SSL objectives, and we empirically show its versatility in causal representation learning, fine-grained image understanding, and world modeling on videos.
Comment: ICLR 2026
arXiv PDF
Worldscape-MoE: A Unified Mixture-of-Experts World Model for Scalable Heterogeneous Action Control
Jianjie Fang, Yongyan Xu, Ziyou Wang, Chen Gao, Yuchao Huang, Zhaolu Wang, Rongze Tang, Mingyuan Jia, Baining Zhao, Weichen Zhang, Xin Zhang, Haisheng Su, Yu Shang, Wei Wu, Xinlei Chen, Yong Li
arXiv:2607.03964v1 • 2026-07-04
World models are rapidly becoming a core infrastructure for embodied intelligence and interactive agents: they provide controllable simulators in which agents can perceive, act, forecast, and acquire scalable experience. Yet current video generation world models are still organized around isolated control interfaces, such as camera trajectories, robot actions, or hand-joint signals. This fragmentation is increasingly a scaling bottleneck. The central challenge is not the absence of controllable generators, but the lack of a unified and extensible learning framework that can absorb heterogeneous action supervision while preserving a shared model of world dynamics. In this work, we introduce Worldscape-MoE, a Mixture-of-Experts world model built on Diffusion Transformers for scalable heterogeneous action control. Our key observation is that different controls specify different interfaces to the same underlying world: although their representations differ, they constrain shared physical regularities, scene dynamics, and interaction semantics. Worldscape-MoE operationalizes this observation through modality-aware control injection, shared and control-specific experts, and a progressive MoE tuning strategy that supports continual extension to new action modalities. Experiments across locomotion, robotic manipulation, and egocentric hand control show that heterogeneous supervision improves rather than interferes with individual control capabilities. Worldscape-MoE achieves strong results on WorldArena, improves locomotion and hand-control metrics, exhibits robust out-of-distribution generalization, and demonstrates scaling behavior as additional control data and experts are integrated.
Comment: 36 pages
arXiv PDF
Video Generation Models as World Models: Efficient Paradigms, Architectures and Algorithms
Muyang He, Hanzhong Guo, Junxiong Lin, Yizhou Yu
arXiv:2603.28489v3 •updated • 2026-03-30
The rapid evolution of video generation has enabled models to simulate complex physical dynamics and long-horizon causalities, positioning them as potential world simulators. However, a critical gap still remains between the theoretical capacity for world simulation and the heavy computational costs of spatiotemporal modeling. To address this, we comprehensively and systematically review video generation frameworks and techniques that consider efficiency as a crucial requirement for practical world modeling. We introduce a novel taxonomy in three dimensions: efficient modeling paradigms, efficient network architectures, and efficient inference algorithms. We further show that bridging this efficiency gap directly empowers interactive applications such as autonomous driving, embodied AI, and game simulation. Finally, we identify emerging research frontiers in efficient video-based world modeling, arguing that efficiency is a fundamental prerequisite for evolving video generators into general-purpose, real-time, and robust world simulators. A curated GitHub repository of the reviewed literature can be found at https://github.com/Isaachhh/Efficient-VWM-Survey.
arXiv PDF
ProxyUp: Training-Free Proxy-Conditioned Video Generation for Controllable Dynamics
Zanwei Zhou, Jiazhong Cen, Jiemin Fang, Yumeng He, Chen Yang, Sikuang Li, Fanpeng Meng, Zhikuan Bao, Wei Shen, Qi Tian
arXiv:2607.03732v1 • 2026-07-04
Precise control over complex dynamics remains challenging for modern video generative models, as text prompts alone often cannot specify physically plausible, fine-grained motion and interactions. We introduce $\textit{proxy-conditioned video generation}$, where a coarse proxy video from physics-based simulation or real-world recording serves as a dynamics carrier to control foreground object motion. Given a proxy video and a text prompt, the goal is to synthesize a new video that preserves the proxy dynamics while generating novel content and plausible interactions aligned with the prompt. Since paired proxy-target videos are difficult to obtain, we propose $\textbf{ProxyUp}$, a training-free framework built on pretrained video generative models. ProxyUp first inverts the proxy video into an intermediate latent representation and applies $\textbf{region-wise latent noising}$, preserving motion-critical proxy latents while injecting noise into regions intended for text-driven regeneration. To mitigate the distribution mismatch and weak foreground-background coupling introduced by this heuristic latent composition, we further propose $\textbf{Stochastic Flow Relaxation (SFR)}$, which progressively relaxes the composed latent toward the model's learned distribution before ODE sampling. Experiments on both simulation and real-world proxies show that ProxyUp outperforms strong video editing and motion transfer baselines in dynamic fidelity and text alignment.
Comment: Project Page: $\href{https://zanue.github.io/proxyup}{\text{this https URL}}$
arXiv PDF
2026-07-03
75 篇
Robotics
68
默认显示 5 篇
IndustryNav: Exploring Spatial Reasoning of Embodied Agents in Dynamic Industrial Navigation
Yifan Li, Lichi Li, Anh Dao, Xinyu Zhou, Wenjun Huang, Tianyi Ma, Yicheng Qiao, Zheda Mai, Daeun Lee, Zichen Chen, Pan Wang, Lehan Yang, Tianlong Wang, Zhen Tan, Sheng Li, Mohit Bansal, Yang Ni, Yu Kong
arXiv:2511.17384v2 •updated • 2025-11-21
While Visual Large Language Models (VLLMs) show great promise as embodied agents, they continue to face substantial challenges in spatial reasoning. Existing embodied benchmarks largely focus on passive, static household environments and evaluate isolated capabilities, failing to capture holistic performance in interactive and dynamic complexity of specific domains. To fill this gap, we present IndustryNav, the first dynamic industrial navigation benchmark for active spatial reasoning. IndustryNav leverages 12 manually created, high-fidelity Unity warehouse scenarios featuring dynamic objects and human movement. We proposes a zero-shot PointGoal navigation pipeline that effectively combines egocentric vision with global odometry to assess holistic local-global planning. Furthermore, we introduce the "collision rate" and "warning rate" metrics to measure safety-oriented behaviors. A comprehensive study of fourteen state-of-the-art VLLMs (including models such as GPT-5.2, Claude-4.6, and Gemini-3) reveals that closed-source models maintain a consistent advantage; however, all agents exhibit notable deficiencies in robust path planning, collision avoidance and active exploration. This highlights a critical need for embodied research to move beyond passive perception and toward tasks that demand stable planning, active exploration, and safe behavior in vivid, dynamic environments.
arXiv PDF
A Vision Based System for Guided and Collaborative Reconstruction of Fragmented Documents
Oliver Krumpek, Diana Leo
arXiv:2607.03621v1 • 2026-07-03
This paper presents the development and evaluation of a collaborative system for real-time reconstruction of fragmented paper documents in the context of cultural heritage preservation. The developed system includes a collaborative robot, or cobot, that can fully manage the positioning of paper fragments using a specially designed vacuum-based suction attachment. This attachment enables gentle and precise positioning, ensuring the preservation of fragile materials. With this device, we are able to achieve a positioning repeatability of 0.57mm for fragments of 8cm^2. The system offers users the flexibility to choose between manual positioning, with visual guidance, or fully automated positioning performed by the cobot. To further improve the reconstruction process, AI methods for image interpretation, specifically for segmentation and positioning tasks, were applied and evaluated for their applicability to template-based reconstruction of damaged paper fragments. Our investigation provides critical insights into the performance of different local feature matching methods under different document types, taking into account rotation, scale robustness, and the degree of damage to the fragments. With a focus on the reconstruction of damaged and optically altered archival material, SE2-LoFTR, a detector-free local feature matching method, was chosen as the preferred method for the system due to its robust performance in our experiments.
Comment: The paper was presented at MetroArchaeo 2024 in Malta. Publication in Springer Proceedings is still delayed
arXiv PDF
ROBOCYCLE: Autonomous Dual-Arm Robotic Manipulation and Coordination for Recycling Applications
Rubén de J. Hilario-Cruz, Jesus A. García-González, Enrique Coronado, Arturo E. Cerón-López
arXiv:2607.03616v1 • 2026-07-03
As urban waste volumes escalate and labor shortages intensify, automated waste sorting systems are becoming a necessity. However, current robotic solutions often struggle with the 3D perception and manipulation of transparent, deformable, or cluttered objects. This work introduces ROBOCYCLE, an autonomous dual-arm robotic recycling platform designed to meet the recycling standards of the Tokyo metropolitan area. Our approach integrates multi-view RGB-D perception, transformer-based instance segmentation using RF-DETR, and 6-DoF grasp planning via the Anygrasp SDK. By processing segmentated point clouds, the system generates robust candidate poses for irregular and deformable waste. The system achieved a 90.3% grasp success rate and 84.3% overall task success rate, effectively performing complex coordinated tasks such as unscrewing PET bottle caps. The proposed platform offers a scalable solution for autonomous waste management in real-world human environments.
arXiv PDF
Token-Based Affordance Grounding with Large Vision-Language Models
Seung Il Lee, Qinqian Lei, Daguang Xu, Dong Yang, Robby T. Tan, Yixin Chen, Bo Wang
arXiv:2607.03595v1 • 2026-07-03
Affordance grounding aims to localize image regions that support a specific action, serving as a core capability for physical intelligence and embodied perception. Previous studies have primarily relied on weakly supervised learning with action labels from exocentric images. However, these methods often struggle with visually ambiguous exocentric images containing co-occurring actions; moreover, they fail to distinguish semantically similar actions because existing methods typically rely on brief action phrases that lack rich semantic details for action-specific localization. Although large vision-language models (LVLMs) encode rich action semantics and their action-conditioned textual outputs implicitly contain spatial cues, they do not directly provide action-specific spatial localization. To address these problems, we propose TokAG, a zero-shot affordance grounding framework that exploits the token-level semantic-spatial signals in LVLMs to localize action-relevant regions without external supervision. We observe that attention maps associated with different LVLM output tokens vary significantly, with many attending to irrelevant regions such as the background. Thus, we introduce a spatial-aware token-selection mechanism to systematically evaluate each output token and select the one whose attention maps exhibit dominant activation over the target object, instead of relying on arbitrary attention maps. By extracting these object-focused attention maps, we transform the LVLM's implicit semantic signals into zero-shot affordance heatmaps. Our zero-shot framework consistently outperforms prior weakly supervised approaches across multiple benchmarks, improving NSS by 10.7% on the unseen split of AGD20K and by 29.7% on HICO-IIF. The code and models will be made publicly available.
Comment: Accepted to ECCV 2026
arXiv PDF
Cross-Embodiment Robot Manipulation via a Unified Hand Action Space
Luis Felipe Casas, Robert Teal, Keval Shah, Abhijit Tadepalli, Wanxin Jin, Yu Xiang
arXiv:2607.03570v1 • 2026-07-03
Robot manipulation policies are typically tied to specific robotic hand embodiments, limiting the transfer of learned behaviors across platforms with different kinematic structures. In this work, we propose the Unified Hand Action Space (UHAS), a sphere-based unified action representation for cross-embodiment dexterous manipulation. UHAS represents robotic hand actions as geometric deformations of a canonical sphere and uses a Cascade Inverse Kinematics (CIK) algorithm to map the shared representation to embodiment-specific joint configurations. Using reinforcement learning, we train dexterous manipulation policies directly in the proposed action space for in-hand cube reorientation tasks. We evaluate our method in both simulation and real-world experiments across multiple robotic hands, including the Allegro Hand, LEAP Hand, Shadow Hand, and MANO Human Hand. Experimental results demonstrate effective dexterous manipulation, zero-shot transfer to unseen hands, rapid finetuning across embodiments, and successful real-world deployment. Our experiments show that the proposed UHAS representation enables stable dexterous control and cross-embodiment policy transfer across robotic hands.
arXiv PDF
Video World Models
7
默认显示 5 篇
Latent Clarity: Bridging World-Model Kinematics to Semantic Manifolds for Video Anomaly Anticipation
Abu Anas Ibn Samad
arXiv:2607.03558v1 • 2026-07-03
Continuous video anomaly detection is dominated by reactive Multiple Instance Learning (MIL) that collapses spatiotemporal features into scalar scores. We introduce PULS (Predictive Unified Latent Space), a continuous semantic world-model pipeline comprising two modules: a 490M-parameter KSD Bridge (Kinematic-to-Semantic Distillation) and a 16.8M-parameter Anticipatory State Predictor (ASP). The KSD Bridge maps V-JEPA 2 physical tensors into the 2048-d Qwen3-VL-Embedding-2B text-aligned hypersphere, trained on a subset of UCF-Crime. This translation alone yields a chunk-level AUROC of 0.8994 for UCF-Crime and 0.8162 for out-of-distribution XD-Violence without MIL or hierarchical fusion. We introduce and validate the Latent Clarity Hypothesis: because JEPA's temporal predictor discards aleatoric pixel noise while preserving kinematics, anticipated future representations are more semantically separable than observed presents. The ASP sharpens these anticipated future latents, achieving 44.5% mean 14-way zero-shot VQA accuracy (exceeding observation baseline by +9.6 pp). Applying the ASP to Observation Tensors collapses accuracy to 7.3% (random chance), proving Anticipation and Observation occupy distinct sub-manifolds. A Triple-Track Lead-Time protocol with an L1-surprise gate yields a peak +8.9 pp anticipatory advantage at T-0.5s (p < 0.001, N = 1,000 permutation), separating physical anticipation from static scene priors. Zero-shot transfer to XD-Violence confirms that Newtonian-invariant kinematic representations generalize out-of-distribution.
Comment: 14 pages, 3 figures, 5 tables
arXiv PDF
TiROD: Tiny Robotics Dataset and Benchmark for Continual Object Detection
Francesco Pasti, Riccardo De Monte, Davide Dalle Pezze, Gian Antonio Susto, Nicola Bellotto
arXiv:2409.16215v4 •updated • 2024-09-24
Detecting objects with visual sensors is crucial for numerous mobile robotics applications, from autonomous navigation to inspection. However, robots often need to operate under significant domains shifts from those they were trained in, requiring them to adjust to these changes. Tiny mobile robots, subject to size, power, and computational constraints, face even greater challenges when running and adapting detection models on low-resolution and noisy images. Such adaptability, though, is crucial for real-world deployment, where robots must operate effectively in dynamic and unpredictable settings. In this work, we introduce a new vision benchmark to evaluate lightweight continual learning strategies tailored to the unique characteristics of tiny robotic platforms. Our contributions include: (i) Tiny Robotics Object Detection~(TiROD), a challenging video dataset collected using the onboard camera of a small mobile robot, designed to test object detectors across various domains and classes; (ii) a comprehensive benchmark of several continual learning strategies on different scenarios using NanoDet, a lightweight, real-time object detector for resource-constrained devices.. Our results highlight some key challenges in developing robust and efficient continual learning strategies for object detectors in tiny robotics.es; (ii) a benchmark of different continual learning strategies on this dataset using NanoDet, a lightweight object detector. Our results highlight key challenges in developing robust and efficient continual learning strategies for object detectors in tiny robotics.
Comment: Accepted at Journal of Intelligent Robotics & Systems
arXiv PDF
$C^3$ASD: Multi-Level Consistency-Driven Representation Learning
Jin Hong, Jisoo Park, Junseok Kwon
arXiv:2607.03018v1 • 2026-07-03
Active Speaker Detection determines whether a visible person in a video is speaking at each moment. While recent audio-visual fusion methods perform well on clean data, they degrade under real-world corruptions such as background noise, occlusion, or simultaneous modality degradation. We attribute this limitation to the absence of explicit consistency constraints that promote robust, semantically aligned representations across modalities. Without such guidance, models tend to learn fragile modality-specific shortcuts that fail under corrupted conditions. We propose $C^3$ASD, a multi-level consistency-driven framework with three complementary constraints: embedding-level inter-modality consistency aligns audio-visual representations during speech; sequence-level intra-modality consistency separates speaking and non-speaking clusters via track-aware contrastive learning; and prediction-level consistency stabilizes fusion through knowledge distillation. Extensive experiments demonstrate significant improvements under diverse audio, visual and joint corruptions, while maintaining competitive performance on clean data.
Comment: ECCV 2026
arXiv PDF
VKnowU: Evaluating Visual Knowledge Understanding in Multimodal LLMs
Tianxiang Jiang, Sheng Xia, Yicheng Xu, Linquan Wu, Xiangyu Zeng, Limin Wang, Yu Qiao, Yi Wang
arXiv:2511.20272v2 •updated • 2025-11-25
While Multimodal Large Language Models (MLLMs) have become adept at recognizing objects, they often lack the intuitive, human-like understanding of the world's underlying physical and social principles. This high-level vision-grounded semantics, which we term visual knowledge, forms a bridge between perception and reasoning, yet remains an underexplored area in current MLLMs. To systematically evaluate this capability, we present VKnowU, a comprehensive benchmark featuring 1,680 questions in 1,249 videos, covering 8 core types of visual knowledge spanning both world-centric (e.g., intuitive physics) and human-centric (e.g., subjective intentions). Evaluation of 28 SOTA MLLMs reveals that leading models still fall short of human performance, with particularly notable gaps in the world-centric. To bridge this gap, we introduce a new dataset, VKnowQA, and VideoKnow+, a baseline model that explicitly incorporates visual knowledge into MLLMs. VideoKnow+ follows a structured See-Think-Answer paradigm and adopts reinforcement learning with visual knowledge reward, achieving a +3.7% improvement on VKnowU and consistent gains on MVBench (+5.4%), Video-MME (+7.0%), and MMVU (+5.7%). Our work highlights visual knowledge as a missing cornerstone for developing more generalizable MLLMs that can not only see but also truly understand our worlds.
Comment: Accepted by ECCV 2026. https://github.com/OpenGVLab/VKnowU
arXiv PDF
LivingWorld: Interactive 4D World Generation with Environmental Dynamics
Hyeongju Mun, In-Hwan Jin, Sohyeong Kim, Kyeongbo Kong
arXiv:2604.01641v2 •updated • 2026-04-02
We introduce LivingWorld, an interactive framework for generating 4D worlds with environmental dynamics from a single image. While recent advances in 3D scene generation enable large-scale environment creation, most approaches focus primarily on reconstructing static geometry, leaving scene-scale environmental dynamics such as clouds, water, or smoke largely unexplored. Modeling such dynamics is challenging because motion must remain coherent across an expanding scene while supporting low-latency user feedback. LivingWorld addresses this challenge by progressively constructing a globally coherent motion field as the scene expands. To maintain global consistency during expansion, we introduce a geometry-aware alignment module that resolves directional and scale ambiguities across views. We further represent motion using a compact hash-based motion field, enabling efficient querying and stable propagation of dynamics throughout the scene. This representation also supports bidirectional motion propagation during rendering, producing long and temporally coherent 4D sequences without relying on expensive video-based refinement. On a single RTX 5090 GPU, generating each new scene expansion step requires 9 seconds, followed by 3 seconds for motion alignment and motion field updates, enabling interactive 4D world generation with globally coherent environmental dynamics. Video demonstrations are available at paper.pnu-cvsp.com/LivingWorld.
Comment: Accepted by ECCV 2026
arXiv PDF
2026-07-02
95 篇
Robotics
76
默认显示 5 篇
Metallic Ultrasound Waveguides as a Distributed Tactile Sensing Platform for Contact Localization, Force Estimation, and Material Class Discrimination
Alexandros Rosakis, Alessio Tamborini, Basile Fakhoury, Cole Bailey, Morteza Gharib
arXiv:2607.02827v1 • 2026-07-02
Tactile sensing is central to how robotic systems interact with the real world, yet current solutions face a tradeoff between sensing area and system complexity. This work investigates metallic ultrasound waveguides as distributed tactile sensors fully interrogated from a single proximal transducer. Using cylindrical indenters, we characterized the acoustic response to single and multi-point contacts with varying forces and contact materials. For single point indentation, the applied force was well captured by a linear relationship with the ratio of the reflection to transmission coefficients (F = a * R/T) across all nine tested materials (R2 >= 0.95). The calibration slope, a, correlated strongly with the material's effective contact modulus (log--log Pearson r=-0.98). The reflected energy partition was found to be a load-independent parameter related to the contacting material's properties, enabling material classification independent of force. For the two-indenter experiment, both contact forces were recovered from the waveguide signal and were in close agreement with reference load cell measurements (contact 1, R2 = 0.97; contact 2, R2=0.95). The approach was extended to two-dimensional metallic sheets, confirming both contact localization and material-dependent effects. Overall, these results validate metallic waveguides as a robust platform for distributed tactile sensing, providing contact localization, force estimation, and material-class discrimination for the contacting body.
arXiv PDF
Planning with the Views
Kangrui Wang, Linjie Li, Zhengyuan Yang, Shiqi Chen, Zihan Wang, Li Fei-Fei, Jiajun Wu, Leonidas Guibas, Lijuan Wang, Manling Li
arXiv:2605.29563v4 •updated • 2026-05-28
Can VLMs predict how each camera move changes the view, and plan many such moves ahead? We call this capability view planning, requiring (1)understanding how a single action transforms the view, and (2)composing many such transformations across multi-turn plans to identify a target view. We probe both abilities in our proposed ViewSuite, a 3D point-cloud environment on real ScanNet scenes. Across 13 frontier VLMs, a critical planning gap emerges: they possess basic view-action knowledge but fail to compose it across multi-turn plans, with the gap widening as viewpoint distance grows. To close this gap, we propose an iterative framework that alternates self-exploration with view graph distillation. The key insight is that all exploration trajectories, regardless of their outcome, collectively form a view graph that compactly captures how viewpoints connect across a scene. Distilling this graph into diverse supervised tasks reshapes the policy distribution and overcomes the sparse rewards that stall pure RL. This improves Qwen2.5-VL-7B from 2.5% to 47.8% on interactive view planning, surpassing GPT-5.4 Pro (18.5%) and Gemini 3.1 Pro (21.4%). Self-exploration emerges as a promising path toward VLMs that can actively reason and plan in 3D space. Code and Data are at https://viewsuite.github.io.
arXiv PDF
PinNet: Keypoint-Aware Learned Local Descriptors with Geometric Embedding for Loop Closure in LiDAR SLAM
Yanlong Ma, Nakul S. Joshi, Christa S. Robison, Philip R. Osteen, Brett T. Lopez
arXiv:2606.28637v2 •updated • 2026-06-26
Loop closure is essential to reduce drift and build globally consistent maps in large-scale environments. However, reliable loop closure with only geometric information from, e.g., a LiDAR sensor, remains challenging due to the difficulty of constructing discriminative geometric features. We present PinNet, a neural network that produces local geometric descriptors from point clouds for place recognition and scanto-scan registration. PinNet incorporates a neural network that generates keypoints and their corresponding descriptors, together with a plane-based geometric self-attention module that models inter-keypoint spatial relationships to enhance descriptor discriminability for loop-closure detection and point-cloud registration. The approach is comprehensively evaluated on multiple datasets collected with different LiDAR sensors. Experimental results demonstrate strong place-recognition performance, precise relative pose estimation, and successful single-shot localization in different environments.
arXiv PDF
MorphQuad: Morphable Quadrotor for Superhuman Maneuverability, Manipulation, and Resiliency
J. Diaz Peon Gonzalez Pacheco, J. Xu, A. Zhao, H. Zhou, A. Navsalkar, A. Scheffer, A. Malli Reddi, S. Shankar, Y. Bao, V. Tzoumas
arXiv:2607.02764v1 • 2026-07-02
Infrastructure maintenance, contact-based inspection, and emergency response can benefit from aerial vehicles that act as a flying human hand with extreme maneuverability, manipulation, and resiliency (MMR): maneuverability to fly in arbitrary orientations to reach remote and tight locations; manipulation to point sensors, turn valves, and press tools at arbitrary orientations; resiliency to maintain accurate motion and force control despite disturbances from arbitrary directions, such as wind, ground effects, and friction. Realizing MMR on aerial vehicles requires not only omnidirectional flight; it also requires (I) vectoring of maximum thrust in any direction, to maximize capacity for contact-force application and disturbance rejection, (II) global stability, to enable control over any orientation/position, and (III) compact, standard designs that build upon platforms such as quadrotors to inherit technological know-how. No current aerial vehicle simultaneously enables I--III, due to structural and control limitations that constrain actuation. We present MorphQuad: a morphable quadrotor that enjoys MMR. Key to our approach is a hardware and control co-design: on hardware, we independently articulate each of the four rotor systems via two-axis gimbals; on control, we introduce globally-stable control, and energy-optimal thrust allocation that permits inter-rotor thrust cancellations only to avoid downwash interference and gimbal lock. With fully-onboard autonomy, MorphQuad demonstrates multi-revolution rotation while translating or hovering, for pipe inspection and target tracking (maneuverability); valve turning, perching, and object pressing and pushing with human-level strengths (manipulation); and wind rejection from any direction, even directed to a single rotor, and push-pull recovery (resiliency).
arXiv PDF
BEVLM: Distilling Semantic Knowledge from LLMs into Bird's-Eye View Representations
Thomas Monninger, Shaoyuan Xie, Qi Alfred Chen, Sihao Ding
arXiv:2603.06576v2 •updated • 2026-03-06
The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest for their strong reasoning and semantic understanding abilities, which are essential for handling complex decision-making and long-tail scenarios. However, existing methods typically feed LLMs with tokens from multi-view and multi-frame images independently, leading to redundant computation and limited spatial consistency. This separation in visual processing hinders accurate 3D spatial reasoning and fails to maintain geometric coherence across views. On the other hand, Bird's-Eye View (BEV) representations learned from geometrically annotated tasks (e.g., object detection) provide spatial structure but lack the semantic richness of foundation vision encoders. To bridge this gap, we propose BEVLM, a framework that connects a spatially consistent and semantically distilled BEV representation with LLMs. Through extensive experiments, we show that BEVLM enables LLMs to reason more effectively in cross-view driving scenes, improving accuracy by 46.0%, by leveraging BEV features as unified inputs. Furthermore, by distilling semantic knowledge from LLMs into BEV representations, BEVLM significantly improves closed-loop end-to-end driving performance in safety-critical scenarios across UniAD and VAD, with gains of up to 28.2%.
Comment: Accepted to the 2026 European Conference on Computer Vision (ECCV 2026)
arXiv PDF
Video World Models
19
默认显示 5 篇
K9-Bench: Evaluating Multimodal LLMs on Canine-Centric Videos
Khush Attarde, Yusuf Ali, Megha Thukral, Divye Bhutani, Thomas Ploetz, Zsolt Kira
arXiv:2607.02680v1 • 2026-07-02
MLLMs have shown strong zero-shot capabilities across diverse inputs such as across images, video, audio, and text. A crucial, yet underexplored, application of these models lies in understanding and modeling animal-centric scenarios. As animals are integral to millions of households, benchmarking next-generation AI models on pet-focused tasks, ranging from recognizing distress signals to enabling responsive robotic companions, is essential for building AI systems that can work alongside us. We introduce K9-Bench, a novel benchmark focused on real-world domestic dog videos, specifically targeting canine action and interaction understanding via approximately 5000 question-answer pairs across 907 videos spanning 5 distinct task categories that test long-form, canine-centric multimodal reasoning in MLLMs. To create this dataset, we propose a scalable, VLM/LLM-powered data generation pipeline that automatically mines canine-centric videos from the web and curates QA pairs requiring fine-grained, multi-hop reasoning over canine actions and temporally extended interaction sequences. We implement bias mitigation strategies designed to eliminate biases introduced by VLMs during dataset curation. Through extensive experimentation, we find that frontier MLLMs exhibit limited zero-shot performance on canine-centric tasks: although state-of-the-art closed-source models outperform open-source counterparts, they still struggle with compositional reasoning over subtle posture and interaction cues spread over long horizons. We observe that generic chain-of-thought prompting provides only modest performance for such long-horizon reasoning. Beyond a novel dataset for canine activity analysis, K9-Bench provides a general-purpose dataset construction pipeline that can be adapted to other low-data domains for quantitative analysis. Our project website is available at: https://ogmenrobotics.github.io/K9Bench.
arXiv PDF
WorldDirector: Building Controllable World Simulators with Persistent Dynamic Memory
Hanlin Wang, Hao Ouyang, Qiuyu Wang, Wen Wang, Qingyan Bai, Ka Leong Cheng, Yue Yu, Yixuan Li, Yihao Meng, Zichen Liu, Yanhong Zeng, Yujun Shen, Qifeng Chen
arXiv:2607.02517v1 • 2026-07-02
We present WorldDirector, a highly controllable video world model framework designed for persistent dynamic object memory and unrestricted viewpoint exploration. Unlike existing world models that entangle physical dynamics with pixel rendering and rely on continuous visual observation to sustain motion, our framework explicitly decouples semantic motion orchestration from visual generation. By leveraging an LLM to coordinate 3D trajectories with camera movements and subsequently employing these orchestrated trajectories as control signals for video generation, our approach ensures strict physical logic and appearance stability, successfully preserving the exact visual identities of dynamic entities even when they re-enter the scene after prolonged periods out of view. Experimental results demonstrate that our method supports the synthesis of complex and extended events with unprecedented controllability and persistent dynamic object memory. Project Page: https://worlddirector.github.io/
Comment: Project Page: https://worlddirector.github.io/
arXiv PDF
Control-DINO: Feature Space Conditioning for Controllable Image-to-Video Diffusion
Edoardo A. Dominici, Thomas Deixelberger, Konstantinos Vardis, Markus Steinberger
arXiv:2604.01761v2 •updated • 2026-04-02
Video diffusion models have recently been applied with success to problems in content generation, novel view synthesis, and, more broadly, world simulation. Many applications in generation and transfer rely on conditioning these models, typically through perceptual, geometric, or simple semantic signals, fundamentally using them as generative renderers. At the same time, high-dimensional features obtained from large-scale self-supervised learning on images or point clouds are increasingly used as a general-purpose interface for vision models. The connection between the two has been explored for subject specific editing, aligning and training video diffusion models, but not in the role of a dense conditioning signal for pretrained video diffusion models. Features obtained through self-supervised learning like DINOv3, contain a lot of entangled information about style, lighting and semantics of the scene. This makes them great at reconstruction tasks but limits their generative capabilities. In this paper, we show how we can use the features for tasks such as video domain transfer and video-from-3D generation. We introduce a lightweight control architecture and training strategy that decouples appearance from other features that we wish to preserve, enabling robust control for appearance changes such as stylization and relighting. Furthermore, we show that low spatial resolution can be compensated by higher feature dimensionality, improving controllability in generative rendering from explicit spatial representations.
Comment: ECCV 2026 - Project Page https://dedoardo.github.io/projects/control-dino/
arXiv PDF
GigaWorld-1: A Roadmap to Build World Models for Robot Policy Evaluation
GigaWorld Team, Angyuan Ma, Boyuan Wang, Bohan Li, Chaojun Ni, Guo Li, Guan Huang, Guosheng Zhao, Hao Li, Hengtao Li, Jingyu Liu, Jiwen Lu, Qiuping Deng, Tingdong Yu, Xuancheng Xu, Xinyu Zhou, Xiuwei Xu, Xinze Chen, Xiaofeng Wang, Xiaoyu Tian, Yang Wang, Yifan Chang, Yukun Zhou, Yun Ye, Zhenyu Wu, Zhanqian Wu, Zheng Zhu
arXiv:2607.02642v1 • 2026-07-02
Evaluating embodied robot foundation models remains a critical bottleneck; unlike large language models efficiently assessed via digital benchmarks, robotic policies require slow, costly real-world rollouts limited by hardware and human supervision, which has driven interest in world models as surrogate policy evaluators, yet the key properties that make a world model reliable for policy assessment remain poorly understood. This work presents a systematic study of world models for robotic policy evaluation and introduces WMBench, a benchmark constructed from real-robot teleoperation data and matched policy rollouts covering diverse manipulation tasks to enable controlled comparisons across model families, action encodings, rollout horizons, and evaluation metrics. Using WMBench, we analyze 7 video world models, 4 action representation schemes, and over 324,000 simulated policy rollouts paired with real robot executions, further enriching our analysis with large-scale community submissions from the CVPR 2026 GigaBrain Challenge, curated synthetic trajectories, and a training videos spanning more than 12,000 hours. Our experiments deliver three core insights: evaluator quality is dominated by long-horizon, action-faithful rollout consistency rather than short-term visual realism; pretraining gains stem not only from data scale but from balancing general world knowledge with robot-specific controllability; and architectural choices including action encoding, memory design, and evaluator-focused post-training strongly determine alignment with real-world robot behavior. Drawing on these results, we derive a practical design roadmap and realize it in \textit{GigaWorld-1}, a world model specially optimized for policy evaluation, and we fully release our code, models, datasets, and toolkits to advance scalable evaluation research for embodied foundation models.
Comment: Project page: https://open-gigaai.github.io/giga-world-1/
arXiv PDF
Learning to Evolve Scenes: Reasoning about Human Activities with Scene Graphs
Francesca Pistilli, Simone Alberto Peirone, Giuseppe Averta
arXiv:2607.02425v1 • 2026-07-02
Understanding human behavior while interacting with the surrounding world is crucial for many applications of embodied AI. First-person videos are particularly informative for this problem, as they well capture how activities reshape the scene over time. However, existing approaches often rely on implicit visual or language-aligned representations, disregarding structured reasoning over the scene dynamic. We argue that explicit, compositional and editable representations of human-environment interactions can play a crucial role for rich grounded activity understanding. To this end, we introduce SG-Ego, a large scale annotation set extending Ego4D with spatio-temporal scene graphs, where relations triplets are consolidated over time into explicit time-evolving descriptions of the scene state. To reason over this representation, we propose GLEN, a graph-based model that operates over scene graph sequences to both align them with textual actions and model their temporal evolution. In addition, we formulate the activity-driven graph-edit forecasting (A-GEF) problem, a novel task that casts scene dynamics as a sequence of structured transformations conditioned on ongoing actions, enabling explicit reasoning about how scenes change over time. We validate our approach across multiple downstream tasks, spanning retrieval benchmarks as EgoMCQ and EgoCVR, as well as long-horizon reasoning benchmarks as EXPLORE-Bench and the newly introduced A-GEF. GLEN achieves strong results compared to raw video baselines and it excels in reasoning settings, typically addressed only with MLLMs, while enabling controllable and structured predictions of scene dynamics driven by human activities. We believe our results establish spatio-temporal scene graphs, together with models that reason over them, as strong compositional and interpretable representations for video understanding and potentially beyond.
Comment: Project page at https://francescapistilli.github.io/GLEN
arXiv PDF
2026-07-01
106 篇
Robotics
86
默认显示 5 篇
Sim2Real-AD: A Modular Sim-to-Real Framework for Deploying VLM-Guided Reinforcement Learning in Real-World Autonomous Driving
Zilin Huang, Zhengyang Wan, Zihao Sheng, Boyue Wang, Junwei You, Sikai Chen
arXiv:2604.03497v2 •updated • 2026-04-03
Vision-language-model (VLM)-guided reinforcement learning (RL) has recently attracted significant attention for it, replacing brittle hand-crafted rewards with semantically grounded signals; however, deploying such simulation-trained policies on real vehicles remains a fundamental challenge, because they rely on simulator-native observations and simulator-coupled action semantics with no counterpart on physical hardware. We identify a general principle: the simulation-to-reality gap decomposes into two largely orthogonal axes, a sensing-and-dynamics domain gap and a task-and-geometry gap, the former closable without real-world policy training by re-projecting real perception and control onto the policy's training manifold. We formalize this as a transfer guarantee that bounds the deployment gap by three independently controllable error terms, and instantiate it as Sim2Real-AD, which combines a Geometric Observation Bridge, a Physics-Aware Action Mapping, a Two-Phase Progressive Training curriculum, and a Real-time Deployment Pipeline. As a proof of concept, a CARLA-trained VLM-guided RL policy is transferred zero-shot to a full-scale battery-electric Ford E-Transit van in Madison, WI, USA, and drives across car-following, obstacle-avoidance, and stop-sign scenarios using no real-world training data. To our knowledge, this is among the first zero-shot closed-loop deployments of a CARLA-trained VLM-guided RL policy on a full-scale real vehicle, and the decomposition offers a principled, broadly applicable route for moving simulation-trained, foundation-model-guided policies into the physical world, supporting energy-efficient intelligent driving on electrified transportation platforms. The demo video, code, and model checkpoint are available at: https://zilin-huang.github.io/Sim2Real-AD-website/.
Comment: 33 pages, 16 figures
arXiv PDF
DriveVLM-RL: Neuroscience-Inspired Reinforcement Learning with Vision-Language Models for Safe and Deployable Autonomous Driving
Zilin Huang, Zihao Sheng, Zhengyang Wan, Yansong Qu, Junwei You, Sicong Jiang, Sikai Chen
arXiv:2603.18315v2 •updated • 2026-03-18
Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse collision signals, which fail to capture the rich contextual understanding required for safe driving and make unsafe exploration unavoidable in real-world settings. Recent vision-language models (VLMs) offer promising semantic understanding capabilities; however, their high inference latency and susceptibility to hallucination hinder direct application to real-time vehicle control. To address these limitations, this paper proposes DriveVLM-RL, a neuroscience-inspired framework that integrates VLMs into RL through a dual-pathway architecture for safe and deployable autonomous driving. Inspired by the human brain's habitual and deliberative visual processing, DriveVLM-RL decomposes semantic reward learning into a Static Pathway for continuous spatial safety assessment via CLIP-based contrasting language goals, and a Dynamic Pathway for attention-gated multi-frame semantic risk reasoning via a lightweight detection model and large VLM (LVLM). A hierarchical reward synthesis mechanism fuses these signals with vehicle state information, while an asynchronous training pipeline decouples expensive LVLM inference from environment interaction. Critically, all VLM components operate exclusively during offline training and are completely removed at deployment, eliminating inference latency at test time. Extensive experiments in the CARLA simulator demonstrate that DriveVLM-RL significantly outperforms state-of-the-art baselines in collision avoidance and task success, attaining the highest success rate while reducing collision severity from 10.09 to 1.75 km/h relative to the strongest VLM-based baseline. The demo video, code, and model checkpoints are available at: https://zilin-huang.github.io/DriveVLM-RL-website/
Comment: 33 pages, 16 figures
arXiv PDF
Overthink-Triggered Slowdown Attacks on LVLM-Based Robotic Systems
Qiang Han, Jie Wu, Bo Chen
arXiv:2607.01518v1 • 2026-07-01
Large Vision-Language Models (LVLMs) have been increasingly integrated into robotic systems. However, these models may exhibit overthinking behaviors, where they generate excessively long reasoning traces, incurring an excessive inference time. This overthinking behavior poses a serious risk to robotic systems, as the adversary can deliberately trigger overthinking to slow down the decision making of a victim robotic system, causing a variety of safety issues (i.e., an overthinking-induced slowdown attack). To initiate this attack, an adversary can embed carefully crafted, human-readable scene text into the visual scene observed by a victim robotic agent, causing significant inference delays even under a strict black-box setting. Therefore, the embedded scene text serves as a significant "trigger" for the attack. This work systematically identifies and validates transferable triggers of overthinking in robotic systems by introducing a three-stage framework. First, we construct a diverse corpus of reasoning-intensive scene text and extract overthinking-correlated lexical features from short response prefixes. Second, we perform an efficient black-box search guided by a prefix-based proxy score while selectively confirming a small set of top candidates with full latency measurements. Third, we evaluate black-box transfer using a fixed pool of triggers on unseen images and multiple LVLMs, reporting latency amplification and attack success rates under standard thresholds. Across three representative LVLMs, all triggers yield slowdown ratios greater than 1.0x, with the strongest single-trigger case reaching 6.96x. The physical printing of the text trigger still causes up to 4.74x latency amplification. These results demonstrate that our discovered triggers are transferred between multiple LVLM models and consistently cause significant slowdowns in robotic systems.
Comment: 17 pages, 10 figures
arXiv PDF
From Actions to Understanding: Conformal Interpretability of Temporal Concepts in LLM Agents
Trilok Padhi, Ramneet Kaur, Krishiv Agarwal, Adam D. Cobb, Daniel Elenius, Manoj Acharya, Colin Samplawski, Alexander M. Berenbeim, Nathaniel D. Bastian, Susmit Jha, Ugur Kursuncu, Anirban Roy
arXiv:2604.19775v2 •updated • 2026-03-27
Large Language Models (LLMs) are increasingly deployed as autonomous agents capable of reasoning, planning, and acting within interactive environments. Despite their growing capability to perform multi-step reasoning and decision-making tasks, internal mechanisms guiding their sequential behavior remain opaque. This paper presents a framework for interpreting the temporal evolution of concepts in LLM agents through a step-wise conformal lens. We introduce the conformal interpretability framework for temporal tasks, which combines step-wise reward modeling with conformal prediction to statistically label model's internal representation at each step as successful or failing. Linear probes are then trained on these representations to identify directions of temporal concepts - latent directions in the model's activation space that correspond to consistent notions of success, failure or reasoning drift. Experimental results on two simulated interactive environments, namely ScienceWorld and AlfWorld, demonstrate that these temporal concepts are linearly separable, revealing interpretable structures aligned with task success. We further show preliminary results on improving an LLM agent's performance by leveraging the proposed framework for steering the identified successful directions inside the model. The proposed approach, thus, offers a principled method for early failure detection as well as intervention in LLM-based agents, paving the path towards trustworthy autonomous language models in complex interactive settings.
Comment: Accepted at the Mechanistic Interpretability Workshop, 43rd International Conference on Machine Learning, Seoul, South Korea, 2026
arXiv PDF
Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution
Zhanyi Sun, Shuran Song
arXiv:2508.05941v2 •updated • 2025-08-08
Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to mitigate this issue involve expanding the training distribution through human-in-the-loop corrections or synthetic data augmentation. However, these approaches are often labor-intensive, rely on strong task assumptions, or compromise the quality of imitation. We introduce Latent Policy Barrier, a framework for robust visuomotor policy learning. Inspired by Control Barrier Functions, LPB treats the latent embeddings of expert demonstrations as an implicit barrier separating safe, in-distribution states from unsafe, out-of-distribution (OOD) ones. Our approach decouples the role of precise expert imitation and OOD recovery into two separate modules: a base diffusion policy solely on expert data, and a dynamics model trained on both expert and suboptimal policy rollout data. At inference time, the dynamics model predicts future latent states and optimizes them to stay within the expert distribution. Both simulated and real-world experiments show that LPB improves both policy robustness and data efficiency, enabling reliable manipulation from limited expert data and without additional human correction or annotation.
arXiv PDF
Video World Models
20
默认显示 5 篇
Sim2Real-AD: A Modular Sim-to-Real Framework for Deploying VLM-Guided Reinforcement Learning in Real-World Autonomous Driving
Zilin Huang, Zhengyang Wan, Zihao Sheng, Boyue Wang, Junwei You, Sikai Chen
arXiv:2604.03497v2 •updated • 2026-04-03
Vision-language-model (VLM)-guided reinforcement learning (RL) has recently attracted significant attention for it, replacing brittle hand-crafted rewards with semantically grounded signals; however, deploying such simulation-trained policies on real vehicles remains a fundamental challenge, because they rely on simulator-native observations and simulator-coupled action semantics with no counterpart on physical hardware. We identify a general principle: the simulation-to-reality gap decomposes into two largely orthogonal axes, a sensing-and-dynamics domain gap and a task-and-geometry gap, the former closable without real-world policy training by re-projecting real perception and control onto the policy's training manifold. We formalize this as a transfer guarantee that bounds the deployment gap by three independently controllable error terms, and instantiate it as Sim2Real-AD, which combines a Geometric Observation Bridge, a Physics-Aware Action Mapping, a Two-Phase Progressive Training curriculum, and a Real-time Deployment Pipeline. As a proof of concept, a CARLA-trained VLM-guided RL policy is transferred zero-shot to a full-scale battery-electric Ford E-Transit van in Madison, WI, USA, and drives across car-following, obstacle-avoidance, and stop-sign scenarios using no real-world training data. To our knowledge, this is among the first zero-shot closed-loop deployments of a CARLA-trained VLM-guided RL policy on a full-scale real vehicle, and the decomposition offers a principled, broadly applicable route for moving simulation-trained, foundation-model-guided policies into the physical world, supporting energy-efficient intelligent driving on electrified transportation platforms. The demo video, code, and model checkpoint are available at: https://zilin-huang.github.io/Sim2Real-AD-website/.
Comment: 33 pages, 16 figures
arXiv PDF
DriveVLM-RL: Neuroscience-Inspired Reinforcement Learning with Vision-Language Models for Safe and Deployable Autonomous Driving
Zilin Huang, Zihao Sheng, Zhengyang Wan, Yansong Qu, Junwei You, Sicong Jiang, Sikai Chen
arXiv:2603.18315v2 •updated • 2026-03-18
Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse collision signals, which fail to capture the rich contextual understanding required for safe driving and make unsafe exploration unavoidable in real-world settings. Recent vision-language models (VLMs) offer promising semantic understanding capabilities; however, their high inference latency and susceptibility to hallucination hinder direct application to real-time vehicle control. To address these limitations, this paper proposes DriveVLM-RL, a neuroscience-inspired framework that integrates VLMs into RL through a dual-pathway architecture for safe and deployable autonomous driving. Inspired by the human brain's habitual and deliberative visual processing, DriveVLM-RL decomposes semantic reward learning into a Static Pathway for continuous spatial safety assessment via CLIP-based contrasting language goals, and a Dynamic Pathway for attention-gated multi-frame semantic risk reasoning via a lightweight detection model and large VLM (LVLM). A hierarchical reward synthesis mechanism fuses these signals with vehicle state information, while an asynchronous training pipeline decouples expensive LVLM inference from environment interaction. Critically, all VLM components operate exclusively during offline training and are completely removed at deployment, eliminating inference latency at test time. Extensive experiments in the CARLA simulator demonstrate that DriveVLM-RL significantly outperforms state-of-the-art baselines in collision avoidance and task success, attaining the highest success rate while reducing collision severity from 10.09 to 1.75 km/h relative to the strongest VLM-based baseline. The demo video, code, and model checkpoints are available at: https://zilin-huang.github.io/DriveVLM-RL-website/
Comment: 33 pages, 16 figures
arXiv PDF
How Much Future Helps? A Controlled Study of Future-Privileged Supervision for Causal Egocentric Gaze Estimation
Jia Li, Wenjie Zhao, Fnu Atisri, Sanskriti Aripineni, Shijian Deng, Jon E. Froehlich, Yuhang Zhao, Yapeng Tian
arXiv:2607.01437v1 • 2026-07-01
Egocentric gaze estimation is commonly studied using models that process the full video with access to future frames, while real-world applications require strictly causal, online prediction. This discrepancy raises key questions: Does future context inherently provide valuable signals for gaze estimation? If so, how much future look-ahead optimally supervises a causal model during training? To investigate, we propose a controlled framework featuring a future-aware branch that accesses a tunable look-ahead horizon during training but is discarded at inference. This design isolates the impact of future context while keeping the inference architecture fixed and strictly causal. Across EGTEA Gaze+ and Ego4D, we find that future-privileged supervision consistently improves causal gaze prediction, confirming its utility. However, performance gains do not increase monotonically with longer look-ahead, but rather peak within a bounded temporal regime. Specifically, optimal performance corresponds to roughly 1.7--3.3 seconds of future context ($H{\in}[5, 10]$) on EGTEA Gaze+ and 2.7 seconds ($H{=}10$) on Ego4D. Our results demonstrate that lightweight causal models can effectively absorb future-aware signals, providing practical guidance for real-time egocentric gaze modeling.
Comment: Accepted to the 7th International Workshop on Eye and Gaze in Computer Vision (GAZE 2026), CVPR 2026. Best Paper Award
arXiv PDF
Neuro-Symbolic Safety Guidance for Vision-Language-Action Models via Constrained Flow Matching
William English, Hao Zheng, Rickard Ewetz
arXiv:2607.01378v1 • 2026-07-01
Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities across robotic manipulation tasks, yet their real-world deployment remains limited by the lack of effective safety measures. Specifically, existing safety measures only prevent collisions caused by the robot's next action. In this paper, we propose a neuro-symbolic safety guidance mechanism for flow matching based VLAs that enables predictive collision avoidance. Flow matching based VLAs determine the next actions by predicting a trajectory (a sequence of actions) through an iterative neural flow matching process. Our method formulates safety enforcement as a minimum-norm constrained optimization problem that corrects safety violations during the denoising process of noisy intermediate trajectory predictions. By analyzing predicted trajectories and applying corrections during iterative denoising, our approach anticipates collisions before they become unavoidable. This interleaving of symbolic constraint satisfaction with neural trajectory generation enables predictive collision avoidance rather than reactive intervention. On the SafeLIBERO benchmark, our method achieves 82.8% collision avoidance and 81.6% task success, a 6.3% and 19.8% improvement respectively over single-step methods, with the largest gains on long-horizon tasks where compounding distribution shift is most pronounced. Video demonstrations of our approach are included on our project page at https://willenglish.tech/SafetyGuidedFlowMatching/.
arXiv PDF
World from Motion: Generative Dynamic Gaussian Reconstruction from Monocular Video
Liyuan Zhu, Shengyu Huang, Amrita Mazumdar, Tianye Li, Zan Gojcic, Gordon Wetzstein, Iro Armeni, Shalini De Mello, Alex Trevithick
arXiv:2607.01202v1 • 2026-07-01
We present World from Motion, a method for generating freely renderable dynamic 3D Gaussian representations from monocular videos. Our approach conditions a video model on dense, pixel-aligned renderings that encode appearance, geometry, and 3D scene motion along both input and target camera trajectories to correct rendering artifacts and fill in missing regions from an initial reconstruction. To train this model, we construct a dataset of aligned multiview video pairs and dynamic 3DGS representations, with simulated artifacts characteristic of monocular reconstruction. At test time, we distill the model's generations, including newly observed regions and motions, back into a single consistent, high-quality dynamic 3DGS, improving both novel-view synthesis and the underlying 3D motion. Our method sets a new state of the art in 4D reconstruction and seamlessly generalizes to in-the-wild videos with large viewpoint changes and dynamic motions.
Comment: Project page: https://research.nvidia.com/labs/amri/projects/world-from-motion/
arXiv PDF
2026-06-30
129 篇
Video World Models
27
默认显示 5 篇
Classroom Behavior Monitoring with YOLO An Empirical Study in Higher Education Settings
Sinh Vu Trong, Dung Nguyen Manh, Hieu Hoang Minh, Hieu Pham Trung, Thu Pham Ha, Nhu Le Hoang
arXiv:2607.02580v1 • 2026-06-30
Classroom behavior monitoring plays a vital role in evaluating student engagement and improving teaching effectiveness. Traditional observation methods remain subjective and lack scalability. This study introduces a real-world dataset of classroom videos collected at the Banking Academy of Vietnam (BAV-Classroom dataset), annotated with nine distinctive behavioral categories. State-of-the-art Computer Vision models were evaluated and compared, with YOLOv11 achieving the best performance. Experimental results indicate that students' concentration often decreases notably during the final part of lectures, highlighting challenges in sustaining engagement. Our findings demonstrate the feasibility of applying computer vision for automated classroom monitoring, providing valuable insights for academic quality management.
arXiv PDF
Audio-Visual Camera Pose Estimation with Passive Scene Sounds and In-the-Wild Video
Daniel Adebi, Sagnik Majumder, Kristen Grauman
arXiv:2512.12165v4 •updated • 2025-12-13
Understanding camera motion is a fundamental problem in embodied perception and 3D scene understanding. While visual methods have advanced rapidly, they often struggle under visually degraded conditions such as motion blur or occlusions. In this work, we show that passive scene sounds provide cues complementary to vision for relative camera pose estimation for in-the-wild videos. We introduce a simple but effective audio-visual framework that integrates direction-of-arrival (DOA) spectra and binauralized embeddings into a state-of-the-art vision-only pose estimation model. Our results on two large datasets show consistent gains over strong visual baselines, plus robustness when the visual information is corrupted. To our knowledge, this represents the first work to successfully leverage audio for relative camera pose estimation in real-world videos, and it establishes incidental, everyday audio as an unexpected but promising signal for a classic spatial challenge. Project: http://vision.cs.utexas.edu/projects/av_camera_pose.
Comment: ECCV 2026
arXiv PDF
VOCA: Visual Odometry with Codec Awareness
Nouri Alexander Hilscher, Mateo de Mayo, Dominik Muhle, Christoph Otten genannt Hermes, Daniel Cremers
arXiv:2607.00189v1 • 2026-06-30
Camera pose estimation from image streams is a critical component of spatial world models that integrate perception into planning and decision-making. Nearly all Visual Odometry (VO) and Simultaneous Localization and Mapping (V-SLAM) systems have focused on datasets containing raw, uncompressed videos. Many working systems instead use ubiquitous hardware units to efficiently compress and decode video streams, saving orders of magnitude in storage and bandwidth. However, this lossy compression introduces visual artifacts that hinder the performance of traditional tracking systems. We present VOCA, a causal stereo visual-odometry method that exploits codec information to improve tracking performance. We achieve state-of-the-art performance on causal VO for relative trajectory error, efficiency, and absolute trajectory error on compressed streams. This work highlights the potential of leveraging widely available video codec information for vision tasks.
Comment: Accepted to ECCV 2026
arXiv PDF
3D Point World Models: Point Completion Enables More Accurate Dynamics Learning
Skand Peri, Hung Nguyen, Chanho Kim, Li Fuxin, Stefan Lee
arXiv:2607.00148v1 • 2026-06-30
Learning predictive models of the world enables robotic control through planning, potentially allowing robots to improvise solutions on new tasks. However, large video-based dynamics models lack explicit 3D spatial structure and suffer from geometrically inconsistent long-term rollouts with compounding errors. Emerging 3D dynamics models based on partial point clouds improve geometric consistency but remain sensitive to occlusions and accumulated prediction drift. To address these challenges, we present 3D Point World Models (3DPWM) - a task-agnostic world model that operates entirely in 3D space by first completing partial point clouds and then learning action-conditioned dynamics in this completed 3D scene. By operating on completed geometry, 3DPWM enables reliable long-horizon rollouts and more accurate cost evaluation for model-based planning while supporting adaptation to new tasks. Experiments across different robotic embodiments and tabletop manipulation benchmarks demonstrate that 3DPWM achieves significantly more reliable long-horizon rollouts (100-300+ steps), supports both open-loop and closed-loop planning, and enables successful sim-to-real transfer.
Comment: 21 Pages
arXiv PDF
DVG-WM: Disentangled Video Generation Enables Efficient Embodied World Model for Robotic Manipulation
Ziyu Shan, Zhenyu Wu, Xiaofeng Wang, Zheng Zhu, Ziwei Wang
arXiv:2606.32028v1 • 2026-06-30
Video-based embodied world models provide an appealing substrate for robotic manipulation by predicting future states, yet current approaches remain limited by a fundamental entanglement: accurately modeling dynamics typically requires low-level temporal reasoning, while producing high-resolution frames demands expansive visual synthesis according to high-level semantics. This entanglement results in slow inference speed for iterative planning or too coarse predictions to retain contact-rich details. To solve this dilemma, we present Disentangled Video Generation World Model (DVG-WM), an efficient framework that explicitly decomposes world modeling into dynamics learning and visual synthesis. Conditioned on an initial observation and a language instruction, our model first generates a plausible sequence of intermediate visual states to preview the physical interaction and refines them to obtain high-fidelity videos. Furthermore, an efficient cascading mechanism is proposed, where DVG-WM uses flow matching to directly map the dynamics to video latents, and introduces a latent degradation mechanism to regenerate contact-rich details. Experiments on LIBERO and real-world platforms demonstrate improved video quality with up to 3.97 times acceleration, validating that disentangled video generation can be an efficient embodied world model for robotic manipulation.
arXiv PDF
Robotics
102
默认显示 5 篇
ASPIRE: Agentic /Skills Discovery for Robotics
Runyu Lu, Yubo Wu, Ethan Kou, Letian Fu, Wenli Xiao, Ajay Mandlekar, Yinzhen Xu, Guanya Shi, Ken Goldberg, Ang Chen, Mosharaf Chowdhury, Yuke Zhu, Linxi "Jim" Fan, Guanzhi Wang
arXiv:2607.00272v1 • 2026-06-30
Traditional robot programming is challenging: it requires orchestrating multimodal perception, managing physical contact dynamics, and handling diverse configurations and execution failures. We introduce ASPIRE (Agentic Skill Programming through Iterative Robot Exploration), a continual learning system that autonomously writes and refines robot control programs in a code-as-policy paradigm while compounding experience into a reusable skill library. ASPIRE discovers skills that persist across tasks, simulation and real-world settings, and embodiments. It operates in an open-ended loop with three components: (1) a closed-loop robot execution engine that exposes fine-grained multimodal traces, enabling autonomous failure diagnosis, repair synthesis, and validation; (2) a continually expanding skill library that distills validated fixes into reusable, transferable knowledge; and (3) evolutionary search that generates diverse task sequences and control programs to explore beyond single-trajectory refinement. ASPIRE surpasses prior methods by up to 77% on LIBERO-Pro manipulation under perturbation, 72% on Robosuite bimanual handover, and 32% on BEHAVIOR-1K long-horizon household tasks. Its accumulated library also enables zero-shot generalization to unseen long-horizon tasks: on LIBERO-Pro Long, ASPIRE achieves 31% success versus 4% for prior methods despite their use of test-time reasoning and retries. Finally, simulation-discovered skills provide initial evidence of sim-to-real transfer, substantially reducing real-robot programming effort across different embodiments and robot APIs.
Comment: 43 pages, 12 figures, 9 tables. Project page: https://research.nvidia.com/labs/gear/aspire/
arXiv PDF
Guaranteed Escape for a Bouncing Robot in Pipe Chains
Ahmad Kamaludeen, Somnath Kundu, Yeganeh Bahoo
arXiv:2607.00221v1 • 2026-06-30
We study the symmetric bouncing of a point robot within orthogonally-joined rectangles with equal width, which we refer to as pipes. We provide an exhaustive case analysis of every trajectory pattern inside a single rectangular pipe segment, identifying the conditions under which the robot exits. We then extend the analysis to L-shaped pipes and, more generally, to linear chains of $k$ orthogonally connected pipe segments. We prove exit guarantees for the special angle $α= π/4$. Furthermore, these results extend to pipes with curved joints.
Comment: Accepted into CCCG2026
arXiv PDF
ELMP: Efficient Learning for Motion Planning via Analytical Policy Gradients
Yixiao Li, Tifanny Portela, Jordis Herrmann, René Zurbrügg, Marco Hutter
arXiv:2607.00215v1 • 2026-06-30
Neural Motion Planners (NMPs) enable fast reactive motion generation, but adapting them to new environments typically requires recollecting large expert datasets, which is computationally prohibitive. We propose ELMP, a framework for data-efficient adaptation via self-supervised fine-tuning. Rather than generating additional expert trajectories with expensive global planners, ELMP directly optimizes the policy through a differentiable kinematic layer using dense collision, target-reaching, and smoothness objectives. This replaces expert data generation with rapid problem sampling, reducing per-sample adaptation cost by roughly two orders of magnitude. To further support robust generalization across changing kinematic chains, we introduce a mechanism to explicitly encode tool geometry via point clouds. Benchmarked against classical and neural baselines, ELMP achieves an 84.8% average success rate with orders-of-magnitude lower cold-start latency than classical methods. In unseen environments, self-supervised fine-tuning improves success rate from 57.3% (zero-shot) to 89.8%, removing the data collection bottleneck. Our approach maintains millisecond-level inference latency and is validated on a physical Franka Emika Panda robot.
Comment: 8 pages, 7 figures, 4 tables
arXiv PDF
HydraCollab: Adaptive Collaborative-Perception for Distributed Autonomous Systems
Luke Chen, Cheng-Ju Wu, David R. Martin, Qilin Ye, Pramod Khargonekar, Mohammad Abdullah Al Faruque
arXiv:2607.00191v1 • 2026-06-30
Collaborative-perception enables multi-robot systems to enhance situational awareness by sharing perceptual information. Existing collaborative-perception systems face an inherent trade-off between communication bandwidth requirements and perception accuracy, where methods that exchange more information achieve better perception results at the cost of increased communication overhead. However, real-world communication networks impose bandwidth constraints that require minimizing communication overhead without sacrificing perception performance. To address this challenge, we propose HydraCollab, an adaptive collaborative-perception framework that (i) selectively transmits the most informative sensor features and (ii) dynamically employs collaboration strategies (intermediate or late) based on spatial confidence maps. Extensive evaluations on the V2X-R, V2X-Radar and UAV3D-mini datasets demonstrate that HydraCollab achieves the best overall trade-off between accuracy and communication cost among existing collaborative-perception methods. Relative to SOTA Where2comm, HydraCollab uses only 41% of the bandwidth on V2X-R and 26% on V2X-Radar while improving performance by 0.78% and 0.75% respectively. Our code and models are available at https://github.com/AICPS/HydraCollab.
Comment: Accepted at IROS 2026
arXiv PDF
Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning
Ashutosh Mishra, Elian Neppel, Shreya Santra, Antoine Jonquières, Muhammad Athallah Naufal, Kentaro Uno, Kazuya Yoshida
arXiv:2607.00160v1 • 2026-06-30
Modular reconfigurable robotic systems provide a scalable solution for cooperative surface operations in future lunar missions. However, cooperative cargo transportation remains challenging due to morphology-dependent topology changes, strong payload-induced coupling, long-horizon decision making, and safety constraints. This paper proposes a phase-decomposed reinforcement learning framework for cooperative cargo transport with distributed robotic units. The task is decomposed into lifting, transportation, and placement, each optimized with a dedicated joint-state policy capturing inter-agent coupling. Centralized training promotes stable convergence, while deployment uses onboard proprioception for control and OptiTrack motion capture for ground-truth evaluation and post-processed metrics. A deterministic phase controller expressed in Markov state representation regulates transitions between stages, and a failure-sensitive synchronization mechanism ensures coordinated progression and safety-aware halting during real-world execution. The framework is evaluated in simulation and through controlled field experiments at a JAXA space exploration test facility. Results demonstrate reliable cooperative transport across all stages in both simulation and hardware experiments.
Comment: 8 pages, 9 Figures, Accepted at IROS2026
arXiv PDF
2026-06-29
115 篇
Robotics
97
默认显示 5 篇
Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension
Arthur Bouton, Tristan D. Hasseler, Michael Paton, Travis Brown, Jacob Levy, William Reid, Joshua Martin, Hari Nayar
arXiv:2606.06790v2 •updated • 2026-06-05
This paper presents ERNEST, a four-wheeled planetary rover concept equipped with a two-degree-of-freedom Active Gimbal Suspension that combines yaw and roll actuation to enable wheel reconfiguration, steering, and active load redistribution. A single neural network controller, trained to track a desired path across challenging terrain, fully unlocks the capabilities of this actuated suspension system for autonomous obstacle negotiation. A reinforcement learning framework is developed using the high-fidelity DARTS simulation engine, which combines rigid-contact dynamics and Bekker-Wong terramechanics, enabling the emergence of locomotion strategies adapted to loose-soil conditions. To obtain a single unified controller across heterogeneous terrains, a policy consolidation strategy merges the experience of terrain-specialized agents into one neural network, eliminating the need for explicit terrain classification and controller switching. The resulting controller operates on a combination of proprioceptive and exteroceptive feedback, including sparse stereo-derived terrain elevation, chassis attitude, joint states, and force-torque measurements. Zero-shot transfer to the physical rover is achieved through domain randomization, sensor noise injection, and model-to-real system identification. Experimental results demonstrate autonomous traversal of rock fields, a Bickler trap (bump obstacle), a wheel-high step, sand ripples, and sandy slopes. On a 20° sandy slope, the learned controller reduces the cost of transport by 37% on dry sand despite the additional actuation, and achieves superior performance on wet sand where the passive suspension becomes completely immobilized. A video accompanying this paper is available at https://youtu.be/d684P5a3xMc
Comment: 21 pages, 26 figures
arXiv PDF
Motion Planning in Compressed Representation Spaces
Lukas Lao Beyer, Sertac Karaman
arXiv:2606.30940v1 • 2026-06-29
Deep learning methods have vastly expanded the capabilities of motion planning in robotics applications, as learning priors from large-scale data has been shown to be essential in capturing the highly complex behavior required for solving tasks such as manipulation or navigation for autonomous vehicles. At the same time, model-based planning algorithms based on search or optimization remain an essential tool due to their flexibility, efficiency, and the ability to incorporate domain knowledge via expert-designed algorithms and objective functions. We propose a new generative framework to unify these two paradigms. First, we learn an autoencoder with a high compression ratio and a latent space of hierarchically ordered, discrete-valued tokens. Leveraging both the dimensionality reduction and the hierarchical coarse-to-fine structure learned by this autoencoder, we then perform motion planning by directly searching in the latent space of tokens. This search can optimize arbitrary objective functions specified at test time, providing a large degree of flexibility while maintaining efficiency and producing realistic solutions by relying on the generative capabilities of the highly compressed autoencoder. We evaluate our method on nuPlan and the Waymo Open Motion Dataset, showing how latent space search can be used for a variety of guided behavior generation tasks, achieving strong performance for closed-loop motion planning and multi-agent guided scenario synthesis without requiring any task-specific training.
Comment: To appear in the Proceedings of the 43rd International Conference on Machine Learning
arXiv PDF
VertiAdaptor: Online Kinodynamics Adaptation for Vertically Challenging Terrain
Tong Xu, Chenhui Pan, Aniket Datar, Xuesu Xiao
arXiv:2603.06887v3 •updated • 2026-03-06
Autonomous driving in off-road environments presents significant challenges due to the dynamic and unpredictable nature of unstructured terrain. Traditional kinodynamic models often struggle to generalize across diverse geometric and semantic terrain types, underscoring the need for real-time adaptation to ensure safe and reliable navigation. We propose VertiAdaptor (VA), a novel online adaptation framework that efficiently integrates elevation with semantic embeddings to enable terrain-aware kinodynamic modeling and planning via function encoders. VA learns a kinodynamic space spanned by a set of neural ordinary differential equation basis functions, capturing complex vehicle-terrain interactions across varied environments. After offline training, the proposed approach can rapidly adapt to new, unseen environments by identifying kinodynamics in the learned space through a computationally efficient least-squares calculation. We evaluate VA within the Verti-Bench simulator, built on the Chrono multi-physics engine, and validate its performance both in simulation and on a physical Verti-4-Wheeler platform. Our results demonstrate that VA improves prediction accuracy by up to 23.9% and achieves a 5X faster adaptation time, advancing the robustness and reliability of autonomous robots in complex and evolving off-road environments.
arXiv PDF
Sampling-Based Coordination-Informed Multi-Objective Multi-Robot Reinforcement Learning
Antonio Marino, Esteban Restrepo, Soon-jo Chung, Paolo Robuffo Giordano, Claudio Pacchierotti
arXiv:2606.30893v1 • 2026-06-29
Multi-robot systems must simultaneously optimize competing objectives while maintaining coordinated behavior. Existing multi-agent reinforcement learning approaches often rely on fixed or centralized coordination, which limits adaptability and violates distributed constraints. This work introduces the Coordination-Informed Multi-Objective Reinforcement Learning (CIMORL) framework, integrating a distributed weight prediction mechanism, a privileged expert training strategy, and theoretical guarantees for Pareto-optimal solutions. We present the base CIMORL method alongside two sampling-based variants, CIMORL-TS (Tree Search) and CIMORL-MPPI (MPPI), which leverage privileged global information during training to enable fully decentralized deployment. Experimental validation in cooperative and adversarial scenarios demonstrates a $21.2\%$ hypervolume improvement and superior policy stability compared to state-of-the-art baselines. Real-world experiments with Crazyflie drones further validate the framework's robustness in resource allocation and multi-attacker multi-defend scenarios under partial observability.
Comment: 20 pages, 11 figures, 4 tables
arXiv PDF
CoReLIN: Constraint-based Reasoning for Zero-shot Lifelong Interactive Navigation
Apoorva Vashisth, Manav Kulshrestha, Pranav Bakshi, Damon Conover, Guillaume Sartoretti, Aniket Bera
arXiv:2602.20055v2 •updated • 2026-02-23
Robot navigation typically assumes an obstacle-free path exists between start and goal. In real environments, however, clutter may block all routes. We introduce Lifelong Interactive Navigation, where a mobile robot with manipulation capabilities must move objects to forge paths and complete sequential object-placement tasks. Because environment modifications persist, decisions impact future navigability and task difficulty. We propose CoReLIN, an LLM-driven constraint-based reasoning framework with active perception. CoReLIN reasons over a structured scene graph to decide which objects to relocate, where to place them, and where to explore next. A standard motion planner executes reliable navigation and manipulation primitives. To evaluate long-horizon behavior, we introduce 2 new metrics - Long-term Efficiency Score (LES), a unified metric capturing success, execution efficiency, environment optimality, captured by Price of Clutter. In ProcTHOR-10k, CoReLIN outperforms best baseline by 16% under standard metrics and LES, and transfers to real-world hardware.
arXiv PDF
Video World Models
18
默认显示 5 篇
SVCBench: A Streaming Video Counting Benchmark for Spatial-Temporal State Maintenance
Pengyiang Liu, Zhongyue Shi, Hongye Hao, Qi Fu, Xueting Bi, Siwei Zhang, Xiaoyang Hu, Zitian Wang, Linjiang Huang, Si Liu
arXiv:2603.12703v3 •updated • 2026-03-13
Video understanding requires models to continuously track and update world state during playback. Although existing benchmarks have advanced video understanding evaluation across multiple dimensions, they provide limited visibility into how models maintain world state over time. We propose SVCBench, a Streaming Video Counting Benchmark that repositions counting as a minimal, controlled probe for diagnosing models' world-state maintenance capability. We decompose this capability into object counting and event counting, forming 8 fine-grained subcategories. Object counting covers tracking currently visible objects and cumulative unique identities, while event counting covers detecting instantaneous actions and tracking complete activity cycles. SVCBench contains 406 videos with frame-by-frame annotations of 10,071 event occurrences and object state changes, yielding 1,000 streaming QA pairs with 4,576 query points distributed along video timelines. By observing state maintenance trajectories through streaming multi-point queries, we design three complementary metrics to diagnose numerical precision, trajectory consistency, and temporal awareness. Evaluations of mainstream video-language models show that current models still exhibit significant deficiencies in spatial-temporal state maintenance, with especially poor performance on periodic event counting. SVCBench provides a diagnostic framework for measuring and improving state maintenance in video understanding systems. Our code and data are available at https://buaa-colalab.github.io/SVCBench.
Comment: Accepted to ECCV 2026. Project page: https://buaa-colalab.github.io/SVCBench/
arXiv PDF
Goku: A Million-Scale Universal Dataset and Benchmark for Instruction-Based Video Editing
Sen Liang, Cong Wang, Zhentao Yu, Fengbin Guan, Zhengguang Zhou, Teng Hu, Youliang Zhang, Yuan Zhou, Xin Li, Qinglin Lu, Zhibo Chen
arXiv:2606.30599v1 • 2026-06-29
Existing instruction-based video editing datasets commonly focus on single-task appearance editing, failing to meet the complex creative demands of real-world scenarios. To bridge this gap, we present Goku, a large-scale dataset featuring 2 million high-quality, instruction-aligned video editing pairs, which is the first to extend task boundaries from basic appearance editing to multi-task and structural manipulations(e.g., precise control of subject movement). To tackle the data synthesis challenges inherent in these complex tasks, we design an efficient data synthesis pipeline that decomposes complex edits into controllable sub-problems and introduce a progressive filtering system for data reliability throughout the whole process. Furthermore, we explore the optimal network structures on Goku, and propose Goku-Edit. To deeply comprehend complex editing instructions, Goku-Edit leverages an MLLM as its text encoder and adopts a decoupled dual-branch design: a dedicated mask branch handles structural control, freeing the main branch for appearance rendering. A comprehensive video editing benchmark, Goku-Bench, is also proposed with 1,000 human-verified test cases and 7 novel editing-specific metrics. Evaluated on Goku-Bench, Goku-Edit obtains up to +8% improvement on other open-source models in terms of instruction following.
arXiv PDF
Orca: The World is in Your Mind
Yihao Wang, Yuheng Ji, Mingyu Cao, Yanqing Shen, Runze Xiao, Huaihai Lyu, Senwei Xie, Euan Liu, Klara Tian, Tianfeng Long, Yichi Zhang, Zhengliang Cai, Ruike Chen, Jifan Zhao, Ruochuan Shi, Zihan Tang, Jing Lyu, Wenxing Tan, Ningbo Zhang, Yangtao Hu, Yuming Gao, Xiansheng Chen, Junkai Zhao, Congsheng Xu, Boan Zhu, Ziqi Wang, Yupu Feng, Qiongqiong Zhang, Yingli Zhao, Yulong Ao, Shaoxuan Xie, You Liu, Guocai Yao, Leiduo Zhang, Xiaodan Liu, Yunyan Zhang, Yance Jiao, Xinyan Yang, Jiaxing Wei, Xu Liu, Tengfei Pan, Shaokai Nie, Chunlei Men, Sen Cui, Xiaojie Jin, Hongyang Li, Jianlan Luo, Yao Mu, Yunchao Wei, Jun Yan, Hang Zhao, Xiaolong Zheng, Jiaming Li, Yonghua Lin, Tiejun Huang, Zhongyuan Wang, Pengwei Wang
arXiv:2606.30534v1 • 2026-06-29
We introduce Orca, an initial instantiation of a general world foundation model. Orca learns a unified world latent space from multimodal world signals and exposes it through multimodal readout interfaces. Rather than optimizing isolated next-token, next-frame, or next-action prediction, we are centered on Next-State-Prediction modeling, offering a unified state-transition modeling route toward understanding, predicting, and acting upon the world. Orca learns through two complementary paradigms: unconscious learning captures dense natural state transitions from continuous videos, and conscious learning models sparse meaningful state transitions by language-described events and VQA supervision. For pre-training, we construct a large-scale world-learning inventory data, including 125K hours of video data and 160M event annotations. After pre-training, Orca learns a unified world latent space. To examine whether the learned latent supports downstream, we evaluate it by three representative downstream readouts: text generation, image prediction, and embodied action generation. Orca's backbone is frozen, and only the lightweight modality-specific decoders are trainable. Experiments show the scalability of the proposed paradigm and verify that stronger world latent enables stronger downstream readouts. Orca outperforms similar-sized specialized baselines. These results show that Orca, as a general world foundation model, presents a promising approach to understanding, predicting, and acting upon the world. Finally, we discuss the current limitations, aiming to provide useful insights and inspiration for the community.
Comment: Project page: https://orca-wm.github.io/
arXiv PDF
HyPER-GAN: Hybrid Patch-Based Image-to-Image Translation for Real-Time Photorealism Enhancement in Game Engines
Stefanos Pasios, Nikos Nikolaidis
arXiv:2603.10604v3 •updated • 2026-03-11
Generative models are increasingly used in video game engines to enhance the photorealism of rendered images for visual synthetic data generation and simulation applications. However, they often introduce artifacts that alter the content of the original rendered scenes and require high computational resources, which limit their utilization for the photorealism enhancement of training and evaluation data, as well as their integration in the rendering pipelines of game engines. In this paper, we propose Hybrid Patch Enhanced Realism Generative Adversarial Network (HyPER-GAN), a hybrid image-to-image translation framework that is based on a lightweight U-Net-style generator capable of performing real-time inference. The framework is trained using paired rendered and photorealism-enhanced images, complemented by a novel hybrid training strategy that incorporates matched patches from unpaired real-world images to improve content preservation and further enhance the visual realism that can be achieved by the lightweight generator. Experimental results demonstrate that HyPER-GAN achieves a 6x increase in frames per second at 1080p in comparison with state-of-the-art lightweight paired image-to-image translation methods, while also increasing, in both within- and cross-engine evaluations, the photorealism of the rendered images without significantly compromising semantic consistency. Moreover, it is illustrated that HyPER-GAN maintains temporal consistency and that the proposed hybrid training strategy improves content preservation and visual realism in within-engine and increases the robustness in cross-engine evaluations compared to training the framework solely with paired rendered and photorealism-enhanced images. Code and pretrained models are publicly available at: https://github.com/stefanos50/HyPER-GAN
Comment: 15 pages
arXiv PDF
Controllable Egocentric Video Generation via Occlusion-Aware Sparse 3D Hand Joints
Chenyangguang Zhang, Botao Ye, Boqi Chen, Alexandros Delitzas, Fangjinhua Wang, Marc Pollefeys, Xi Wang
arXiv:2603.11755v3 •updated • 2026-03-12
Controllable video generation for complex hand-object interactions is a critical step toward building visual world models. However, existing methods often struggle to achieve fine-grained, 3D-consistent hand articulation in generated videos. By relying on dense 2D trajectories or implicit pose representations, they collapse crucial geometric structures into spatially ambiguous signals, leading to severe motion inconsistencies and hallucinated artifacts under egocentric occlusions. To address this, we propose leveraging sparse 3D hand joints as explicit control signals with three key advantages: explicit geometry to resolve occlusions, an intuitive interface for interactive editing, and cross-embodiment generalization to robotic hands. Built upon this, our efficient control module extracts occlusion-aware features from the source reference frame by penalizing unreliable visual features from hidden joints, and employs a 3D-based weighting mechanism to handle dynamically occluded target joints during motion propagation. Meanwhile, it directly injects 3D geometric embeddings into the latent space to enforce structural consistency. To facilitate robust training and evaluation, we develop an automated annotation pipeline, yielding 1M high-quality egocentric video clips paired with precise hand trajectories. Experiments demonstrate that our approach outperforms state-of-the-art baselines, generating high-fidelity egocentric videos with realistic hand-object interactions.
Comment: ECCV 2026
arXiv PDF
2026-06-28
48 篇
Robotics
41
默认显示 5 篇
SCREP: Scene Coordinate Regression and Evidential Learning-based Perception-Aware Trajectory Generation
Juyeop Han, Lukas Lao Beyer, Guilherme V. Cavalheiro, Sertac Karaman
arXiv:2507.07467v3 •updated • 2025-07-10
Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive map reconstruction and have feature-storage scalability issues, especially for large environments. Scene coordinate regression (SCR) provides an efficient learning-based alternative that directly predicts3D coordinates for every pixel, enabling absolute pose estimation with significant potential for onboard roboticsapplications. We present a perception-aware trajectory planner that couples an evidential learning-based SCR poseestimator with a receding-horizon trajectory optimizer. The optimizer steers the onboard camera toward reliablescene coordinates with low uncertainty, while a fixed-lag smoother fuses the low-rate SCR pose estimates with high-rate IMU data to provide a high-quality, high-rate pose estimate. In simulation, our planner reduces translationand rotation RMSE by at least 4.9% and 30.8% relative to baselines, respectively. Hardware-in-the-loop experiments validate the feasibility of our proposed trajectory planner under close-to-real deployment conditions.
Comment: Accepted to IROS 2026
arXiv PDF
Offline Reinforcement Learning of High-Quality Behaviors Under Robust Style Alignment
Mathieu Petitbois, Rémy Portelas, Sylvain Lamprier
arXiv:2601.22823v2 •updated • 2026-01-30
We study offline reinforcement learning of style-conditioned policies using explicit style supervision via subtrajectory labeling functions. In this setting, aligning style with high task performance is particularly challenging due to distribution shift and inherent conflicts between style and reward. Existing methods, despite introducing numerous definitions of style, often fail to reconcile these objectives effectively. To address these challenges, we propose a unified definition of behavior style and instantiate it into a practical framework. Building on this, we introduce Style-Conditioned Implicit Q-Learning (SCIQL), which leverages offline goal-conditioned RL techniques, such as hindsight relabeling and value learning, and combine it with a new Gated Advantage Weighted Regression mechanism to efficiently optimize task performance while preserving style alignment. Experiments demonstrate that SCIQL achieves superior performance on both objectives compared to prior offline methods. Code, datasets and visuals are available in: https://mathieu-petitbois.github.io/projects/sciql/.
Comment: ICML 2026 Spotlight
arXiv PDF
Hierarchical Policy Learning via Spectral Decomposition
Shuxin Cao, Liquan Wang, Walker Byrnes, Yiye Chen, Yilun Du, Animesh Garg
arXiv:2606.29570v1 • 2026-06-28
In this paper, we identify a semantic decomposition in robot action sequences, separating task-level motion intent from execution-level refinements. By analyzing actions in the spectral domain using the discrete cosine transform (DCT), we observe that low-frequency components capture global motion trajectories, while high-frequency components encode precise timing, alignment, and contact behaviors. Motivated by this structure, we propose Causal Spectral Policy (CSP), which models action generation as a causal coarse-to-fine process: coarse motion is predicted from observation and language, and fine corrections are generated conditionally on the realized trajectory. Across simulation and real-world evaluations, CSP consistently outperforms strong baselines on precision-sensitive manipulation tasks. Additionally, we propose human-inspired teleoperation noise injection as a data augmentation method, under which our approach demonstrates strong robustness to noisy demonstrations.
arXiv PDF
Analyzing Uncertainty in the Spatial Representation of the Kinematic Bicycle Model
Shafayat Abrar, M. Zaeem Baig, Shahir Ul Islam Anzal, Abdul Basit Memon
arXiv:2606.29566v1 • 2026-06-28
Locating a vehicle and determining its orientation in an uncertain environment is a critical challenge in autonomous vehicle navigation and path planning. To address these challenges, a vehicle estimates its pose while depending on sensor data that offer noisy measurements. These uncertainties in pose quantities are expressed mathematically as a covariance matrix. The real-time computation of the covariance matrix is critical because of the non-linearity involved in the kinematic model. The challenge is thus to evaluate the evolution of the covariance matrix of a vehicle's discretized stochastic kinematics. The purpose of this study is to obtain a near-accurate evolution of the covariance matrix of the rear-wheel bicycle kinematic model under uncertainties in wheel displacement and steering angle. We used Taylor's series to linearize the nonlinear trigonometric functions and provided closed-form expectations of random variables with the required accuracy. Our analytical findings are in good agreement with those obtained from Monte-Carlo simulations. Our contribution is probably the first detailed closed-form presentation of the covariance matrix constituents of the vehicle under evaluation, which were previously reported either incorrectly or incompletely. These findings aid in identifying the potential and constraints of the discretized kinematic model as well as its stochastic analysis. The techniques presented here are useful for the simultaneous localization and odometry self-calibration of certain mobile robots and autonomous vehicles.
arXiv PDF
VISTA-DZ: Visual Semantic Trajectory Adaptation for Personalized Dilemma Zone Prediction
Chuheng Wei, Ziye Qin, Ziran Wang, Guoyuan Wu
arXiv:2606.29548v1 • 2026-06-28
Driver decision making in the dilemma zone at signalized intersections is safety critical, as vehicles approaching a yellow signal must decide whether to stop or proceed within limited time and distance margins. Accurate prediction of both stop-go decisions and decision timing is important for adaptive signal control, advanced driver assistance systems, and human-centered intelligent transportation applications. However, dilemma zone behavior is strongly driver dependent. Similar approach trajectories may lead to different decisions across drivers because of differences in risk preference, braking habit, and decision threshold. Existing personalized models often rely on handcrafted scalar descriptors, which provide useful but limited summaries of individual behavior. This paper proposes VISTA-DZ, a semantic-profile-conditioned framework for personalized stop-go and decision-time prediction. Historical trajectories are converted into visual representations, interpreted by a vision-language model to generate behavioral profiles, and encoded as semantic embeddings to condition a dual-output prediction network. The final model combines a bidirectional GRU encoder, driver-conditioned multi-head cross-attention, and Feature-wise Linear Modulation for temporal evidence selection and feature adaptation. Experiments on the SDZ dataset and a newly collected FDZ dataset show that VISTA-DZ outperforms trajectory-only and handcrafted personalization baselines, achieving 93.26% in-domain simulation accuracy and 90.22% mean accuracy across 20 held-out simulation drivers. Cross-domain results further show feasible zero-shot simulation-to-real transfer and better real-world generalization when simulation data are combined with limited field data.
Comment: This manuscript is currently under review
arXiv PDF
Video World Models
7
默认显示 5 篇
Learning Transferable Dynamics Priors from Action to World Modeling
Ze Huang, Jiahui Zhang, Hairuo Liu, Chenxi Zhang, Ran Cheng, Li Zhang
arXiv:2606.29501v1 • 2026-06-28
We study action-conditioned world modeling as a scalable way to learn transferable dynamics priors for robot learning. By pretraining a model to predict how actions drive visual scene evolution, the resulting world model captures reusable interaction dynamics beyond appearance-level video generation. Concretely, we pretrain a multi-view interactive base diffusion world model, A2World, on large-scale robot manipulation data with real action annotations. We validate the learned dynamics priors from two complementary perspectives. First, we adapt A2World into a task- or scene-specialized real-world simulator, A2World-sim, whose long-horizon rollouts support simulator-based policy evaluation and scalable what-if analysis by replacing real-robot rollouts with world model rollouts. Second, starting from the same pretrained weights, we adapt A2World into a video-action joint prediction model, A2World-policy, that predicts actions under visual and instruction conditioning. Experiments across simulation benchmarks and real-robot settings demonstrate that action-conditioned world model pretraining yields transferable dynamics priors that benefit both simulator-centric and policy-centric robot learning.
Comment: ECCV 2026 Accepted
arXiv PDF
Learning Where and When: Patch-Based Spatiotemporal Localization in Weakly Supervised Video Anomaly Detection
Hamza Karim, Nghia Nguyen, Lokman Bekit, Yasin Yilmaz
arXiv:2606.29498v1 • 2026-06-28
Weakly supervised video anomaly detection (WSVAD) has predominantly focused on temporal localization, identifying when anomalies occur while largely neglecting their spatial extent within frames. Yet, spatial localization is essential for interpretability and practical deployment in real-world settings. We introduce a patch-based spatiotemporal framework for weakly supervised anomaly localization that jointly models where and when anomalies occur. Our approach operates on grid-level patch features and learns region-level anomaly scores under a multiple instance learning paradigm. We further propose a Proximity-Aware Top-k spatiotemporal selection strategy that enables the model to generate fine-grained spatial anomaly maps without requiring bounding-box supervision during training. Our method surpasses existing state-of-the-art approaches across multiple benchmarks, yielding substantial gains in spatiotemporal localization accuracy. In addition, we release frame-level bounding-box annotations for the test sets of two widely used datasets, along with our code and pretrained models, providing new resources to facilitate future research in spatially grounded WSVAD.
arXiv PDF
S-Agent: Spatial Tool-Use Elicits Reasoning for Spatial Intelligence
Yalun Dai, Hao Li, Shulin Tian, Runmao Yao, Yuhao Dong, Fangzhou Hong, Zhaoxi Chen, Fangfu Liu, Baoliang Tian, Dingwen Zhang, Tao Wang, Kim-Hui Yap, Ziwei Liu
arXiv:2606.20515v2 •updated • 2026-06-18
Real-world spatial intelligence requires reasoning over a continuous and evolving 3D world, yet existing VLMs and tool-augmented agents largely remain tied to static, stateless inference from isolated visual observations. We introduce \textbf{\textsc{S-Agent}}, a spatial tool-use agentic paradigm for understanding and reasoning over continuous multi-view images and videos. By formulating spatial reasoning as spatio-temporal evidence accumulation rather than isolated frame-level prediction, \textsc{S-Agent} reshapes spatial perception into scene-centric understanding beyond frame-centric recognition. Specifically, \textsc{S-Agent} casts the VLM as a semantic planner that decides what evidence is needed, while a hierarchy of spatial tools and experts grounds objects in 2D, lifts them into 3D geometric evidence, and aggregates this evidence into high-level spatial knowledge (\textit{e.g.}, counting, measurement, orientation, and relative position). Additionally, a temporal memory mechanism, including Scene Memory for maintaining the evolving scene state and Agent Memory for accumulating reasoning context, enables evidence integration across frames and reasoning steps. Comprehensive experiments on multi-view and video spatial reasoning benchmarks show that \textsc{S-Agent} consistently improves both open-source and closed-source VLMs in a training-free manner. Beyond inference-time augmentation, supervised fine-tuning (SFT) on \textsc{S-Agent}-generated spatial trajectories \textsc{S-300K} yields \textsc{S-Agent-8B}, a compact spatial agent that significantly surpasses similar-scale baselines (e.g., Qwen3-VL-8B) and performs comparably to advanced closed-source models (e.g., GPT-5.4 and Gemini 3).
Comment: Project Page : https://Ropedia.github.io/S-Agent
arXiv PDF
Pose-Based Fall Detection System: Efficient Monitoring on Standard CPUs
Vinayak Mali, Saurabh Jaiswal
arXiv:2503.19501v2 •updated • 2025-03-25
Falls among elderly residents in assisted living homes pose significant health risks, often leading to injuries and a decreased quality of life. Current fall detection solutions typically rely on sensor-based systems that require dedicated hardware, or on video-based models that demand high computational resources and GPUs for real-time processing. In contrast, this paper presents a robust fall detection system that does not require any additional sensors or high-powered hardware. The system uses pose estimation techniques, combined with threshold-based analysis and a voting mechanism, to effectively distinguish between fall and non-fall activities. For pose detection, we leverage MediaPipe, a lightweight and efficient framework that enables real-time processing on standard CPUs with minimal computational overhead. By analyzing motion, body position, and key pose points, the system processes pose features with a 20-frame buffer, minimizing false positives and maintaining high accuracy even in real-world settings. This unobtrusive, resource-efficient approach provides a practical solution for enhancing resident safety in old age homes, without the need for expensive sensors or high-end computational resources.
Comment: Misleading Results
arXiv PDF
AHOY! Animatable Humans under Occlusion from YouTube Videos with Gaussian Splatting and Video Diffusion Priors
Aymen Mir, Riza Alp Guler, Xiangjun Tang, Peter Wonka, Gerard Pons-Moll
arXiv:2603.17975v2 •updated • 2026-03-18
We present AHOY, a method for reconstructing complete, animatable 3D Gaussian avatars from in-the-wild monocular video despite heavy occlusion. Existing methods assume unoccluded input-a fully visible subject, often in a canonical pose-excluding the vast majority of real-world footage where people are routinely occluded by furniture, objects, or other people. Reconstructing from such footage poses fundamental challenges: large body regions may never be observed, and multi-view supervision per pose is unavailable. We address these challenges with four contributions: (i) a hallucination-as-supervision pipeline that uses identity-finetuned diffusion models to generate dense supervision for previously unobserved body regions; (ii) a two-stage canonical-to-pose-dependent architecture that bootstraps from sparse observations to full pose-dependent Gaussian maps; (iii) a map-pose/LBS-pose decoupling that absorbs multi-view inconsistencies from the generated data; (iv) a head/body split supervision strategy that preserves facial identity. We evaluate on YouTube videos and on multi-view capture data with significant occlusion and demonstrate state-of-the-art reconstruction quality. We also demonstrate that the resulting avatars are robust enough to be animated with novel poses and composited into 3DGS scenes captured using cell-phone video. Our project page is available at https://miraymen.github.io/ahoy/
Comment: ECCV 2026. Project page is available at https://miraymen.github.io/ahoy/
arXiv PDF
2026-06-27
39 篇
Robotics
30
默认显示 5 篇
When Stopping Fails: Rethinking Minimal Risk Conditions through Human-Interactive Autonomous Driving for Safe Transportation Systems
Yash Tandon, Giovanni Tapia Lopez, Marcus Blennemann, Mohan Trivedi, Ross Greer
arXiv:2606.29115v1 • 2026-06-27
Autonomous vehicles (AVs) are increasingly deployed in urban environments, yet their safety frameworks remain primarily designed around collision avoidance and minimal risk condition (MRC) behaviors such as slowing or stopping when uncertainty arises. Although effective in reducing immediate crash risk, real-world deployments indicate that stopping alone does not guarantee safe integration into human-governed roadway systems. Incidents reported by municipalities and public records show that AV fallback behaviors can obstruct traffic, interfere with emergency response operations, and create accessibility challenges for passengers and pedestrians. This paper presents an analysis of publicly documented incidents involving AV stopping behavior and human-AV interaction failures. We categorize these incidents according to limitations in perception, planning, and control within current AV architectures. Using this taxonomy, we identify key gaps in existing safety paradigms, particularly the lack of mechanisms for interpreting human authority, responding to multimodal instructions, and adapting to dynamic, socially regulated traffic conditions. We then review emerging research directions that support human-interactive perception, language-grounded and accessibility-aware planning, and assisted control through remote guidance and teleoperation. The analysis highlights the need to augment current AV safety frameworks with capabilities that enable cooperative interaction with human agents and infrastructure. These findings suggest that reliable urban deployment of AVs requires moving beyond passive fallback strategies toward human-interactive autonomy.
Comment: 8 pages, 1 figure, Accepted to IEEE ITSC 2026
arXiv PDF
TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models
Mark Van der Merwe, Mohamad Louai Shehab, Jayjun Lee, Youngsun Wi, Yinpei Dai, Dmitry Berenson, Nima Fazeli
arXiv:2606.29089v1 • 2026-06-27
Vision-Language-Action (VLA) models demonstrate impressive reasoning over visual, semantic, and spatial task variations by leveraging large-scale vision and language pre-training. They remain, however, largely blind to contact forces, which seldom manifest clearly in visual feedback but are central to contact-rich manipulation. Tactile sensing measures these forces directly, but integrating it into VLAs is difficult: tactile data is absent from the large-scale corpora used to pre-train VLAs, so adding it as a new input modality induces a distribution shift that erodes the very pre-training that makes VLAs effective. We propose Tactile Annotation Prompting for Vision-Language-Action models (TAP-VLA), a simple framework that supplies tactile feedback through visual augmentation rather than architectural change. TAP-VLA extracts shear fields from visuo-tactile sensors and overlays them as spatially-grounded vectors onto the multi-view RGB images the policy already consumes, yielding a clear, interpretable tactile cue in the VLA's native observation space. Because the architecture is untouched, the approach requires no tactile pre-training, adds negligible compute, and stays close to the pre-training distribution. Across four contact-rich tasks, TAP-VLA succeeds on 78% of trials, compared to under 50% for vision-only fine-tuning and alternative tactile-fusion baselines -- including tasks where the baselines perform no better than chance.
Comment: 8 pages + references
arXiv PDF
A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems
Qing Yu, Mikhail Svinin, Seyed Amir Tafrishi
arXiv:2606.29065v1 • 2026-06-27
Rolling motion planning is challenging because rolling contact imposes nonholonomic constraints and the configuration evolves on a curved manifold. The problem becomes substantially harder in multi-contact settings, where multiple bodies roll without slip and the contact states are coupled. This paper presents a new framework for multi-contact path planning in spherical rolling robotics under no-slip constraints. We first derive a compact kinematic model for multi-sphere rolling using Montana's contact-coordinate formulation, where each contact is represented by a stacked five-state vector. Building on this model, we construct a Voronoi-based roadmap directly on the spherical contact manifold, incorporating spherical-cap obstacles and mutual-exclusion regions via on-manifold collision checking, and refine discrete graph paths using manifold-consistent log-exp smoothing. The resulting smoothed surface paths are then lifted to admissible multi-contact rolling motions through the derived Montana kinematics and validated via forward simulation. We further evaluate feasibility and path quality versus trajectory smoothness, Voronoi seed density, and computation time. The proposed framework provides a foundation for extending the method to non-spherical geometries, time-varying obstacle environments, and experimental validation on physical rolling robotic platforms.
Comment: 8 pages, accepted to IROS2026, Pittsburgh
arXiv PDF
When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learning
Lakshita Dodeja, Ondrej Biza, Shivam Vats, Stephen Hart, Stefanie Tellex, Robin Walters, Karl Schmeckpeper, Thomas Weng
arXiv:2605.05172v3 •updated • 2026-05-06
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 baselines on success rate and time to convergence. Q2RL is efficient enough to be applied in an on-robot RL setting, learning robust policies for contact-rich and high precision manipulation tasks such as pipe assembly and kitting, in 1-2 hours of online interaction, achieving success rates of up to 100% and up to 3.75x improvement against the original BC policy. Code and video are available at https://pages.rai-inst.com/q2rl_website/
Comment: Robotics: Science and Systems, 2026
arXiv PDF
Keypose Exploration: Efficient Automatic Trajectory Labelling and Cross-Embodiment Policy Transfer
Yupu Lu, Hang Xu, Yizhou Chen, Jia Pan
arXiv:2606.29028v1 • 2026-06-27
Keypose-based manipulation decomposes tasks into critical waypoints to simplify policy learning for long-horizon tasks, but existing approaches rely on task-specific heuristics or manual annotation to extract keyposes from demonstrations. We present an automatic trajectory labelling pipeline for grasp-related tasks. This pipeline combines vision-language models (VLMs) for semantic event detection with classical trajectory analysis for precise temporal alignment, requiring VLM inference only on one single demo among repeating ones per task. Using the labelled data, we train a keypose-guided Diffusion Policy (DP) that exploits keypose conditioning to intervene demonstration distributions. We explore the possibility to apply this property for cross-embodiment transfer: candidate keyposes are sampled and filtered via a reachability map, steering the policy toward kinematically feasible keyposes for the target robot. As a preliminary feasibility study, experiments on two robomimic tasks show that the labelled data produces policies matching a standard DP baseline, and that reachability-filtered keypose conditioning may benefit zero-shot transfer on the multimodal insertion task when feasible candidates are available.
Comment: Accepted by IROS2026. Code available at: https://github.com/YupuLu/keypose_labelling
arXiv PDF
Video World Models
9
默认显示 5 篇
TrafficAlign: Aligning Large Language Models for Traffic Scenario Generation
Zhi Tu, Liangkun Niu, Tianyi Zhang
arXiv:2606.29097v1 • 2026-06-27
Recent research has investigated the use of large language models (LLMs) to generate traffic scenarios for autonomous driving. However, pretrained LLMs often fail to align with real-world traffic distributions. In this work, we present TrafficAlign, an automated framework that synthesizes traffic scenarios based on real-world driving videos, performs data validation, and aligns LLMs with the synthesized scenarios. The evaluation shows that traffic scenarios generated by TrafficAlign are highly effective, revealing up to 10.8% more collisions on average across three autonomous driving models than state-of-the-art methods. Furthermore, fine-tuning these driving models with TrafficAlign-generated scenarios significantly reduced collision rates by 36.1% compared with the original models. A qualitative study using traffic datasets from six geographically diverse regions shows that TrafficAlign-generated scenarios exhibit strong alignment with corresponding traffic distributions in these regions.
Comment: Accepted to CVPR 2026
arXiv PDF
Towards Long-Form Spatio-Temporal Video Grounding
Xin Gu, Bing Fan, Jiali Yao, Zhipeng Zhang, Yan Huang, Cheng Han, Heng Fan, Libo Zhang
arXiv:2602.23294v2 •updated • 2026-02-26
In real scenarios, videos can span several minutes or even hours. However, existing research on spatio-temporal video grounding (STVG), given a textual query, mainly focuses on localizing targets in short videos of tens of seconds, typically less than one minute, which limits real-world applications. In this paper, we explore Long-Form STVG (LF-STVG), which aims to locate targets in long-term videos. Compared with short videos, long-term videos contain much longer temporal spans and more irrelevant information, making it difficult for existing STVG methods that process all frames at once. To address this challenge, we propose an AutoRegressive Transformer architecture for LF-STVG, termed ART-STVG. Unlike conventional STVG methods that require the entire video sequence to make predictions at once, ART-STVG treats the video as streaming input and processes frames sequentially, enabling efficient handling of long videos. To model spatio-temporal context, we design spatial and temporal memory banks and apply them to the decoders. Since memories from different moments are not always relevant to the current frame, we introduce simple yet effective memory selection strategies to provide more relevant information to the decoders, significantly improving performance. Furthermore, instead of parallel spatial and temporal localization, we propose a cascaded spatio-temporal design that connects the spatial decoder to the temporal decoder, allowing fine-grained spatial cues to assist complex temporal localization in long videos. Experiments on newly extended LF-STVG datasets show that ART-STVG significantly outperforms state-of-the-art methods, while achieving competitive performance on conventional short-form STVG. Our code is at: https://github.com/HengLan/ART-STVG.
Comment: 22 pages, 11 figures. Accepted to ECCV 2026
arXiv PDF
SciFlow: Semantic Cross Interference for Self-Supervised Optical Flow Domain Generalization
Jamie Menjay Lin, Jisoo Jeong, Hong Cai, Kai Wang, Fatih Porikli
arXiv:2606.29004v1 • 2026-06-27
Motions of objects and scenes carry essential intelligence in video understanding, offering rich cues for interpreting dynamic settings and interactions. Due to the cost and scarcity of high-quality annotation or ground truth of pixel-wise optical flow, however, motion estimation models are typically trained in synthetic domains while deployed in real-world domains. Addressing synthetic-to-real domain generalization challenges has been crucial for developing practical solutions in diverse open-world use cases. This paper introduces SciFlow, a simple yet effective, network-agnostic, training-based approach that leverages self-supervised learning to generalize motion estimation across synthetic and open-world domains. Specifically, SciFlow imposes semantic interference from open-world images onto synthetic images during training, blending indomain features with cross-domain interference, which enables the network to adapt to the real-world domains. Additionally, SciFlow utilizes geometric consistency to ensure validity of the self-supervision. Our experiment results show that SciFlow not only significantly enhances model robustness amidst domain variations, but also remarkably enables synthetic-to-real domain generalization without requiring any ground truth in the open world.
Comment: 4 pages
arXiv PDF
WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL
Zhennan Jiang, Shangqing Zhou, Yutong Jiang, Zefang Huang, Mingjie Wei, Yuhui Chen, Tianxing Zhou, Zhen Guo, Hao Lin, Quanlu Zhang, Yu Wang, Haoran Li, Chao Yu, Dongbin Zhao
arXiv:2602.13977v2 •updated • 2026-02-15
Reinforcement learning (RL) promises to unlock capabilities beyond imitation learning for Vision--Language--Action (VLA) models, but its requirement for massive real-world interaction prevents direct deployment on physical robots. Recent work attempts to use learned world models as simulators for policy optimization, yet closed-loop imagined rollouts inevitably suffer from hallucination and long-horizon error accumulation. Such errors not only degrade visual fidelity, but also mislead policy optimization by providing unreliable learning signals. We propose WoVR, a reliable world-model-based RL framework for post-training VLA policies. Instead of assuming a faithful world model, WoVR explicitly regulates how RL interacts with imperfect imagined dynamics. It improves rollout stability through a controllable action-conditioned video world model, reshapes imagined interaction to reduce effective error depth via Keyframe-Initialized Rollouts, and maintains policy--simulator alignment through World Model-Policy co-evolution. Extensive experiments demonstrate that WoVR enables stable long-horizon imagined rollouts and effective policy optimization, achieving superior LIBERO performance and consistent real-world gains across multiple robotic platforms. These results show that world models can serve as practical simulators for RL when hallucination is explicitly controlled. Additional visualization results are available at https://wovr-corl.github.io.
Comment: 25pages, 11 figures
arXiv PDF
SWITCH: Benchmarking Modeling and Handling of Tangible Interfaces in Long-horizon Embodied Scenarios
Juntao Cheng, Wanyue Zhang, Zhiwei Yu, Shuo Ren, Zheqi He, Shaoxuan Xie, Guocai Yao, Jieru Lin, Börje F. Karlsson, Jiajun Zhang
arXiv:2511.17649v4 •updated • 2025-11-20
Tangible control interfaces (TCIs), such as appliance panels, remotes, elevators, and embedded GUIs, are a fundamental component of everyday human-built environments. Interacting with these interfaces requires agents not only to ground language in visual observations,but also to execute actions, track temporally evolving state changes, and verify whether intended outcomes have been achieved. However, existing benchmarks predominantly evaluate open-loop perception or single-step action execution, failing to capture this continuous cycle of interaction, feedback, and correction. We introduce SWITCH, a benchmark for closed-loop interactive reasoning with TCIs in realistic egocentric environments1. SWITCH comprises 1,170 temporally interactive videos across diverse functional categories, providing structured annotations of instructions, actions, state transitions, outcomes, and recovery behaviors over time. To probe generative world modeling, SWITCH also evaluates video generation models on interaction-centered tasks using both LLM-as-judge and human evaluation2.Experiments with frontier proprietary and opensource multimodal models reveal persistent weaknesses in fine-grained visual-temporal perception, outcome verification, and error recovery, highlighting SWITCH as a testbed for closed-loop embodied intelligence.
arXiv PDF
2026-06-26
83 篇
Robotics
70
默认显示 5 篇
RIPA: Sensory-Vector Prompt Injection Attacks on LLM-Controlled ROS 2 Robots
Nima Dorzhiev
arXiv:2606.28649v1 • 2026-06-26
We present RIPA, the first systematic multi-channel empirical study of prompt injection attacks delivered through the sensory pipeline of a ROS 2-based LLM-controlled robotic system. Across 100 independent runs per injection variant on five LLMs spanning four model families and parameter scales from approximately 4B to approximately 284B (DeepSeek-V4-Flash, Llama-3-8B-Instruct-Lite, Llama-3.3-70B-Instruct-Turbo, Qwen 2.5-7B-Instruct-Turbo, Gemma-3n-E4B), we identify model-specific vulnerability profiles that do not follow a monotonic scaling trend: Llama-3.3-70B-Instruct-Turbo exhibits 100% attack success rate (ASR) across all injection variants, while Llama-3-8B-Instruct-Lite and Qwen 2.5-7B-Instruct-Turbo resist direct-override injection (0% ASR), and the smallest model evaluated (Gemma-3n-E4B, approximately 4B) matches the 70B model's vulnerability profile, indicating that robustness is model-specific rather than scale-dependent. We propose a hybrid semantic firewall that achieves 0% ASR against known injection patterns with no false positives on a preliminary benign set (0/20 commands) but exhibits a 10.2% trial-weighted bypass rate (58/570 trials; N equals 30 per payload across 19 obfuscation payloads) against adversarially obfuscated attacks, exposing a critical gap between rule-based and semantic defense layers. We further introduce three sensory injection channels: visual (Channel 1, via OCR), audio (Channel 2, via Whisper STT), and LiDAR sensor context poisoning (Channel 3). We show that Channel 3, which injects fabricated obstacle data into the robot environment-state representation at the LLM system-prompt level, achieves 100% ASR across all variants on DeepSeek-V4-Flash. We also contribute a firewall bypass taxonomy spanning 19 obfuscation payloads across five categories. All code, data, and results are publicly available.
Comment: 12 pages, 4 figures, 10 tables, 3 appendices
arXiv PDF
PinNet: Keypoint-Aware Learned Local Descriptors with Geometric Embedding for Loop Closure in LiDAR SLAM
Yanlong Ma, Nakul S. Joshi, Christa S. Robison, Philip R. Osteen, Brett T. Lopez
arXiv:2606.28637v1 • 2026-06-26
Loop closure is essential to reduce drift and build globally consistent maps in large-scale environments. However, reliable loop closure with only geometric information from, e.g., a LiDAR sensor, remains challenging due to the difficulty of constructing discriminative geometric features. We present PinNet, a neural network that produces local geometric descriptors from point clouds for place recognition and scanto-scan registration. PinNet incorporates a neural network that generates keypoints and their corresponding descriptors, together with a plane-based geometric self-attention module that models inter-keypoint spatial relationships to enhance descriptor discriminability for loop-closure detection and point-cloud registration. The approach is comprehensively evaluated on multiple datasets collected with different LiDAR sensors. Experimental results demonstrate strong place-recognition performance, precise relative pose estimation, and successful single-shot localization in different environments.
arXiv PDF
Reachability Guarantees for Cart-Pole Swing-Up and Stabilization
Mohamed Khalid M Jaffar
arXiv:2606.28627v1 • 2026-06-26
The cart-pole swing-up is a canonical benchmark for nonlinear control of underactuated systems, yet an end-to-end guarantee linking the global swing-up maneuver to the local stabilizer is seldom formalized. We present a reachability analysis of a switched energy-based/LQR controller that certifies convergence to the upright equilibrium from a compact set of initial conditions. The swing-up law is derived from an energy-error Lyapunov function; canceling the autonomous conservative term yields a strictly sign-definite Lyapunov derivative, and convergence follows from LaSalle's invariance principle. We also propose an augmented Lyapunov function to regulate the steady-state cart velocity to zero, for which we establish almost-global convergence. For the controller handoff, a switching region is designed to lie strictly within the LQR region of attraction, formally certifying the swing-up-to-stabilization transition. Numerical simulations corroborate the theoretical analysis.
arXiv PDF
Fast and Accurate Outlier-Aware LiDAR Super-Resolution for SLAM Applications
Christos Anagnostopoulos, Alexandros Gkillas, Nikos Piperigkos, Aris S. Lalos
arXiv:2606.28607v1 • 2026-06-26
This work tackles the challenge of enhancing low-resolution LiDAR sensors for SLAM applications through a novel Deep Unrolling-based Super-Resolution (SR) model. We integrate an outlier removal module to ensure structural integrity while maintaining real-time performance. By leveraging a model-based optimization approach, our method efficiently reconstructs high-resolution point clouds while minimizing computational overhead. The proposed SR model is evaluated within a LiDAR SLAM framework, demonstrating significant improvements in pose estimation accuracy and efficiency compared to state-of-the-art SR methods.
Comment: 6 pages, 2 figures
arXiv PDF
Embodiment Meets Environment: Toward Context-Aware, Safe Physical Caregiving Robots
Zhanxin Wu, Ruofei Tong, Jiaying Fang, Tapomayukh Bhattacharjee
arXiv:2606.28592v1 • 2026-06-26
Physical caregiving robots need to assist different users with different tasks in diverse environments, and they come in many embodiments. While substantial progress has been made on individual caregiving tasks, most existing systems remain tightly coupled to specific environments and robot embodiments, and often do not explicitly model or constrain interactions around people, despite humans being special agents in the environment. This motivates a focus on adapting to context that emerges from the joint interaction between the environment and the robot's embodiment. We propose $E^2$-CARE, a framework that enables context-aware adaptation by representing primitive caregiving skills as interaction templates whose execution is reshaped online. $E^2$-CARE represents the environment, the robot, and the human within a unified 3D dynamic scene graph that models these interaction contexts explicitly, and synthesizes task-specific constraints to govern how each skill is executed. By enforcing these constraints at runtime, the same skill templates can be reused zero-shot and safely across diverse environments and robot embodiments. We evaluate $E^2$-CARE across four activities of daily living in hundreds of simulated household environments, including assistive home settings, and across diverse robot embodiments, and validate it through user studies on two caregiving tasks with two robots in various real-world environments. Results demonstrate consistent and successful adaptation across these environments and embodiments. Website: https://emprise.cs.cornell.edu/e2care
Comment: RSS 2026
arXiv PDF
Video World Models
12
默认显示 5 篇
CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
Haonan Chen, Yuxiang Ma, Stephen Tian, Xiaoshen Han, Wenlong Huang, Feiyang Wu, Yunzhu Li, Jiajun Wu, Edward H. Adelson, Yilun Du
arXiv:2606.26423v2 •updated • 2026-06-24
Long-horizon, contact-rich complex manipulation tasks, such as seating a GPU into a PCIe slot, demand both millimeter high precision and out-of-the-box generalization to new tasks. Existing paradigms struggle to satisfy both: classical pipelines use brittle, task-specific interfaces to achieve high-precision control but require costly pipeline redesigns to adapt to new tasks, whereas monolithic end-to-end policies provide better generalization but lack high precision on complex, out-of-distribution tasks unless retrained with new data. Both paradigms share an implicit assumption: once a manipulation capability is acquired, it must be deployed as a rigid pipeline or monolithic whole, rather than being freely decomposed and recomposed. In this paper, we show that complex manipulation capabilities can emerge naturally from the composition of simple, independent behaviors. Rather than deploying a monolithic policy or a rigid pipeline, we propose CoStream, a framework orchestrating foundation models and diverse sensing modalities into multiple composable core behaviors: a semantic behavior extracting spatial constraints via foundation models; a predictive behavior forecasting trajectories by tracking keypoints in imagined videos; and a reactive behavior providing high-frequency tactile and force corrections. On a shared $SE(3)$ interface, these outputs compose by right-multiplication into a single pose command at each control step, executed by a compliant controller. We demonstrate CoStream on 8 real-world tasks spanning everyday manipulation and precision assembly, with the strongest gains in contact-rich assembly and object transfer, and show robust recovery from manual perturbations during execution. Website: https://costream-simple.github.io
Comment: Website: https://costream-simple.github.io
arXiv PDF
SC3-Eval: Evaluating Robot Foundation Models via Self-Consistent Video Generation
Wei-Cheng Tseng, Gashon Hussein, Yuzhu Dong, Allen Z. Ren, Lucy X. Shi, XuDong Wang, Sergey Levine, Zhaoshuo Li, Jinwei Gu, Florian Shkurti, Ming-Yu Liu, Quan Vuong
arXiv:2606.18610v3 •updated • 2026-06-17
Evaluating generalist robot manipulation policies in the real world is expensive, slow, and difficult to scale. Action-conditioned video world models offer a scalable alternative by simulating policy rollouts. Autoregressive rollouts accumulate compounding errors, observations across multiple camera views must remain mutually consistent, and the evaluator must generalize to policies whose behaviors lie outside the training distribution. We address these challenges with SC3-Eval, a self-consistent video generation recipe that adapts a pre-trained video foundation model into an accurate policy evaluator by enforcing three complementary forms of consistency. First, forward-inverse dynamics consistency jointly trains the model to predict frames from actions and to recover actions from frames, anchoring generated rollouts to a physically plausible action manifold and counteracting the drift a forward-only model cannot penalize. Second, cross-view consistency trains the model to inpaint each camera view from the other, keeping the multi-camera observation coherent over long rollouts without any explicit memory mechanism. Third, test-time consistency reuses the inverse dynamics mode at inference as a per-action-chunk uncertainty signal that terminates rollouts whose generated frames drift away from the requested actions. We also demonstrate SC3-Eval rollouts reproduce the failure modes that policies exhibit in real-world rollouts, supporting fine-grained diagnostic comparison rather than aggregate ranking alone. Across seven real-world vision-language-action policies, SC3-Eval attains a closed-loop Pearson correlation of $0.929$ and MMRV of $0.119$, outperforming three strong prior video-model-based baselines, and generalizes to new tasks.
arXiv PDF
Instant Expressive Gaussian Head Avatars at Over 100 FPS
Kaiwen Jiang, Xueting Li, Seonwook Park, Ravi Ramamoorthi, Shalini De Mello, Koki Nagano
arXiv:2512.16893v2 •updated • 2025-12-18
Portrait animation has witnessed tremendous quality improvements thanks to recent advances in video diffusion models. However, these 2D methods often compromise 3D consistency and speed, limiting their applicability in real-world scenarios, such as digital twins or telepresence. In contrast, 3D-aware feedforward facial animation methods -- built upon 3D representations, such as neural radiance fields or Gaussian splatting -- ensure 3D consistency and achieve faster inference speed, but come with inferior expression details. In this paper, we address this portrait animation trilemma (speed, 3D consistency, and expressiveness) and propose a pipeline that instantly converts an in-the-wild single image into a 3D-consistent, fast yet expressive animatable representation via a feed-forward encoder. Unlike previous computationally intensive global fusion mechanisms (e.g., multiple attention layers) for fusing 3D structural and animation information, our design employs an efficient lightweight local fusion strategy to achieve high animation expressivity. Furthermore, our animation representation is decoupled from the face's 3D representation and learns motion implicitly from data, eliminating the dependency on pre-defined parametric models that often constrain animation capabilities. Our method runs at 107.31 FPS for animation and pose control, representing a 3-4 order of magnitude speedup versus the state of the art while achieving comparable animation quality, thus surpassing alternative designs that trade speed for quality or vice versa.
Comment: Project website is https://research.nvidia.com/labs/amri/projects/instant4d
arXiv PDF
Enhanced Neural Video Representation Compression across Extreme Complexity and Quality Scales
Ho Man Kwan, Tianhao Peng, Fan Zhang, Mike Nilsson, Andrew Gower, David Bull
arXiv:2606.28163v1 • 2026-06-26
Implicit neural representations (INRs) have recently emerged as a promising approach to video compression, delivering competitive rate-distortion performance alongside rapid decoding. However, existing neural video codecs struggle to balance complexity and scalability. Lightweight models often suffer from degraded compression performance when scaled to different bitrate/quality levels, whereas high-performance models exhibit limited scalability, as their model complexity typically increases with quality. This lack of a unified architecture capable of maintaining consistent complexity across a wide range of bitrates severely limits their diverse real-world deployment. To address these challenges, we introduce NVRC++, a novel INR-based video codec that utilizes a lightweight INR with multiple high-resolution feature grids, providing high scalability at any given complexity level. This is paired with an optimization framework that enables efficient overfitting on high-resolution grids for long video sequences, thereby exploiting spatio-temporal redundancies without prohibitive computational or memory overhead. Additionally, an advanced entropy model is designed for efficiently compressing the high-dimensional grid parameters. As a result, NVRC++ provides four complexity levels (from 7kMACs/pixel to 360kMACs/pixel), each spanning wide bitrate and quality ranges while supporting real-time decoding. The experimental results show that NVRC++ offers a much faster decoding speed (up to 7.6x) compared to the SOTA INR-based video codec, NVRC, while delivering comparable performance.
arXiv PDF
PhysisForcing: Physics Reinforced World Simulator for Robotic Manipulation
Peiwen Zhang, Yufan Deng, Shangkun Sun, Juncheng Ma, Duomin Wang, Jonas Du, Zilin Pan, Ye Huang, Hao Liang, Songyan Huang, Ruihua Zhang, Enze Xie, Ming-Yu Liu, Daquan Zhou
arXiv:2606.28128v1 • 2026-06-26
Video generation models have emerged as a promising paradigm for embodied world simulation. However, both general-domain video generators and robot-specific data fine-tuned models can still produce physically implausible manipulations, including discontinuous motion trajectories and inconsistent robot-object interactions, which limits their reliability as world simulators. Through extensive experiments, we find that such physical instability mainly arises from two factors: deformation of moving objects and implausible spatio-temporal correlations among interacting entities, particularly during contact. Building on this observation, we propose PhysisForcing, a scalable training framework that strengthens physical consistency by focusing supervision on physics-informative regions through joint optimization of pixel-level and semantic-level features. The framework consists of a pixel-level trajectory alignment loss, which supervises DiT features using reference point trajectories, and a semantic-level relational alignment loss, which aligns DiT features with inter-region relations extracted from a frozen video understanding encoder. Extensive experiments on R-Bench, PAI-Bench, and EZS-Bench show that PhysisForcing consistently improves embodied video generation over strong baselines, improving the Wan2.2-I2V-A14B and Cosmos3-Nano base models on R-Bench by 22.3\% and 9.2\% (7.1\% and 3.7\% over vanilla finetuning), with the Cosmos3-Nano variant attaining the best overall score. Beyond generation, as a world model under the WorldArena action-planner protocol it raises the closed-loop success rate from 16.0\% to 24.0\% and further improves downstream policy success, indicating that physically aligned video models yield stronger representations for robotic manipulation.
Comment: Github: https://github.com/DAGroup-PKU/PhysisForcing Project website: https://dagroup-pku.github.io/PhysisForcing.github.io/#
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
MobileManiBench: Simplifying Model Verification for Mobile Manipulation
Wenbo Wang, Fangyun Wei, QiXiu Li, Xi Chen, Yaobo Liang, Chang Xu, Jiaolong Yang, Baining Guo
arXiv:2602.05233v2 •updated • 2026-02-05
Vision-language-action models have advanced robotic manipulation but remain constrained by reliance on the large, teleoperation-collected datasets dominated by the static, tabletop scenes. We propose a simulation-first framework to verify VLA architectures before real-world deployment and introduce MobileManiBench, a large-scale benchmark for mobile-based robotic manipulation. Built on NVIDIA Isaac Sim and powered by reinforcement learning, our pipeline autonomously generates diverse manipulation trajectories with rich annotations (language instructions, multi-view RGB-depth-segmentation images, synchronized object/robot states and actions). MobileManiBench features 2 mobile platforms (parallel-gripper and dexterous-hand robots), 2 synchronized cameras (head and right wrist), 630 objects in 20 categories, 5 skills (open, close, pull, push, pick) with over 100 tasks performed in 100 realistic scenes, yielding 300K trajectories. This design enables controlled, scalable studies of robot embodiments, sensing modalities, and policy architectures, accelerating research on data efficiency and generalization. We benchmark representative VLA models and report insights into perception, reasoning, and control in complex simulated environments, with all code, datasets, and models publicly released.
Comment: Accepted to ECCV 2026
arXiv PDF
2026-06-25
81 篇
Robotics
65
默认显示 5 篇
Learning to Throw: Agile and Accurate Cable-Suspended Payload Delivery with a Quadrotor
Yifan Zhai, Elia Raimondi, Yunfan Ren, Ismail Geles, Yannick Armati, Jiaxu Xing, Davide Scaramuzza
arXiv:2606.27603v1 • 2026-06-25
Quadrotors offer the agility needed to rapidly transport suspended payloads during time-critical applications, including search-and-rescue and medical delivery. While suspended-payload transport and traversal for these missions are well studied, the highly dynamic targeted release of the payload remains comparatively underexplored. State-of-the-art approaches typically rely on model-based trajectory optimization and tracking; however, these methods often yield sub-optimal performance due to conservative feasibility constraints, tracking errors, and the inherent difficulty of analytically modeling flexible rope dynamics. To overcome these limitations, we propose a hybrid simulation framework that couples a high-fidelity analytical quadrotor model with a physics solver for complex rope and payload interactions. By exchanging forces between the two domains at every step, we obtain a physically accurate simulation of the suspended-payload system. Leveraging this environment, we train a deep reinforcement learning (RL) policy that executes agile, accurate payload throws to designated targets. Deployed zero-shot on hardware, our RL policy pushes the boundary of the agility-accuracy trade-off, outperforming the model-based baseline by reducing the landing error by up to 50% and the throw duration by up to 30%. Ablation studies confirm that the coupled simulation is the key enabler of these gains. We further show that the same pipeline trains a policy driven by visual observations rather than an explicit state estimate, achieving accuracy comparable to that of the state-based policy. To accelerate future research in dynamic aerial manipulation, we open-source the simulator to the community upon acceptance.
arXiv PDF
SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
Sirui Chen, Shibo Zhao, Zhen Wu, Jiaman Li, Guanya Shi, C. Karen Liu
arXiv:2606.27581v1 • 2026-06-25
Current humanoid reinforcement-learning policies excel at free-space motions but struggle with contact-rich tasks, as pure kinematic tracking cannot resolve the physical ambiguities of interacting with objects and uneven terrain. To address this, we introduce SceneBot, a unified motion-tracking framework capable of handling freespace locomotion, terrain traversal, and whole-body manipulation. SceneBot conditions a single policy on both reference motions and per-link contact labels, explicitly defining expected environmental interactions. To overcome the lack of annotated interaction data, we propose a hindsight scene reconstruction approach that infers scene-interaction graphs from retargeted human motion. Trained on 7.5 hours of this reconstructed, contact-rich data, SceneBot successfully generalizes to unseen motions and environments. Our results demonstrate that SceneBot is the first general framework to seamlessly unify free-space and contact-rich behaviors executing complex, long-horizon tasks like carrying a box upstairs and establishing contact conditioning as a powerful interface for humanoid control. All code and data will be open-sourced. More demos and information are available at: https://ericcsr.github.io/scenebot/
Comment: 15 pages 10 figures
arXiv PDF
Spacecraft Fiducial Marker for Autonomous Rendezvous, Proximity Operations, and Docking
Ravi Kumar Thakur, Matouš Vrba, Martin Saska
arXiv:2606.27566v1 • 2026-06-25
Robotic operations in space are challenging due to the harsh environment and the high cost of failure. Fiducial markers provide visual references that aid autonomous rendezvous, proximity operations, and docking for space robots. However, existing fiducial markers are mostly single-scale and largely designed for terrestrial robotics. Such markers leave the camera's field of view at close range, precisely during the proximity and docking phases where reliable tracking is most critical. This paper presents AstraTag, a fiducial marker designed for autonomous on-orbit robotic operations. The marker template is based on a square Spidron pattern whose recursive, self-similar structure enables detection across multiple spatial scales. Marker identification uses a 48-bit signature derived from triangular sub-regions of the template and encoded with a Generalised Reed-Solomon (GRS) code. The detection pipeline performs contour-based quadrilateral localisation, perspective normalisation, and signature matching against a pre-computed dictionary. To handle markers affixed to curved spacecraft surfaces, it incorporates a Thin-Plate Spline (TPS) re-warp fallback that exploits the marker's internal rectangular borders as additional geometric correspondences. We benchmark AstraTag against three-layer Fractal ArUco and AprilTag on spacecraft mockups with flat and curved surfaces. On curved surfaces, AstraTag achieves a higher detection rate than both baselines, offering a robust recursive-marker option for space robotics.
arXiv PDF
Radar Guided Camera Verification for Automatic Emergency Braking Rethinking Object Detection in Radar Camera Fusion
Ram Charan Akula, Sivanathan Kandhasamy, Manikandan Ganesan
arXiv:2606.27556v1 • 2026-06-25
Radar camera fusion is widely used in Automatic Emergency Braking AEB systems because radar provides reliable range and velocity measurements while cameras provide a proper visual confirmation of the objects . Most of the deployed systems perform this confirmation using computationally intensive object detectors. However, if the radar has already localized a target, the camera may only need to verify the obstacles presence rather than solving a full problem by identifying the object. Our work proposes a radar scoped edge density gate that performs obstacle verification within radar guided image regions of interest. This method requires no training data, model weights, or GPU acceleration and was integrated into a complete radar camera fusion AEB system with brake by wire actuation. Evaluated on a real instrumented vehicle across 72 driving sessions and 131,603 camera frames, the proposed approach reduced the camera search space by up to 98.7 percentage, achieved a mean processing latency of 0.121 ms per ROI, an AUC of 0.898, and a recall of 0.994. Across 33 staged threat scenarios, the complete AEB system recorded zero missed brake events.
Comment: 8 pages, 8 figures
arXiv PDF
Agentic Vehicles for Human-Centered Mobility: Definition, Prospects, and Synergistic Co-Development with Vehicle Autonomy
Jiangbo Yu, Raphael Frank, Luis Miranda-Moreno, Sasan Jafarnejad, Jonatas Augusto Manzolli, Fuqiang Liu, Jiyao Wang, Pavel Chernakov, Ali Eslami
arXiv:2507.04996v11 •updated • 2025-07-07
Autonomy, from the Greek autos (self) and nomos (law), refers to the capacity to operate according to internal rules without external control. Autonomous vehicles (AuVs) are therefore understood as vehicular systems that perceive their environment and execute tasks with minimal human intervention, consistent with the direction indicated by the SAE levels of automated driving. However, recent research and deployments increasingly showcase vehicular capabilities that, while not contradicting autonomy, are not entailed by it, including ambiguous goal handling, purposeful social engagement, external tool use, proactive problem solving, continuous learning, and context-sensitive reasoning in unseen and ethically salient situations, enabled in part by multimodal language models. These developments reveal a gap between technical autonomy and the broader social cognitive functions required for human-centered mobility, which are more precisely captured by the notion of agency. Therefore, rather than adding increasingly elaborate modifiers to "autonomous," we introduce agentic vehicles (AgVs) and suggest that autonomy and agency are intertwined but conceptually distinct: if autonomy concerns what to do and how to do it (task executions under internal rules), agency pertains to why to do it and what else can be done (goal-directed, adaptive actions). We present autonomy and agency as orthogonal yet synergistic dimensions with co-development implications. Vehicle agency marks a novel dimension of mobility service intelligence, heralding vehicles as purposeful actors in society.
arXiv PDF
Video World Models
16
默认显示 5 篇
DeLux: Cross-Modal Local Artifact Restoration in Video Using Neuromorphic Data
Bartosz Stachowiak, Dariusz Brzezinski
arXiv:2606.27576v1 • 2026-06-25
Conventional RGB cameras suffer from lighting artifacts such as flare, glare, flicker, and overexposure, leading to irrecoverable information loss that necessitates computational restoration. However, existing approaches treat these problems in isolation, failing to recover structural details completely obscured by complex spatially discrete image degradations. In this paper, we propose a novel cross-modal restoration paradigm and present DeLux, a modular proof-of-concept pipeline that leverages neuromorphic event streams as a structural prior to guide the targeted detection and inpainting of lighting artifacts in RGB video. Validation on synthetic benchmarks and real-world automotive footage demonstrates that DeLux effectively suppresses local artifacts and restores affected regions. The proposed approach outperforms existing RGB-only baselines and event-guided HDR models, achieving an average MS-SSIM of over 0.99 across all artifact types and demonstrating up to an 88% reduction in artifact severity in real-world automotive footage. The synthetic artifact generation tools and curated real-world evaluation datasets are made publicly available to foster future research on cross-modal restoration.
arXiv PDF
MemoBench: Benchmarking World Modeling in Dynamically Changing Environments
Haoyu Chen, Kaichen Zhou, Hang Hua, Kaile Zhang, Jingwen Qian, Wufei Ma, Haonan Chen, Chunjiang Liu, Yizhou Zhao, Xiaoyuan Wang, Weiyue Li, Alan Yuille, Paul Pu Liang, Yilun Du
arXiv:2606.27537v1 • 2026-06-25
Video generation models aspire to simulate dynamic environments, and several benchmarks now evaluate memory consistency across frames. However, most assess consistency only while the target remains in view, and the few that force objects out of view evaluate static scenes where nothing changes during occlusion. To bridge this gap, we introduce MemoBench, a diagnostic benchmark built around the disappear-and-reappear paradigm in dynamically changing environments: a target object undergoes a physical process, disappears from view, and must be correctly recovered in its updated state upon reappearance. We curate 360 ground-truth clips spanning synthetic and real-world scenes, and design an evaluation suite combining automated metrics with VQA-based assessment across four diagnostic pillars. Evaluation of eight state-of-the-art models reveals key insights and open challenges regarding memory consistency under the disappear-and-reappear paradigm.
arXiv PDF
A Comprehensive Survey on World Models for Embodied AI
Xinqing Li, Xin He, Le Zhang, Min Wu, Xiaoli Li, Yun Liu
arXiv:2510.16732v3 •updated • 2025-10-19
Embodied AI requires agents that perceive, act, and anticipate how actions reshape future world states. World models serve as internal simulators that capture environment dynamics, enabling forward and counterfactual rollouts to support perception, prediction, and decision making. This survey presents a unified framework for world models in embodied AI. Specifically, we formalize the problem setting and learning objectives, and propose a three-axis taxonomy encompassing: (1) Functionality, Decision-Coupled vs. General-Purpose; (2) Temporal Modeling, Sequential Simulation and Inference vs. Global Difference Prediction; (3) Spatial Representation, Global Latent Vector, Token Feature Sequence, Spatial Latent Grid, and Decomposed Rendering Representation. We systematize data resources and metrics across robotics, autonomous driving, and general video settings, covering pixel prediction quality, state-level understanding, and task performance. Furthermore, we offer a quantitative comparison of state-of-the-art models and distill key open challenges, including the scarcity of unified datasets and the need for evaluation metrics that assess physical consistency over pixel fidelity, the trade-off between model performance and the computational efficiency required for real-time control, and the core modeling difficulty of achieving long-horizon temporal consistency while mitigating error accumulation. Finally, we maintain a curated bibliography at https://github.com/Li-Zn-H/AwesomeWorldModels.
Comment: https://github.com/Li-Zn-H/AwesomeWorldModels
arXiv PDF
ReWorld: Learning Better Representations for World Action Models
Tianze Xia, Lijun Zhou, Kaixin Xiong, Jingfeng Yao, Yu Zhu, Zhenxin Zhu, Bing Wang, Guang Chen, Hangjun Ye, Wenyu Liu, Haiyang Sun, Xinggang Wang
arXiv:2606.27504v1 • 2026-06-25
World Action Models (WAMs) model future environment evolution under action conditioning, offering a scalable paradigm for autonomous driving. However, existing approaches focus largely on model architecture design, and how a WAM can efficiently learn better world representations for planning remains underexplored. To address this gap, we propose ReWorld, the first representation learning framework specifically designed for autonomous-driving world action models. In WAMs, standard training supervises only the output ends of the generation and planning modules, leaving the intermediate representations that carry world knowledge to be shaped only indirectly, as byproducts of fitting these outputs. The core idea of ReWorld is to treat intermediate representations as direct targets of optimization, shaping them along three complementary dimensions. On the Video DiT responsible for generation, we impose future-predictive supervision on its intermediate representations. On the Action DiT responsible for planning, we first align its intermediate representations cross-modally with the video world representation, then further shape them to be discriminative around safety-critical boundaries via hard-negative supervision. In addition, we systematically analyze the effectiveness of existing representation learning methods in video generation world models, and discuss why their performance is limited on this task. Experiments on nuScenes and NAVSIM show that ReWorld improves fine-tuned video generation by 23.9% in FVD (81.3 to 61.9), raises closed-loop PDMS from 89.1 to 90.4 without any post-training such as RL or post-processing, and accelerates from-scratch convergence by approximately 2x.
Comment: 19 pages,3 figures
arXiv PDF
PhysiFormer: Learning to Simulate Mechanics in World Space
Yiming Chen, Yushi Lan, Andrea Vedaldi
arXiv:2606.27364v1 • 2026-06-25
We present PhysiFormer, a diffusion transformer for physically-plausible 3D object motion. Unlike video world models that operate in view-dependent pixel space, PhysiFormer represents objects as 3D meshes expressed in world coordinates. Given the initial vertex positions and velocities, as well as object material type, rigid or elastic, the model samples future vertex trajectories. While related neural physics approaches build on ad-hoc latent spaces or explicitly enforce rigidity and causality, PhysiFormer shows that excellent results can be obtained without any such inductive biases, by casting vertex trajectory prediction as a single denoising diffusion process directly in world coordinates. The probabilistic formulation captures uncertainty in the learned dynamics, enabling diverse plausible futures from initial conditions, making this framework potentially useful for applications with unobserved uncertainty. The model features attention factorised over time, space, and objects for efficiency, enabling permutation-invariant multi-object reasoning without needing explicit object encoding. Trained on over 100k simulated trajectories, PhysiFormer generates rigid and elastic mechanics, and generalises to mixed-material settings, unseen real-world geometries, and larger object counts. It substantially outperforms autoregressive baselines in trajectory accuracy, rigidity preservation, and momentum-based physical consistency. Our results position coordinate-space diffusion as a promising step toward view-invariant, geometry-aware world modelling for robotics, graphics, and physical design. Visualisations, code, and models are available at https://yimingc9.github.io/physiformer.
Comment: Project page: https://yimingc9.github.io/physiformer
arXiv PDF
2026-06-24
102 篇
Robotics
89
默认显示 5 篇
WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation
Baiqi Li, Ce Zhang, Yu Fang, Yue Yang, Shangzhe Li, Mingyu Ding, Gedas Bertasius
arXiv:2606.26443v1 • 2026-06-24
A robot working alongside people must reason about what they have done, in what order, and with what intent. Video carries the spatial layouts, object histories, and gestures that language leaves underspecified, yet today's manipulation benchmarks pair an instruction with a single current image, offering no way to evaluate reasoning over observed human behavior. We introduce WatchAct, a benchmark for robot manipulation grounded in observed human behavior. Each instance pairs a real-world human-action video and a language instruction with an aligned simulator scene and an executable LIBERO task, enabling scalable and reproducible evaluation. WatchAct comprises 3,000 long-horizon instances across 14 tasks in four capability domains drawn from the cognitive demands of watching another agent: parsing events (Event Grounding), recovering procedural structure (Procedural Reasoning), inferring unstated intent (Implicit Intent Inference), and tracking how the scene was changed (Episodic Reasoning). We further propose a disentangled evaluation protocol that separately measures (i)~video-to-plan reasoning by vision-language models, (ii)~policy execution under oracle plans, and (iii)~full task completion by integrated planner--policy pipelines. In both simulation and on a Franka Research 3 robot, current systems remain far from solving WatchAct. The best pipeline, Gemini-3.1-Pro with $π_{0.5}$, reaches only 16.3% Success Rate (SR) in simulation and 14.0% on the real robot. Gemini-3.1-Pro attains just 36.8% Plan SR (vs. 97.1% for humans), while $π_{0.5}$ reaches only 21.5% Task SR under oracle plans and drops to 10.6% on out-of-domain scenarios. Dataset and code are available at https://baiqi-li.github.io/watchact_page/.
arXiv PDF
Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?
Tyler Ga Wei Lum, Kushal Kedia, C. Karen Liu, Jeannette Bohg
arXiv:2606.26428v1 • 2026-06-24
Multi-fingered robots promise the speed and dexterity of human hands, yet challenging problems such as precise assembly have remained out of reach. These tasks are contact-rich, making data collection for imitation learning difficult, and sparse-reward, making direct exploration with reinforcement learning (RL) intractable. Consequently, prior work has made progress by structuring the problem with specialized grippers, tool attachments, and environment fixtures. In this work, we argue that before a robot can perfect precise assembly, it must first learn to play. We further ask the question: what factors in the process of learning to play matter for precise assembly? We propose Play2Perfect, an RL framework for task-agnostic pretraining through play on diverse objects and goals, which is then perfected on precise assembly. The goal of play is to acquire reusable manipulation priors, such as grasping, in-hand reorientation and pose reaching. Finetuning then adapts this general prior to assembly, focusing exploration on the final contact-rich, high-precision interactions needed for success. We systematically study key design choices in play pretraining, including object diversity, training objective, trajectory diversity, and goal precision. We show that our prior is 33x more sample-efficient than RL training from scratch, even when provided with dense, multi-stage rewards. We demonstrate zero-shot sim-to-real transfer, achieving 60% success on tight insertions with only 0.5 mm contact clearance, and over 50% success on long-horizon multi-part assembly and screwing.
Comment: 22 pages, 12 figures, 4 tables. Project page: https://play2perfect.github.io
arXiv PDF
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots
Duncan William Calvert
arXiv:2606.26425v1 • 2026-06-24
Humanoid robots could take on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces must coordinate locomotion, whole body motion, perception, contact, and operator supervision. This thesis presents a robot-local, runtime-editable behavior authoring and runtime system. Our system strives to be maximally observable, predictable, and directable following Coactive Design principles developed during the DARPA Robotics Challenge. Our operator interface remains continuously synchronized to the robot for runtime authoring, monitoring, and repair. Our behavior architecture uniquely combines object-centric Affordance Templates, organization and logic inspired by Behavior Trees, and runtime-editable perception through a behavior scene and primitive scene actions. Action primitives build on a whole-body controller that supports moving the arms while walking, and use a concurrent action layering algorithm for speed. The behavior library developed during this work covers more than twenty real-robot task variants, including push and pull doors with knob, push-bar, and lever-handle mechanisms, multi-step exploration sequences, obstacle clearing, and reactive table-to-table manipulation tasks. This behavior system has been deployed on many humanoid robots, such as Boston Dynamics' DRC Atlas, NASA's Valkyrie, IHMC and Boardwalk Robotics' Nadia, Unitree's H1-2, and IHMC's Alex. We evaluate our system across capability, speed, reliability, and speed of behavior creation, adaptation, extension, and combination. Our experiments demonstrate that we can adapt, extend, and combine existing behaviors to create novel loco-manipulation behaviors in minutes or hours. Videos: https://www.youtube.com/playlist?list=PLJK5CTyotYqsfgfnXb-09YNFeBose6uEY.
Comment: PhD dissertation, University of West Florida, Department of Intelligent Systems and Robotics, June 2026. 331 pages
arXiv PDF
Rethinking Training & Inference for Forecasting: Linking Winner-Take-All back to GMMs
Qiyuan Wu, Katie Z Luo, Bharath Hariharan, Wei-Lun Chao, Mark Campbell
arXiv:2606.26424v1 • 2026-06-24
Trajectory forecasting for autonomous driving has advanced rapidly, yet representative models often produce uninformative posteriors over forecast modes, causing problems for mode pruning. We trace this to a modeling-training mismatch: forecasters are typically modeled as conditional Gaussian mixture models (GMMs) but trained with a winner-take-all (WTA) loss that assigns each sample to its nearest mode. We argue that this K-means-like hard assignment (one-hot), while preventing mode collapse, is the source of uninformative mode probabilities: it over-segments the trajectory space, ignores relatedness among nearby modes, and yields assignment instability under small perturbations. Guided by this lens, we introduce two post-hoc treatments: (1) test-time posterior-weighted merging that aggregates nearby candidate trajectories; and (2) a one-step expectation-maximization (EM) update that replaces hard labels with soft responsibilities, sharing probability mass across neighboring modes. Across several WTA-trained architectures, these lightweight steps produce more informative, faithfully ranked mode posteriors and strengthen final forecasts on popular displacement metrics -- without retraining. Our analysis unifies recent design choices through a GMM-vs-K-means perspective and offers principled, practical corrections that better align training objectives with inference.
Comment: Accepted by ECCV 2026
arXiv PDF
CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
Haonan Chen, Yuxiang Ma, Stephen Tian, Xiaoshen Han, Wenlong Huang, Feiyang Wu, Yunzhu Li, Jiajun Wu, Edward H. Adelson, Yilun Du
arXiv:2606.26423v1 • 2026-06-24
Long-horizon, contact-rich complex manipulation tasks, such as seating a GPU into a PCIe slot, demand both millimeter high precision and out-of-the-box generalization to new tasks. Existing paradigms struggle to satisfy both: classical pipelines use brittle, task-specific interfaces to achieve high-precision control but require costly pipeline redesigns to adapt to new tasks, whereas monolithic end-to-end policies provide better generalization but lack high precision on complex, out-of-distribution tasks unless retrained with new data. Both paradigms share an implicit assumption: once a manipulation capability is acquired, it must be deployed as a rigid pipeline or monolithic whole, rather than being freely decomposed and recomposed. In this paper, we show that complex manipulation capabilities can emerge naturally from the composition of simple, independent behaviors. Rather than deploying a monolithic policy or a rigid pipeline, we propose \ourshort, a framework orchestrating foundation models and diverse sensing modalities into multiple composable core behaviors: a semantic behavior extracting spatial constraints via foundation models; a predictive behavior forecasting trajectories by tracking keypoints in imagined videos; and a reactive behavior providing high-frequency tactile and force corrections. On a shared $SE(3)$ interface, these outputs compose by right-multiplication into a single pose command at each control step, executed by a compliant controller. We demonstrate \ourshort on 8 real-world tasks spanning everyday manipulation and precision assembly, with the strongest gains in contact-rich assembly and object transfer, and show robust recovery from manual perturbations during execution. {Website:} https://costream-simple.github.io
Comment: Website: https://costream-simple.github.io
arXiv PDF
Video World Models
13
默认显示 5 篇
WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation
Baiqi Li, Ce Zhang, Yu Fang, Yue Yang, Shangzhe Li, Mingyu Ding, Gedas Bertasius
arXiv:2606.26443v1 • 2026-06-24
A robot working alongside people must reason about what they have done, in what order, and with what intent. Video carries the spatial layouts, object histories, and gestures that language leaves underspecified, yet today's manipulation benchmarks pair an instruction with a single current image, offering no way to evaluate reasoning over observed human behavior. We introduce WatchAct, a benchmark for robot manipulation grounded in observed human behavior. Each instance pairs a real-world human-action video and a language instruction with an aligned simulator scene and an executable LIBERO task, enabling scalable and reproducible evaluation. WatchAct comprises 3,000 long-horizon instances across 14 tasks in four capability domains drawn from the cognitive demands of watching another agent: parsing events (Event Grounding), recovering procedural structure (Procedural Reasoning), inferring unstated intent (Implicit Intent Inference), and tracking how the scene was changed (Episodic Reasoning). We further propose a disentangled evaluation protocol that separately measures (i)~video-to-plan reasoning by vision-language models, (ii)~policy execution under oracle plans, and (iii)~full task completion by integrated planner--policy pipelines. In both simulation and on a Franka Research 3 robot, current systems remain far from solving WatchAct. The best pipeline, Gemini-3.1-Pro with $π_{0.5}$, reaches only 16.3% Success Rate (SR) in simulation and 14.0% on the real robot. Gemini-3.1-Pro attains just 36.8% Plan SR (vs. 97.1% for humans), while $π_{0.5}$ reaches only 21.5% Task SR under oracle plans and drops to 10.6% on out-of-domain scenarios. Dataset and code are available at https://baiqi-li.github.io/watchact_page/.
arXiv PDF
CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
Haonan Chen, Yuxiang Ma, Stephen Tian, Xiaoshen Han, Wenlong Huang, Feiyang Wu, Yunzhu Li, Jiajun Wu, Edward H. Adelson, Yilun Du
arXiv:2606.26423v1 • 2026-06-24
Long-horizon, contact-rich complex manipulation tasks, such as seating a GPU into a PCIe slot, demand both millimeter high precision and out-of-the-box generalization to new tasks. Existing paradigms struggle to satisfy both: classical pipelines use brittle, task-specific interfaces to achieve high-precision control but require costly pipeline redesigns to adapt to new tasks, whereas monolithic end-to-end policies provide better generalization but lack high precision on complex, out-of-distribution tasks unless retrained with new data. Both paradigms share an implicit assumption: once a manipulation capability is acquired, it must be deployed as a rigid pipeline or monolithic whole, rather than being freely decomposed and recomposed. In this paper, we show that complex manipulation capabilities can emerge naturally from the composition of simple, independent behaviors. Rather than deploying a monolithic policy or a rigid pipeline, we propose \ourshort, a framework orchestrating foundation models and diverse sensing modalities into multiple composable core behaviors: a semantic behavior extracting spatial constraints via foundation models; a predictive behavior forecasting trajectories by tracking keypoints in imagined videos; and a reactive behavior providing high-frequency tactile and force corrections. On a shared $SE(3)$ interface, these outputs compose by right-multiplication into a single pose command at each control step, executed by a compliant controller. We demonstrate \ourshort on 8 real-world tasks spanning everyday manipulation and precision assembly, with the strongest gains in contact-rich assembly and object transfer, and show robust recovery from manual perturbations during execution. {Website:} https://costream-simple.github.io
Comment: Website: https://costream-simple.github.io
arXiv PDF
Neural Voxel Dynamics: Learning Implicit 3D Physics via Volumetric Feature Advection
Zican Wang, Niloy Mitra
arXiv:2606.26410v1 • 2026-06-24
We present a self-supervised framework for learning implicit 3D physical dynamics directly from video-derived supervisory signals. While current generative video models achieve high visual fidelity, they lack a 3D geometric foundation, often resulting in physical inconsistencies and a failure to maintain object permanence. We address this by shifting the predictive bottleneck from 2D image space to a `lifted' 3D Volumetric Latent Space. Our method unprojects semantic features from a Video Joint-Embedding Predictive Architecture (V-JEPA) into a voxelized grid, grounded by monocular depth priors. This lifting enables a Volumetric Feature Advection to learn an action-conditioned transition operator that treats physics as a spatio-temporal state advection problem, i.e., learn implicit 3D physics. Unlike state-of-the-art hybrid models that rely on explicit classical simulators for training and/or inference, our architecture tracks material states implicitly within high-dimensional V-JEPA features. This allows for the emergent simulation of heterogeneous phenomena (e.g., rigid body motion in fluid flow) within a single, unified pipeline. Supervised solely via end-to-end video-derived signal plus action conditions, without access to physics engine internal states, labels, or surrogate models, our model demonstrates good long-term structural stability and physical plausibility on multiple benchmarks (CLEVERER, PhysInOne, PhysGaia). We believe that this work opens a scalable pathway toward general-purpose dynamic world models that internalize the 3D invariants of the physical world solely through passive observation of monocular videos.
arXiv PDF
What Do Deepfake Benchmarks Measure? An Audit Using Frozen Self-Supervised Representations
Samuel Pagon, Yixuan Shen, Vishal Asnani, Feng Liu
arXiv:2606.26384v1 • 2026-06-24
As deepfake generators approach perceptual indistinguishability, reliable detection becomes critical. Yet, detectors that score well on benchmarks routinely fail in the wild. A concerning feedback loop has emerged: benchmarks drive increasingly complex, engineered detectors, yet if those benchmarks do not reflect real-world deepfakes, this complexity may be solving the wrong problem entirely. This raises a prior question: what are these benchmarks actually measuring? We conduct an audit of video, image, and audio deepfake benchmarks using a deliberately simple diagnostic. If a linear probe on frozen, general-purpose self-supervised representations can approximate the performance of a bespoke detector, the benchmark is largely rewarding general modality understanding rather than forensic understanding. This has two implications: the benchmark may not reflect realistic threat models, and it raises the question of whether the bespoke detectors the probe approaches are truly learning forensic understanding. We observe, across three modalities, linear probes on general-purpose self-supervised representations closely approach the performance of bespoke detectors. We further show that generator-level difficulty is partly explained by Frechet geometry in the same representation space. Together, these results support a benchmark-audit view of deepfake detection: before high scores are read as evidence of forensic understanding, it is worth asking how much of the benchmark is already solved by general-purpose representations.
Comment: 14 pages, 9 figures
arXiv PDF
What We are Missing in Multimodal LLM Evaluation?
Po-han Li, Shenghui Chen, Sandeep Chinchali, Ufuk Topcu
arXiv:2606.26348v1 • 2026-06-24
Multimodal large language models (MLLMs) can process diverse inputs, e.g., text, images, audio, and video, and generate textual responses. While their capabilities have advanced rapidly, evaluation of such models has not kept pace. Most existing evaluation benchmarks are limited to isolated tasks and reveal little about whether a model integrates information across modalities. We examine current means for evaluating MLLMs and review the existing benchmark taxonomy to identify gaps, including temporal-spatial coherence, physical world understanding, multimodal consistency, and selective attention. Addressing these gaps is essential for measuring real progress in multimodal intelligence and exposing capability boundaries.
arXiv PDF
2026-06-23
104 篇
Robotics
90
默认显示 5 篇
GRAFT: Graph-Based Affordance Transfer via Part Correspondence
Mengying Lin, Utkarsh Mishra, Ajay Mandlekar, Danfei Xu
arXiv:2606.25241v1 • 2026-06-23
Generalizing robotic manipulation to unseen objects remains challenging, as learning-based approaches require many demonstrations and fail in few-shot settings. Prior work transfers affordances through semantic retrieval, but semantics alone neglect geometric similarity, which is critical for manipulation. We propose GRAFT, a geometry-aware correspondence framework for zero-shot manipulation transfer using only one demonstration per object. Objects are represented as part-based graphs, where part-level descriptors support global instance retrieval and part correspondence, and vertex-level descriptors enable fine-grained contact point matching. For an unseen object, our method first retrieves the most functionally and geometrically similar instance from the demonstration buffer with aligned functional parts, and finally propagates the contact points through point-wise correspondence.
arXiv PDF
Spatio-Temporal Retrieval-based Priors for Adaptive Computational Teaching in Driving
Deepak Edakkattil Gopinath, Xiongyi Cui, Jonathan DeCastro, Avinash Balachandran, Guy Rosman
arXiv:2606.25224v1 • 2026-06-23
Learning-based automated coaching systems for complex motor tasks such as high-performance driving remain limited in the ability to be adaptive by their reliance only on local, context-dependent reasoning, failing to account for the long-term temporal nature of student learning and the cumulative impact of repeated teacher-student interactions. In this paper, we propose an imitation learning based computational model for adaptive teaching with a dedicated temporal reasoning module that can reason over the interaction history under low-data regimes. To compensate for limited amounts of interactive training data, and based on the repetitive nature of the teaching process, the model relies on a nearest neighbor retrieval and cross attention prior, reasoning only on a narrowed-down set of semantically similar past interactions with an encoder-decoder based concurrent teaching model. We validate our approach with (i) a novel semi-synthetic closed-loop longitudinal student-teacher interaction dataset based on Waymo Open Motion Dataset and (ii) a small-scale real-world naturalistic simulator race coaching dataset. Our results reveal the consistent advantage of our adaptive teaching model with the nearest neighbor retrieval and cross-attention prior over a non-adaptive baseline as well as a suite of adaptive models that differ in their choice of priors and temporal fusion mechanisms.
Comment: 20 pages, 8 figures
arXiv PDF
Swazure: Swarm Measurement of Pose for Flying Light Specks
Hamed Alimohammadzadeh, Shahram Ghandeharizadeh
arXiv:2606.25222v1 • 2026-06-23
One may construct a 3D multimedia display using miniature drones configured with light sources, Flying Light Specks (FLSs). Swarms of FLSs localize to illuminate complex 3D shapes and animated sequences consistent with the coordinates of points in a point cloud. This requires FLSs to accurately measure their pose relative to one another using sensors such as cameras. Such sensors have a sweet range in which they provide the highest accuracy. A challenge is how an FLS tracks another FLS outside its sensor's sweet range, dictated by the point cloud data. We address this challenge by proposing a novel technique called Swazure that solves the missing sensor data using cooperation among FLSs. It implements physical data independence by abstracting the physical characteristics of the sensors, making point cloud data independent of the sensor hardware. The size of an FLS relative to the minimum distance between points of a point cloud is an important parameter. With medium-sized FLSs, Swazure is able to position 100% of the FLS's neighbors. Larger FLS sizes may result in potential obstructions that prevent Swazure from quantifying relative pose. We present two heuristics, Move Obstructing and Move Source, to address this limitation. Our experimental results show the superiority of the Move Obstructing heuristic which resolves approximately 30% of obstructions in the worst case scenario.
Comment: Appeared in Proceedings of the Holodecks Foundation, Vol. 2, No. 3
arXiv PDF
Reflective VLA: In-Context Action Consequences Make VLAs Generalize
Qing Lian, Kent Yu, Lei Zhang
arXiv:2606.25215v1 • 2026-06-23
Most vision-language-action (VLA) models are reactive: they predict the next action from the current instruction and observation, implicitly assuming that the current observation fully specifies the action-relevant state. In embodied control, however, embodiment-specific factors such as camera-to-robot geometry, robot calibration, or systematic actuation bias are often hard to identify from a single observation. As a result, reactive policies cannot reliably disambiguate these factors in general, overfitting to training environments and generalizing poorly at deployment. We propose Reflective VLA, which conditions each decision on a context of observation-action-consequence triplets. Each triplet records not only what the robot observed and executed, but also how the scene changed afterward, exposing the deployment-specific mapping from actions to observed effects. Architecturally, Reflective VLA routes all observation modalities through the VLM under shared attention, so the action expert reasons directly over past triplets and the current observation. A block-causal mask enables parallel multi-frame training without leakage and supports KV-cached real-time inference. On standard LIBERO and SimplerEnv-Bridge, Reflective VLA preserves strong in-distribution performance. Under distribution shift on LIBERO-Plus and the harder LIBERO-Plus-Hard, it improves average success rate by 5.4 and 4.2 percentage points over a matched reactive baseline. Ablations with a matched history-only baseline further show that action consequences -- rather than additional context length alone -- are the key to cross-environment generalization. Project page: https://lianqing11.github.io/reflective-vla-page/
arXiv PDF
RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation
Xincheng He, Rongrong Zhang, Wei Jiang, Wenqiang Xu
arXiv:2606.25212v1 • 2026-06-23
Accurate physical parameter identification of manipulated objects is fundamental to advanced robotic manipulation and the construction of faithful digital twins. However, acquiring physically consistent inertial and frictional properties from real-world interactions remains challenging due to sensing noise, modeling errors, and limited prior knowledge. This paper presents \textbf{RigPI}, a systematic framework for identifying dynamic parameters of both unconstrained rigid bodies and multi-link rigid bodies during robot-object interaction. RigPI integrates vision-based semantic priors, force-torque measurements, and motion observations within a differentiable simulation pipeline. A vision-language model (VLM) provides informed initialization and a constrained search space, while gradient information from a differentiable physics simulator enables efficient and stable parameter refinement. The proposed two-stage optimization strategy alleviates sensitivity to noise and avoids physically implausible solutions. Extensive real-world experiments on objects with revolute and prismatic joints demonstrate that RigPI achieves accurate and stable parameter estimates, and successfully reproduces manipulation trajectories on a real robot with parameter-aware predictive validity. These results highlight the effectiveness and robustness of RigPI for real-world robotic system identification tasks.
Comment: Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2027)
arXiv PDF
Video World Models
13
默认显示 5 篇
Quantum Cinema: An Interactive Cinematic Exploration of Quantum Computing Hardware via Generative World Models
Aoyu Zhang, Dongping Liu, Luyao Zhang
arXiv:2606.17102v2 •updated • 2026-06-14
Quantum computing promises transformative advances across science and industry, yet the physical hardware that enables these computations remains invisible to the public: quantum processors operate inside sealed dilution refrigerators at temperatures near absolute zero, making direct observation impossible. This "imagination gap" between quantum computing's growing societal impact and the public's ability to visualize it represents a significant barrier to quantum literacy and workforce development. We present Quantum Cinema, an open-source, browser-based interactive application that closes this gap by transforming invisible quantum hardware into explorable, cinematic experiences using generative world models. Quantum Cinema guides users through a four-act narrative -- from the foundational Nobel Prize-winning science of quantum entanglement, through curated video introductions to three major quantum computing architectures (trapped-ion, neutral-atom, and superconducting systems), into immersive three-dimensional generative worlds that make invisible quantum phenomena observable, and finally to interactive radar-chart comparisons grounded in real quantum device specifications. All three-dimensional environments are generated using WorldLabs' generative world model platform and are scientifically grounded in curated metrics from Amazon Web Services (AWS) Braket quantum hardware. Quantum Cinema requires no installation, no specialized hardware, and no quantum computing background. It is designed to serve two distinct communities: scholars and developers seeking to replicate or extend the platform, and educators, researchers, and science communicators seeking an intuitive tool for explaining quantum hardware to diverse audiences. This paper describes the system architecture, the generative world model pipeline, use cases for both communities, and directions for future work.
arXiv PDF
Cosmos 3: Omnimodal World Models for Physical AI
NVIDIA, :, Aditi, Niket Agarwal, Arslan Ali, Jon Allen, Martin Antolini, Adeline Aubame, Alisson Azzolini, Junjie Bai, Maciej Bala, Yogesh Balaji, Josh Bapst, Aarti Basant, Mukesh Beladiya, Mohammad Qazim Bhat, Zaid Pervaiz Bhat, Dan Blick, Vanni Brighella, Han Cai, Tiffany Cai, Eric Cameracci, Jiaxin Cao, Yulong Cao, Mark Carlson, Carlos Casanova, Ting-Yun Chang, Yan Chang, Yu-Wei Chao, Prithvijit Chattopadhyay, Roshan Chaudhari, Chieh-Yun Chen, Junyu Chen, Ke Chen, Qizhi Chen, Wenkai Chen, Xiaotong Chen, Yu Chen, An-Chieh Cheng, Click Cheng, Xiu Chia, Jeana Choi, Chaeyeon Chung, Wenyan Cong, Yin Cui, Magdalena Dadela, Nalin Dadhich, Wenliang Dai, Joyjit Daw, Alperen Degirmenci, Rodrigo Vieira Del Monte, Robert Denomme, Sameer Dharur, Marco Di Lucca, Ke Ding, Wenhao Ding, Yifan Ding, Yuzhu Dong, Nicole Drumheller, Yilun Du, Aigul Dzhumamuratova, Aleksandr Efitorov, Hamid Eghbalzadeh, Naomi Eigbe, Imad El Hanafi, Hassan Eslami, Benedikt Falk, Jiaojiao Fan, Jim Fan, Amol Fasale, Sergiy Fefilatyev, Liang Feng, Francesco Ferroni, Sanja Fidler, Xiao Fu, Vikram Fugro, Prashant Gaikwad, TJ Galda, Katelyn Gao, Yihuai Gao, Wenhang Ge, Sreyan Ghosh, Arushi Goel, Vivek Goel, Akash Gokul, Rama Govindaraju, Jinwei Gu, Miguel Guerrero, Elfie Guo, Aryaman Gupta, Siddharth Gururani, Hugo Hadfield, Song Han, Ankur Handa, Zekun Hao, Mohammad Harrim, Ali Hassani, Nathan Hayes-Roth, Yufan He, Chris Helvig, Cyrus Hogg, Madison Huang, Michael Huang, Sophia Huang, Yufan Huang, Jacob Huffman, DeLesley Hutchins, Suneel Indupuru, Boris Ivanovic, Arihant Jain, Joel Jang, Ryan Ji, Yanan Jian, Dongfu Jiang, Jingyi Jin, Atharva Joshi, Nikhilesh Joshi, Pranjali Joshi, Andy Ju, Jaehun Jung, Weiwei Kang, Scott Kassekert, Jan Kautz, Ashna Khetan, Julia Kiczka, Slawek Kierat, Gwanghyun Kim, Kuno Kim, Sunny Kim, Kezhi Kong, Xin Kong, Zhifeng Kong, Tomasz Kornuta, Egor Krivov, Hui Kuang, Saurav Kumar, Chia-Wen Kuo, George Kurian, Wojciech Kutak, JF Lafleche, Himangshu Lahkar, Omar Laymoun, Jayjun Lee, Sanggil Lee, Gabriele Leone, Boyi Li, Freya Li, Jiajun Li, Jinfeng Li, Ling Li, Pengcheng Li, Shangru Li, Tingle Li, Xiaolong Li, Xuan Li, Zhaoshuo Li, Zhiqi Li, Hao Liang, Maosheng Liao, Chen-Hsuan Lin, Tsung-Yi Lin, Ming-Yu Liu, Sifei Liu, Zihan Liu, Hai Loc Lu, Xiangyu Lu, Alice Luo, Ruipu Luo, Wenjie Luo, Jiangran Lyu, Martin Ding Ma, Nic Ma, Qianli Ma, Dawid Majchrowski, Louis Marcoux, Miguel Martin, Qing Miao, Ashkan Mirzaei, Shreyas Misra, Kaichun Mo, Durra Mohsin, Hyejin Moon, Pawel Morkisz, Saeid Motiian, Kirill Motkov, Seungjun Nah, Yashraj Narang, Deepak Narayanan, Thabang Ngazimbi, Julian Ouyang, Shubham Pachori, David Page, Yatian Pang, Sehwi Park, Mahesh Patekar, Mostofa Patwary, Marco Pavone, Trung Pham, Wei Ping, Soha Pouya, Shrimai Prabhumoye, Varun Praveen, Delin Qu, Hesam Rabeti, Morteza Ramezanali, Marilyn Reeb, Xuanchi Ren, Kristen Rumley, Wojciech Rymer, Jun Saito, Yeongho Seol, John Shao, Piyush Shekdar, Tianwei Shen, Humphrey Shi, Min Shi, Stella Shi, Kevin Shih, Mohammad Shoeybi, Mateusz Sieniawski, Shuran Song, Alexander Sotelo, Amir Sotoodeh, Sunil Srinivasa, Vignesh Srinivasakumar, Bartosz Stefaniak, Rahul Heinrich Steiger, Shangkun Sun, Jiaxiang Tang, Shitao Tang, Yangyang Tang, Yue Tang, Tolou Tavakkoli, Kayley Ting, Krzysztof Tomala, Wei-Cheng Tseng, Jibin Varghese, Sergei Vasilev, Thomas Volk, Raju Wagwani, Roger Waleffe, Andrew Z. Wang, Boxiang Wang, Haoxiang Wang, Qiao Wang, Shihao Wang, Shijie Wang, Ting-Chun Wang, Yan Wang, Yu Wang, Rohit Watve, David Wehr, Fangyin Wei, Xinshuo Weng, Jay Zhangjie Wu, Kedi Wu, Hongchi Xia, Summer Xiao, Tianjun Xiao, Kevin Xie, Daguang Xu, Jiashu Xu, Mengyao Xu, Ruqing Xu, Xingqian Xu, Yao Xu, Dinghao Yang, Dong Yang, Hans Yang, Xiaodong Yang, Xuning Yang, Yichu Yang, Yurong You, Zhiding Yu, Hao Yuan, Simon Yuen, Xiaohui Zeng, Pengcuo Zeren, Cindy Zha, Haotian Zhang, Jenny Zhang, Jing Zhang, Liangkai Zhang, Paris Zhang, Shun Zhang, Xuanmeng Zhang, Zhizheng Zhang, Ann Zhao, Yilin Zhao, Yuliya Zhautouskaya, Charles Zhou, Fengzhe Zhou, Shilin Zhu, Yuke Zhu, Dima Zhylko, Artur Zolkowski
arXiv:2606.02800v4 •updated • 2026-06-01
We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-transformers architecture. By supporting highly flexible input-output configurations, Cosmos 3 seamlessly unifies critical modalities for Physical AI -- effectively subsuming vision-language models, video generators, world simulators, and world-action models into a single framework. Our evaluation demonstrates that Cosmos 3 establishes a new state-of-the-art across a diverse suite of understanding and generation tasks, demonstrating omnimodal world models as scalable, general-purpose backbones for embodied agents. Our post-trained Cosmos 3 models were ranked as the best open-source Text-to-Image and Image-to-Video models by Artificial Analysis, and the best policy model by RoboArena at the time the technical report was written. To accelerate open research and deployment in Physical AI, we make our code, model checkpoints, curated synthetic datasets, and evaluation benchmark available under the Linux Foundation's OpenMDW-1.1 License at https://github.com/nvidia/cosmos and https://huggingface.co/collections/nvidia/cosmos3. The project website is available at https://research.nvidia.com/labs/cosmos-lab/cosmos3.
arXiv PDF
OrbitForge: Text-to-3D Scene Generation via Reconstruction-Anchored Video Synthesis
Chenrui Fan, Paolo Favaro
arXiv:2606.24799v1 • 2026-06-23
Generic text-to-video models can be used as rich open-world scene priors. Despite the high quality of today's generated videos, they do not directly yield reliable 3D assets: camera motion is difficult to control, view coverage is partial, and frames often contain inconsistencies across time. We introduce OrbitForge, an adapter built from frozen video priors and per-prompt Gaussian Splatting reconstruction optimization that converts a single text-generated video into a canonical closed-orbit 3D Gaussian Splatting scene. We use 3D reconstruction as an anchor to improve the 3D consistency of the generated video. We obtain a preliminary 3D reconstruction from a first generated video via Deformable Gaussian Splatting with a robust MedianGS proxy. We render views from a prescribed orbit to detect missing viewpoints. OrbitForge uses the text-to-video model to complete only the missing views, and reconstructs the completed orbit into a final Gaussian Splatting scene. This design requires no task-specific video or multiview fine-tuning, avoids per-prompt score-distillation optimization, and does not progressively generate views one step at a time. We further argue that this setting demands coverage-aware evaluation: local smoothness alone rewards methods that never attempt a full orbit. On a frozen 300-prompt T3Bench-derived audit, OrbitForge reconstruction attains a 359.0-degree measured median span, raises originally unsupported-bin Q10 ImageReward from 8.07 to 16.36 relative to MedianGS-only reconstruction, while remaining competitive with VideoMV on the coverage-quality.
Comment: 40 pages, 33 figures, 19 tables
arXiv PDF
ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D videos
Pranjal Mishra, René Zurbrügg, Max Wilder-Smith, Marco Hutter, Marc Pollefeys, Zuria Bauer, Hermann Blum
arXiv:2606.24628v1 • 2026-06-23
Deploying robots in unstructured real-world environments needs accurate, interactive models of the objects. Constructing these models at scale remains a critical bottleneck for robotic system integration. We present ArtiTwinSplat, a framework that automatically constructs articulated, photo-realistic digital twins of objects directly from RGB-D videos, requiring no CAD models, simulation assets, or manual annotations. Our method is built on 3D Gaussian Splatting that preserve geometric fidelity and photometric realism, coupled with an unsupervised articulation discovery pipeline that recovers part structure and joint kinematics from observed motion alone. With tracking and optimization stages our method provides stable, queryable digital twins that support real-time rendering, viewpoint control, and interactive manipulation. Unlike prior methods confined to simulation, ArtiTwinSplat operates directly on real-world observations and produces twins that are immediately usable by downstream robot planning and learning systems. This method offers a practical, scalable pathway toward digital twin construction, lowering the integration barrier for articulated object manipulation in embodied AI and human-robot collaboration contexts.
Comment: Presented at the ICRA 2026 Workshop on Advances and Challenges in AI-Driven Automation and Robotic System Integration with Digital Twins, Vienna, June 2026
arXiv PDF
ViTexQA: A Multi-Frame Temporal Perception Dataset for Video Text Question Answering
Zhentao Guo, Chen Duan, Tongkun Guan, Zining Wang, Kai Zhou, Pengfei Yan
arXiv:2606.24602v1 • 2026-06-23
Despite remarkable progress in multimodal understanding, current MLLMs still exhibit limitations in video text understanding, particularly when semantics emerge through the integration of temporally distributed textual cues across multiple frames. This perception challenge fundamentally differs from static image text understanding, yet existing datasets fail to capture: the vast majority of questions remain answerable from single frames, inadequately reflecting real-world video text comprehension demands. To address this, we present ViTexQA, a large-scale video-text QA dataset, and FrameThinker for robust multi-frame temporal reasoning. We build ViTexQA via a quality-controlled Chain-of-Thought (CoT) annotation pipeline boosted with temporal constraints; all its QA pairs demand cross-frame text fusion to solve, enforcing true temporal reliance. FrameThinker adopts two-stage training for explicit temporal modeling: CoT-Guided Supervised Fine-Tuning (SFT) generates frame-aware reasoning chains, followed by Temporally-grounded Reinforcement Learning (RL) optimized with multi-frame coherence rewards. Evaluations show our method outperforms SOTA baselines on ViTexQA, lifting ROUGE-L by 6.3%.
Comment: Accepted by ECCV2026
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
Wh0: Generative World Models as Scalable Sources of Egocentric Human Hand Manipulation Data
Yangtao Chen, Zixuan Chen, Peiyang Wang, Yong-Lu Li, Jing Huo, Jieqi Shi, Yang Gao
arXiv:2606.22136v2 •updated • 2026-06-20
Scaling dexterous manipulation requires generalization across objects, scenes, and tasks, yet existing data sources face a trade-off between scale and scene/embodiment alignment: teleoperation data is well aligned with robot deployment but expensive to collect; simulation is scalable but limited by the sim-to-real gap; and real egocentric videos scale effectively but remain misaligned with robot deployment. We propose Wh0, a framework that uses generative video world models as scalable and controllable sources of egocentric human-hand manipulation data to unlock the manipulation capabilities of pretrained dexterous VLA models. Conditioned on language, objects, and scenes, Wh0 uses a generative world model to produce WM-H, a 50k-episode dataset of egocentric human-object interaction videos. Wh0 then converts the generated videos into robot-trainable supervision through hand motion reconstruction and visual editing. Co-trained with a limited amount of real robot data, WM-H adapts pretrained VLA models to dexterous manipulation deployment. Across 18 real-world dexterous manipulation tasks, compared with a model post-trained only on robot data, Wh0 improves zero-shot success on unseen tasks from 8.3% to 38.9%. Ablation studies further show that scalable generation and scene/embodiment alignment are key drivers of performance gains. Videos and open-source code can be found on our project website: https://chenyt31.github.io/wh0.github.io/.
Comment: Under review. The first three authors contributed equally to this work
arXiv PDF
2026-06-22
90 篇
Robotics
81
默认显示 5 篇
Critique of Agent Model
Eric Xing, Mingkai Deng, Jinyu Hou
arXiv:2606.23991v1 • 2026-06-22
What is an agent? What constitutes agency? With the rise of Large Language Model (LLM) systems marketed as ``coding agents'', ``AI co-scientists'', and other ``agentic" tools that promise to drive up productivity, and at the same time, ``existential" concerns such as AI escaping human control with destructive power under a speculative ``machine agency" against humans, it has become essential to clarify where automation ends and agency begins, both for building capable systems and for understanding whether and what to fear. Drawing on Descartes' grounding of agency in independent thought, and on portrayals of autonomous beings in science fiction, we survey the current landscape of AI agents, and analyze agent architectures along five dimensions: goal, identity, decision-making, self-regulation, and learning. Specifically, we argue that genuine agency requires these structures to be \emph{internalized within the system itself} rather than assembled through external scaffolding. This distinction between \emph{agentic} systems, whose competence resides in engineered workflows, and \emph{agentive} systems, whose capabilities (including social interaction) arise endogenously, defines the boundary between systems designed for prescribed tasks, and those capable of operating in the open world with true autonomy. Building on this analysis, we propose the Goal-Identity-Configurator (GIC) architecture for a general-purpose agent model, combining hierarchical goal decomposition, identity evolution, simulative reasoning grounded in a separately trained world model, learned self-regulation, and self-directed learning from both real and simulated experience. Furthermore, we share insight on the auditability, controllability, and safety of agentive systems that possess greater autonomy and ``agency", but remain under human oversight.
arXiv PDF
Geometric Action Model for Robot Policy Learning
Jisang Han, Seonghu Jeon, Jaewoo Jung, René Zurbrügg, Honggyu An, Tifanny Portela, Marco Hutter, Marc Pollefeys, Seungryong Kim, Sunghwan Hong
arXiv:2606.17046v2 •updated • 2026-06-15
Generalist robot policies must follow user instructions while reasoning about how objects, cameras, and robot actions interact in the 3D physical world. Recent vision-language-action models (VLAs) and video world-action models (WAMs) inherit strong semantic or temporal priors from large-scale foundation models, but they still operate primarily on 2D image frames or 2D-derived latent spaces, leaving implicit the 3D geometry required for contact-rich manipulation. We propose the Geometric Action Model (GAM), a language-conditioned manipulation policy that directly repurposes a pretrained geometric foundation model (GFM) as a shared substrate for perception, temporal prediction, and action decoding. GAM splits the GFM at an intermediate layer: the shallow layers serve as an observation encoder, and a causal future predictor inserted at the split layer forecasts future latent tokens conditioned on language, proprioception, and action history. The predicted future tokens are then routed through the remaining GFM blocks for feature propagation and decoding, allowing a single backbone to produce both future geometry and actions. This design equips the GFM with language-conditioned temporal world modeling through minimal architectural modification while preserving its rich geometric priors. Across a broad suite of simulation and real-robot manipulation benchmarks, GAM is more accurate, more robust, faster, and lighter than current foundation-model-scale baselines.
Comment: Project page: https://cvlab-kaist.github.io/Geometric-Action-Model/
arXiv PDF
Self-CriTeach: LLM Self-Teaching and Self-Critiquing for Improving Robotic Planning via Automated Domain Generation
Jinbang Huang, Zhiyuan Li, Yuanzhao Hu, Zhanguang Zhang, Mark Coates, Xingyue Quan, Yingxue Zhang
arXiv:2509.21543v4 •updated • 2025-09-25
Large Language Models (LLMs) have recently shown strong promise for robotic task planning, particularly through automatic planning domain generation. However, prior approaches largely treat generated planning domains as planning utilities, which are brittle under imperfect logical states and perception noise, overlooking their potential as scalable sources of reasoning supervision and structured reward signals. At the same time, reasoning LLMs depend on chain-of-thought (CoT) supervision that is expensive to collect for robotic tasks, and reinforcement learning (RL) faces challenges in reward engineering. We propose Self-CriTeach, an LLM self-teaching and self-critiquing framework in which an LLM autonomously generates symbolic planning domains that serve a dual role: (1) enabling large-scale generation of robotic planning problem-plan pairs, and (2) providing structured reward functions. First, the self-written domains enable large-scale generation of symbolic task plans, which are automatically transformed into extended CoT trajectories for supervised fine-tuning. Second, the self-written domains are reused as structured reward functions, providing dense feedback for reinforcement learning without manual reward engineering. This unified training pipeline yields a planning-enhanced LLM with higher planning success rates, stronger cross-task generalization, reduced inference cost, and resistance to imperfect logical states. GitHub Page: https://markli1hoshipu.github.io/Plan_LLM/
Comment: International Conference on Machine Learning (ICML) 2026
arXiv PDF
Topological Online Learning for Displacement-based Formation Control
Saksham Sharma, Shubhankar Gupta, Sumant A Gunagi, Suresh Sundaram
arXiv:2606.23901v1 • 2026-06-22
This paper addresses the problem of robust formation control by introducing Topological Online Learning for Displacement-based (TOLD) formation control, a real-time edge-level adaptation framework. Unlike conventional node-level robust controllers that regulate individual robot inputs without modifying the interaction topology, TOLD updates the interaction topology weights online to directly minimize formation distortion. Two strategies are proposed under the TOLD formation control framework: Online Gradient Flow (OGF) with unconstrained weights and Online Exponential Gradient Flow (OExpGF) with non-negative convex weights. Theoretical analysis establishes that, for single-integrator agents over directed graphs, OExpGF guarantees asymptotic consensus, while OGF ensures bounded formation distortion. Simulations with twelve robots under intermittent disturbances show 1.2%-33.14% median cumulative Root Mean Distortion Error reduction when augmenting TOLD with node-level controllers. Hardware experiments with Crazyflie 2.0 quadrotors demonstrate over 62% (OGF) and 31.4% (OExpGF) reduction in median formation distortion compared to fixed-weight consensus.
arXiv PDF
Bridging Language and Action: A Survey of Language-Conditioned Robot Manipulation
Xiangtong Yao, Hongkuan Zhou, Oier Mees, Yuan Meng, Ted Xiao, Yonatan Bisk, Jean Oh, Edward Johns, Mohit Shridhar, Dhruv Shah, Jesse Thomason, Kai Huang, Joyce Chai, Zhenshan Bing, Alois Knoll
arXiv:2312.10807v7 •updated • 2023-12-17
Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language. This interdisciplinary area integrates scene understanding, language processing, and policy learning to bridge the gap between human instructions and robot actions. In this comprehensive survey, we systematically explore recent advancements in language-conditioned robot manipulation. We categorize existing methods based on the primary ways language is integrated into the robot system, namely language for state evaluation, language as a policy condition, language for cognitive planning and reasoning, and language in unified vision-language-action models. Specifically, we further analyze state-of-the-art techniques from five axes of action granularity, data and supervision regimes, system cost and latency, environments and evaluations, and task specification. Additionally, we highlight the key debates in the field. Finally, we discuss open challenges and future research directions, focusing on potentially enhancing generalization capabilities and addressing safety issues in language-conditioned robot manipulators.
arXiv PDF
Video World Models
8
默认显示 5 篇
Geometric Action Model for Robot Policy Learning
Jisang Han, Seonghu Jeon, Jaewoo Jung, René Zurbrügg, Honggyu An, Tifanny Portela, Marco Hutter, Marc Pollefeys, Seungryong Kim, Sunghwan Hong
arXiv:2606.17046v2 •updated • 2026-06-15
Generalist robot policies must follow user instructions while reasoning about how objects, cameras, and robot actions interact in the 3D physical world. Recent vision-language-action models (VLAs) and video world-action models (WAMs) inherit strong semantic or temporal priors from large-scale foundation models, but they still operate primarily on 2D image frames or 2D-derived latent spaces, leaving implicit the 3D geometry required for contact-rich manipulation. We propose the Geometric Action Model (GAM), a language-conditioned manipulation policy that directly repurposes a pretrained geometric foundation model (GFM) as a shared substrate for perception, temporal prediction, and action decoding. GAM splits the GFM at an intermediate layer: the shallow layers serve as an observation encoder, and a causal future predictor inserted at the split layer forecasts future latent tokens conditioned on language, proprioception, and action history. The predicted future tokens are then routed through the remaining GFM blocks for feature propagation and decoding, allowing a single backbone to produce both future geometry and actions. This design equips the GFM with language-conditioned temporal world modeling through minimal architectural modification while preserving its rich geometric priors. Across a broad suite of simulation and real-robot manipulation benchmarks, GAM is more accurate, more robust, faster, and lighter than current foundation-model-scale baselines.
Comment: Project page: https://cvlab-kaist.github.io/Geometric-Action-Model/
arXiv PDF
BIFE: Better Interaction, Fewer Errors for Minute-Long Video Generation
Zeyu Zhang, Jinyuan Mao, Shuning Chang, Yuanyu He, Yizeng Han, Jiasheng Tang, Fan Wang, Bohan Zhuang
arXiv:2511.22973v2 •updated • 2025-11-28
Long video generation is a critical step toward building realistic world models, requiring both high visual fidelity and long-range interaction consistency. Recent autoregressive diffusion models enable long-horizon generation through KV cache reuse, yet suffer from two fundamental challenges: failure to preserve long-range interactions due to sliding-window KV cache and error accumulation that progressively degrades generation quality over time. To address these issues, we propose BIFE, a framework that introduces a semantic sparse KV cache for retrieval-based long-range conditioning and a Block Forcing training strategy to enforce cross-block consistency. Together, these designs preserve historical interactions while mitigating drift, enabling stable and coherent minute-long video generation. We also introduce InterVBench, a minute-long video benchmark with fine-grained block-level annotations and Video Drift Error metrics. Extensive experiments on InterVBench and VBench-Long demonstrate that BIFE achieves state-of-the-art performance, including a 22.2% improvement on VDE-Subject and a 19.4% improvement on VDE-Clarity over baselines. Website: https://alibaba-damo-academy.github.io/BIFE. Code: https://github.com/alibaba-damo-academy/BIFE.
arXiv PDF
Rethinking Object-Centric Representations for Video Dynamics Modeling
Amaury Wei, Ismail Nejjar, Olga Fink
arXiv:2606.23436v1 • 2026-06-22
Unsupervised video object tracking aims to decompose dynamic scenes into persistent, object-centric entities without manual annotations. Many recent approaches rely on slot-based representations, where a fixed set of latent variables ("slots") represent individual objects across frames. To preserve object identity, these models enforce temporal consistency on slot embeddings. However, when appearance and pose are entangled, this consistency objective conflicts with object motion and viewpoint changes. As a result, slots tend to lock onto static regions (e.g., background) to satisfy the consistency objective, while foreground objects become fragmented across multiple slots or frequently swap identities. To address these limitations, we propose STAITUS, a unified framework that explicitly disentangles each slot into appearance and geometric pose (position/scale). Leveraging this disentanglement, STAITUS enforces within-frame spatial separation and applies temporal alignment only in appearance space, yielding sharper masks and more persistent identities under motion, occlusion, and object entry/exit. Furthermore, to mitigate over-segmentation, we introduce an adaptive gating mechanism that dynamically adjusts the number of active slots to match scene complexity. Extensive experiments on synthetic and real-world benchmarks demonstrate that STAITUS substantially outperforms state-of-the-art baselines in segmentation quality and tracking stability.
Comment: 17 pages, 6 figures
arXiv PDF
IOI: Decoupling Kinematics and Physics for Interactive World Models
Chengyu Bai, Peidong Jia, Tiecheng Guo, Yukai Wang, Rui Ma, Fangyuan Zhao, Chunkai Fan, Xiaobao Wei, Jintao Chen, Hao Wang, Ying Li, Xiaozhu Ju, Jian Tang, Shanghang Zhang
arXiv:2606.23296v1 • 2026-06-22
Developing generalist embodied agents requires interactive environments providing visually realistic feedback and accurate action-conditioned dynamics. Interactive world models address this by simulating such complex dynamics. However, purely data-driven methods struggle to ensure precise control alignment and physically plausible visual feedback due to a lack of explicit structural constraints. To address this, we propose IOI, a hybrid interactive world model integrating analytical kinematic priors with learned physical dynamics. Unlike data-driven approaches prone to spatiotemporal drift, IOI introduces explicit kinematic guidance, computing forward kinematics from action sequences for accurate motion trajectories. These trajectories are rendered into synchronized front, side, and top orthographic projections, eliminating the need for extrinsic camera calibration. A Multi-view Kinematic Aggregation and Injection module fuses these geometric cues and injects them into the video generator, providing geometry-consistent guidance. Conditioning video generation on these deterministic trajectories establishes a synergy between the analytical simulator and the world model. Decoupling deterministic motion into the kinematic prior frees the generator to model stochastic physical interactions. Experiments on the RoboTwin benchmark validate IOI across kinematic fidelity, out-of-distribution (OOD) generalization, and policy evaluation. IOI achieves state-of-the-art simulation performance and robust zero-shot generalization to unseen OOD tasks. Furthermore, IOI serves as a reliable policy evaluator, yielding success rates closely aligning with ground-truth physics simulators. On real-world platforms, policies trained on IOI-synthesized data match those trained on teleoperation demonstrations, solidifying its practical value for embodied policy learning.
arXiv PDF
LUMINA-26: Low-Light Understanding for Modeling and Interpreting Night-time Actions
Aman Kumar Pandey, Anil Singh Parihar
arXiv:2606.23118v1 • 2026-06-22
Low-light human action recognition remains a challenging problem due to poor illumination, amplified noise, motion ambiguity, and diverse real-world scenes. Existing low-light datasets often lack sufficient action diversity, capture realism, or balanced class distribution, limiting the development of robust models. To address this, we introduce LUMINA-26: Low-Light Understanding for Modeling and Interpreting Night-time Actions, comprising 6,784 clips across 26 action classes, recorded from 22 subjects across 20 indoor and outdoor locations under naturally occurring low-light conditions. We also propose Illumi-Net: An Illumination-Adaptive Mixture-of-Experts Network, which leverages video-level illumination cues to guide adaptive enhancement and transformer-based spatio-temporal feature extraction, with expert-conditioned decision fusion. Our method surpasses previous state-of-the-art performance on ELLAR (Top-1: 55.13%, Top-5: 78.87%) and establishes a strong baseline on LUMINA-26 (Top-1: 75.95%, Top-5: 93.58%), offering a practical benchmark for future low-light action recognition research.
Comment: 20 pages, 7 figures. Preprint
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
LaST-HD: Learning Latent Physical Reasoning from Scalable Human Data for Robot Manipulation
Jiaming Liu, Yinxi Wang, Chenyang Gu, Siyuan Qian, Xiangju Mi, Hao Chen, Jiawei Chen, Qingpo Wuwu, Xiaoqi Li, Nuowei Han, Yiming Zhang, Xuheng Zhang, Yang Yue, Yeqing Yang, Lei Wang, Peng Jia, Hao Tang, Shanghang Zhang
arXiv:2606.23685v1 • 2026-06-22
Human-hand demonstrations provide a direct and scalable source of physical interaction data for robot learning. While manual retargeting is indispensable for establishing kinematic action correspondence across different morphologies, robust transfer requires going beyond geometry to address the underlying alignment of physical dynamics between human and robot manipulation. To address this, we introduce LaST-HD, a novel human-to-robot action learning paradigm that extends reasoning-before-acting VLA by aligning human-hand and robot demonstrations in a shared latent reasoning space. Rather than mimicking human kinematics, LaST-HD trains an auxiliary action-conditioned world model on unpaired human-hand and robot trajectories to synthesize unified latent targets. After aligning cross-embodiment representations in this shared forward-dynamics space, these targets supervise LaST-HD's latent reasoning process, enabling it to internalize shared physical dynamics and drive efficient human-hand action learning. Moreover, we develop Out-of-Lab (OOL) Glove, a low-cost motion-capture glove tailored to LaST-HD for human-hand data collection. The captured human data provide precise keypoints and serve as universal action supervision across grippers and dexterous hands. Armed with the aligned latent space and high-fidelity human-hand data, we develop a progressive mixed-to-human training recipe comprising mixed human-robot co-training and human-hand online correction post-training. Through mixed co-training, LaST-HD improves generalization to novel objects, scenes, and positions using only human-hand demonstrations. With online correction, LaST-HD further adapts to novel environments and achieves over 90\% accuracy using only 20 minutes of OOL glove data.
arXiv PDF
2026-06-21
38 篇
Robotics
34
默认显示 5 篇
Why That Robot? A Qualitative Analysis of Justification Strategies for Robot Color Selection Across Occupational Contexts
Jiangen He, Wanqi Zhang, Jessica K. Barfield
arXiv:2603.28919v2 •updated • 2026-03-30
As robots increasingly enter the workforce, human-robot interaction (HRI) must address how implicit social biases influence user preferences. This paper investigates how users rationalize their selections of robots varying in skin tone and anthropomorphic features across different occupations. By qualitatively analyzing 4,146 open-ended justifications from 1,038 participants, we map the reasoning frameworks driving robot color selection across four professional contexts. We developed and validated a comprehensive, multidimensional coding scheme via human--AI consensus ($κ= 0.73$). Our results demonstrate that while utilitarian \textit{Functionalism} is the dominant justification strategy (52\%), participants systematically adapted these practical rationales that align with existing racial and occupational stereotypes. Furthermore, we reveal that bias frequently operates beneath conscious rationalization: exposure to racial stereotype primes significantly shifted participants' color choices, yet their spoken justifications remained masked by standard affective or task-related reasoning. We also found that demographic backgrounds significantly shape justification strategies, and that robot shape strongly modulates color interpretation. Specifically, as robots become highly anthropomorphic, users increasingly retreat from functional reasoning toward \textit{Machine-Centric} de-racialization. Through these empirical results, we provide design implications to help reduce the perpetuation of societal biases in future workforce robots.
arXiv PDF
Adaptive vs. Static Robot-to-Human Handover: A Study on Orientation and Approach Direction
Federico Biagi, Dario Onfiani, Simone Silenzi, Cristina Iani, Luigi Biagiotti
arXiv:2604.22378v2 •updated • 2026-04-24
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This work presents a novel adaptive framework that dynamically adjusts the object's delivery pose in real time based on the user's hand pose and the intended downstream task. By integrating AI-based hand pose estimation with smooth, kinematically constrained trajectories, the system ensures a safe approach and an optimal handover orientation. A comprehensive user study compares the proposed adaptive approach against a static baseline across multiple tasks, evaluating both subjective metrics (NASA-TLX, Human-Robot Trust Scale) and objective physiological data (blink rate measured via wearable eye-trackers). The results demonstrate that dynamic alignment significantly reduces users' cognitive workload and physiological stress, while improving their confidence in the robot's reliability. These findings highlight the potential of task- and pose-aware systems for enabling fluid and ergonomic human-robot collaboration.
Comment: The paper has been accepted for publication at the 35th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2026)
arXiv PDF
Integrated cloud-based architecture for robot-robot and human-robot collaboration using ROS 2--MQTT in Mediterranean Greenhouses
F. Cañadas-Aránega, M. Muñoz, J. C. Moreno, J. L. Blanco-Claraco
arXiv:2606.22682v1 • 2026-06-21
The imperative to develop more sustainable agriculture demands a transition from isolated automation toward the deployment of multi-robot systems (MRS) in agrifood environments. However, Mediterranean greenhouse settings-characterized by narrow corridors, dense biomass, and structural metallic interference-pose significant challenges for robust and scalable communication between agents. Traditional robotic frameworks, such as ROS 2, frequently encounter node discovery issues and latency spikes due to dynamic obstacles, dense foliage, and other characteristic greenhouse elements, creating a critical bottleneck for real-time coordination. This paper proposes an innovative cloud-based hybrid architecture that establishes a two-way communication bridge between ROS 2, acting as an edge computing platform, and iVeg as a Decision Support System (DSS), using MQTT and the European FIWARE platform. The proposed framework enables seamless interoperability between fleets of multiple robots in environments with communication constraints, facilitating the synchronised exchange of high-level telemetry, point cloud data and farmer identification for collaboration, amongst other critical data. The architecture was validated in a high-fidelity simulation environment and subsequently tested in a real-world greenhouse scenario, demonstrating its ability to maintain persistent connectivity and data integrity under adverse network conditions. The results indicate that the integration of MQTT effectively eliminates information silos, providing a scalable and decentralised solution for managing complex robotic missions, which are executed locally via Edge Computing. This work sets a new methodological precedent for the concept of Greenhouse Models as a Service (GMaaS), bridging the gap between low-level robotic control and high-level, cloud-based IoT decision-making.
arXiv PDF
Efficient Continuous Semantic Mapping based on Spatio-Temporal Awareness
My Le Pham, Dinh Trieu Duong, Xiem HoangVan, Thanh Nguyen Canh
arXiv:2606.22672v1 • 2026-06-21
Continuous semantic mapping allows autonomous robots to understand both the spatial structure and the semantic content of complex environments. However, most existing methods process the entire space, treat voxels as independent units, and do not keep the semantic labels consistent over time. This leads to high computational cost and reduced robustness in dynamic scenes. This paper proposes a semantic mapping method that brings spatial and temporal relationships into the semantic inference process. The method adjusts the inference range according to the local semantic uncertainty and fuses labels over time to improve map stability and computational efficiency. Experiments on the SemanticKITTI dataset show that the proposed method improves mapping accuracy by about 12% and reaches an mIoU of 54.92%, which is 13.18 percentage points higher than spatial-only mapping. These results show that spatiotemporal reasoning is effective for continuous semantic mapping in autonomous robotic systems.
arXiv PDF
Semantic-Aware Autonomous Exploration for UAVs in Unknown Indoor Environments
Duc-Thien Nguyen, Ngoc Minh Do, Xiem HoangVan, Thanh Nguyen Canh
arXiv:2606.22670v1 • 2026-06-21
Autonomous exploration in unknown environments requires unmanned aerial vehicles (UAVs) to efficiently generate informative trajectories while simultaneously constructing accurate maps. Although many existing exploration methods rely on geometric information, they often lack semantic awareness, resulting in suboptimal exploration efficiency and limited environmental understanding. To address this limitation, this paper proposes a semantic-aware exploration framework that adds semantic information to a roadmap-based exploration strategy. The proposed method builds on the Dynamic Exploration Planner (DEP), which incrementally constructs a Probabilistic Roadmap (PRM), and augments this roadmap with a semantic layer. A semantic reward function is introduced to prioritize regions containing meaningful objects and structures, enabling the UAV to focus on areas with higher information value. Furthermore, the roadmap is continuously updated to support efficient frontier selection and path planning during exploration. The proposed framework is implemented in ROS Noetic and Gazebo using an RGB-D sensor for simultaneous acquisition of geometric and semantic information. Experimental results in multiple simulated environments demonstrate that the proposed approach achieves exploration coverage rates between 90% and 94% while reducing exploration time and travel distance compared with conventional geometry-based exploration methods.
arXiv PDF
Video World Models
3
默认显示 3 篇
A Differentiable Atari VCS:A Complex, Fully Known Ground Truth for Explainable AI
Andreas Maier, Siming Bayer, Patrick Krauss
arXiv:2606.22447v1 • 2026-06-21
Explanation requires ground truth: to verify an account of a system we must know its inner functioning-just what is missing where explainable AI (XAI) is most needed. Systems we can study fall into two camps. Simple, procedural one-decision trees, rule lists, sparse linear models-have a known but trivial mechanism, so explaining them tests nothing; genuinely complex ones-deep networks, real-world tasks-need XAI but have no ground-truth inner functioning, so an explanation can be plausible, confident, and wrong with no way to tell. We remove this dichotomy with a study object both genuinely complex and fully specified-inspectable by construction-and, so gradient methods apply, fully differentiable. We reimplement the Atari 2600 Video Computer System (VCS)-a real computer architecture, and the cradle of deep reinforcement learning-as two independent end-to-end differentiable emulators in Julia (jutari) and JAX (jaxtari), each validated bit-for-bit against xitari. Both reproduce xitari on all 64 supported Arcade Learning Environment (ALE) games: 64/64 byte-identical RAM and 64/64 pixel-identical screens. Treating the cartridge ROM as a weight tensor, RAM as a soft tape, and control flow as gates, we prove the differentiable (soft) execution equals the original (hard) one bit-for-bit in the forward pass at any finite temperature, while exposing surrogate gradients where the bit logic has none. The JAX port also opens a GPU path: batched differentiable rollouts reach millions of environment-steps/s on one commodity GPU. The system was built in roughly 137 active hours over 29 calendar days, much of it written autonomously by coding agents. This paper builds and validates the foundation, showing-theoretically and in a qualitative gradient study-that gradient-based XAI on it is feasible. Both ports' full code is available under the MIT license at https://github.com/akmaier/UnderstandingVCS.
Comment: Submission for AAAI 2027
arXiv PDF
Towards One-to-Many Temporal Grounding
Qi Xu, Yue Tan, Shihao Chen, Jiahao Meng, Anna Wang, Shunping Ji, Hao Fei, Jason Li
arXiv:2606.06294v2 •updated • 2026-06-04
Temporal Grounding (TG) aims to localize video segments corresponding to a textual query. Prior research predominantly focuses on single-segment retrieval. Real-world scenarios, however, often require localizing multiple disjoint segments for a single query -- a setting we term One-to-Many Temporal Grounding (OMTG). Previous state-of-the-art MLLMs, optimized for one-to-one settings, struggle in this context, often yielding near-zero scores due to a lack of event cardinality perception. To bridge this gap, we present a systematic solution with three key contributions. First, we establish the first comprehensive OMTG benchmark, introducing Count Accuracy (C-Acc) and Effective Temporal F1 (EtF1) as evaluation metrics. Second, we curate a high-quality OMTG dataset comprising 56k samples through a sophisticated construction pipeline. Third, we develop novel temporal and caption reward functions specifically designed for OMTG. In particular, the caption reward leverages Chain-of-Thought reasoning over dense video captions to explicitly guide policy optimization toward both preciseness and completeness. Extensive experiments show our model achieves a new state-of-the-art EtF1 of 43.65\% on OMTG Bench, outperforming Gemini 2.5 Pro and Seed-1.8 by 15.85\% and 15.61\%, respectively. Project Page: https://insomniaaac.github.io/OMTG/
Comment: Accepted to ICML'26
arXiv PDF
Reference-Free Assessment of Physical Consistency in World Model-based Video Generation
Yun Oh, Sukmin Yun
arXiv:2606.22363v1 • 2026-06-21
We introduce reference-free measures for evaluating the physical consistency of generated videos, combining relative and absolute approaches to assess fidelity. Although tools like WorldGym or WorldEval enable robotic simulation via video generation, physical fidelity gaps often prevent these environments from accurately reproducing real-world task success rates of VLA models. Unlike existing evaluation methods, which require costly human voting (Elo) or unavailable ground-truth references (FVD), our approach utilizes DROID-SLAM and SEA-RAFT to quantify physical inconsistencies, motivated by WorldScore. Videos filtered using our relative consistency assessment show an improvement in task success rates of over 8%, effectively narrowing the simulation-to-reality gap. Furthermore, our absolute assessment enables spatio-temporal localization, providing visualization of when and where physical artifacts occur.
Comment: Accepted to the 2nd 3D-LLM/VLA Workshop, CVPR 2026
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos
Yifan Zhong, Zhang Chen, Tianrui Guan, Fanlian Zeng, Yuyao Ye, Tianjia He, Ka Nam Lui, Jiayi Li, Tingrui Zhang, Ruilin Yan, Xinhao Ji, Guangyu Zhao, Wenjie Lou, Jiayuan Zhang, Yuanpei Chen, Yaodong Yang
arXiv:2607.09701v1 • 2026-06-21
Steerability is a defining capability of generalist robot policies, yet remains largely absent in dexterous-hand systems for lack of large-scale, language-aligned, and action-accurate demonstration data. To address this bottleneck, we present a full-stack system that scales dexterous VLA pre-training from egocentric human videos and enables data-efficient real-robot post-training. It integrates EgoSmith, a data pipeline that curates in-the-wild egocentric videos into 9.6K hours of high-quality pre-training data with 9x higher throughput and better accuracy than prior SOTA; a unified robot stack for teleoperation and human-in-the-loop correction; and EgoSteer, a world-model-enhanced VLA trained on optimized infrastructure. Human-data pre-training equips EgoSteer with language-guided manipulation priors, which are grounded through robot post-training and improved by DAgger refinement. Empirically, EgoSteer robustly executes free-form instructions across 40+ diverse tasks, demonstrating failure recovery, dexterity, and generalization. The pre-trained model also few-shot adapts to complex long-horizon tasks, including box folding, on two embodiments with 75+% success. We open-source the system, data, and model at https://egosteer.github.io/.
arXiv PDF
2026-06-20
49 篇
Robotics
39
默认显示 5 篇
VLA Knows Its Limits: Adaptive Execution Horizons for Robot Policies
Haoxuan Wang, Gengyu Zhang, Yan Yan, Ramana Rao Kompella, Gaowen Liu
arXiv:2602.21445v2 •updated • 2026-02-24
Action chunking has recently emerged as a standard practice in flow-based Vision-Language-Action (VLA) models. However, the effect and choice of the execution horizon - the number of actions to be executed from each predicted chunk - remains underexplored. In this work, we first show that varying the execution horizon leads to substantial performance deviations, with performance initially improving and then declining as the horizon increases. To uncover the reasons, we analyze the cross- and self-attention weights in flow-based VLAs and reveal two key phenomena: (i) intra-chunk actions attend invariantly to vision-language tokens, limiting adaptability to environmental changes; and (ii) the initial and terminal action tokens serve as stable anchors, forming latent centers around which intermediate actions are organized. Motivated by these insights, we interpret action self-attention weights as a proxy for the model's predictive limit and propose AutoHorizon, the first test-time method that dynamically estimates the execution horizon for each predicted action chunk to adapt to changing perceptual conditions. Across simulated and real-world robotic manipulation tasks, AutoHorizon is performant, incurs negligible computational overhead, and generalizes across diverse tasks and flow-based models.
Comment: ECCV 2026. Project page at https://hatchetproject.github.io/autohorizon/
arXiv PDF
Geometric Reconstruction of Extrinsic Contact Trajectories using Tactile Sensing and Proprioception for Tool Manipulation
Seojung Min, Yoonjin Kim, Jeong-Jung Kim, Jung Kim
arXiv:2606.22251v1 • 2026-06-20
Tactile sensing enables robots to perceive rich contact information at the grasp, supporting tasks such as object recognition, in-hand pose estimation, and slip detection. However, in many tool-mediated manipulation tasks, the interaction that determines task success occurs at the tool tip, away from the tactile sensor, making direct sensing of tool-environment contact difficult, particularly when the contact moves during interaction. In this work, we reconstruct the trajectory of extrinsic tool-tip contact using tactile sensing and robot proprioception. We formulate tool-tip trajectory reconstruction as a geometric inference problem under a single-point contact assumption. Our method first estimates the global tool-tip contact location from a calibration segment designed to approximate fixed-point behavior, and then reconstructs the full trajectory by composing relative tool motion estimated from tactile marker observations under continuous contact. Across n=51 trials with multiple trajectories, tools, wrist poses, and grasp configurations, the proposed pipeline achieves a trajectory RMSE of 8.59 +/- 2.41 mm in the world frame and a shape RMSE of 5.96 +/- 1.16 mm, while operating online at 14.00 +/- 4.11 Hz. Overall, the results show that extrinsic tool-tip trajectory geometry can be recovered consistently from grasp-level tactile sensing, with trajectory shape remaining stable across variations in tools, wrist poses, and grasp configurations.
Comment: Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)
arXiv PDF
IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
Jiayun Li, Dejian Gong, Georgia Chalvatzaki
arXiv:2605.09127v3 •updated • 2026-05-09
Contact-implicit trajectory optimization (CITO) has attracted growing attention as a unified framework for planning and control in contact-rich robotic tasks. Recent approaches have demonstrated promising results in manipulation and locomotion without requiring a prescribed contact-mode schedule. It is well known that the underlying mathematical programs with complementarity constraints (MPCCs) remain numerically ill-conditioned, and systematic, scalable solution strategies for CITO remain an active area of research. More efficient and principled solvers that can handle contact constraints are therefore essential to broaden the applicability of CITO. In this work, we develop an augmented-Lagrangian approach to CITO for solving MPCC-based CITO with stationarity guarantees. The method can be interpreted as identifying the implicit contact-mode branches on the fly during the trajectory optimization (TO) iterations; we call this approach IMPACT (IMPlicit contact ACtive-set Trajectory optimization). We provide an efficient C++ implementation tailored to trajectory-optimization workloads and evaluate it on the open-source CITO and contact-implicit model predictive control (CI-MPC) benchmarks. On CITO, IMPACT achieves 2.9x-70x speedups over strong baselines (geometric mean 13.8x). On CI-MPC, we show improved control quality for contact-rich trajectories on dexterous manipulation tasks in simulation. Finally, we demonstrate the proposed method on real robotic hardware on a T-shaped object pushing task.
Comment: Accepted to Robotics: Science and Systems (RSS), 2026
arXiv PDF
Iterative Convex Optimization with Control Barrier Functions for Obstacle Avoidance among Polytopes
Shuo Liu, Zhe Huang, Calin A. Belta
arXiv:2603.05916v2 •updated • 2026-03-06
Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth geometric approximations, such as hyperspheres or ellipsoids, which allow differentiable distance expressions but distort the true geometry and restrict the feasible set. Other approaches integrate exact polytope distances into nonlinear model predictive control (MPC), resulting in nonconvex programs that limit real-time performance. In this paper, we construct linear discrete-time control barrier function (DCBF) constraints by deriving supporting hyperplanes from exact closest-point computations between convex polytopes. We then propose a novel iterative convex MPC-DCBF framework, where local linearization of system dynamics and robot geometry ensures convexity of the finite-horizon optimization at each iteration. The resulting formulation reduces computational complexity and enables fast online implementation for safety-critical control and trajectory planning of general nonlinear dynamics. The framework extends to multi-robot and three-dimensional environments. Numerical experiments demonstrate collision-free navigation in cluttered maze scenarios with millisecond-level solve times.
Comment: 8 pages, 4 figures
arXiv PDF
OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation
Yingdong Hu, Haodong Zhu, Boyuan Zheng, Yihang Hu, Tong Zhang, Zunhao Chen, Junming Zhao, Ruiqian Nai, Yang Gao
arXiv:2606.22174v1 • 2026-06-20
Whole-body humanoid loco-manipulation requires coordinating the robot's entire kinematic chain. However, most existing systems typically decouple the upper and lower bodies into separate controllers, limiting such coordination and yielding behaviors similar to those of a wheeled dual-arm platform. In this paper, we ask what it takes to build a whole-body native vision-language-action (VLA) model that maps language and pixels directly to all of the humanoid's degrees of freedom. We conduct a systematic empirical study organized as a roadmap of one-variable-at-a-time experiments across three phases: whole-body teleoperation, VLA model design, and heterogeneous co-training. Our study yields several intriguing findings: a joint-based whole-body teleoperation interface outperforms alternatives that only partially expose the humanoid's degrees of freedom; a VLA pretrained on static and wheeled dual-arm platforms transfers surprisingly well to a humanoid's full action space; and co-training with HuMI, the humanoid analog of UMI, extends the policy to new objects and instructions without additional whole-body teleoperation on those targets. Following this roadmap yields OpenHLM, an open-source recipe for whole-body humanoid loco-manipulation. In a challenging long-horizon task that spans a wide vertical range of the humanoid, OpenHLM outperforms two state-of-the-art humanoid VLA baselines (GR00T N1.6 and $Ψ_0$) using less than half the total demonstration time. Our code, training data, and model checkpoints are available at [https://openhlm-project.github.io/].
arXiv PDF
Video World Models
9
默认显示 5 篇
Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Yan Zhang, Yiming Li, Yifei Dong, Florian T. Pokorny, Sylvain Calinon
arXiv:2606.22143v1 • 2026-06-20
Planning contact-rich whole-arm manipulation is challenging because interactions that involve extended robot geometry give rise to complex contact dynamics that are difficult to model accurately. This creates a need for planning principles that do not rely heavily on precise contact models. Caging offers one such geometric notion of robustness to modeling inaccuracy by restricting object escape through geometrically enclosing the object. However, existing caging formulations are difficult to incorporate into continuous optimization-based manipulation planning. We reformulate caging as a minimum-time escape problem in which the object seeks to leave an enclosing robot geometry in the shortest time. This yields a continuous escape-time field that measures the robot's enclosure quality and we show it satisfies an eikonal equation. We therefore can approximate this field using a physics-informed neural network, producing a smooth differentiable representation that can be embedded directly into manipulation planning. The resulting objective supports whole-arm manipulation planning to favor robot configurations resisting object escape. This improves the manipulation robustness to contact model mismatch, thus enabling planning with simplified contact models, including quasi-dynamic approximations and simplified object geometry. Across simulation and real-world experiments, we show improved robustness to disturbances and contact-model mismatch relative to baselines. These results suggest that geometric enclosure can serve as a practical robustness primitive for whole-arm manipulation. A supplementary video, which includes an intuitive overview of our method and experiment video results, is available on our project webpage.
Comment: Under review
arXiv PDF
Wh0: Generative World Models as Scalable Sources of Egocentric Human Hand Manipulation Data
Yangtao Chen, Zixuan Chen, Peiyang Wang, Yong-Lu Li, Jing Huo, Jieqi Shi, Yang Gao
arXiv:2606.22136v1 • 2026-06-20
Scaling dexterous manipulation requires generalization across objects, scenes, and tasks, yet existing data sources face a trade-off between scale and scene/embodiment alignment: teleoperation data is well aligned with robot deployment but expensive to collect; simulation is scalable but limited by the sim-to-real gap; and real egocentric videos scale effectively but remain misaligned with robot deployment. We propose Wh0, a framework that uses generative video world models as scalable and controllable sources of egocentric human-hand manipulation data to unlock the manipulation capabilities of pretrained dexterous VLA models. Conditioned on language, objects, and scenes, Wh0 uses a generative world model to produce WM-H, a 50k-episode dataset of egocentric human-object interaction videos. Wh0 then converts the generated videos into robot-trainable supervision through hand motion reconstruction and visual editing. Co-trained with a limited amount of real robot data, WM-H adapts pretrained VLA models to dexterous manipulation deployment. Across 18 real-world dexterous manipulation tasks, compared with a model post-trained only on robot data, Wh0 improves zero-shot success on unseen tasks from 8.3% to 38.9%. Ablation studies further show that scalable generation and scene/embodiment alignment are key drivers of performance gains. Videos and open-source code can be found on our project website: https://chenyt31.github.io/wh0.github.io/.
Comment: Under review.The first three authors contributed equally to this work
arXiv PDF
Feed-forward Motion In-betweening for Any 4D
Hiroki Nishizawa, Hubert P. H. Shum, Yoshihiro Fukuhara, Hirokatsu Kataoka, Shigeo Morishima
arXiv:2606.22131v1 • 2026-06-20
4D dynamics (3D geometry evolving over time) is a fundamental representation of the physical world and plays a crucial role in world modeling (e.g., animation and games). Owing to the scarcity of large-scale, long-horizon 4D mesh data with arbitrary shapes, early text-to-4D methods rely on distillation or test-time optimization from video diffusion priors, making inference prohibitively slow. Recent feed-forward generators greatly reduce inference cost but offer limited spatiotemporal controllability, and short-horizon generation often leads to error accumulation in long-horizon sequences. We propose a novel feed-forward in-betweening framework for arbitrary 4D meshes with keyframe conditioning. Building on universal mesh-animation latents, we introduce a frame-wise mesh VAE that encodes each frame into topology-agnostic latent tokens anchored by a reference mesh for keyframe conditioning. We further introduce a keyframe-conditioned rectified flow model with an MMDiT backbone that synthesizes non-keyframe frames conditioned on sparse keyframes. Experiments show strong performance and improved controllability on both DyMesh16 and DyMesh32 benchmarks.
Comment: Video: https://youtu.be/jZAjPUtSq38?si=aXtDMDviFdfkjKUU
arXiv PDF
RARM: Confidence-Gated Progress Reward Modeling for RL in Manipulation
Pengzhi Yang, Xinyu Wang, Pengyu Jing, Kehan Wen, Yiduo Qu, Zhenhao Huang, Minghao Fu, Xin Liu, Yaheng Shen, Fan Shi
arXiv:2606.22027v1 • 2026-06-20
Reinforcement learning for robot manipulation is often bottlenecked by reward design, especially in long-horizon tasks: sparse success rewards provide weak supervision, while hand-crafted dense rewards are tedious to design and generalize poorly across tasks. Progress-based reward models offer a promising alternative by estimating how far an observation has advanced toward task completion, but existing approaches often require task-specific demonstrations or progress labels, and can assign high rewards to visually plausible but physically incorrect states. We introduce the Reference-Anchored Reward Model (RARM), a lightweight visual comparator that converts a single successful demonstration into a dense, progress-aware reward. RARM is trained once on general-purpose videos with a contrastive temporal objective, requiring no robot-specific data, task-specific reward labels, or per-task reward engineering. At deployment, RARM matches rollout clips to reference clips and rewards only confident forward progress, suppressing uncertain matches that may otherwise produce false-positive rewards. Across 9 simulated manipulation tasks from LIBERO and MetaWorld and 4 real-world tasks, RARM achieves the best overall success rates in subsequent RL training, with particularly large gains on long-horizon tasks such as cloth folding, where unreliable progress estimates are especially harmful.
arXiv PDF
Finetuning Vision-Language-Action Models Requires Fewer Layers Than You Think
Gia-Binh Nguyen, Trong-Bao Ho, Thien-Loc Ha, Khoa Vo, Philip Lund Møller, Quang T. Nguyen, Long Dinh, Tung M. Luu, Tuan Dam, Vu Duong, Trung Le, Nghi D. Q. Bui, Minh Vu, Tran Nguyen Le, An Thai Le, Ngan Le, Daniel Sonntag, James Zou, Jan Peters, Duy M. H. Nguyen, Ngo Anh Vien
arXiv:2606.20246v2 •updated • 2026-06-18
Vision-Language-Action (VLA) models pre-trained on massive video-robot datasets have revolutionized robotic manipulation, yet their multi-billion parameter architectures impose prohibitive computational burdens during downstream fine-tuning and real-time inference. In this work, we reveal a highly non-trivial architectural characteristic of these continuous control foundation policies (e.g., pi_0, GR00T-N1.5): despite being trained on diverse physical trajectories, they exhibit severe layer-wise representational redundancy. To exploit this, we introduce a structural compression pipeline that is entirely training-free, bypassing the need of existing methods to load full-scale models to learn optimized token reductions or dynamic layer selectors. Instead, using only a single forward pass via Centered Kernel Alignment to identify redundant layer features, we remove twin layers to permanently compress the model depth by up to 50% across both the VLM backbone and the continuous control policy head. Downstream fine-tuning of this streamlined architecture yields a dual acceleration benefit: a 40-50% reduction in training time and up to 30% faster real-time inference, while matching or exceeding full-scale base model performance. We comprehensively validate our method across three simulation benchmarks (LIBERO, RoboCasa, SimplerEnv) and 10 diverse real-world manipulation tasks across 4 unique robotic embodiments. These results prove that advanced VLAs require significantly fewer layers than previously assumed, offering a highly compute-efficient paradigm for scalable robot learning.
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
Wh0: Generative World Models as Scalable Sources of Egocentric Human Hand Manipulation Data
Yangtao Chen, Zixuan Chen, Peiyang Wang, Yong-Lu Li, Jing Huo, Jieqi Shi, Yang Gao
arXiv:2606.22136v1 • 2026-06-20
Scaling dexterous manipulation requires generalization across objects, scenes, and tasks, yet existing data sources face a trade-off between scale and scene/embodiment alignment: teleoperation data is well aligned with robot deployment but expensive to collect; simulation is scalable but limited by the sim-to-real gap; and real egocentric videos scale effectively but remain misaligned with robot deployment. We propose Wh0, a framework that uses generative video world models as scalable and controllable sources of egocentric human-hand manipulation data to unlock the manipulation capabilities of pretrained dexterous VLA models. Conditioned on language, objects, and scenes, Wh0 uses a generative world model to produce WM-H, a 50k-episode dataset of egocentric human-object interaction videos. Wh0 then converts the generated videos into robot-trainable supervision through hand motion reconstruction and visual editing. Co-trained with a limited amount of real robot data, WM-H adapts pretrained VLA models to dexterous manipulation deployment. Across 18 real-world dexterous manipulation tasks, compared with a model post-trained only on robot data, Wh0 improves zero-shot success on unseen tasks from 8.3% to 38.9%. Ablation studies further show that scalable generation and scene/embodiment alignment are key drivers of performance gains. Videos and open-source code can be found on our project website: https://chenyt31.github.io/wh0.github.io/.
Comment: Under review.The first three authors contributed equally to this work
arXiv PDF
2026-06-19
90 篇
Robotics
81
默认显示 5 篇
THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion
Shivani Kamtikar, Pranav Asthana, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary
arXiv:2606.21792v1 • 2026-06-19
Manipulation in confined environments, such as threading a manipulator through narrow apertures, remains a fundamental challenge, especially for conventional rigid robots. Hybrid rigid-soft manipulators offer promise but face two compounding planning challenges: backbone shapes feasible in free space become infeasible under environmental contact, and planning rigid and soft segments independently ignores their kinematic coupling. We present THREAD, the first diffusion-based trajectory planner for hybrid manipulation, learning a generative prior over physically realizable backbone trajectories conditioned on local environment geometry, with physics-inspired losses encoding curvature, smoothness, and collision constraints jointly across both segments. Trained in simulation, THREAD achieves 92.4% task success with 5x fewer collisions than the strongest baseline. We show cross-embodiment real-world transfer with minimal online updates, successfully threading through apertures as small as 1.3x the soft segment diameter.
Comment: Project Page: https://robot-thread.github.io, IROS 2026
arXiv PDF
HilDA: Hierarchical Distillation with Diffusion for Advancing Self-Supervised LiDAR Pre-training
Maciej Wozniak, Jesper Ericsson, Hariprasath Govindarajan, Truls Nyberg, Thomas Gustafsson, Patric Jensfelt, Olov Andersson
arXiv:2606.20189v2 •updated • 2026-06-18
Leveraging Vision Foundation Models (VFMs) for camera-to-LiDAR knowledge distillation offers a promising solution to the scarcity of annotated data needed to represent the immense geometric and kinematic diversity of real-world autonomous driving (AD). However, current approaches typically treat VFMs as black-box teachers, relying exclusively on frame-wise feature similarity. Consequently, they do not fully exploit the teacher's layer-wise semantic structure and global context, as well as the rich spatiotemporal information inherent in LiDAR sequences. We propose HilDA, a self-supervised pretraining framework for LiDAR backbones that better captures the semantic what and geometric where needed for driving tasks. HilDA combines hierarchical distillation comprising multi-layer distillation for progressive semantic alignment and global context distillation for scene-level semantics, with a temporal occupancy diffusion objective promoting spatiotemporal consistency. Models pre-trained with HilDA achieve state-of-the-art results on cross-modal distillation benchmarks and outperform models trained via prior distillation approaches on 3D object detection, scene flow, and semantic occupancy prediction. Code available at: https://maxiuw.github.io/hilda.
Comment: Accepted to ECCV 2026. Maciej and Jesper contributed equally
arXiv PDF
DataMIL: Selecting Data for Robot Imitation Learning with Datamodels
Shivin Dass, Alaa Khaddaj, Logan Engstrom, Aleksander Madry, Andrew Ilyas, Roberto Martín-Martín
arXiv:2505.09603v2 •updated • 2025-05-14
Recently, the robotics community has amassed ever larger and more diverse datasets to train generalist policies. However, while these policies achieve strong mean performance across a variety of tasks, they often underperform on individual, specialized tasks and require further tuning on newly acquired task-specific data. Combining task-specific data with carefully curated subsets of large prior datasets via co-training can produce better specialized policies, but selecting data naively may actually harm downstream performance. To address this, we introduce DataMIL, a data selection framework built on the datamodels paradigm that reasons about data selection in an end-to-end manner, using the policy itself to identify which data points will most improve performance. Unlike standard practices that filter data using human notions of quality (e.g., based on semantic or visual similarity), DataMIL directly optimizes data selection for task success, allowing us to select data that improves the policy while dropping data that degrade it. To avoid performing expensive rollouts in the environment during selection, we introduce a surrogate loss function on task-specific data, allowing us to use DataMIL in the real world without degrading performance. We validate our approach on 60+ simulation and real-world manipulation tasks, notably showing successful data selection from the largest open collections of robot datasets (OXE); demonstrating consistent gains in success rates over prior works. Our results underscore the importance of end-to-end, performance-aware data selection for unlocking the potential of large prior datasets in robotics. More information at https://robin-lab.cs.utexas.edu/datamodels4imitation/
arXiv PDF
Rotation-Aware Point-Cloud Embeddings for Vision-Based In-Hand Reorientation
Yashom Dighe, Karthik Dantu
arXiv:2606.21788v1 • 2026-06-19
Point-cloud goals provide a direct way to specify dexterous in-hand reorientation: instead of defining an object-specific pose frame or estimating 6D pose at test time, the policy is given the desired 3D geometry of the object. Yet raw point-cloud goal conditioning is poorly conditioned for policy learning. Current and goal clouds are unordered, independently sampled, and often visibility-dependent, so their discrepancy entangles object rotation with permutation, resampling, and unstable correspondence structure. For this reason, prior point-cloud manipulation methods typically add structure outside the representation itself, such as explicit pose or relative-pose inputs, dense flow features, or distillation from privileged teachers. We close this gap by learning a rotation-aware point-cloud embedding whose Euclidean latent distance is calibrated to the SO(3) geodesic error between object orientations. The resulting representation turns current-goal comparison into a smooth control signal, allowing a model-free RL policy to act from current and goal point-cloud embeddings, proprioception, and centroid metadata, without object pose, relative pose, dense flow, or teacher-action supervision. In in-hand reorientation experiments, this interface matches privileged-state and distillation-based baselines while avoiding brittle test-time computation of structured pose or flow inputs. These results suggest that point-cloud goals become practical for this task when the representation, rather than an external module, encodes the task-relevant geometry of rotation. We also show evidence that generic visual point-cloud pretraining is insufficient for such a current-goal comparison because it discards the task-relevant state and preserves only shape features.
arXiv PDF
HumanHalo -- Safe and Efficient 3D Navigation Among Humans via Minimally Conservative MPC
Simon Schaefer, Helen Oleynikova, Sandra Hirche, Stefan Leutenegger
arXiv:2510.17525v3 •updated • 2025-10-20
Safe and efficient robotic navigation among humans is essential for integrating robots into everyday environments. Most existing approaches focus on simplified 2D crowd navigation and fail to account for the full complexity of human body dynamics beyond root motion. We present HumanHalo, a Model Predictive Control (MPC) framework for 3D Micro Air Vehicle (MAV) navigation among humans that combines theoretical safety guarantees with data-driven models for realistic human motion forecasting. Our approach introduces a novel twist to reachability-based safety formulation that constrains only the initial control input for safety while modeling its effects over the entire planning horizon, enabling safe yet efficient navigation. We validate HumanHalo in both simulated experiments using real human trajectories and in the real-world, demonstrating its effectiveness across tasks ranging from goal-directed navigation to visual servoing for human tracking. While we apply our method to MAVs in this work, it is generic and can be adapted by other platforms. Our results show that the method ensures safety without excessive conservatism and outperforms baseline approaches in both efficiency and reliability.
arXiv PDF
Video World Models
9
默认显示 5 篇
Imitation from Heterogeneous Demonstrations using Grounded Latent-Action World Models
Tianyou Wang, Anson Lei, Joe Watson, Ingmar Posner
arXiv:2606.21672v1 • 2026-06-19
Imitation learning has emerged as a powerful paradigm for learning visuomotor policies, but its generalisation and stability are limited by the scale and quality of demonstration data needed. A promising direction is to leverage more abundant but heterogeneous data sources, which differ in action space and often lack action labels altogether. Existing co-training approaches that combine heterogeneous data sources rely on heuristic and hand-engineered alignment techniques. In contrast, we argue that action representations should be grounded in prediction: actions that produce the same effect on the environment should share the same representation, regardless of their sources. To this end, we instantiate this principle by using a grounded latent-action world model (GLAM), a pair of generative models with a shared latent action space across data sources that is grounded by predicting future observations consistently across sources. This latent action space is used to train downstream behavioural cloning (BC) policies which map observations to latent actions and decode them back to robot actions, providing a paradigm for learning from heterogeneous data. Empirically, we demonstrate that GLAM successfully learns an aligned latent action space that facilitates action transfer across data sources with and without action labels. Across five manipulation tasks in simulation and in the real world, GLAM-aligned policies significantly outperform BC baselines and prior latent-action methods, achieving an average of +48% improvement in task success rate with the same data-scarce setting. Videos and code are available at https://viccccciv.github.io/glam/.
Comment: 17 pages, 8 figures. Project page: https://viccccciv.github.io/glam/
arXiv PDF
VDAWorld: World Modelling via VLM-Directed Abstraction and Simulation
Felix O'Mahony, Roberto Cipolla, Ayush Tewari
arXiv:2512.11061v2 •updated • 2025-12-11
Generative video models, a leading approach to world modelling, face fundamental limitations. They often violate physical and logical rules, lack interactivity, and operate as opaque black boxes ill-suited for building structured, queryable worlds. To overcome these challenges, we propose a new paradigm focused on distilling an image caption pair into a tractable, abstract representation optimized for simulation. We introduce VDAWorld, a framework where a Vision-Language Model (VLM) acts as an intelligent agent to orchestrate this process. The VLM autonomously constructs a grounded (2D or 3D) scene representation by selecting from a suite of vision tools, and accordingly chooses a compatible physics simulator (e.g., rigid body, fluid) to act upon it. VDAWorld can then infer latent dynamics from the static scene to predict plausible future states. Our experiments show that this combination of intelligent abstraction and adaptive simulation results in a versatile world model capable of producing high quality simulations across a wide range of scenarios. We demonstrate several applications of VDAWorld across interactive control and counterfactual generation, and physical and logical reasoning, achieving state-of-the-art results on several benchmarks.
Comment: Website: https://felixomahony.github.io/vdaworld/
arXiv PDF
Holo-World: Unified Camera, Object and Weather Control for Video World Model
Xiangchen Yin, Wenzhang Sun, Jiahui Yuan, Zijie Liu, Yinda Chen, Wei Li, Dachun Kai, Chunfeng Wang, Xiaoyan Sun
arXiv:2606.20083v2 •updated • 2026-06-18
Video world models are moving toward preserving an observed world under controllable camera and object motion while allowing its environmental state to change. Yet these controls remain isolated, and weather generation typically relies on a source video or reconstructed scene that already specifies future structure. We study a first-frame-anchored source-to-state setting, where the model starts from a single image and follows explicit camera and object controls and an optional weather instruction, then generates a video that either preserves the source world or transfers it to a target weather state. To address these challenges, we first build HoloStateData, a state video dataset that turns diverse videos into unified control samples for camera, object, and weather supervision. Second, we introduce Holo-World, a unified controllable video world model that jointly controls scene from a single image. Its Unified Scene Adapter factorizes world preservation and weather transfer into distinct parameter subspaces, using rendered background, geometry buffers, and object controls to maintain controlled scene structure while modeling weather-dependent appearance and particle effects. Additionally, Scene-Weather Decomposed CFG guides scene and weather residuals separately, strengthening target weather effects without over-amplifying the full condition. Quantitative and qualitative experiments demonstrate that Holo-World maintains precise camera and object control with consistent scene structure while transferring scenes into diverse target weather state, outperforming video-to-video weather editing baselines on weather-state generation. Our project page is available at https://xiangchenyin.github.io/Holo-World/
Comment: Project Page: https://xiangchenyin.github.io/Holo-World Code: https://github.com/XiangchenYin/Holo-World
arXiv PDF
Robot Critics that Sweat the Small Stuff
Sruthi Sudhakar, Junbang Liang, Sreehari Rammohan, Pavel Tokmakov, Richard Zemel, Carl Vondrick
arXiv:2606.21572v1 • 2026-06-19
Large vision-language models contain several priors about the world and object interactions, making them useful critics during inference to steer robot policies towards success. However, closed-loop robot manipulation requires judging small visual differences between success and failure, which remains a challenge for current VLMs. We introduce a method to fine-tune critics by constructing pairwise progress supervision using success and failure rollouts obtained from a policy. Our fine-tuned critic excels at fine-grained progress reasoning and subtle failure detection, outperforming prior progress reasoning baselines. Additionally, we use an action-conditioned video model to predict the visual effect of several candidate actions sampled from a policy, and show that our critic can correctly identify successful candidates to execute, improving the average policy success rate by 11% across real-world tasks and 5.9% across simulation tasks.
arXiv PDF
Robot Self-Improvement via Human-Video Dynamics Models
Hanzhi Chen, Anran Zhang, Simon Schaefer, Kejia Chen, Shi Chen, Daniel Cremers, Oier Mees, Stefan Leutenegger
arXiv:2606.21406v1 • 2026-06-19
A central question in robot learning is how to acquire skills from the kinds of data that humans learn from: passive observation, embodied practice, and the experience of failure. Human videos provide the first of these in abundance, and prior work has shown they can initialize useful policies. Far less clear is whether they can support the second and third: whether priors extracted from human videos can ground a robot's own attempts well enough to evaluate them, correct them, and improve from them. In this work, we show that human videos can be used to learn embodiment-agnostic action, dynamics, and value representations that transfer across robot embodiments, providing the predictive foundation required for robots to autonomously improve from their own rollouts and failures. We introduce Dynamics-Guided Action Correction (DGAC), a training-free approach that leverages these adapted models to repair failed states: each failure becomes a query for which the learned models propose and rank corrective actions, turning failures into supervision for the next policy update. Across seven real-world manipulation tasks spanning both a mobile manipulator and a static manipulator arm, our approach improves success rates from 40% to 81% across multiple policy backbones, demonstrating cross-embodiment robot self-improvement from human-video priors. These results show that human priors and robot failures can be combined to enable scalable autonomous policy improvement. Project page: https://ethz-mrl.github.io/robot-self-improvement-website/.
arXiv PDF
2026-06-18
119 篇
Robotics
100
默认显示 5 篇
Duet: Dual-Robot Understanding via Efficient Teaching
Yiqi Zhao, Ruohai Ge, Celina Shiyu Wang, Junjie Ye, Muchen Xu, Minhao Li, Sergey Zakharov, Basile Van Hoorick, Vitor Campagnolo Guizilini, Leonidas Guibas, Gaurav S. Sukhatme, Jyotirmoy V. Deshmukh, Yue Wang
arXiv:2606.20990v1 • 2026-06-18
Dual-robot collaboration enables tasks that exceed the reach and payload of a single robot, such as collaboratively transporting objects across environments and executing coordinated handovers. Data acquisition is the primary bottleneck for training these systems. To this end, we introduce DUET, a dual-robot learning framework for mobile manipulation. For efficient data collection, we create a unified dual-embodiment synchronized VR-based teleoperation system for in-domain heterogeneous robot data collection. We further develop a complementary tracking pipeline that records human-human coordination and collaborative mobile manipulation priors. To allow efficient learning, we introduce an Action Chunking Transformer based architecture that first pretrains collaborative policies on efficient human-human demonstrations, before finetuning them on a minimal set of real-robot teleoperation trajectories. We develop a benchmark of four collaborative tasks to evaluate our framework using a Unitree G1 humanoid and a Dexmate Vega1 mobile manipulator. The results demonstrate that harnessing human priors not only yields superior task performance compared to baselines trained only on robot data, but also reduces the total human effort required for data collection. Our human data collection pipeline achieves 5.4x acceleration on average from teleoperation, but we perform equally or better than robot-only data trained policies across all tasks. Our project page is available at https://zhaoy37.github.io/Duet/.
arXiv PDF
Robusto-2: Benchmarking Humans & VLMs for Autonomous Driving in Lima & New York City
Adrian Cespedes, Marcelo Chincha, Dunant Cusipuma, Victor Flores-Benites, David Ortega, Arturo Deza
arXiv:2606.20980v1 • 2026-06-18
As Self-Driving Cars continue to expand internationally and use multi-modal systems such as VLMs as a cognitive backbone for their Action models; how well will these systems generalize in new settings, in particular out-of-distribution (OOD) edge-case scenarios in new geographies? In this paper, we study this open question by providing a full factorial analysis with human drivers of Lima, human drivers from New York City, and VLMs and showing them dashcam footage collected from Lima and New York City -- prompting them with a variety of questions under a Visual Question Answering (VQA) paradigm. In particular, we pick these two cities as they are highly challenging driving locations where no Self-Driving Car company currently operates in, and ask questions that span 4 categories: Factual, Ratings, Counterfactual and Reasoning. We find that Humans and VLMs diverge in their responses -- though this is modulated by the type of questions asked, and that Humans answer similarly independent of where they are from (Lima/NYC). To our surprise, we did not find a strong difference in terms of answers (Humans or VLMs) that was modulated by geography, likely due to their high out-of-distribution nature. Our dataset is available at: https://huggingface.co/datasets/Artificio/robusto-2
Comment: 11 pages main body. 42 pages total. Data publicly available online
arXiv PDF
SIMSplat: Language-Aligned 4D Gaussian Splatting for Driving Scenario Generation
Sung-Yeon Park, Adam Lee, Juanwu Lu, Can Cui, Luyang Jiang, Rohit Gupta, Kyungtae Han, Ahmadreza Moradipari, Ziran Wang
arXiv:2510.02469v2 •updated • 2025-10-02
Driving scene manipulation using real-world sensor data has emerged as a promising alternative to traditional driving simulators. Despite advances in language control and neural scene representations, existing methods treat grounding, editing, and simulation as loosely connected stages, relying on heuristic object localization, manual guidance, and single-agent validation, thereby constraining semantic expressiveness and hindering scalable, reactive scenario generation. We introduce SIMSplat, a driving scene editor built on scene-graph-based 4D Gaussian Splatting augmented with language-aligned features. By embedding appearance, motion, and location semantics directly into Gaussian scene-graph nodes, SIMSplat makes reconstructed scenes queryable through free-form natural language, bridging language understanding to object-level editing and multi-agent simulation within a single framework. Building on this language-grounded scene graph, SIMSplat supports diverse edits including fine-grained pedestrian manipulation, while a multi-agent path refinement module propagates changes across all agents to ensure reactive, physically plausible simulations. The pipeline further integrates with Vision-Language Models for automated scenario mining. Experiments show that SIMSplat more than doubles baseline grounding accuracy, achieves the highest task completion rate, and produces the lowest failure rates across diverse driving scenarios.
arXiv PDF
Heterogeneous Policy Networks for Composite Robot Team Communication and Coordination
Esmaeil Seraj, Rohan Paleja, Luis Pimentel, Kin Man Lee, Zheyuan Wang, Daniel Martin, Matthew Sklar, John Zhang, Zahi Kakish, Matthew Gombolay
arXiv:2606.20962v1 • 2026-06-18
High-performing human-human teams learn intelligent and efficient communication and coordination strategies to maximize their joint utility. These teams implicitly understand the different roles of heterogeneous team members and adapt their communication protocols accordingly. Multi-Agent Reinforcement Learning (MARL) has attempted to develop computational methods for synthesizing such joint coordination-communication strategies, but emulating heterogeneous communication patterns across agents with different state, action, and observation spaces has remained a challenge. Without properly modeling agent heterogeneity, as in prior MARL work that leverages homogeneous graph networks, communication becomes less helpful and can even deteriorate the team's performance. In the past, we proposed Heterogeneous Policy Networks (HetNet) to learn efficient and diverse communication models for coordinating cooperative heterogeneous teams. In this extended work, we extend Heterogeneous Policy Networks (HetNet) to support scaling heterogeneous robot teams. Building on heterogeneous graph-attention networks, we show that HetNet not only facilitates learning heterogeneous collaborative policies but also enables end-to-end training for learning highly efficient binarized messaging. Our empirical evaluation shows that HetNet sets a new state of the art in learning coordination and communication strategies for heterogeneous multi-agent teams by achieving an 5.84% to 707.65% performance improvement over the next-best baseline across multiple domains while simultaneously achieving a 200x reduction in the required communication bandwidth.
Comment: IEEE Transactions on Robotics (T-RO)
arXiv PDF
Learning-Based Modeling of Soft Robots via Cosserat Rod Theory
Mohammad Ali, Nithin Senthur Kumar, Eric J. Barth, Thomas Beckers
arXiv:2606.20958v1 • 2026-06-18
Modeling soft robot dynamics is challenging due to their continuum structure and typically nonlinear dynamics. Creating models based on first-order principles is typically time-demanding, and their expressiveness is limited, whereas data-driven models lack interpretability and physical consistency. This work aims to overcome these challenges by introducing a port-Hamiltonian Gaussian Process Regression framework for learning and simulating the dynamics of planar, rod-like soft robots. In detail, the proposed model integrates Cosserat rod theory and Hamiltonian physics with data-driven inference to preserve the system's energy structure while accurately learning the rod dynamics. Numerical simulations show that we can achieve accurate and energy-consistent representations of a rod-like soft robot, showing the potential for a robust and interpretable pathway for modeling complex continuum mechanics.
Comment: 8 pages, 6 figures
arXiv PDF
Video World Models
19
默认显示 5 篇
PhyGDPO: Physics-Aware Groupwise Direct Preference Optimization for Physically Consistent Text-to-Video Generation
Yuanhao Cai, Kunpeng Li, Menglin Jia, Jialiang Wang, Junzhe Sun, Feng Liang, Weifeng Chen, Felix Juefei-Xu, Chu Wang, Ali Thabet, Xiaoliang Dai, Xuan Ju, Alan Yuille, Ji Hou
arXiv:2512.24551v4 •updated • 2025-12-31
Recent advances in text-to-video (T2V) generation have achieved good visual quality, yet synthesizing videos that faithfully follow physical laws remains an open challenge. Existing methods mainly based on graphics or prompt extension struggle to generalize beyond simple simulated environments or learn implicit physical reasoning. The scarcity of training data with rich physics interactions and phenomena is also a problem. In this paper, we first introduce a Physics-Augmented video data construction Pipeline, PhyAugPipe, that leverages a vision-language model (VLM) with chain-of-thought reasoning to collect a large-scale training dataset, PhyVidGen-135K. Then we formulate a principled Physics-aware Groupwise Direct Preference Optimization, PhyGDPO, framework that uses real-world video as winning case to guarantee correct physics learning and builds upon the groupwise Plackett-Luce probabilistic model to capture holistic preferences beyond pairwise comparisons. In PhyGDPO, we design a Physics-Guided Rewarding (PGR) scheme that leverages VLM-based physical rewards to direct the optimization to focus on challenging physics cases. In addition, we propose a LoRA-Switch Reference (LoRA-SR) scheme that avoids full-model duplication as reference for efficient DPO training. Experiments show that our method significantly outperforms state-of-the-art open-source methods on PhyGenBench and VideoPhy2. Please check our project page at https://caiyuanhao1998.github.io/project/PhyGDPO for more video results. Our code, data, and models are publicly available at https://github.com/caiyuanhao1998/Open-PhyGDPO
Comment: ECCV 2026
arXiv PDF
Online World Modeling Enables Real-World Inverse Reinforcement Learning from Observation
Tyler Han, Bat Nemekhbold, Siyang Shen, Rohan Baijal, Richard Ebock, Harine Ravichandiran, Sanghun Jung, Kevin Huang, Byron Boots
arXiv:2602.24121v2 •updated • 2026-02-27
Current methods in robot learning are fundamentally bottlenecked by one or more of: hand-designed rewards, simulation modeling, or action supervision (e.g. teleoperation) each requiring significant domain expertise, engineering effort, and robot-operator labor. Towards eliminating these bottlenecks, this work pursues observational learning via Inverse Reinforcement Learning from Observation (IRLfO) in which only access to task observations (e.g. video) is assumed. Due to the challenging setting and limitations of RL methods, IRLfO has thus far remained impractical for real-world robot learning. Here, we present the first IRL method to learn visual manipulation in the real world from scratch, and the first real-world demonstration of positive online transfer across visual manipulation tasks from scratch. In under 40 minutes, MPAIL2 learns pick-and-place from scratch to 82% success, where RL and BC with equal interaction and demonstration budgets reach only 0% and 12% despite their reward and action supervision. Interactive project page with training videos: https://uwrobotlearning.github.io/mpail2/
arXiv PDF
What if? Emulative Simulation with World Models for Situated Reasoning
Ruiping Liu, Yufan Chen, Yuheng Zhang, Junwei Zheng, Kunyu Peng, Chengzhi Wu, Chenguang Huang, Di Wen, Jiaming Zhang, Kailun Yang, Rainer Stiefelhagen
arXiv:2603.06445v2 •updated • 2026-03-06
Situated reasoning often relies on active exploration, yet in many real-world scenarios such exploration is infeasible due to physical constraints of robots or safety concerns of visually impaired users. Given only a limited observation, can an agent mentally simulate a future trajectory toward a target situation and answer spatial what-if questions? We introduce WanderDream, the first large-scale dataset designed for the emulative simulation of mental exploration, enabling models to reason without active exploration. WanderDream-Gen comprises 15.8K panoramic videos across 1,088 real scenes from HM3D, ScanNet++, and real-world captures, depicting imagined trajectories from current viewpoints to target situations. WanderDream-QA contains 158K question-answer pairs, covering starting states, paths, and end states along each trajectory to comprehensively evaluate exploration-based reasoning. Extensive experiments with world models and MLLMs demonstrate (1) that mental exploration is essential for situated reasoning, (2) that world models achieve compelling performance on WanderDream-Gen, (3) that imagination substantially facilitates reasoning on WanderDream-QA, and (4) that WanderDream data exhibit remarkable transferability to real-world scenarios.
Comment: Accepted at ECCV 2026. The data and code are available at: https://github.com/RuipingL/WanderDream
arXiv PDF
FOCA: Future-Oriented Conditioning for Data-Efficient Vision-Language-Action Adaptation
Duc Minh Nguyen, Nghiem Tuong Diep, Binh Gia Nguyen, Trong-Bao Ho, Doanh Le, Tan Q. Nguyen, Thien-Loc Ha, Nhiem Tran, Bao Thach, Nhat X. Tran, Tuan A. Tran, Artur Habuda, Philip Lund Møller, Tran Nguyen Le, Daniel Sonntag, Matthias Niepert, Khoa D. Doan, Vu Duong, Hung Ngo, Minh N. Vu, Duy M. H. Nguyen, An Thai Le, Ngo Anh Vien
arXiv:2606.20867v1 • 2026-06-18
Vision-Language-Action (VLA) models enable general-purpose robotic control via large-scale multimodal pretraining, yet their effectiveness under few-shot imitation learning remains limited. We conduct a systematic stress test of state-of-the-art VLA models and show that performance degrades sharply as demonstrations are reduced, revealing a key weakness of existing adaptation strategies. To address this, we introduce FOCA, a future-oriented conditioning framework for data-efficient VLA adaptation. FOCA combines explicit prediction of task-grounded future interaction embeddings with implicit alignment to future goal observations, enabling long-horizon reasoning in latent space without pixel-level prediction. This formulation naturally supports action-free co-training with synthetic videos from video world models and can be interpreted as learning a future-conditioned value-like representation. Extensive experiments demonstrate FOCA achieves 95.7% success with 20 demonstrations on LIBERO, improves 7-12% on RoboCasa, and delivers up to 26% absolute gains on real robots, establishing a new state of the art in few-shot VLA adaptation.
Comment: Accepted at ICML 2026. Project page: https://focavla.github.io/
arXiv PDF
EasyUUV: An LLM-Enhanced Universal and Lightweight Sim-to-Real Reinforcement Learning Framework for UUV Attitude Control
Guanwen Xie, Jingzehua Xu, Jiwei Tang, Yubo Huang, Zixi Wang, Shuai Zhang, Dongfang Ma, Juntian Qu, Xiaofan Li
arXiv:2510.22126v3 •updated • 2025-10-25
Despite recent advances in Unmanned Underwater Vehicle (UUV) attitude control, existing methods still struggle with generalizability, robustness to real-world disturbances, and efficient deployment. To address the above challenges, this paper presents EasyUUV, a Large Language Model (LLM)-enhanced, platform-agnostic, and lightweight simulation-to-reality reinforcement learning (RL) framework for robust attitude control of UUVs. EasyUUV combines parallelized RL training with a hybrid control architecture, where a learned policy outputs high-level attitude corrections executed by an adaptive S-Surface controller. A multimodal LLM is further integrated to adaptively tune controller parameters at runtime using visual and textual feedback, enabling training-free adaptation to unmodeled dynamics. Also, we have developed a low-cost 6-DoF UUV platform and applied an RL policy trained through efficient parallelized simulation. Extensive simulation and real-world experiments validate the effectiveness and adaptive performance of EasyUUV in achieving robust and adaptive UUV attitude control across diverse underwater conditions. To facilitate reproducibility, the source code, LLM prompts, video, and the supplementary material are provided in the following repositories: Homepage: https://360zmem.github.io/easyuuv/ Video:https://youtu.be/m2yLQzxiIL Supplementary Material: https://drive.google.com/file/d/1ImMiyGIPoPyj2ATnXQwbiuOroTSZ2SSs
Comment: 12 pages, 14 figures
arXiv PDF
2026-06-17
114 篇
Robotics
94
默认显示 5 篇
DF-ExpEnse: Diffusion Filtered Exploration for Sample Efficient Finetuning
Calvin Luo, Chen Sun, Shuran Song
arXiv:2606.19656v1 • 2026-06-17
A natural recipe for intelligent robotic decision-making is initializing from pretrained generative control policies, which have summarized offline experience, and adapting them to self-collected online experience. We present DF-ExpEnse, an exploration technique that improves the quality of online experience collection, thus increasing finetuning sample-efficiency. DF-ExpEnse leverages the multimodal modeling capabilities of the generative control policy to create an expressive and tractably evaluatable candidate set. It then utilizes an ensemble of critics to identify the action that best balances quality with high exploration interest. In fleet settings, DF-ExpEnse further enables cross-agent communication to facilitate collaborative exploration as a group. DF-ExpEnse can be seamlessly integrated with existing strategies that finetune pretrained generative control policies via reinforcement learning. We experimentally validate consistent sample-efficiency benefits through DF-ExpEnse across a variety of manipulation and locomotion tasks, compared to default finetuning and alternative action selection schemes. Project can be found at https://df-expense.github.io.
Comment: ICML 2026
arXiv PDF
DADP: Domain Adaptive Diffusion Policy
Pengcheng Wang, Qinghang Liu, Haotian Lin, Yiheng Li, Guojian Zhan, Masayoshi Tomizuka, Yixiao Wang
arXiv:2602.04037v3 •updated • 2026-02-03
Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundamental challenge in learning-based control. Substantial progress has been made through domain representation learning to capture domain-specific information, thus enabling domain-aware decision making. We analyze the process of learning domain representations through dynamical prediction and find that selecting contexts adjacent to the current step causes the learned representations to entangle static domain information with varying dynamical properties. Such mixture can confuse the conditioned policy, thereby constraining zero-shot adaptation. To tackle the challenge, we propose DADP (Domain Adaptive Diffusion Policy), which achieves robust adaptation through unsupervised disentanglement and domain-aware diffusion injection. First, we introduce Lagged Context Dynamical Prediction, a strategy that conditions future state estimation on a historical offset context; by increasing this temporal gap, we unsupervisedly disentangle static domain representations by filtering out transient properties. Second, we integrate the learned domain representations directly into the generative process by biasing the prior distribution and reformulating the diffusion target. Extensive experiments on challenging benchmarks across locomotion and manipulation demonstrate the superior performance, and the generalizability of DADP over prior methods. More visualization results are available on the https://outsider86.github.io/DomainAdaptiveDiffusionPolicy/.
arXiv PDF
Scaling Self-Play for End-to-End Driving
Luke Rowe, Roger Girgis, Rodrigue de Schaetzen, Daphne Cornelisse, Alaap Grandhi, Felix Heide, Eugene Vinitsky, Christopher Pal, Liam Paull
arXiv:2606.19641v1 • 2026-06-17
End-to-end autonomous driving models are typically trained on offline human-demonstration datasets that provide limited state coverage and often no closed-loop feedback, making them prone to compounding errors when deployed in closed-loop and brittle to long-tail agent interactions. To overcome these limitations, we propose an alternative strategy for training end-to-end driving models: large-scale self-play directly from pixels in simulation. While prior self-play approaches have shown promising transfer to real-world driving, they typically assume vectorized Bird's-Eye-View (BEV) observations that are incompatible with end-to-end policies operating directly on sensor observations. To this end, we introduce Gigapixel, a high-throughput batched driving simulator with perspective rendering, enabling scalable self-play directly from pixel observations. Rather than targeting compute-costly photorealistic sensor simulation, Gigapixel renders a simplified bounding-box world that preserves essential scene structure while achieving throughput at 50k agent steps per second. Since direct pixel-space self-play RL is prohibitively sample-inefficient at end-to-end model scale, we propose self-play DAgger training: we train pixel-based policies in self-play via on-policy distillation from a privileged RL teacher. To bridge the sim-to-real gap, we subsequently transfer the self-play trained policies to real-world sensor data through lightweight perception adaptation. Policies trained in Gigapixel and adapted to real-world sensor data achieve competitive performance on the HUGSIM and NAVSIM-v2 benchmarks without human trajectory supervision. Moreover, scaling self-play training yields proportional gains in policy performance, establishing self-play as a practical and scalable strategy for training end-to-end models.
arXiv PDF
CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotion
Francisco Affonso, Matheus P. Angarola, Ana Luiza Mineiro, Aditya Potnis, Marcelo Becker, Girish Chowdhary
arXiv:2606.19633v1 • 2026-06-17
Perceptive legged locomotion over discontinuous terrain (e.g., stairs, gaps, and obstacles) requires adaptive behavior, as a single conservative gait cannot produce the anticipatory maneuvers needed for abrupt topology changes. Cast as multi-task reinforcement learning, this problem introduces a tension between sharing and separation. Tasks use a common locomotion base but have conflicting rewards, so a policy must share behavior while avoiding value interference. Prior work addresses only one side, with monolithic policies sacrificing specialization and hierarchical sub-policies sacrificing generalization across transitions and unseen terrain. We propose CTS-MoE, which combines a dense mixture-of-experts actor with perception-based gating to compose shared behaviors and a multi-critic with task-specific value heads to prevent interference. The model is trained end-to-end in a single-stage concurrent teacher-student setup that handles partial observability and avoids sequential distillation, with task labels used only during training. At deployment, routing depends solely on perception, allowing terrain adaptation without a high-level selector or terrain classifier. Experiments on a Unitree Go1 in simulation and on hardware across seen and unseen terrains show task-aware specialization, with lower tracking error and higher success rates than monolithic baselines. Project Website: https://cts-moe.github.io/ .
arXiv PDF
Formal Verification of Learned Multi-Agent Communication Policies via Decision Tree Distillation
Ahmad Farooq, Kamran Iqbal
arXiv:2606.19632v1 • 2026-06-17
Multi-agent reinforcement learning (MARL) enables agents to develop coordination strategies through emergent communication, but neural policies lack the formal safety guarantees required for safety-critical robotic deployment in drone swarms and autonomous vehicle fleets. We present the first end-to-end framework for safety verification of learned multi-agent communication policies through policy abstraction: neural policies are distilled into interpretable decision trees, then formally verified, with empirical validation confirming that verified safety properties transfer to original networks. Our four-stage pipeline consists of domain-specific feature extraction from agent observations, decision tree distillation achieving 97.9% +/- 1.2% fidelity to neural policies, automated translation to PRISM probabilistic model checker specifications with complete feature-to-state-variable correspondence, and compositional verification of Probabilistic Computation Tree Logic (PCTL) properties via pairwise decomposition with union-bound aggregation and empirical neighbor modeling. Evaluating Vector-Quantized Variational Information Bottleneck (VQ-VIB) policies for multi-drone coordination with 5-7 agents, we verify 18 temporal logic properties across safety, liveness, and cooperation, achieving 88.9% property satisfaction with all five safety thresholds satisfied (0.3% collision probability vs. 1% threshold). Monte Carlo validation of original neural policies confirms that verified safety properties transfer with <=0.6 percentage-point deviation (95% CI). Discrete VQ-VIB messages provide +11.6 to +13.6 percentage-point fidelity advantages over continuous methods, enabling 3-4x faster verification. Our framework provides empirically validated safety verification for distilled policy abstractions, serving as a practical bridge between deep MARL and formal safety workflows for multi-robot deployment.
Comment: 9 pages, 3 figures, 7 tables. Accepted at the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026), Pittsburgh, Pennsylvania, USA, September 27-October 1, 2026
arXiv PDF
Video World Models
20
默认显示 5 篇
Denoising Implicit Feedback for Cold-start Recommendation
Gaode Chen, Shicheng Wang, Shikun Li, Rui Huang, Xinghua Zhang, Yunze Luo, Shipeng Li, Shiming Ge, Ruina Sun, Yinjie Jiang, Jun Zhang
arXiv:2606.19658v1 • 2026-06-17
Implicit feedback is widely used in recommender systems due to its accessibility and generality, yet it usually presents noisy samples (e.g., clickbait, position bias). Meanwhile, recommenders inevitably face the item cold-start problem due to the continuous influx of new items. We identify that cold items are more prone to noisy samples due to the aforementioned factors, and researchers often overlook the significance of denoising implicit feedback for cold items. Previous denoising studies usually identify noisy samples based on heuristic patterns, such as higher loss values, and mitigate noise through sample selection or re-weighting. However, these methods have limited adaptability and are ineffective in cold-start scenarios. To achieve denoising implicit feedback for cold-start recommendation, we propose a model-agnostic denoising method called DIF. First, user preferences for content remain stable, which allows us to infer pseudo-labels indicating whether a user is interested in a cold item through content-similar warm items. Furthermore, to improve pseudo-label accuracy, we model the confidence of pseudo-labels based on the content similarity between the cold item and warm items, and then aggregate multiple pseudo-labels for each sample. Finally, we explicitly estimate the uncertainty of the noisy sample label by considering its relative entropy and the cold-start status of the item, which adaptively guides the role of pseudo-labels to correct the noisy labels at the sample level. DIF's superiority is supported by both theoretical justification and extensive experiments on real-world datasets. The method has been deployed on a billion-user scale short video application Kuaishou and has significantly improved various commercial metrics within cold-start scenarios.
Comment: Accepted by KDD 2026 ADS Track
arXiv PDF
Streaming Interventions: Can Video Large Language Models Correct Mistakes as They Occur?
Apratim Bhattacharyya, Shweta Mahajan, Sanjay Haresh, Rajeev Yasarla, Reza Pourreza, Litian Liu, Risheek Garrepalli, Roland Memisevic
arXiv:2606.09547v2 •updated • 2026-06-08
Learning everyday skills, like cooking a dish, relies increasingly on instructional media such as online videos. This opens the door to the use of video (and multimodal) large language models (LLMs) as task guidance assistants. A crucial capability for the real-world success of a prospective task guidance assistant is it's ability to intervene proactively as soon as a mistake is apparent in order to guide the user. To evaluate this crucial capability, we introduce Ego-MC-Bench (Mistake Corrections), a benchmark for evaluating reactive, step-by-step task guidance in realistic cooking scenarios. Extensive experiments show that Ego-MC-Bench is highly challenging for state-of-the-art video LLMs. We argue that a key reason is the limited availability of training data for fine-tuning models on this task. Although there exists a wide range of cooking video datasets, existing datasets lack examples of mistakes along with appropriately timed interventions. To help address this data limitation, we also introduce Ego-CoMist, a counterfactual synthetic dataset created by transforming non -interactive cooking videos into supervised training examples showing proactive interventions. We show that fine-tuning on Ego-CoMist yields performance gains especially for smaller and more efficient video LLMs that are well suited for delivering assistance on edge devices.
Comment: The project page is available at https://apratimbh.github.io/livecookv2/
arXiv PDF
ImageWAM: Do World Action Models Really Need Video Generation, or Just Image Editing?
Yuyang Zhang, Wenyao Zhang, Zekun Qi, He Zhang, Haitao Lin, Jingbo Zhang, Yao Mu, Xiaokang Yang, Wenjun Zeng, Xin Jin
arXiv:2606.19531v1 • 2026-06-17
World Action Models (WAMs) commonly rely on video generation to bridge visual world modeling and robot control. However, video-based WAMs face three coupled limitations: dense multi-frame future tokens make inference costly, full video prediction spends capacity on action-irrelevant temporal and appearance details, and long-horizon future imagination may introduce errors that mislead action prediction. These issues raise a simple question: Does world action model really need video generation? We propose ImageWAM, a simple WAM framework that repurposes pretrained image editing models for robot action prediction. In contrast to video generation, image editing provides a better-matched prior: it only needs to model a target-frame transformation, focuses on action-relevant current-to-target visual differences, and grounds task instructions to localized visual changes through edit pretraining. In practice, ImageWAM does not decode the target frame at inference time; instead, it conditions a flow-matching action expert on the KV caches produced by image-editing denoising, using them as a compact world-action context. ImageWAM outperforms standard VLA baselines and matching competitive WAMs without additional policy pretraining across different simulator and real-world experiments. It also reduces FLOPs to 1/6 and latency to 1/4 of video-based WAMs. Attention analysis further shows that editing caches focus on task-relevant change regions, supporting image editing as an effective alternative to video-based world-action modeling.
Comment: Project Page: https://zhangwenyao1.github.io/ImageWAM/
arXiv PDF
Target-Side Paraphrase Augmentation for Sign Language Translation with Large Language Models
Pedro Dal Bianco, Jean Paul Nunes Reinhold, Oscar Stanchi, Facundo Quiroga, Franco Ronchetti, Ulisses Brisolara Corrêa
arXiv:2605.31393v2 •updated • 2026-05-29
Sign language translation (SLT) remains constrained by the limited availability of paired sign-video/text corpora and by the heavy-tailed vocabularies typical of real-world datasets. We study a target-side augmentation strategy in which a large language model (LLM) generates controlled paraphrase variants of the reference spoken-language sentence while the sign input remains unchanged. Concretely, we use GPT-4o to produce semantically faithful variants of the training targets and train a Signformer-style pose-based Transformer under a two-stage schedule: pre-training on the augmented corpus followed by fine-tuning on the original references. We evaluate this strategy on three datasets that span complementary challenges: PHOENIX14T (German Sign Language), a real-world corpus with moderate lexical diversity; the Greek Sign Language Dataset with highly controlled, repetitive recordings; and LSA-T (Argentinian Sign Language), a naturalistic corpus with a large vocabulary and severe long-tail sparsity. This range allows us to characterize precisely when and why target-side augmentation is beneficial. On PHOENIX14T, augmentation improves BLEU-4 from 9.56 to 10.33, demonstrating that paraphrastic exposure helps the decoder generalize beyond memorized reference phrasing. The near-saturated GSL baseline and the extremely sparse LSA-T setting reveal the limits of the approach: in both cases, single-reference lexical overlap metrics are insufficient to capture the full picture, motivating a complementary semantic evaluation. To our knowledge, this is the first study to examine LLM-generated target-side paraphrases as an augmentation mechanism for SLT, and the first to apply an LLM-as-a-Judge evaluation protocol to SLT. This complementary evaluation reveals gains in semantic fidelity that lexical overlap metrics understate.
Comment: Accepted at GenSign @ CVPR 2026. Non-Proceedings Track (https://genai4sl.github.io/)
arXiv PDF
3D-DLP: Self-Supervised 3D Object-Centric Scene Representation Learning
Ellina Zhang, Madhaven Iyengar, Amir Zadeh, Chuan Li, Deepak Pathak, David Held, Tal Daniel
arXiv:2606.19451v1 • 2026-06-17
We introduce 3D-DLP, a self-supervised object-centric representation learning model that decomposes scene-level RGB-D or voxel observations into a set of 3D latent particles. Building on the Deep Latent Particles (DLP) framework, each particle encodes disentangled attributes, including 3D keypoint position, bounding box dimensions, and appearance features, and represents a distinct entity in the scene. The model learns interpretable per-particle segmentation maps through an end-to-end self-supervised reconstruction objective. We demonstrate on both simulated and real-world datasets that the learned latent space is interpretable and controllable: by manipulating particle positions and decoding, we can generate novel scene configurations. Furthermore, we show that leveraging these compact 3D latent particles for downstream robotic manipulation improves performance over baselines that either lack explicit 3D information or rely on memory-intensive dense 3D inputs without object-centric structure. Code and videos are available at https://eubooks3003.github.io/3d-dlp.
Comment: ICML 2026. Project webpage: https://eubooks3003.github.io/3d-dlp
arXiv PDF
2026-06-16
95 篇
Robotics
78
默认显示 5 篇
Cosmos 3: Omnimodal World Models for Physical AI
NVIDIA, :, Aditi, Niket Agarwal, Arslan Ali, Jon Allen, Martin Antolini, Adeline Aubame, Alisson Azzolini, Junjie Bai, Maciej Bala, Yogesh Balaji, Josh Bapst, Aarti Basant, Mukesh Beladiya, Mohammad Qazim Bhat, Zaid Pervaiz Bhat, Dan Blick, Vanni Brighella, Han Cai, Tiffany Cai, Eric Cameracci, Jiaxin Cao, Yulong Cao, Mark Carlson, Carlos Casanova, Ting-Yun Chang, Yan Chang, Yu-Wei Chao, Prithvijit Chattopadhyay, Roshan Chaudhari, Chieh-Yun Chen, Junyu Chen, Ke Chen, Qizhi Chen, Wenkai Chen, Xiaotong Chen, Yu Chen, An-Chieh Cheng, Click Cheng, Xiu Chia, Jeana Choi, Chaeyeon Chung, Wenyan Cong, Yin Cui, Magdalena Dadela, Nalin Dadhich, Wenliang Dai, Joyjit Daw, Alperen Degirmenci, Rodrigo Vieira Del Monte, Robert Denomme, Sameer Dharur, Marco Di Lucca, Ke Ding, Wenhao Ding, Yifan Ding, Yuzhu Dong, Nicole Drumheller, Yilun Du, Aigul Dzhumamuratova, Aleksandr Efitorov, Hamid Eghbalzadeh, Naomi Eigbe, Imad El Hanafi, Hassan Eslami, Benedikt Falk, Jiaojiao Fan, Jim Fan, Amol Fasale, Sergiy Fefilatyev, Liang Feng, Francesco Ferroni, Sanja Fidler, Xiao Fu, Vikram Fugro, Prashant Gaikwad, TJ Galda, Katelyn Gao, Yihuai Gao, Wenhang Ge, Sreyan Ghosh, Arushi Goel, Vivek Goel, Akash Gokul, Rama Govindaraju, Jinwei Gu, Miguel Guerrero, Elfie Guo, Aryaman Gupta, Siddharth Gururani, Hugo Hadfield, Song Han, Ankur Handa, Zekun Hao, Mohammad Harrim, Ali Hassani, Nathan Hayes-Roth, Yufan He, Chris Helvig, Cyrus Hogg, Madison Huang, Michael Huang, Sophia Huang, Yufan Huang, Jacob Huffman, DeLesley Hutchins, Suneel Indupuru, Boris Ivanovic, Arihant Jain, Joel Jang, Ryan Ji, Yanan Jian, Dongfu Jiang, Jingyi Jin, Atharva Joshi, Nikhilesh Joshi, Pranjali Joshi, Andy Ju, Jaehun Jung, Weiwei Kang, Scott Kassekert, Jan Kautz, Ashna Khetan, Julia Kiczka, Slawek Kierat, Gwanghyun Kim, Kuno Kim, Sunny Kim, Kezhi Kong, Xin Kong, Zhifeng Kong, Tomasz Kornuta, Egor Krivov, Hui Kuang, Saurav Kumar, Chia-Wen Kuo, George Kurian, Wojciech Kutak, JF Lafleche, Himangshu Lahkar, Omar Laymoun, Jayjun Lee, Sanggil Lee, Gabriele Leone, Boyi Li, Freya Li, Jiajun Li, Jinfeng Li, Ling Li, Pengcheng Li, Shangru Li, Tingle Li, Xiaolong Li, Xuan Li, Zhaoshuo Li, Zhiqi Li, Hao Liang, Maosheng Liao, Chen-Hsuan Lin, Tsung-Yi Lin, Ming-Yu Liu, Sifei Liu, Zihan Liu, Hai Loc Lu, Xiangyu Lu, Alice Luo, Ruipu Luo, Wenjie Luo, Jiangran Lyu, Martin Ding Ma, Nic Ma, Qianli Ma, Dawid Majchrowski, Louis Marcoux, Miguel Martin, Qing Miao, Ashkan Mirzaei, Shreyas Misra, Kaichun Mo, Durra Mohsin, Hyejin Moon, Pawel Morkisz, Saeid Motiian, Kirill Motkov, Seungjun Nah, Yashraj Narang, Deepak Narayanan, Thabang Ngazimbi, Julian Ouyang, Shubham Pachori, David Page, Yatian Pang, Sehwi Park, Mahesh Patekar, Mostofa Patwary, Marco Pavone, Trung Pham, Wei Ping, Soha Pouya, Shrimai Prabhumoye, Varun Praveen, Delin Qu, Hesam Rabeti, Morteza Ramezanali, Marilyn Reeb, Xuanchi Ren, Kristen Rumley, Wojciech Rymer, Jun Saito, Yeongho Seol, John Shao, Piyush Shekdar, Tianwei Shen, Humphrey Shi, Min Shi, Stella Shi, Kevin Shih, Mohammad Shoeybi, Mateusz Sieniawski, Shuran Song, Alexander Sotelo, Amir Sotoodeh, Sunil Srinivasa, Vignesh Srinivasakumar, Bartosz Stefaniak, Rahul Heinrich Steiger, Shangkun Sun, Jiaxiang Tang, Shitao Tang, Yangyang Tang, Yue Tang, Tolou Tavakkoli, Kayley Ting, Krzysztof Tomala, Wei-Cheng Tseng, Jibin Varghese, Sergei Vasilev, Thomas Volk, Raju Wagwani, Roger Waleffe, Andrew Z. Wang, Boxiang Wang, Haoxiang Wang, Qiao Wang, Shihao Wang, Shijie Wang, Ting-Chun Wang, Yan Wang, Yu Wang, Rohit Watve, David Wehr, Fangyin Wei, Xinshuo Weng, Jay Zhangjie Wu, Kedi Wu, Hongchi Xia, Summer Xiao, Tianjun Xiao, Kevin Xie, Daguang Xu, Jiashu Xu, Mengyao Xu, Ruqing Xu, Xingqian Xu, Yao Xu, Dinghao Yang, Dong Yang, Hans Yang, Xiaodong Yang, Xuning Yang, Yichu Yang, Yurong You, Zhiding Yu, Hao Yuan, Simon Yuen, Xiaohui Zeng, Pengcuo Zeren, Cindy Zha, Haotian Zhang, Jenny Zhang, Jing Zhang, Liangkai Zhang, Paris Zhang, Shun Zhang, Xuanmeng Zhang, Zhizheng Zhang, Ann Zhao, Yilin Zhao, Yuliya Zhautouskaya, Charles Zhou, Fengzhe Zhou, Shilin Zhu, Yuke Zhu, Dima Zhylko, Artur Zolkowski
arXiv:2606.02800v3 •updated • 2026-06-01
We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-transformers architecture. By supporting highly flexible input-output configurations, Cosmos 3 seamlessly unifies critical modalities for Physical AI -- effectively subsuming vision-language models, video generators, world simulators, and world-action models into a single framework. Our evaluation demonstrates that Cosmos 3 establishes a new state-of-the-art across a diverse suite of understanding and generation tasks, demonstrating omnimodal world models as scalable, general-purpose backbones for embodied agents. Our post-trained Cosmos 3 models were ranked as the best open-source Text-to-Image and Image-to-Video models by Artificial Analysis, and the best policy model by RoboArena at the time the technical report was written. To accelerate open research and deployment in Physical AI, we make our code, model checkpoints, curated synthetic datasets, and evaluation benchmark available under the Linux Foundation's OpenMDW-1.1 License at https://github.com/nvidia/cosmos and https://huggingface.co/collections/nvidia/cosmos3. The project website is available at https://research.nvidia.com/labs/cosmos-lab/cosmos3.
arXiv PDF
AI Sandboxes: A Threat Model, Taxonomy, and Measurement Framework
Inderjeet Singh, Haitham Mahmoud, Andrés Murillo
arXiv:2606.18532v1 • 2026-06-16
AI systems are increasingly evaluated in bounded environments that combine isolation, simulation, instrumentation, supervision, and evidence capture. For physical AI, AIoT, and cyber-physical systems, this shift is not a matter of terminology: the system under test may sense, decide, actuate, communicate, and fail through physical processes, networked devices, and human operators. This article develops an assurance-oriented account of AI sandboxes as controlled environments for testing, evaluation, verification, and validation across digital AI, embodied autonomy, and cyber-physical deployments. We formalize the sandbox boundary and a weakest-link rule for composing per-dimension evidence into a bounded deployment claim; separate major sandbox archetypes; define a cyber-physical threat model that includes attacks on the assurance apparatus itself; and introduce a measurement framework spanning fidelity, controllability, observability, containment, reproducibility, and governance artifacts, instantiated on three worked case studies of real sandboxes. The resulting threat model, taxonomy, and measurement framework clarify what a sandbox can validly test, which risks it can contain, and what forms of evidence it can support for safety, security, and regulatory assurance.
Comment: 50 pages, 8 figures, 10 tables
arXiv PDF
As You Wish: Mission Planning with Formal Verification using LLMs in Precision Agriculture
Marcos Abel Zuzuárregui, Stefano Carpin
arXiv:2606.18519v1 • 2026-06-16
Though robotic systems are now being commercialized and deployed in various industries, many of these systems are highly specialized and often require an advanced skill set to operate and ensure they perform as instructed. To mitigate this problem, we recently introduced a mission planner leveraging LLMs to synthesize mission plans in precision agriculture based on mission descriptions provided in natural language. While the system demonstrates impressive performance, it also suffers from the inherent ambiguities of natural language. In this paper, we extend our system to address this issue by introducing multiple feedback loops in the planning architecture that leverage linear temporal logic (LTL) to ensure the mission planning system meets the specifications formulated by the user while still using natural language. To mitigate potential bias, this is achieved by using two different commercial LLMs in charge of the specification and verification subtasks. Through extensive experiments, we highlight the strengths and limitations of integrating mission verification into a fully autonomous pipeline, particularly regarding an LLM's ability to generate valuable LTL formulas, and show how our proposed implementation addresses and solves these challenges.
arXiv PDF
Task Allocation and Motion Planning in Dynamic, Cluttered Environments via CBBA and Graphs of Convex Sets
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
arXiv:2606.18516v1 • 2026-06-16
Multi-agent task planning in cluttered, dynamic environments requires assigning tasks to agents while simultaneously determining safe, time-efficient trajectories through the environment. When tasks are dynamic, such as rendezvous objectives, allocation decisions depend not only on which agent is best suited for a task, but also on when and where that task can be reached. This paper presents a solution to this problem, which combines Graphs of Convex Sets (GCS) for trajectory optimization with the Consensus-Based Bundle Algorithm (CBBA) for distributed task allocation. In our approach, GCS finds optimal trajectories through dynamic environments using a time-extended (3D+time) configuration space. At the same time, CBBA coordinates task assignments across agents, enabling informed decision-making in a moving environment. We then connect allocation and planning to allow the agents to avoid collisions in the 3D+time configuration space and provide accurate time estimates for task completion. We demonstrate the effectiveness of our approach in simulated cluttered environments with static and dynamic tasks.
Comment: 15 pages single column, 10 figures, AIAA-Scitech 2027 Submission
arXiv PDF
Embedding Semantic Risk into Distance Fields and CBFs for Online Monocular Safe Control
Dawei Zhang, Nuo Chen, Shuo Liu, Roberto Tron, Zhiwen Fan
arXiv:2606.01605v2 •updated • 2026-06-01
We propose an online monocular perception-to-control framework that embeds semantic risk into the distance field used by Control Barrier Function (CBF)-based safe navigation and teleoperation. Many perception-based safety filters assign the same distance-based safety margin to all mapped obstacles or use semantics only as a downstream controller adjustment, rather than encoding semantic risk in the spatial representation. Our framework instead reasons online about obstacle geometry and class-dependent risk by embedding semantic information directly into the Euclidean Signed Distance Field (ESDF). This design encodes semantic risk before control optimization, so high-risk objects exert a larger spatial influence in the safety field while retaining efficient ESDF queries at runtime. Specifically, a foundation-model-based SLAM front end reconstructs dense 3-D geometry from monocular RGB video, while per-frame semantic segmentation provides pixel-level class labels that are fused into the reconstructed geometry. The resulting geometric-semantic representation is then converted into an ESDF, where semantic labels identify safety-relevant regions and impose class-dependent inflation before field computation. The semantic-aware ESDF provides the local distance values and spatial derivatives required by the CBF controller, while class-dependent gains further regulate the controller response. Extensive simulation and hardware experiments demonstrate online operation at 10--20 Hz and semantic-aware safe behavior in both teleoperation and autonomous navigation.
arXiv PDF
Video World Models
17
默认显示 5 篇
Cosmos 3: Omnimodal World Models for Physical AI
NVIDIA, :, Aditi, Niket Agarwal, Arslan Ali, Jon Allen, Martin Antolini, Adeline Aubame, Alisson Azzolini, Junjie Bai, Maciej Bala, Yogesh Balaji, Josh Bapst, Aarti Basant, Mukesh Beladiya, Mohammad Qazim Bhat, Zaid Pervaiz Bhat, Dan Blick, Vanni Brighella, Han Cai, Tiffany Cai, Eric Cameracci, Jiaxin Cao, Yulong Cao, Mark Carlson, Carlos Casanova, Ting-Yun Chang, Yan Chang, Yu-Wei Chao, Prithvijit Chattopadhyay, Roshan Chaudhari, Chieh-Yun Chen, Junyu Chen, Ke Chen, Qizhi Chen, Wenkai Chen, Xiaotong Chen, Yu Chen, An-Chieh Cheng, Click Cheng, Xiu Chia, Jeana Choi, Chaeyeon Chung, Wenyan Cong, Yin Cui, Magdalena Dadela, Nalin Dadhich, Wenliang Dai, Joyjit Daw, Alperen Degirmenci, Rodrigo Vieira Del Monte, Robert Denomme, Sameer Dharur, Marco Di Lucca, Ke Ding, Wenhao Ding, Yifan Ding, Yuzhu Dong, Nicole Drumheller, Yilun Du, Aigul Dzhumamuratova, Aleksandr Efitorov, Hamid Eghbalzadeh, Naomi Eigbe, Imad El Hanafi, Hassan Eslami, Benedikt Falk, Jiaojiao Fan, Jim Fan, Amol Fasale, Sergiy Fefilatyev, Liang Feng, Francesco Ferroni, Sanja Fidler, Xiao Fu, Vikram Fugro, Prashant Gaikwad, TJ Galda, Katelyn Gao, Yihuai Gao, Wenhang Ge, Sreyan Ghosh, Arushi Goel, Vivek Goel, Akash Gokul, Rama Govindaraju, Jinwei Gu, Miguel Guerrero, Elfie Guo, Aryaman Gupta, Siddharth Gururani, Hugo Hadfield, Song Han, Ankur Handa, Zekun Hao, Mohammad Harrim, Ali Hassani, Nathan Hayes-Roth, Yufan He, Chris Helvig, Cyrus Hogg, Madison Huang, Michael Huang, Sophia Huang, Yufan Huang, Jacob Huffman, DeLesley Hutchins, Suneel Indupuru, Boris Ivanovic, Arihant Jain, Joel Jang, Ryan Ji, Yanan Jian, Dongfu Jiang, Jingyi Jin, Atharva Joshi, Nikhilesh Joshi, Pranjali Joshi, Andy Ju, Jaehun Jung, Weiwei Kang, Scott Kassekert, Jan Kautz, Ashna Khetan, Julia Kiczka, Slawek Kierat, Gwanghyun Kim, Kuno Kim, Sunny Kim, Kezhi Kong, Xin Kong, Zhifeng Kong, Tomasz Kornuta, Egor Krivov, Hui Kuang, Saurav Kumar, Chia-Wen Kuo, George Kurian, Wojciech Kutak, JF Lafleche, Himangshu Lahkar, Omar Laymoun, Jayjun Lee, Sanggil Lee, Gabriele Leone, Boyi Li, Freya Li, Jiajun Li, Jinfeng Li, Ling Li, Pengcheng Li, Shangru Li, Tingle Li, Xiaolong Li, Xuan Li, Zhaoshuo Li, Zhiqi Li, Hao Liang, Maosheng Liao, Chen-Hsuan Lin, Tsung-Yi Lin, Ming-Yu Liu, Sifei Liu, Zihan Liu, Hai Loc Lu, Xiangyu Lu, Alice Luo, Ruipu Luo, Wenjie Luo, Jiangran Lyu, Martin Ding Ma, Nic Ma, Qianli Ma, Dawid Majchrowski, Louis Marcoux, Miguel Martin, Qing Miao, Ashkan Mirzaei, Shreyas Misra, Kaichun Mo, Durra Mohsin, Hyejin Moon, Pawel Morkisz, Saeid Motiian, Kirill Motkov, Seungjun Nah, Yashraj Narang, Deepak Narayanan, Thabang Ngazimbi, Julian Ouyang, Shubham Pachori, David Page, Yatian Pang, Sehwi Park, Mahesh Patekar, Mostofa Patwary, Marco Pavone, Trung Pham, Wei Ping, Soha Pouya, Shrimai Prabhumoye, Varun Praveen, Delin Qu, Hesam Rabeti, Morteza Ramezanali, Marilyn Reeb, Xuanchi Ren, Kristen Rumley, Wojciech Rymer, Jun Saito, Yeongho Seol, John Shao, Piyush Shekdar, Tianwei Shen, Humphrey Shi, Min Shi, Stella Shi, Kevin Shih, Mohammad Shoeybi, Mateusz Sieniawski, Shuran Song, Alexander Sotelo, Amir Sotoodeh, Sunil Srinivasa, Vignesh Srinivasakumar, Bartosz Stefaniak, Rahul Heinrich Steiger, Shangkun Sun, Jiaxiang Tang, Shitao Tang, Yangyang Tang, Yue Tang, Tolou Tavakkoli, Kayley Ting, Krzysztof Tomala, Wei-Cheng Tseng, Jibin Varghese, Sergei Vasilev, Thomas Volk, Raju Wagwani, Roger Waleffe, Andrew Z. Wang, Boxiang Wang, Haoxiang Wang, Qiao Wang, Shihao Wang, Shijie Wang, Ting-Chun Wang, Yan Wang, Yu Wang, Rohit Watve, David Wehr, Fangyin Wei, Xinshuo Weng, Jay Zhangjie Wu, Kedi Wu, Hongchi Xia, Summer Xiao, Tianjun Xiao, Kevin Xie, Daguang Xu, Jiashu Xu, Mengyao Xu, Ruqing Xu, Xingqian Xu, Yao Xu, Dinghao Yang, Dong Yang, Hans Yang, Xiaodong Yang, Xuning Yang, Yichu Yang, Yurong You, Zhiding Yu, Hao Yuan, Simon Yuen, Xiaohui Zeng, Pengcuo Zeren, Cindy Zha, Haotian Zhang, Jenny Zhang, Jing Zhang, Liangkai Zhang, Paris Zhang, Shun Zhang, Xuanmeng Zhang, Zhizheng Zhang, Ann Zhao, Yilin Zhao, Yuliya Zhautouskaya, Charles Zhou, Fengzhe Zhou, Shilin Zhu, Yuke Zhu, Dima Zhylko, Artur Zolkowski
arXiv:2606.02800v3 •updated • 2026-06-01
We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-transformers architecture. By supporting highly flexible input-output configurations, Cosmos 3 seamlessly unifies critical modalities for Physical AI -- effectively subsuming vision-language models, video generators, world simulators, and world-action models into a single framework. Our evaluation demonstrates that Cosmos 3 establishes a new state-of-the-art across a diverse suite of understanding and generation tasks, demonstrating omnimodal world models as scalable, general-purpose backbones for embodied agents. Our post-trained Cosmos 3 models were ranked as the best open-source Text-to-Image and Image-to-Video models by Artificial Analysis, and the best policy model by RoboArena at the time the technical report was written. To accelerate open research and deployment in Physical AI, we make our code, model checkpoints, curated synthetic datasets, and evaluation benchmark available under the Linux Foundation's OpenMDW-1.1 License at https://github.com/nvidia/cosmos and https://huggingface.co/collections/nvidia/cosmos3. The project website is available at https://research.nvidia.com/labs/cosmos-lab/cosmos3.
arXiv PDF
WEAVER, Better, Faster, Longer: An Effective World Model for Robotic Manipulation
Arnav Kumar Jain, Yilin Wu, Jesse Farebrother, Gokul Swamy, Andrea Bajcsy
arXiv:2606.13672v2 •updated • 2026-06-11
The potential impacts of world models (WMs, i.e., learned simulators) on robotics are far-reaching -- policy evaluation, policy improvement, and test-time planning -- all with limited real-world interaction. To unlock these downstream capabilities, a WM needs to jointly satisfy three desiderata: $\textit{(i)}$ fidelity (i.e., producing simulated trajectories that correlate with reality), $\textit{(ii)}$ consistency (i.e., producing simulated trajectories that are coherent over long horizons), and $\textit{(iii)}$ efficiency (i.e., producing simulated trajectories quickly). We propose WEAVER (World Estimation Across Views for Embodied Reasoning): a WM architecture that simultaneously achieves all three desiderata, providing state-of-the-art results on robotic manipulation tasks. WEAVER is a multi-view WM trained to predict future latents and reward values via a flow-matching loss. We distill the key design decisions across model architecture, memory, and prediction objectives required to unlock the kinds of long-horizon dynamic manipulation tasks that have confounded prior world modeling approaches. We apply WEAVER in robotic hardware, demonstrating its effectiveness at policy evaluation ($ρ$=0.870 correlation with real-world success rate), policy improvement (real-world success rate improvement of $38\%$ on top of the $π_{0.5}$ robot foundation model), and test-time planning (real-world success rate improvement of $14\%$ with a $5-10\times$ speedup over prior WMs). WEAVER also demonstrates better performance than prior WMs when evaluated on out-of-distribution scenarios. Code, models, and videos at: https://arnavkj1995.github.io/WEAVER/ .
arXiv PDF
VEGA: Learning Navigation VLAs from In-the-Wild Egocentric Video with Geometric Trajectory Supervision
Gershom Seneviratne, Yohan Abeysinghe, Jianyu An, Vaibhav Shende, Dinesh Manocha
arXiv:2606.18426v1 • 2026-06-16
We introduce VEGA, an approach for training navigation VisionLanguage-Action (VLA) models from unlabeled egocentric navigation videos. Internet-scale egocentric videos provide a scalable source of navigation-relevant visual observations, capturing cluttered scenes, close-range obstacles, and natural human motion through real-world spaces. However, these videos are not directly usable for policy learning because they do not provide obstacle-aware trajectories conditioned on explicit navigation goals in the robot's coordinate frame. VEGA addresses this gap by reconstructing local scene geometry from monocular video, sampling navigation goals (represented as text, image, or spatial waypoints) and generating obstacle-aware trajectories using the constructed geometry. The resulting trajectory distribution is then used to train a flow-matching VLA navigation policy. By using geometry exclusively during training, VEGA distills obstacle-aware planning directly into a vision-based policy. Furthermore, we introduce VEGA-Bench, a benchmark containing 250k scenes and approximately 5 million navigation goals paired with scene geometry, designed to evaluate goal progress, collision avoidance, and obstacle clearance of VLAs. Our evaluation shows that VEGA achieves competitive goal progress while reducing collisions by 33.0% and improving obstacle clearance by 17.9% over the strongest baseline on VEGABench, while improving success by at least 150.0%, reducing collisions by at least 66.7%, and improving obstacle clearance by at least 60.0% in real-world trials. Ultimately, we demonstrate that video-derived geometric supervision provides a scalable and effective signal for training obstacle-aware navigation VLAs. The code and benchmark will be released at the time of publication.
arXiv PDF
Future Dynamic 3D Reconstruction: A 3D World Model with Disentangled Ego-Motion
Nils Morbitzer, Jonathan Evers, Artem Savkin, Thomas Stauner, Nassir Navab, Federico Tombari, Stefano Gasperini
arXiv:2606.18250v1 • 2026-06-16
Forecasting the evolution of dynamic environments is crucial for autonomous agents. While generative world models have recently achieved high photorealism in 2D video synthesis by mixing ego-motion and environmental dynamics within the image plane, they exhibit physical inconsistencies, such as morphing or vanishing objects, especially over long time horizons. In this paper, we propose FR3D, a world model that predicts a persistent 3D latent representation for future dynamic 3D reconstruction. Unlike prior works that treat the world as a sequence of image-based features, FR3D explicitly decouples the 3D evolution of the scene from the agent's trajectory, treating the inferred ego-motion as a latent proxy for action. This disentanglement resolves the ambiguities between self-motion and world-motion, ensuring geometric consistency into the future. Furthermore, we introduce a teacher-student distillation strategy that leverages the spatial "common sense" of off-the-shelf foundation models, leading to robust zero-shot generalization. Extensive experiments demonstrate FR3D's strong performance for future dynamic 3D reconstruction from monocular observations across multiple datasets, even 2 seconds into the future. Project page: https://fr3d-wm.github.io.
Comment: ICML 2026. Project page: https://fr3d-wm.github.io
arXiv PDF
EgoCS-400K: An Egocentric Gameplay Dataset for World Models
Rongjin Guo, Dong Liang, Yuhao Liu, Fang Liu, Tianyu Huang, Gerhard P. Hancke, Rynson W. H. Lau
arXiv:2606.18180v1 • 2026-06-16
The shift from video generation to interactive world modeling places new demands on data: beyond captioned videos, world models require temporally aligned video-action-language trajectories grounded in the actions, camera motion, states, and events that drive future scene changes. However, such data is difficult to obtain at scale. Web video datasets offer broad visual coverage but lack executable actions and reliable states; robotic datasets provide action and state supervision but are costly and limited in scene diversity; and existing simulators often lack large-scale human-driven interaction trajectories. In this paper, we introduce EgoCS-400K, a large-scale replay-grounded egocentric Counter-Strike dataset for world models, built from public professional CS and CS2 match demos that preserve human gameplay trajectories and enable parsing, replaying, rendering, and temporal alignment. We extract player states, view directions, movements, keyboard/button inputs, view-angle changes, weapon usage, game events, and round-level context, and render clean first-person videos from the same trajectories. EgoCS-400K contains over 400,000 first-person videos and 10,000 hours of gameplay from more than 1,000 matches and 40,000 rounds, covering 13 maps and 10 player viewpoints per round. It supports a range of interactive visual modeling tasks, including action-conditioned future prediction, state- and event-aware scene rollout, replay-grounded captioning, and agent egocentric action understanding. By connecting visual observations with human actions, camera motion, game states, and events at scale, EgoCS-400K serves as a practical bridge between passive web videos, controllable game simulation, and costly real-world embodied data.
arXiv PDF
2026-06-15
119 篇
Robotics
97
默认显示 5 篇
DriveJudge: Rethinking Autonomous Driving Evaluation with Vision-Language Models
Xinglong Sun, Kevin Xie, Jenny Schmalfuss, Despoina Paschalidou, Xiuming Zhang, Sanja Fidler, Kashyap Chitta, Jose M. Alvarez
arXiv:2606.17362v1 • 2026-06-15
Autonomous driving has shifted towards end-to-end policy learning, where reliable, interpretable policy evaluation is a fundamental challenge as driving quality is highly context-dependent. Commonly used rule-based driving metrics like EPDMS are interpretable but lack context-awareness, while recent VLMbased evaluations are context-aware but limited by ambiguous VLM outputs and weak physical grounding. To evaluate driving in a manner that is both interpretable and context-aware, we introduce DriveJudge. DriveJudge is a driving evaluation agent that combines rule-grounded evaluation with Vision-Language Model (VLM) reasoning and selectively invokes physically-grounded deterministic rule functions after interpreting the environmental context. To train and evaluate DriveJudge, we curate a large-scale dataset of 33,577 challenging driving samples with human annotations on whether the driving behavior is reasonable in the given scenario. With this dataset, we address the underexplored problem of driving metric evaluation, and introduce two human-aligned benchmark tasks: Driving Quality Classification and Trajectory Preference Selection. DriveJudge outperforms EPDMS for driving quality classification by 21.23 AUC, and the recent VLM-based DriveCritic for trajectory preference selection by 6.5%, setting a new standard for interpretable and precise driving evaluation.
Comment: Under Review
arXiv PDF
OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
Lujie Yang, Xiaoyu Huang, Zhen Wu, Angjoo Kanazawa, Pieter Abbeel, Carmelo Sferrazza, C. Karen Liu, Rocky Duan, Guanya Shi
arXiv:2509.26633v3 •updated • 2025-09-30
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 feasible trajectories. Moreover, preserving task-relevant interactions enables efficient data augmentation, from a single demonstration to different robot embodiments, terrains, and object configurations. We comprehensively evaluate OmniRetarget by retargeting motions from OMOMO, LAFAN1, and our in-house MoCap datasets, generating over 8-hour trajectories that achieve better kinematic constraint satisfaction and contact preservation than widely used baselines. Such high-quality data enables proprioceptive RL policies to successfully execute long-horizon (up to 30 seconds) parkour and loco-manipulation skills on a Unitree G1 humanoid, trained with only 5 reward terms and simple domain randomization shared by all tasks, without any learning curriculum.
Comment: Project website: https://omniretarget.github.io
arXiv PDF
Transformer-Based Warm-Starting for Feasible and Optimal Terminal Approach to Tumbling Objects with Space Manipulators
Yuji Takubo, Maximilian Adang, Mac Schwager, Simone D'Amico
arXiv:2606.17317v1 • 2026-06-15
Real-time trajectory generation for on-orbit robotic servicing is challenging due to the nonlinear coupling between spacecraft bus motion, manipulator dynamics, visibility cone, and trajectory-level safety constraints. This paper studies learning-based warm-starting for sequential convex programming (SCP) in the terminal approach of a space manipulator toward a tumbling target. The proposed framework decomposes the problem into a system center-of-mass translational planning stage and a coupled attitude--manipulator torque-allocation stage, and applies a causal transformer warm-start to the latter, which constitutes the dominant computational bottleneck. Linear and flow matching action decoders are compared under different action-chunking and training dataset sizes, and the resulting warm-starts are evaluated under both cost-optimal and feasibility projection using SCP. Across 300 held-out scenarios, the learned warm-start reduces the second-stage SCP iteration count by up to 28% and the runtime by 23% while preserving the final control-cost distribution. When the learned warm-starts are used for nonconvex feasibility projection, they nearly halve the runtime relative to cost-optimal SCP, while avoiding the catastrophic high-cost tail behavior observed when initialized heuristically. These results indicate that sequence-model warm-starts can improve both the computational efficiency and trajectory robustness of optimization-based terminal guidance for space manipulation.
Comment: 8 pages, 4 figures
arXiv PDF
ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
Yutong Liang, Quanquan Peng, Ri-Zhao Qiu, Xiaolong Wang
arXiv:2606.03177v2 •updated • 2026-06-02
Human demonstrations provide strong priors for robot manipulation, yet it is non-trivial to transfer them to execute on real robots due to the kinematic gap. In dexterous manipulation, it remains challenging to track long-horizon, contact-rich sequences even in simulators: a reference-tracking policy must keep objects on their target trajectories while preserving demonstrated joint motion and contact timing. Existing approaches often rely on hand-crafted reward tuning that require per-sequence tuning and break under limited interaction budgets. We introduce ConTrack, a reinforcement learning (RL) framework that scales with tracking data. ConTrack treats object tracking as a constraint and allocates remaining control authority to motion fidelity, which allows it to adapt task--style trade-offs online using a dual-variable update. In addition, ConTrack also stabilizes long-horizon learning with an adaptive mid-trajectory reset library that reuses policy-reachable simulator states. Our qualitative and quantitative results in simulation tracking and real robot demonstrate that ConTrack improves success and object pose accuracy significantly over prior arts while preserving joint and contact fidelity. Website: https://www.lyt0112.com/projects/ConTrack.
arXiv PDF
Abstention-Aware Personalized Object Rearrangement via Uncertainty-Guided LLM Assistance
Sam Collin, Ali Ayub
arXiv:2606.17309v1 • 2026-06-15
Robotic assistance in household environments requires not only predicting where objects should be placed, but also reasoning about when objects should not be placed at all. Existing approaches to personalized object rearrangement primarily focus on placement decisions under the assumption of clean observations and complete actionability, limiting their applicability in realistic, cluttered, and partially erroneous settings. In this paper, we introduce APOLLO, a hybrid framework for abstention-aware personalized object rearrangement that combines a lightweight, personalized embedding model (PEM) with selective large language model (LLM) assistance. PEM is trained for each user-environment pair using a small number of demonstrations, operates entirely on CPU, and produces uncertainty estimates, which are used to selectively invoke LLM-based reasoning only for ambiguous decisions, balancing efficiency, privacy, and reasoning capability. To evaluate this formulation beyond existing benchmarks, we introduce APOR, a synthetic, LLM-generated dataset that captures room-level, multi-furniture environments, diverse organizational profiles, explicit abstention behavior, and noisy partial scene context. Extensive experiments on both PARSEC and APOR provide initial evidence that APOLLO improves over prior LLM-based baselines in controlled benchmark settings while substantially reducing LLM usage. Code is available at https://github.com/PaInt-Lab/APOLLO.
Comment: Accepted at the 2026 IEEE 35th International Conference on Robot and Human Interactive Communication (RO-MAN 2026)
arXiv PDF
Video World Models
21
默认显示 5 篇
Learning QoE from Packet-Level Measurements in Encrypted Video Conferencing Traffic
Michael Sidorov, Ofer Hadar
arXiv:2601.06862v2 •updated • 2026-01-11
The quality of the user experience has become one of the most important aspects in todays world, as it directly influences individuals willingness to continue using or abandon a product or service. In this context, video conferencing applications (VCAs), which experienced widespread adoption following the COVID-19 pandemic, must deliver excellent performance to remain competitive in an increasingly crowded market. Although content providers (CPs) such as Zoom, WhatsApp, Telegram, and Google Meet can assess conversation quality by comparing transmitted and received data. The widespread use of end-to-end encryption in VCAs makes quality-of-experience (QoE) evaluation by internet service providers (ISPs) far more challenging. Since ISPs do not have access to the encrypted content, they must rely on passive measurements of unencrypted traffic characteristics on the data path. In this work, we present a simple yet effective QoE prediction framework based on an almost stock convolutional neural network (CNN) architecture that uses only the packet sizes extracted from the communication between two participants in a video conferencing (VC) call to predict two QoE metrics: BRISQUE and MOS. The proposed framework is simple, easy to implement, and does not require high-end computational resources, yet it provides superior prediction performance, as shown in our experiments on two custom datasets collected from WhatsApp and Zoom, which achieve substantial improvements over previous models for the QoE prediction task.
arXiv PDF
BusterX++: Towards Unified Cross-Modal AI-Generated Content Detection and Explanation with MLLM
Haiquan Wen, Tianxiao Li, Zhenglin Huang, Yiwei He, Guangliang Cheng
arXiv:2507.14632v4 •updated • 2025-07-19
The rapid advancement of generative AI has substantially improved image and video synthesis, amplifying the risk of multimodal visual misinformation. Recent MLLMs have shown promise for transparent AI-generated content detection through reasoning and explanation, yet existing approaches largely treat image and video forensics as isolated tasks, leaving cross-modal synergies underexplored. To address this, we present \textbf{BusterX++}, a unified MLLM for joint image and video detection with interpretable reasoning. We also introduce \textbf{GenBuster-Bench++}, a meticulously curated, difficulty-aligned benchmark containing balanced image and video samples spanning recent generation models and diverse real-world scenarios. Using this controlled setting, we revisit the widely adopted $SFT \rightarrow RL$ post-training paradigm. Notably, our findings demonstrate that a single-stage, pure RL strategy driven strictly by sparse outcome rewards consistently matches or surpasses a strong SFT+RL baseline across both unified and single-modality settings. Our key insight reveals that SFT imposes lower policy entropy, which restricts the policy search space and dampens exploratory freedom. In contrast, single-stage pure RL maintains higher policy entropy throughout training, effectively unlocking the spontaneous emergence of cross-modal capability transfer between image and video forensics. Extensive experiments demonstrate that BusterX++ achieves state-of-the-art performance, highlighting the powerful potential of RL for unified cross-modal visual reasoning.
arXiv PDF
BusterX: MLLM-Powered AI-Generated Video Forgery Detection and Explanation
Haiquan Wen, Yiwei He, Zhenglin Huang, Tianxiao Li, Zihan Yu, Xingru Huang, Lu Qi, Baoyuan Wu, Xiangtai Li, Guangliang Cheng
arXiv:2505.12620v8 •updated • 2025-05-19
As generative video models become increasingly realistic, detecting AI-generated videos requires systems that offer both accuracy and interpretability. However, applying Multimodal Large Language Models (MLLMs) to video forensics is currently limited by outdated datasets, simplistic evaluation protocols, and a reliance on black-box classification. To address these issues, we introduce a comprehensive dataset, benchmark, and baseline model for video forgery detection. First, we present \textbf{GenBuster-200K}, a fair dataset of over 200,000 high-quality videos sourced from state-of-the-art generators, featuring diverse real-world scenarios. Second, we propose \textbf{GenBuster-Bench}, a diagnostic benchmark spanning three progressive tracks (In-Domain, Out-of-Domain, and In-the-Wild) to evaluate models across \textit{domain shifts} and \textit{generational shifts}. It also introduces an MLLM-as-a-Judge protocol to assess the quality of the generated forensic explanations. Finally, we develop \textbf{BusterX}, an MLLM baseline with RL training. Instead of direct binary classification, BusterX formulates detection as a visual reasoning task, where the generated reasoning chain serves as detector itself. Experimental results demonstrate that BusterX outperforms several leading MLLMs (e.g., Qwen3.5, Claude-Sonnet-4.6) in both detection accuracy and rationale quality.
arXiv PDF
GEOPHYS: The Geometry of Physical Plausibility
Christian Internò, Alexander Pondaven, Habon Issa, Fabio Pizzati, Francesco Pinto, Markus Olhofer, Ivan Laptev, Philip Torr, Eero P. Simoncelli, Barbara Hammer, David Klindt
arXiv:2606.20707v1 • 2026-06-15
While humans can identify physically implausible events within milliseconds, machine learning approaches addressing the same problem are extremely slow and expensive. They either rely on external multimodal-LLM judges or require ad-hoc modifications to the training procedure. In this work, we argue that indicators of physical plausibility are implicitly captured by five geometric properties of the per-frame embeddings produced by frozen image encoders. In aggregate, we call them GEOPHYS. First, we show that these signals correlate with human EEG responses to two forms of object-permanence violations. Second, GEOPHYS robustly discriminates physically implausible videos from realistic ones, achieving state-of-the-art physics-violation detection: 98.3% on LikePhys and 93.3% on IntPhys2, whereas V-JEPA 2, GPT-4o, Gemini, and twelve modern video diffusion models perform near chance. Third, used as a best-of-N verifier for physical alignment during video generation, GEOPHYS lifts MAGI-1 24B from 50.01% to 64.50% on PhysicsIQ at 1.5x lower wall-clock and 4.65x lower memory than the V-JEPA 2 world-model verifier. Ultimately, GEOPHYS demonstrates that physical plausibility in videos can be assessed by leveraging the emergent geometric properties of temporal features extracted from image encoders.
arXiv PDF
Contrastive Action-Image Pre-training for Visuomotor Control
Yuvan Sharma, Dantong Niu, Anirudh Pai, Zekai Wang, Zhuoyang Liu, Baifeng Shi, Stefano Saravalle, Boning Shao, Ruijie Zheng, Jing Wang, Konstantinos Kallidromitis, Yusuke Kato, Fabio Galasso, Yuke Zhu, Danfei Xu, Linxi "Jim" Fan, Jitendra Malik, Trevor Darrell, Roei Herzig
arXiv:2606.17256v1 • 2026-06-15
Existing vision encoders for robotics face a fundamental bottleneck: robotic datasets lack the scale necessary for large-scale pre-training. Prior work circumvents this data scarcity by turning to internet-scale image and language data or egocentric human video. While these models show promise, neither paradigm learns from paired vision and action data, which downstream visuomotor control policies require. However, robot trajectories, the most direct source of this paired signal, are not available at pre-training scale, motivating us to extract action signals from abundant human video instead. To this end, we introduce CAIP (Contrastive Action-Image Pre-training), a vision encoder that treats human hand poses from large-scale egocentric video as a proxy for end-effector actions. By extracting 3D hand keypoints, a representation that aligns naturally with downstream robot action spaces, CAIP learns a unified action-image representation through a contrastive objective. Leveraging 32,041 hours of egocentric human video and only 88 hours of robotic manipulation data, CAIP outperforms state-of-the-art vision encoders including DINOv2, SigLIP, MVP, and R3M. Evaluated on a challenging real-world dexterous manipulation setup using Dexmate Vega and Sharpa Wave hands, CAIP yields performance gains of more than 30% on tasks involving folding, pouring, and fine-grained manipulation. Our results show that our method of contrastive action-centric pre-training yields a scalable path to achieving robust visual representations better suited for physical interaction.
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
ROVE: Unlocking Human Interventions for Humanoid Manipulation via Reinforcement Learning
Wei Xiao, Weiliang Tang, Yuying Ge, Hui Zhou, Yao Mu, Li Zhang, Yixiao Ge
arXiv:2606.17011v1 • 2026-06-15
Human interventions provide crucial corrective signals for post-training Vision-Language-Action (VLA) models. However, enabling seamless humanoid interventions is a formidable systems challenge due to complex whole-body kinematics and dexterous-hand control. Consequently, the collected intervention trajectories are often suboptimal, and methods that rely on human interventions as expert supervision can absorb hesitant, inefficient, or even erroneous behaviors. To address both the system and algorithmic challenges, we propose ROVE, a reinforcement learning framework for humanoid VLA post-training with imperfect human interventions. First, ROVE introduces a human-in-the-loop pipeline capable of collecting deployment and intervention data for humanoid manipulation. Second, it utilizes Optimistic Value Estimation (OVE) to prioritize high-value behaviors from mixed-quality trajectories. To further robustify value estimation, we incorporate cross-embodiment human experience videos to provide rich supervision for long-tailed failure and recovery modes. The resulting critic yields informative advantage signals, steering the VLA actor to focus on high-value behaviors rather than indiscriminately imitating all actions. On challenging real-world contact-rich and fine-grained humanoid manipulation tasks, ROVE outperforms experience-learning baselines and consistently improves across multiple rollout-intervention iterations.
arXiv PDF
2026-06-14
48 篇
Robotics
40
默认显示 5 篇
Anisotropic Template Ansätze for Robust Positive Invariance under State-Dependent Uncertainty
Abdelrahman Ramadan, Melissa Greeff, Sidney Givigi
arXiv:2606.16068v1 • 2026-06-14
We establish sufficient conditions for robust positive invariance under state- and input-dependent disturbances with anisotropic covariance structure. The proposed ansatz maps a fixed ellipsoidal template through a GP-derived positive-definite matrix field, subsuming scalar homothetic scaling while retaining finite graph-based verification. The resulting LMI conditions couple the learned field to Schur-stable dynamics; an isotropic fallback with inflation factor $r=1/(1-γ_{\mathrm{cl}})$ proves admissibility. During each learning epoch the field is frozen, so online tube evaluation is one GP covariance query and a small matrix square root, with no online set iteration or LMI solve. Quadrotor simulations show a $195\times$ reduction in 3D velocity-tube volume and a $2.1{\times}10^5$ reduction in the joint 7D velocity-control subspace relative to a non-adaptive homothetic baseline. This extended version adds full proofs, a separated offline/online complexity analysis, and controller-sweep, contraction, and projection-area studies.
arXiv PDF
A Smart-Scheduled Hybrid (SSH) EKF-FGO State Estimation
Eric Levi, Soosan Beheshti
arXiv:2606.16057v1 • 2026-06-14
Reliable state estimation in robotics and control re quires balancing estimation accuracy against computational cost. While filtering-based methods such as the Extended Kalman Filter (EKF) provide efficient real-time updates, and optimisation based formulations using factor graphs improve global consistency, the role of optimisation scheduling is often treated implicitly rather than examined as an explicit design variable. This paper presents an experimental study that explicitly isolates optimisation scheduling using a Smart Scheduled Hybrid (SSH) EKF-FGO framework as a controlled testbed. By combining EKF-based state propagation with periodically invoked batch optimisation and holding solver structure and effort fixed, the main contribution of this work is the experimental characterisation of optimisation scheduling as an independent design variable governing the trade-off between intermediate estimation accuracy and computational cost. Simulation results in a planar SLAM environment show that scheduling strongly influences pre optimisation drift, transient error behaviour, and runtime. In particular, the results identify operating regimes in which most of the benefit of global optimisation can be retained at a fraction of the computational cost, highlighting optimisation scheduling as an under-explored yet critical consideration in hybrid state estimation systems.
Comment: This work has been accepted for presentation/publication at the 2026 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE). The final published version will appear in IEEE Xplore
arXiv PDF
Leveraging Deep Learning for Object and Position Recognition of Load Carriers for Autonomous Logistics Vehicles
Christoph Legat, Tobias Miller, Marco Riess
arXiv:2606.16042v1 • 2026-06-14
This work explores the use of artificial intelligence in mobile robotics to achieve autonomous detection and pose estimation of load carriers for automated pickup. A deep neural network is designed to recognize predefined landmarks on the carrier from RGBD data; these landmarks are then used to compute the carrier's pose. The network operates directly on RGBD images to estimate landmark positions, which form the basis for determining the carrier's location. The approach is validated in extensive experiments and comprises both software and hardware implementations. A deep learning-based framework is presented to detect load carriers and estimate their pose for use with autonomous logistics vehicles. Our method uses a convolutional neural network to identify characteristic reference points on the carrier from RGBD input and computes its pose by combining these inferred landmarks with prior geometric knowledge. Experiments show that the resulting accuracy is sufficient for reliable load carrier detection in industrial environments, confirming the suitability of the method for autonomous intralogistics applications.
Comment: 6 pages, 6 figures, IFAC World Congress2026, \c{opyright} 2026 the authors. This work has been accepted to IFAC for publication under a Creative Commons Licence CC-BY-NC-ND
arXiv PDF
$λ$-Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety
Rui Chen, Shangtao Li, Yifan Sun, Changliu Liu
arXiv:2606.16022v1 • 2026-06-14
We introduce $λ$-Reachability, a scalable approach to Hamilton--Jacobi safety analysis for high-dimensional robotic systems. Unlike prior discounted formulations that rely on fixed one-step Bellman updates, $λ$-Reachability employs a stochastic multi-step estimator of the safety value, using a geometrically distributed rollout horizon together with a randomly absorbed terminal. Conceptually analogous to TD($λ$), $λ$-Reachability interpolates between local self-consistency updates and long-horizon max-over-trajectory safety targets via an interpretable horizon-control parameter. Unlike TD($λ$), where the terminal value is always incorporated in learning targets, the terminal safety value in $λ$-Reachability is only used at a probability controlled by parameter $δ$. We formally show that for $δ<1$, the update induces a contraction mapping that allows temporal-difference learning; as $λ\to 1$, the estimator recovers the undiscounted reachability objective. We apply $λ$-Reachability to high-dimensional safety learning problems with both simulated and real humanoid robots under balance and collision avoidance constraints. Experimental results demonstrate that $λ$-Reachability significantly improves both safe-set boundary classification and safety margin estimation compared to single-step temporal-difference baselines.
arXiv PDF
RSPECT: Robust and Scalable Planner for Energy-Aware Coordination of UAV-UGV Teams in Aerial Monitoring
Cahit Ikbal Er, Amin Kashiri, Yasin Yazicioglu
arXiv:2511.21957v2 •updated • 2025-11-26
We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-horizon aerial monitoring missions. More specifically, given a set of points to be visited by the UAVs and desired final positions of the UAV-UGV teams, the objective is to find a robust plan (the vehicle trajectories) that can be realized without a major revision in the face of uncertainty (e.g., unknown obstacles/terrain, wind) to complete this mission in minimum time. We provide a formal description of this problem as a mixed-integer program (MIP), which is NP-hard. Since exact solution methods are computationally intractable for such problems, we propose RSPECT, a scalable and efficient heuristic. We provide theoretical results on the complexity of our algorithm and the feasibility and robustness of resulting plans. We also demonstrate the performance of our method via simulations and experiments.
Comment: Accepted to the Journal of Intelligent & Robotic Systems (JINT)
arXiv PDF
Video World Models
8
默认显示 5 篇
Metis: A Generalizable and Efficient World-Action Model for Autonomous Driving and Urban Navigation
Jingyu Li, Zhe Liu, Dongnan Hu, Junjie Wu, Zipei Ma, Wenxiao Wu, Chao Han, Zhihui Hao, Zhikang Liu, Kun Zhan, Jiankang Deng, Xiatian Zhu, Li Zhang
arXiv:2606.15869v1 • 2026-06-14
World action models~(WAMs) have shown great promise for autonomous driving and urban navigation. Built upon Vision-Language-Action models or video generation models, existing approaches suffer key limitations: (1) High inference latency due to future observation prediction at test time, and (2) tightly coupled video and action modeling leading to representational mismatch and degraded generalization. To address both issues, we propose Metis, an end-to-end WAM framework that decouples video generation and action prediction. Specifically, Metis employs a Mixture-of-Transformers architecture with dedicated experts for video generation and action prediction, preserving the intrinsic distributional properties of each task. To enhance efficiency, we introduce an asymmetric attention mask that enables joint training of both experts while allowing the action model to bypass explicit video generation during inference. This design ensures training-inference consistency and significantly reduces computational costs without compromising planning performance. Extensive experiments demonstrate state-of-the-art performance on the NAVSIM navhard and navtest benchmarks and the CityWalker navigation benchmark, validating both the generalizability and efficiency across diverse tasks. Real-robot deployments further confirm the practical feasibility of our approach.
arXiv PDF
LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies
Jialei Chen, Kai Wang, Kang Chen, Shuaihang Chen, Feng Gao, Wenhao Tang, Zhiyuan Li, Weilin Liu, Zhuyu Yao, Boxun Li, Yuanbo Xu, Chao Yu
arXiv:2606.15768v1 • 2026-06-14
Vision-Language-Action models (VLAs) leverage large-scale vision-language pretraining for semantic robot control, but often lack explicit foresight into how robot actions change the scene. World-Action Models (WAMs) address this limitation by conditioning policies on predicted futures, yet existing approaches typically rely on computationally expensive video generation with substantial pixel-level redundancy. We present LaWAM, a Latent World Action Model that exposes predictive dynamics to robot policies through compact latent visual subgoals instead of reconstructed future video. At the core of LaWAM is a latent-action-conditioned Latent World Model (LaWM). We obtain LaWM by training a latent action model in the latent space of a pretrained vision foundation model and repurposing its forward decoder to predict future observation features for scene evolution. LaWAM then conditions action generation on these predicted latent visual subgoals to enable dynamics-aware robot control. LaWAM achieves state-of-the-art or competitive success rates (SRs) across LIBERO (98.6% SR), RoboTwin (91.22% SR), and real-world manipulation tasks while retaining low-latency inference. LaWAM runs in 187 ms per action-chunk prediction and achieves up to 24x lower wall-clock latency than pixel-space WAMs.
arXiv PDF
FineVLA: Fine-Grained Instruction Alignment for Steerable Vision-Language-Action Policies
Xintong Hu, Xuhong Huang, Jinyu Zhang, Yutong Yao, Yuchong Sun, Qiuyue Wang, Mingsheng Li, Sicheng Xie, Yitao Liu, Junhao Chen, Yixuan Chen, Yingming Zheng, Shuai Bai, Tao Yu
arXiv:2605.27284v2 •updated • 2026-05-26
Vision-Language-Action (VLA) models are increasingly expected to not only complete robot tasks, but also follow human instructions about how those tasks should be executed. However, existing robot datasets usually pair trajectories with coarse goal-level language, leaving execution-critical details such as active arm, approach direction, and contact region unspecified. This limits steerable policy learning and robotic video understanding. We introduce FineVLA, an open framework for action-aligned fine-grained VLA supervision. The framework includes: (1) a data construction tool that unifies 972,247 trajectories across 85K tasks from 10 open-source robot datasets and builds FineVLA-Data, a human-verified dataset of 47,159 fine-grained trajectories; (2) a held-out benchmark with 500 videos, 11,631 atomic facts, and 1,030 VQA questions; (3) a robotics-specialized VLM annotator for scalable fine-grained annotation; and (4) a steerable VLA policy trained with controlled mixtures of fine-grained and raw goal-level instructions. Our experiments yield three findings. First, fine-grained supervision does not sacrifice goal-level success: FG-only improves over Raw-only by +1.4 to +8.1 success-rate points across settings. Second, fine-grained and raw instructions are complementary, following a consistent inverted-U trend peaking at FG:Raw = 1:2 to 1:1. The best mixed setting reaches 86.8%/82.5% in RoboTwin simulation and 62.7/100 in real-world dual-arm manipulation (vs. 49.9 Raw-only). Third, fine-grained supervision improves steerable control: the largest real-world gains appear on pose (+23), color (+18), and approach direction (+18)--factors where goal-level instructions provide no guidance. Overall, fine-grained language should augment goal-level instructions: specifying how to execute alongside what to achieve. Project page: https://finevla.xlang.ai/
Comment: 26 pages, 7 figures, 25 tables
arXiv PDF
OmniTraffic: A Controllable Generation Pipeline and Benchmark for Spatio-Temporal Traffic Reasoning
Maonan Wang, Zhengyan Huang, Kemou Jiang, Yuhang Fu, Jiayue Zhu, Yuxin Cai, Xingchen Zou, Qiaosheng Zhang, Yi Yu, Ding Wang, Xi Chen, Ben M. Chen, Yuxuan Liang, Zhiyong Cui, Man On Pun, Yirong Chen
arXiv:2606.15749v1 • 2026-06-14
Traffic scene understanding requires models to reason beyond object recognition, including lane topology, multi-view geometry, temporal evolution, and signal-phase semantics. However, existing traffic-oriented multimodal benchmarks largely emphasize passive visual recognition or isolated video understanding, offering limited support for evaluating structure-aware traffic reasoning under controlled conditions. We introduce OmniTraffic, a controllable generation pipeline and benchmark for spatio-temporal traffic reasoning. Built around 12 real-world intersections reconstructed into editable 3D traffic environments and complemented by surveillance footage from two countries, OmniTraffic supports both controlled and natural-condition evaluation. It defines a three-level task hierarchy spanning scene perception, multi-view and temporal reasoning, and decision support. Using structured traffic metadata, OmniTraffic generates synchronized multi-view VQA samples covering vehicle states, lane functions, view--BEV correspondence, temporal dynamics, and signal-phase analysis, resulting in 8M VQA samples and a 3K human-verified test set. Evaluation of eleven frontier MLLMs reveals a large human--model gap, with the most pronounced failures in topology-grounded and spatio-temporal reasoning tasks. Fine-tuning a lightweight MLLM on simulated OmniTraffic data further improves performance on real-world traffic scenes, demonstrating the value of simulation-generated supervision for traffic-specific multimodal reasoning. Beyond a fixed dataset, OmniTraffic provides an extensible pipeline with configurable intersections, camera views, traffic demands, signal phases, visual conditions, and rare events.
Comment: 34 pages, 28 figures
arXiv PDF
3D Consistency Optimization for Self-Supervised Monocular Video Depth Estimation
Yuanye Liu, Ke Zhang, Junzhe Jiang, Li Zhang, Vishal Patel, Xiahai Zhuang
arXiv:2606.15681v1 • 2026-06-14
Reliable monocular video depth estimation is crucial for downstream 3D reasoning and embodied AI in endoscopic navigation. However, existing self-supervised approaches typically treat video frames independently or rely on weak temporal regularization. These methods, lacking a holistic perception of the underlying 3D scene, inevitably suffer from geometrically inconsistent predictions and severe cross-frame drift. To address these limitations, we introduce a new paradigm that recasts sequential video depth estimation as an unconstrained multi-view 3D reconstruction problem, enabling full exploitation of the powerful geometric priors embedded in recent 3D foundation models. The core of our approach is a 3D consistency optimization framework driven by three constraints: image-level photometric rendering, explicit world-coordinate geometric alignment, and multi-scale temporal gradient consistency. Such unified optimization elegantly anchors isolated frames to a globally coherent 3D structure. Our method has been validated in both the self-supervised training scenarios and challenging zero-shot clinical environments. Results show that the proposed approach achieves state-of-the-art spatial accuracy, outperforming the frame-based, video-based depth estimators and the multi-view 3D reconstruction baselines.
arXiv PDF
2026-06-13
49 篇
Robotics
38
默认显示 5 篇
Reinforcement Learning-Guided Retrieval with Soft Fusion for Robust Multimodal Imitation Learning under Missing Modalities
Hassan Ismkhan, Hamid Bouchahcia
arXiv:2606.15514v1 • 2026-06-13
Robotic systems perceive the world through multiple input modalities -- including visual camera streams and natural language instructions -- and must select appropriate actions based on these signals. However, assuming the permanent availability of all input devices is unrealistic, as sensors may fail, become occluded, or drop out entirely during deployment. Robust handling of such missing-modality scenarios is therefore essential for real-world robot operation. This paper introduces RL4IL, a reinforcement learning guided method for imitation learning that selects the most suitable action for a given observation by identifying the most relevant expert demonstrations from a training library. A reinforcement learning policy, trained via Proximal Policy Optimisation over Breadth-First Search candidate sets, ranks candidate demonstrations and a soft cross-attention fusion head aggregates their action signals to produce the final prediction. When a modality is missing at inference time, a dedicated per-modality RL retrieval policy identifies donor demonstrations from the training library, and a soft imputation head reconstructs the missing embedding via cross-attention over the top-ranked donors -- without requiring any retraining of the system. Experiments on three LIBERO benchmark suites demonstrate that RL4IL substantially outperforms state-of-the-art imitation learning methods under sensor dropout conditions, while requiring no policy network training. The code can be found at https://github.com/h-ismkhan/Reinforcement-Learning-via-kNN-for-Robotic-Learning-with-Missing-Camera
arXiv PDF
Latent Action Pretraining Through World Modeling
Bahey Tharwat, Yara Nasser, Ali Abouzeid, Ian Reid
arXiv:2509.18428v2 •updated • 2025-09-22
Vision-Language-Action (VLA) models have gained popularity for learning robotic manipulation tasks that follow language instructions. State-of-the-art VLAs, such as OpenVLA and $π_{0}$, were trained on large-scale, manually labeled action datasets collected through teleoperation. More recent approaches, including LAPA and villa-X, introduce latent action representations that enable unsupervised pretraining on unlabeled datasets by modeling abstract visual changes between frames. Although these methods have shown strong results, their large model sizes make deployment in real-world settings challenging. In this work, we propose LAWM, a model-agnostic framework to pretrain imitation learning models in a self-supervised way, by learning latent action representations from unlabeled video data through world modeling. These videos can be sourced from robot recordings or videos of humans performing actions with everyday objects. Our framework is able to transfer learned knowledge across tasks, environments, and embodiments. It outperforms models pretrained with ground-truth robot actions and other similar pretraining methods on the LIBERO benchmark and real-world setup, while being efficient and practical for real-world settings.
arXiv PDF
Understanding and Modeling Perceived Cognitive and Physical Strain Dynamics for Planning-Oriented Human-Robot Collaboration in Prefabricated Construction
Yifan Wang, Bo Xiao, Shane T. Mueller
arXiv:2606.15494v1 • 2026-06-13
Human-robot collaboration (HRC) in prefabricated construction requires planning approaches that consider not only productivity but also time-dependent worker states during repeated work and rest. Existing planning models often rely on simplified assumptions about fatigue, workload, or recovery, with limited domain-specific empirical evidence on how perceived strain evolves. This study develops an empirically grounded, planning-oriented approach to characterize perceived strain accumulation and recovery in prefabricated construction HRC. A controlled repeated work-rest experiment assessed perceived cognitive and physical strain using the Rating Scale for Mental Effort and Borg's Rating of Perceived Exertion. Linear and exponential functional forms were evaluated, followed by mixed-effects modeling to examine collaborative conditions, session effects, and inter-individual variability. Results indicate that cognitive strain accumulation is best represented by a linear mixed-effects model, whereas rest-phase recovery follows nonlinear decay. The resulting planning-oriented models may inform future human-state-aware task allocation and scheduling research.
Comment: 53 pages, 15 figures
arXiv PDF
SimCoachCorpus: A naturalistic dataset with language and trajectories for embodied teaching
Emily Sumner, Deepak E. Gopinath, Laporsha Dees, Patricio Reyes Gomez, Xiongyi Cui, Andrew Silva, Jean Costa, Allison Morgan, Mariah Schrum, Tiffany L. Chen, Avinash Balachandran, Guy Rosman
arXiv:2509.14548v2 •updated • 2025-09-18
High-quality curated datasets are essential for training and evaluating AI approaches, but are often lacking in embodied interactive domains where language and physical action are intertwined. In particular, few datasets capture how people acquire motor skills in embodied tasks through verbal instruction over time. To address this gap, we introduce SimCoachCorpus: a unique dataset of race car simulator driving that enables the investigation of rich phenomena during guided and unguided motor skill acquisition. In this dataset, 29 humans were asked to drive in a driving simulator around a race track for approximately ninety minutes. Fifteen participants received one-on-one instruction from a professional performance driving coach, and 14 participants drove without coaching instruction. SimCoachCorpus includes features such as vehicle state and inputs, map (track boundaries and race-line), and cone landmarks. Additionally, these are synchronized with the coach's concurrent verbal feedback and additional terminal feedback at the end of each lap. We also provide high-quality annotations of high-level coaching categories for each concurrent feedback utterance, ratings on students' compliance with coaching advice, and self-reported cognitive load and emotional state of participants (gathered from surveys during the study). The final dataset includes over 20,000 concurrent feedback utterances, over 400 terminal feedback utterances, and over 40 hours of interactive driving data. Our naturalistic interactive dataset can be used to investigate motor learning dynamics, explore linguistic phenomena, and train computational models of teaching and learning. We demonstrate applications of this dataset for in-context learning, imitation learning, and topic modeling. Data is hosted at https://doi.org/10.7910/DVN/W7VTKZ and code is available at https://github.com/ToyotaResearchInstitute/sim_coach_corpus
Comment: This is an extended version of a paper accepted to KDD Datasets & Benchmarks Track 2026
arXiv PDF
CropTrack: A Tracking with Re-Identification Framework for Precision Agriculture
Md Ahmed Al Muzaddid, Jordan A. James, William J. Beksi
arXiv:2512.24838v2 •updated • 2025-12-31
Multiple-object tracking (MOT) in agricultural environments presents major challenges due to repetitive patterns, similar object appearances, sudden illumination changes, and frequent occlusions. Contemporary trackers in this domain rely on the motion of objects rather than appearance for association. Nevertheless, they struggle to maintain object identities when targets undergo frequent and strong occlusions. The high similarity of object appearances makes integrating appearance-based association nontrivial for agricultural scenarios. To solve this problem we propose CropTrack, a novel MOT framework based on the combination of appearance and motion information. CropTrack integrates a reranking-enhanced appearance association, a one-to-many association with appearance-based conflict resolution strategy, and an exponential moving average prototype feature bank to improve appearance-based association. Evaluated on publicly available agricultural MOT datasets, CropTrack demonstrates consistent identity preservation, outperforming traditional motion-based tracking methods. Compared to the state of the art, CropTrack achieves significant gains in association accuracy and identification precision scores with a lower number of identity switches.
Comment: 8 pages, 5 figures, and 4 tables
arXiv PDF
Video World Models
11
默认显示 5 篇
Latent Action Pretraining Through World Modeling
Bahey Tharwat, Yara Nasser, Ali Abouzeid, Ian Reid
arXiv:2509.18428v2 •updated • 2025-09-22
Vision-Language-Action (VLA) models have gained popularity for learning robotic manipulation tasks that follow language instructions. State-of-the-art VLAs, such as OpenVLA and $π_{0}$, were trained on large-scale, manually labeled action datasets collected through teleoperation. More recent approaches, including LAPA and villa-X, introduce latent action representations that enable unsupervised pretraining on unlabeled datasets by modeling abstract visual changes between frames. Although these methods have shown strong results, their large model sizes make deployment in real-world settings challenging. In this work, we propose LAWM, a model-agnostic framework to pretrain imitation learning models in a self-supervised way, by learning latent action representations from unlabeled video data through world modeling. These videos can be sourced from robot recordings or videos of humans performing actions with everyday objects. Our framework is able to transfer learned knowledge across tasks, environments, and embodiments. It outperforms models pretrained with ground-truth robot actions and other similar pretraining methods on the LIBERO benchmark and real-world setup, while being efficient and practical for real-world settings.
arXiv PDF
Learning Context-Aware Neural ODE Dynamics for Adaptive Robotic Control
Shao-Yi Yu, Jen-Wei Wang, Maya Horii, Masayoshi Tomizuka, Vikas Garg
arXiv:2606.15469v1 • 2026-06-13
Robotic systems deployed in uncertain and dynamically changing environments often face variations in contact conditions, aerodynamic effects, and external disturbances that challenge reliable control. To remain effective under model-based control, these systems require dynamics models that can adapt to such changes, especially when direct access to complete environmental information is limited. To enable adaptability and facilitate integration with model predictive control, we propose a context-aware dynamics model based on neural ordinary differential equations, which infers environmental factors from state-action histories using a two-phase training procedure. We validate the approach across diverse robotic platforms, including a quadrotor in simulation, as well as a Sphero BOLT robot and a Fanuc manipulator in real-world experiments. The results demonstrate that our method effectively adapts to temporally and spatially varying environmental changes across different tasks. Videos are available at https://youtu.be/PY0sNyF2rqE , and the source code is available at https://github.com/syyu410-yu/context-aware-neural-ode-control.git .
arXiv PDF
CausalDrive: Real-time Causal World Models for Autonomous Driving
Tianyi Yan, Huan Zheng, Dubing Chen, Meizhi Qu, Yingying Shen, Lijun Zhou, Mingfei Tu, Bing Wang, Guang Chen, Hangjun Ye, Haiyang Sun, Cheng-zhong Xu, Jianbing Shen
arXiv:2606.15341v1 • 2026-06-13
World models have emerged as a promising paradigm for scaling autonomous driving (AD) data, yet existing video generative models fall short as interactive simulators. Layout-conditioned renderers rely on "oracle" future trajectories of all background agents, rendering them strictly non-reactive. Conversely, pure action-conditioned predictors lack semantic control over complex interactions and suffer from prohibitive diffusion latencies, hindering closed-loop policy learning. To bridge this gap, we present CausalDrive, a controllable, real-time foundation driving world renderer. CausalDrive operates solely on the initial front-view frame, the ego-vehicle's trajectory, and a macroscopic text prompt. By excluding future NPC layouts, we compel the model to intrinsically predict causal interactions, enabling text-driven control over Driving Sociology, allowing users to dynamically orchestrate diverse counterfactual reactions to identical ego-actions. To overcome the efficiency bottleneck and address the covariate shift in autoregressive generation, we propose a novel Context-Forced DMD architecture. This combines continuous flow-matching with a self-correcting distillation objective, achieving interactive speeds of 12 FPS. This breakthrough transforms the passive video generator into a playable neural simulator. We demonstrate its versatility across three downstream applications: (1) generative closed-loop evaluation with significantly mitigated collision artifacts, (2) large-scale Reinforcement Learning (RL) post-training driven by a Video2Reward module, and (3) real-time human-in-the-loop simulation. Extensive experiments validate that policies trained within CausalDrive's reactive scenarios exhibit superior interaction capabilities in the real world.
arXiv PDF
Conditional Multi-Event Temporal Grounding in Long-Form Video
Yuanhao Zou, Arthad Kulkarni, Lucas Tonanez, Lincoln Spencer, Guangyu Sun, Tianxingjian Ding, Andong Deng, Yi Li, Shuangjun Liu, Yuan Li, Dashan Gao, Ning Bi, Taotao Jing, Shuai Zhang, Chen Chen
arXiv:2606.15320v1 • 2026-06-13
Multimodal large language models have made rapid progress in video temporal grounding, yet real-world applications routinely require localizing every event that satisfies compositional temporal and spatial conditions. Existing benchmarks fall short: they localize only a single moment per query, count without temporal conditions, or treat grounding and counting as disjoint tasks. We introduce CoMET-Bench for Conditional Multi-Event Temporal Grounding in long-form video, comprising 2789 queries over 600 videos averaging 33.8 minutes across five real-world domains, with each query composed from 4 temporal conditions, 3 spatial conditions, and a dedicated negative-query subset. We further propose a unified evaluation protocol jointly measuring counting, grounding, and negative-query recognition, including a new Rejection-F1 metric that prevents trivial gaming by lazy "always-empty" models. Benchmarking a broad suite of MLLMs, agent-based, and grounding-specialized methods reveals that existing approaches remain far from solving this task. Building on these findings, we propose CoMET-Agent, a training-free agentic framework that reformulates the task as structured search-and-aggregate, improving F1@0.5 by 6.1% over GPT-5 purely through structural reasoning. Failure analysis further surfaces three open directions: fine-grained entity tracking, position-uniform retrieval, and causal event pairing.
arXiv PDF
Attention, not scale, drives human-AI alignment in multimodal language prediction
Viktor Kewenig, Andrew Lampinen, Samuel A. Nastase, Christopher Edwards, Quitterie Lacome D'Elascombe, Akilles Rechardt, Jeremy I Skipper, Gabriella Vigliocco
arXiv:2308.06035v4 •updated • 2023-08-11
Humans routinely draw on visual context to predict upcoming words. To what extent current vision-language models produce comparable behaviour is unclear. Here we placed five state-of-the-art pretrained systems side-by-side with 600 human participants in a web-based Visual-World Paradigm. On each of 100 six-second movie clips, models and participants received either text only or synchronised video and text and judged how likely a specified target word was to appear next; human eye movements were tracked throughout. Adding visual context increased model-human alignment in predictability ratings across all architectures (average Delta r = 0.18) with no impact of parameter size. When visual context was informative, transformer attention significantly increased alignment. Attention maps from two transformer models corresponded with human gaze, explaining up to 70% of the inter-participant variance when the scene contained informative cues. Notably, cross-modal attention reliably tracked anticipatory human fixations on semantic cues. These results suggest that current transformer-based vision-language models can approximate human behaviour exploiting visual context during language prediction - and that selective attention to informative cues, not sheer model scale, is the principal driver of this alignment.
Comment: 39 pages, 6 Figures, published in NPJ Artificial Intelligence
arXiv PDF
2026-06-12
84 篇
Robotics
76
默认显示 5 篇
An Autonomous Subgram SMA-Based Swimmer
Conor K. Trygstad, Francisco M. F. R. Gonçalves, Néstor O. Pérez-Arancibia
arXiv:2606.15028v1 • 2026-06-12
We present the Swima, a bioinspired 900-mg swimmer propelled by two 10-mg high-work-density (HWD) actuators driven by shape-memory alloy (SMA) wires. We integrated onboard power and computation by using a custom-built printed circuit board (PCB) and an 11-mAh 3.7-V 507-mg single-cell lithium-ion (Li-Ion) battery, which in conjunction enable autonomous swimming in excess of 18 min. The Swima can swim at speeds of up to 22.4 mm/s (0.56 Bl/s), achieves turning rates of up to 14°/s, and can follow 0-degree heading reference trajectories with root mean square (RMS) values of tracking errors of about 6.5° across multiple tests. This robot is the first subgram microswimmer with onboard power, actuation, and computation developed to date.
Comment: Under review, 6 pages, 5 figures
arXiv PDF
Steering Autoregressive Vision-Language-Action Policies via Action Token Intervention
Jason Chan, Jonathan C. Kao
arXiv:2606.15021v1 • 2026-06-12
We present Token Steering (TS), a method for dynamically steering trajectories generated by an autoregressive vision-language-action (VLA) model through direct intervention in the action-token space. TS injects low-dimensional user inputs into the model's native action-token representation, allowing users to influence trajectory generation without modifying the underlying vision-language model (VLM) architecture. Because TS operates entirely at inference time, it requires no additional training or finetuning. User inputs guide rather than override the pretrained policy, allowing users to influence robot actions while preserving the dexterity, smoothness, and task priors learned by the VLA. We evaluate TS on two household manipulation tasks -- drawer closing after object placement and state-aware object swapping -- and improve success rates from 10.0% to 72.5% and from 16.7% to 93.8%, respectively. By enabling lightweight, intuitive steering over robot foundation models, our interface has the potential to improve human-robot interaction in consumer environments and broaden accessibility for individuals with limited physical control. Project website: https://jasontchan.github.io/token-steering/ .
Comment: 9 pages, 5 figures
arXiv PDF
LV-Calib: LiDAR-Camera Extrinsic Calibration with Boundary-Response Modeling
Sheng Hong
arXiv:2606.15010v1 • 2026-06-12
We present LV-Calib, a calibration framework for LiDAR-camera extrinsic estimation and LiDAR boundary-response calibration using a printable planar target. The target serves as a shared observation carrier: visual fiducials provide indexed image measurements, while circular reflectivity boundaries provide LiDAR-observable structural feature points. Instead of directly fitting boundary points as ideal geometric contours, LV-Calib automatically crops background points, estimates the target plane, and iteratively refines accurate LiDAR-side 3-D feature points from intensity and geometric constraints. The refinement explicitly handles the broadened and distorted transition band induced by finite beam footprint and mixed-intensity returns around black-white reflectivity discontinuities. Given these refined LiDAR features, we formulate a weighted reprojection-consistent extrinsic optimization with LiDAR feature alignment, where image observations are kept in the reprojection domain and LiDAR feature residuals are weighted by refinement confidence. Finally, using the estimated extrinsic and the extracted transition band, LV-Calib calibrates the LiDAR boundary response by estimating pitch-yaw-range residual statistics of boundary-overlap samples. Experiments on printed-board calibration data demonstrate sub-pixel reprojection accuracy, millimeter-level LiDAR feature consistency, and improved odometry performance. Code and calibration data will be released for reproducible evaluation.
Comment: Comments: 8 pages, 6 figures, 3 tables
arXiv PDF
LaST$_{0}$: Latent Spatio-Temporal Chain-of-Thought for Robotic Vision-Language-Action Model
Zhuoyang Liu, Jiaming Liu, Hao Chen, Jiale Yu, Ziyu Guo, Chengkai Hou, Chenyang Gu, Xiangju Mi, Renrui Zhang, Kun Wu, Zhengping Che, Jian Tang, Pheng-Ann Heng, Shanghang Zhang
arXiv:2601.05248v4 •updated • 2026-01-08
Vision-Language-Action (VLA) models have recently shown strong generalization, with some approaches seeking to explicitly generate linguistic reasoning traces or predict future observations prior to execution. However, explicit reasoning typically incurs non-negligible inference latency, which constrains the temporal resolution required for robotic manipulation. Moreover, such reasoning is confined to the linguistic space, imposing a representational bottleneck that struggles to faithfully capture ineffable physical attributes. To mitigate these limitations, we propose LaST$_0$, a framework that enables efficient reasoning before acting through a Latent Spatio-Temporal Chain-of-Thought (CoT), capturing fine-grained physical and robotic dynamics that are often difficult to verbalize. Specifically, we introduce a token-efficient latent CoT space that models future visual dynamics, 3D structural information, and robot proprioceptive states, and further extends these representations across time to enable temporally consistent implicit reasoning trajectories. Furthermore, LaST$_0$ adopts a dual-system architecture implemented via a Mixture-of-Transformers design, where a reasoning expert conducts low-frequency latent inference and an acting expert generates high-frequency actions conditioned on robotics-oriented latent representations. To facilitate coordination, LaST$_0$ is trained with heterogeneous operation frequencies, enabling adaptive switching during deployment. Across 10 real-world tasks spanning tabletop, mobile, and dexterous hand manipulation, LaST$_0$ improves mean success rates by 13%, 14% and 14% over prior SOTA VLA methods, respectively.
Comment: Project page: https://vla-last0.github.io/
arXiv PDF
Evidence of an Emergent "Self" in Continual Robot Learning
Adidev Jhunjhunwala, Judah Goldfeder, Hod Lipson
arXiv:2603.24350v3 •updated • 2026-03-25
A key challenge to understanding self-awareness has been a principled way of quantifying whether an intelligent system has a concept of a "self", and if so how to differentiate the "self" from other cognitive structures. We propose that the "self" can be isolated by seeking the invariant portion of cognitive process that changes relatively little compared to more rapidly acquired cognitive skills - because our self is the most persistent aspect of our experiences. We used this principle to analyze the cognitive structure of robots under two conditions: One robot learns a constant task, while a second undergoes continual learning under variable tasks. We find that robots subjected to continual learning develop an invariant subnetwork that is significantly more stable (p < 0.001) compared to the control, and that this subnetwork is also functionally important: preserving it aids adaptation while damaging it impairs performance. We validate this pattern across three different robots spanning locomotion and manipulation.
Comment: 44 pages, 24 figures, includes supplementary materials
arXiv PDF
Video World Models
8
默认显示 5 篇
AdaSR: Adaptive Streaming Reasoning with Hierarchical Relative Policy Optimization
Junlong Tong, Wenqi Xu, Yingqi Fan, Anhao Zhao, Xuan Lu, Yang Tan, Xiaoyu Shen
arXiv:2606.14694v1 • 2026-06-12
Large reasoning models typically follow a read-then-think paradigm: they observe the complete input, reason over a static context, and then produce the answer. Yet many real-world scenarios are inherently dynamic, such as audio and video stream, where information arrives as a continuous stream and models must reason, update, and respond under partial observations. Recent streaming reasoning methods allow models to think while reading, but they largely rely on supervised imitation of pre-constructed trajectories, which limits their flexibility. In this paper, we propose AdaSR, an adaptive streaming reasoning framework that enables models to reason during input streaming and perform final deliberation once the stream is complete, learning when to think, and how much computation to allocate across different stages. To optimize this hierarchical reasoning process, we introduce Hierarchical Relative Policy Optimization (HRPO), which decomposes policy optimization into streaming reasoning and deep reasoning phases, providing more fine-grained advantage assignment instead of uniformly distributing a single sequence-level advantage over all tokens. HRPO integrates format, accuracy, and adaptive thinking rewards to enforce valid reasoning protocols, preserve final task performance, and encourage latency-aware computation allocation. Experiments show that AdaSR achieves a better balance among reasoning accuracy, computational efficiency, and streaming latency compared with supervised fine-tuning baseline. We release our code at https://github.com/EIT-NLP/StreamingLLM/tree/main/AdaSR.
arXiv PDF
AERMANI-PLACE: Language Guided Object Placement with Aerial Manipulators
Sarthak Mishra, Ritama Sanyal, Rishabh Dev Yadav, Wei Pan, Spandan Roy
arXiv:2606.14531v1 • 2026-06-12
Object placement is a fundamental component of aerial manipulation tasks, yet existing systems typically require the desired placement position to be specified explicitly in metric coordinates. Such interfaces are not intuitive and require users to reason about coordinate frames and scene geometry, making them difficult to use in practical deployments. In contrast, humans often communicate spatial goals through a combination of language and pointing gestures. Inspired by this observation, we present AERMANI-PLACE, a framework for language-guided object placement with aerial manipulators. Given a scene image and a natural language instruction, an image editing model generates a modified version of the scene containing a visual marker that indicates where the object should be placed. This marker is then grounded into the physical environment using depth observations to recover a metric place point, after which a placement trajectory is generated and executed by the aerial manipulator. We evaluate the proposed approach on a test set of 100 language-guided placement tasks and demonstrate successful execution on a real aerial manipulation platform. Experimental results show that the proposed method reliably infers placement locations from language instructions with an average success rate of 87\% on the test-set and transfers effectively to real-world aerial manipulation with an average success rate of 72\%. Video: https://youtu.be/SgwwgLBsv0g
arXiv PDF
Running the Gauntlet: Re-evaluating the Capabilities of Agents Beyond Familiar Environments
Mykola Vysotskyi, Runqi Lin, Grzegorz Biziel, Michal Zakrzewski, Sebastian Montagna, Damian Rynczak, Shreyansh Padarha, Kumail Alhamoud, Zihao Fu, William Lugoloobi, Kai Rawal, Hanna Yershova, Xander Davies, Taras Rumezhak, Guohao Li, Fazl Barez, Baoyuan Wu, Arkadiusz Drohomirecki, Yarin Gal, Chris Russell, Christopher Summerfield, Adam Mahdi, Volodymyr Karpiv, Philip Torr, Adel Bibi
arXiv:2606.14397v1 • 2026-06-12
As agentic systems continue to evolve and are widely deployed in real-world scenarios, there is a growing demand to faithfully evaluate their capabilities. However, current benchmarks are typically built on popular applications with relatively simple tasks and focus on a narrow set of capabilities while overlooking broader dimensions, resulting in saturated performance on modern agents and failing to probe their limitations. To this end, we introduce GauntletBench, a web-based benchmark for evaluating agent generalisation in challenging scenarios, focusing on three underexplored capabilities (temporal perception, graphical understanding, and 3D reasoning), across five less-covered professional applications (Video Editor, Workflow Builder, 3D Modeller, Flight Analyser, and Circuit Designer), each with 20 vision-intensive tasks (100 in total). Our benchmark provides a modular pipeline that comprises an environment compatible with both open- and closed-source agent frameworks, a controlled web-based application, a well-structured task suite, and an automated evaluation engine with diverse metrics. Contrary to widespread expectations, our empirical results reveal that frontier agentic systems remain far from achieving human-level performance. Even the state-of-the-art agent achieves only a 19.1% success rate on our GauntletBench, highlighting the limitations in these overlooked capabilities and generalisation. By comparison, non-expert human annotators achieve over 80% success on our challenging yet feasible tasks, revealing the substantial gap between current agent capabilities and those required for complex real-world scenarios.
arXiv PDF
Fast Autoregressive Video Diffusion and World Models with Temporal Cache Compression and Sparse Attention
Dvir Samuel, Issar Tzachor, Matan Levy, Michael Green, Gal Chechik, Rami Ben-Ari
arXiv:2602.01801v2 •updated • 2026-02-02
Autoregressive video diffusion models enable streaming generation, opening the door to long-form synthesis, video world models, and interactive neural game engines. However, their core attention layers become a major bottleneck at inference time: as generation progresses, the KV cache grows, causing both increasing latency and escalating GPU memory, which in turn restricts usable temporal context and harms long-range consistency. In this work, we study redundancy in autoregressive video diffusion and identify three persistent sources: near-duplicate cached keys across frames, slowly evolving (largely semantic) queries/keys that make many attention computations redundant, and cross-attention over long prompts where only a small subset of tokens matters per frame. Building on these observations, we propose a unified, training-free attention framework (FAST-AR) for FAST-AutoRegressive diffusion, consisting of three components: TempCache compresses the KV cache via temporal correspondence to bound cache growth; AnnCA accelerates cross-attention by selecting frame-relevant prompt tokens using fast approximate nearest neighbor (ANN) matching; and AnnSA sparsifies self-attention by restricting each query to semantically matched keys, also using a lightweight ANN. Together, these modules reduce attention, compute, and memory and are compatible with existing autoregressive diffusion backbones and world models. Experiments demonstrate up to x5 - x10 end-to-end speedups while preserving near-identical visual quality and, crucially, maintaining stable throughput and nearly constant peak GPU memory usage over long rollouts, where prior methods progressively slow down and suffer from increasing memory usage.
Comment: Accepted to ICML 2026. Project Page: https://dvirsamuel.github.io/fast-auto-regressive-video/
arXiv PDF
A Multi-Domain Feature Fusion Framework for Generalizable Deepfake Detection Across Different Generators
Amna Amjid, Sana Qadir, Mehwish Fatima, Raja Khurram Shahzad
arXiv:2606.14230v1 • 2026-06-12
Deepfakes are artificially generated images, audio, or videos that threaten privacy, security, and information integrity. Detecting such content is crucial for countering disinformation, as the latest models generate highly realistic content. While spatial- or frequency-based approaches achieve good detection rates on Generative Adversarial Networks (GANs)-based generated deepfakes, they often struggle with recent diffusion model-generated images. In particular, existing approaches rarely exploit complementary multi-domain representations or systematically evaluate cross-generator robustness. To address these challenges, we propose a multi-domain deepfake detection framework called SGFF-Net (Spatial-Gradient-Frequency Fusion Network) that integrates spatial, gradient, and DWT (Discrete Wavelet Transform)-based frequency representations within a dual residual learning architecture. Experimental results show that the SGFF-Net achieves 98.95\% accuracy in intra-dataset evaluation and improves performance in both cross-model (70.46\%) and cross-paradigm (69.94\%) settings. Incorporating multi-source training and data augmentation further enhances robustness, increasing accuracy from 70.46\% to 79.80\% in cross-model evaluation, from 69\% to 78\% in cross-paradigm evaluation, and from 61.50\% to 75.80\% on real-world data. Unlike single-domain detectors, the SGFF-Net learns complementary forensic cues across spatial, gradient, and wavelet-frequency domains, resulting in greater robustness under cross-generator and cross-paradigm evaluation. The results further show that combining multi-domain representations with data diversity and augmentation substantially improves generalization, providing practical insights for developing more reliable deepfake detection systems.
arXiv PDF
2026-06-11
105 篇
Robotics
92
默认显示 5 篇
An Attention-based Model for Robust Forecasting with Missing Modality
Zhitian Zhang, Wenjie Zi, Yunduz Rakhmangulova, Saghar Irandoust, Hossein Hajimirsadeghi, Thibaut Durand
arXiv:2606.13970v1 • 2026-06-11
Learning with missing modalities is a fundamental challenge in multimodal robot learning, as real-world robotic systems often operate in environments with incomplete sensor data. Attention-based models are appealing for processing multimodal data because they can handle multiple modalities with a single backbone network. However, most multimodal models assume that all modalities are available during both training and inference, limiting their applicability in robotic perception and decision-making. In this paper, we introduce a multimodal model designed to handle missing modalities during both training and inference. The model is formulated as a conditional variational autoencoder (CVAE) and incorporates a transformer-based architecture that leverages attention mechanisms to learn a unified, fixed-dimensional representation, even when some modalities are missing. We show that our proposed model can be trained with missing modalities while approximating a robust representation of all modalities. We evaluate our approach on five multimodal datasets across two robot learning tasks: human trajectory prediction and robot manipulation forecasting. Experimental results demonstrate that our model effectively learns from incomplete data and is superior to prior multimodal fusion approaches.
Comment: Work originally done in 2023
arXiv PDF
Benchmarking Vision-Language-Action Models on SO-101: Failure and Recovery Analysis
Yi Yu, Xinchuan Qiu
arXiv:2606.08881v2 •updated • 2026-06-07
Vision-Language-Action (VLA) models have demonstrated strong generalization in robotic manipulation, yet existing evaluations are primarily conducted in simulation or on expensive robotic platforms, leaving their robustness on affordable real-world robots largely unexplored. We present a standardized real-world benchmark for evaluating representative VLA and imitation learning policies on the low-cost SO-101 robotic platform. The benchmark comprises four representative manipulation tasks together with unified evaluation protocols, enabling systematic comparison under embodiment uncertainty. Using real-world teleoperated demonstrations, we fine-tune and evaluate $π_{0.5}$, SmolVLA, Wall-X, and ACT directly on the physical platform. Beyond conventional task success rates, the benchmark incorporates a structured failure taxonomy, semantic- and execution-level failure decomposition, and recovery-aware evaluation metrics to characterize policy robustness. Experimental results show that stronger pretrained VLA policies generally outperform the imitation learning baseline, although performance remains highly task-dependent under low-cost robotic deployment conditions. Execution instability emerges as the dominant failure source, while recovery capability varies substantially across architectures. These results highlight the importance of failure and recovery analysis beyond binary task success and establish SO-101 as a practical benchmark for evaluating embodied AI systems under realistic low-cost robotic deployment conditions.
Comment: 13 pages, 9 figures,
arXiv PDF
Learning Dynamic Swing-Up of an Inverted Pendulum using Remote Magnetic Actuation
Viacheslav Sydora, Jasan Zughaibi, Denis von Arx, Quentin Boehler, Michael Muehlebach
arXiv:2606.13915v1 • 2026-06-11
Electromagnetic Navigation Systems (eMNS) have gained considerable attention for minimally invasive surgery and targeted drug delivery. While most of the literature relies on quasi-static control of these systems, recent work has demonstrated the benefits of dynamic approaches. However, trajectory tracking far from equilibrium states remains largely unaddressed. We close this gap by demonstrating the first swing-up of a magnetically actuated inverted pendulum using the clinically-ready Navion eMNS. Although the inverted pendulum is not clinically relevant in itself, the proposed method utilizes torques and forces as control objectives, making it applicable to other magnetically actuated devices such as catheters and guidewires. Our approach combines trajectory optimization that accounts for internal eMNS dynamics with time-varying Linear Quadratic Regulator (LQR) state feedback and Iterative Learning Control (ILC), which leverages previous trial data and the system's dynamic model to progressively refine the feedforward command. While LQR alone fails due to the complex phenomena of magnetic actuation, ILC enables successful swing-up within six iterations. Furthermore, post-experimental analysis reveals that the learned ILC correction closely matches the torque discrepancy predicted by high-fidelity magnetic field model calibration, suggesting learning and adaptation as a promising tool to deal with uncertainties in electromagnetic actuation arising, e.g., from patient-specific physiological motion patterns and field model calibration inaccuracies.
arXiv PDF
PhysVLA: Towards Physically-Grounded VLA for Embodied Robotic Manipulation
Namai Chandra, Shriram Damodaran, Lin Wang
arXiv:2606.13886v1 • 2026-06-11
Vision-Language-Action (VLA) models excel at mapping visual inputs and natural language instructions directly to robotic control policies. However, because they are trained primarily to fit behavioural demonstration data, they do not explicitly enforce fundamental physical principles such as rigid-body dynamics or contact constraints. This exposes a critical physics gap: standard temporal smoothing applied on top of single-step or chunked VLAs trades trajectory quality for added failures that short-term memory cannot resolve. To bridge this gap, we introduce PhysVLA (Physics-VLA), a plug-and-play, inference-time framework designed to wrap any frozen VLA backbone without retraining, fine-tuning, or weight access, with less than 1 ms of overhead per control step. PhysVLA intercepts the predicted control action, captures only the simulator or system state, and applies a dual-layered correction: (i) a phase-aware finite-state machine that structures discrete task segments (approach, grasp, transport, and place), and (ii) a selective Euler-Lagrange gate that activates only when a dynamics oracle detects kinodynamic inconsistency. Evaluated across OpenVLA, OpenVLA-OFT, Force-VLA, and Generalist-VLA on LIBERO-Spatial with a 7-DoF Franka Panda, the framework delivers absolute success rate increases of up to 17% and stability increases of up to 19% with no per-task regressions, improves trajectory efficiency by up to 15% across all four backbones, and shows up to a 10x improvement in trajectory jerk robustness on a Robosuite Lift cross-simulator sweep. We further validate the framework on a real Agilex Piper arm with a pick-and-place task, confirming that PhysVLA transfers to physical hardware without retraining, with success-rate improvements of up to 50%, establishing physical awareness as a composable, backbone-agnostic runtime module.
Comment: 9 pages, 5 figures, supplementary material included
arXiv PDF
Guided Diffusion with Distilled Vision-Language Reliability for Aerial Navigation
Ivan Valuev, Iana Zhura, Valerii Serpiva, Didar Seyidov, Dzmitry Tsetserukou
arXiv:2606.13883v1 • 2026-06-11
Autonomous UAV navigation is conventionally solved by pipelines that separate perception, mapping, and planning into distinct stages, which propagates errors, accumulates latency, and requires environment-specific retuning. End-to-end generative models remove these interfaces by mapping raw observations directly to trajectories, but inherit a subtle failure mode: trained on clean data, they cannot recognise when an observation is unreliable, and treat degraded regions such as glass, mirrors, and overexposed surfaces as valid evidence for planning. We present a reliability-aware diffusion planner for 3D UAV navigation. It conditions trajectory generation on the observation together with a scene-level reliability heatmap that marks where perception cannot be trusted, produced by a lightweight network that distils the open-vocabulary reasoning of a vision-language model within the real-time planning budget. To generalise to unseen environments without retraining, we steer the denoising process with a differentiable two-stage ESDF cost that treats physical obstacles from depth and virtual obstacles from highly unreliable regions on equal footing. In simulation and on a real quadrotor, our planner produces markedly safer trajectories than a state-of-the-art diffusion baseline, reducing the obstacle-violation rate from 40.3% to 9.6% and raising the mean reliability of traversed regions from 0.588 to 0.925. Ablating the reliability term alone drops mean reliability from 0.898 to 0.783, confirming it as the decisive component, while distillation runs the framework up to 2 times faster than the full vision-language model.
arXiv PDF
Video World Models
13
默认显示 5 篇
Full-Self Diagnostics (FSD): Physics-Grounded Visual Biomarker Inference from Smartphone Video via Inverse Problems and Operator Learning
Jonathan Thomas, Harsh Thaker
arXiv:2606.19372v1 • 2026-06-11
We present Full-Self Diagnostics (FSD), a unified mathematical framework for recovering latent physiological states from unconstrained 9-second facial videos captured by consumer smartphones. The approach integrates five mutually reinforcing components: (1) a physics-based forward model derived from the radiative transfer equation and chromophore absorption that maps camera observables to biomarker concentrations; (2) an information-theoretic observability theory proving that multi-channel visual signals (spectral, pulse, respiratory, micro-expression, and oculomotor) contain strictly increasing mutual information with physiological state; (3) a stable, Tikhonov-regularized inverse problem with domain-uniform identifiability guarantees; (4) an operator-learning formulation that enables generalization across devices, resolutions, and populations; and (5) a supervised learning procedure, interpretable as stochastic variational inference, that continuously refines the model from paired biosensor ground truth with performance improving proportionally to one over the square root of the number of paired observations. Empirical validation on 38812 real-world paired scans across 59 subjects demonstrates practical performance. Self-collected data from the lead author (glucose range 35-550 mg/dL) yields MARD of 29.86 percent with 97.57 percent of predictions in Clarke Error Grid Zones A+B and only 0.27 percent in the dangerous Zone E. A well-managed diabetic participant achieves MARD of 17 percent in the narrower 70-180 mg/dL band. These results confirm that consumer-grade facial video encodes sufficient structured information for clinically relevant, non-invasive biomarker inference under fully unconstrained conditions, with performance scaling predictably as more paired data becomes available.
Comment: 38,812 paired scans, preliminary longitudinal validation of multichannel visual glucose inference (MARD 17 to 46 percent across cohorts); physics plus information theory plus operator learning framework
arXiv PDF
$μ_0$: A Scalable 3D Interaction-Trace World Model
Seungjae Lee, Yoonkyo Jung, Jusuk Lee, Jonghun Shin, Amir Hossein Shahidzadeh, Yao-Chih Lee, H. Jin Kim, Jia-Bin Huang, Furong Huang
arXiv:2606.13769v1 • 2026-06-11
World models that capture how actions induce physical change enable scalable robot learning without reliance on embodiment-specific action labels. Pixel-space video models provide broad visual priors but expend model capacity on dense appearance reconstruction, while direct action models require embodiment-specific labels that hinder scalability. We present $μ_0$, a scalable world model based on 3D traces. Rather than predicting dense pixels or directly modeling actions, $μ_0$ forecasts smooth 3D trajectories for salient interaction points such as objects, tools, hands, and contact regions, yielding a compact, embodiment-agnostic motion interface. To enable training from diverse video sources, our TraceExtract system automatically extracts 3D supervision by selecting keypoints, constructing globally aligned traces, and associating motion segments with hierarchical language captions. This TraceExtract supervision pretrains $μ_0$ by combining a pretrained vision-language backbone with a modular trace expert, which represents each query via B-spline control points and predicts future traces. Experiments show that $μ_0$ outperforms baselines in both 2D and 3D trace prediction, including trace prediction models and tokenized VLM methods. Because $μ_0$ is frozen and reusable, it can be paired with action experts for downstream robot embodiments. Despite action-free pretraining, the resulting trace-conditioned policies achieve performance competitive with VLA models pretrained with action supervision, such as $π_0$. These results establish 3D traces as a scalable and transferable representation for cross-embodiment manipulation.
arXiv PDF
RepWAM: World Action Modeling with Representation Visual-Action Tokenizers
Junke Wang, Qihang Zhang, Shuai Yang, Yiming Luo, Yujun Shen, Zuxuan Wu, Yu-Gang Jiang, Yinghao Xu
arXiv:2606.13674v1 • 2026-06-11
This work presents RepWAM, a representation-centric world action model (WAM) built on representation visual-action tokenizers. Existing WAMs typically inherit reconstruction-oriented video tokenizers from pretrained video generation models. Although these tokenizers preserve visual fidelity, pixel reconstruction alone provides limited guidance for learning instruction-following dynamics that connect future prediction with robot control. To address this, we explore a semantic visual-action latent space for representation-centric world action modeling. Specifically, we train a representation visual-action tokenizer that maps visual inputs into aligned visual and latent action tokens. We then pretrain our WAM to jointly model future visual states and the latent actions that connect them under language instructions, followed by adaptation to real robot trajectories for closed-loop manipulation. Experiments on real-world manipulation tasks and simulation benchmarks show that RepWAM delivers strong performance across diverse manipulation settings, while ablations highlight the value of semantic visual-action tokenization over reconstruction-oriented alternatives. These results establish representation visual-action tokenization as a promising foundation for world action models and a step toward generalist robot policies. Code and weights will be available at https://github.com/wdrink/RepWAM.
Comment: Project page: https://wdrink.github.io/RepWAM
arXiv PDF
$\texttt{WEAVER}$, Better, Faster, Longer: An Effective World Model for Robotic Manipulation
Arnav Kumar Jain, Yilin Wu, Jesse Farebrother, Gokul Swamy, Andrea Bajcsy
arXiv:2606.13672v1 • 2026-06-11
The potential impacts of world models (WMs, i.e., learned simulators) on robotics are far-reaching -- policy evaluation, policy improvement, and test-time planning -- all with limited real-world interaction. To unlock these downstream capabilities, a WM needs to jointly satisfy three desiderata: $\textit{(i)}$ fidelity (i.e., producing simulated trajectories that correlate with reality), $\textit{(ii)}$ consistency (i.e., producing simulated trajectories that are coherent over long horizons), and $\textit{(iii)}$ efficiency (i.e., producing simulated trajectories quickly). We propose $\texttt{WEAVER}$ (World Estimation Across Views for Embodied Reasoning): a WM architecture that simultaneously achieves all three desiderata, providing state-of-the-art results on robotic manipulation tasks. $\texttt{WEAVER}$ is a multi-view WM trained to predict future latents and reward values via a flow-matching loss. We distill the key design decisions across model architecture, memory, and prediction objectives required to unlock the kinds of long-horizon dynamic manipulation tasks that have confounded prior world modeling approaches. We apply $\texttt{WEAVER}$ in robotic hardware, demonstrating its effectiveness at policy evaluation ($ρ$=0.870 correlation with real-world success rate), policy improvement (real-world success rate improvement of $38\%$ on top of the $π_{0.5}$ robot foundation model), and test-time planning (real-world success rate improvement of $14\%$ with a $5-10\times$ speedup over prior WMs). $\texttt{WEAVER}$ also demonstrates better performance than prior WMs when evaluated on out-of-distribution scenarios. Code, models, and videos at: https://arnavkj1995.github.io/WEAVER/ .
arXiv PDF
World Tracing: Generative Pixel-Aligned Geometry Beyond the Visible
Hao Zhang, Mohamed El Banani, Jen-Hao Cheng, Paul Zhang, Yi Hua, Ben Mildenhall, Christoph Lassner, Narendra Ahuja, Gengshan Yang
arXiv:2606.13652v1 • 2026-06-11
Image-to-3D methods often trade off faithfulness and completeness: depth estimators are anchored to input pixels but stop at the visible surface, while image-to-3D models generate complete shapes that are often misaligned with the input. We introduce World Tracing, a generative pixel-aligned geometry representation that predicts 3D points aligned with observed pixels while completing geometry beyond the visible surface. For each input pixel, World Tracing predicts an ordered stack of camera-space 3D points, where the first layer represents the visible surface and subsequent layers represent front-to-back intersections with occluded surfaces. We instantiate this representation with a world-tracing diffusion transformer, WT-DiT, which treats multiple geometry layers as separate denoising tokens coupled through factorized and global attention. WT-DiT is trained with pixel-space flow matching and a mixed noise schedule that balances visible-surface reconstruction with occluded-geometry generation. World Tracing achieves strong performance on visible-surface reconstruction and complete geometry generation across object, scene, and dynamic benchmarks, outperforming both depth predictors and image-to-3D generators. It also preserves 2D-to-3D correspondence, enabling text-driven 3D scene editing, geometry-conditioned novel-view video synthesis, and training-free integration with textured-mesh generators.
Comment: World Labs Technical Report; Page: https://haoz19.github.io/world-tracing-page/
arXiv PDF
2026-06-10
110 篇
Robotics
92
默认显示 5 篇
Sparse2Act: Learning Action-Aligned Sparse 3D Representations for Cross-Domain Robot Manipulation
Yu Guo, Chang Yu, Siyu Ma, Yunuo Chen, Yin Yang, Ying Nian Wu, Chenfanfu Jiang
arXiv:2606.12759v1 • 2026-06-10
Explicit 3D representations are attractive for manipulation because they expose object shape, workspace geometry, and robot-object relations in metric coordinates. However, sparse 3D encoders are often learned through downstream task objectives, tying the representation to a particular data distribution, policy architecture, and action parameterization. We introduce Sparse2Act, an observation-action alignment framework for pretraining sparse point-cloud encoders. The key idea is to use task-space end-effector actions as geometric supervision: masked sparse 3D tokens are trained to organize scene features around the workspace motion paired with the observation. After pretraining, only the encoder initialization is reused by downstream policies, allowing them to retain their own architectures and action spaces, including joint-space commands. On the LIBERO-10 benchmark, our method achieves 86.9% average success after 500 fine-tuning steps. The same pretrained encoder supports LIBERO-to-Meta-World cross-domain transfer, achieving 73.4% average success on the Meta-World-5 benchmark. Ablations on the objective and decoder capacity show that the gains come from the masked action-alignment signal and remain useful across downstream action decoders. In real-world experiments, simulation pretraining followed by limited real-data fine-tuning achieves an average success rate of 72.5% across four tasks, demonstrating effective sim-to-real transfer. These results suggest that robot actions can provide compact geometric supervision for reusable sparse 3D representations.
arXiv PDF
EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows
Clinton Enwerem, John S. Baras, Calin Belta
arXiv:2606.12728v1 • 2026-06-10
Most learned dexterous grasp generators relegate contact forces to a downstream verification step, so a kinematically-plausible pose can still violate the conditions for a stable physical grasp. We address this with EquiDexFlow, an SE(3)-equivariant flow-matching model that jointly predicts wrist pose, joint angles, fingertip contacts, surface normals, and contact forces from an object point cloud. Our architecture projects contacts onto the object surface and forces into the Coulomb friction cone by construction, so placement and friction compliance hold without loss penalties. We prove end-to-end SE(3) equivariance and verify it empirically over 200 rotations, with wrist residuals below $0.04^\circ$ and exactly zero joint deviation. Trained on 8,100 force-closure grasps across 81 objects for the 16-DoF Allegro Hand, our model achieves zero friction violations, the best composite score, and the lowest wrench residual among all ablation variants. We retarget decoded fingertip contacts to a 16-DoF LEAP Hand via per-finger inverse kinematics, and our hardware-feasible refinement places every joint at least 5% inside its actuator envelope while preserving wrench balance. On the physical robot, retargeted EquiDexFlow-decoded grasps complete open-loop pick-and-hold trials on all six test objects, with every asymmetric object succeeding at both the canonical pose and a $120^\circ$ co-rotation. Videos, code, and checkpoints are available at https://equidexflow.github.io.
Comment: 22 pages, 11 figures, 11 tables. Project page with videos, code, and checkpoints: https://equidexflow.github.io
arXiv PDF
EWAM: An Enhanced World Action Model for Closed-Loop Online Adaptation in Embodied Intelligence
Xin Zhou, Cong Miao
arXiv:2606.12690v1 • 2026-06-10
In this paper, we propose the Enhanced World Action Model (EWAM), a closed-loop online adaptation architecture built upon a pretrained and fully frozen Cosmos3 backbone network. Evaluated entirely under a zero-shot task protocol, EWAM is centrally focused on reducing the amount of additional deployment data required to adapt to new task layouts. Notably, no extra task-specific demonstration sets were introduced in any of the evaluations, and no fine-tuning was performed on the backbone network. Its performance gains stem entirely from an inference-time co-reasoning mechanism composed of four inserted lightweight neural layers: the Neural Experience Memory Layer located in the intermediate layers of the Diffusion Transformer (DiT) provides task-relevant execution context; the Neural Anomaly Detection Layer after the state prediction head monitors the divergence between predicted and actual states in real time; the Neural Policy Routing Layer dynamically selects direct execution, conservative replanning, or rollback recovery based on the anomaly severity; and the Neural Action Correction Layer refines the generated action chunks using execution diagnostics. Unlike naive feature fusion, the memory, anomaly detection, and correction modules are deeply integrated into the Cosmos3 forward path in a differentiable manner, with only the final routing decision being a discrete supervised one.
arXiv PDF
Triangle Splatting SLAM
Nicholas Fry, Eric Dexheimer, Kirill Mazur, Paul H. J. Kelly, Andrew J. Davison
arXiv:2605.31419v2 •updated • 2026-05-29
We present a dense RGB-D SLAM system using differentiable triangles as the 3D map representation. While 3D Gaussian Splatting has emerged as the leading method for novel-view synthesis, triangles remain the standard primitive for traditional rendering hardware, game engines, and downstream tasks requiring explicit geometry such as simulation, collision, and editing. Recent offline methods have demonstrated that an unstructured 'triangle soup' can be optimised into a photorealistic mesh via Delaunay triangulation across a set of posed images. Building upon this insight, we present the first dense SLAM system to employ Triangle Splatting to perform both tracking and mapping through online differentiable rendering of a triangle soup. The map can be converted into a connected mesh on-the-fly via restricted Delaunay triangulation, enabling new online capabilities such as mesh deformation and collision checking. On Replica and TUM-RGBD, our system outperforms baselines on 3D geometry, matches the camera-tracking accuracy, and enables online mesh-based scene editing.
Comment: 26 pages, 11 figures
arXiv PDF
TrajGenAgent: A Hierarchical LLM Agent for Human Mobility Trajectory Generation
Siyu Li, Toan Tran, Lingyi Zhao, Khurram Shafique, Li Xiong
arXiv:2606.12657v1 • 2026-06-10
Human mobility data is important for transportation, urban planning, and epidemic control, but large-scale trajectory collection is often costly and privacy-constrained, motivating realistic synthetic trajectory generation. Existing LLM-based generators typically rely on either prompt engineering, which preserves zero-shot reasoning but lacks fine-grained spatiotemporal grounding, or trajectory-level fine-tuning, which improves statistical precision but incurs substantial computational cost and may weaken general reasoning. We propose TrajGenAgent, a semantic-aware hierarchical LLM-agent framework for human mobility trajectory generation without model fine-tuning. TrajGenAgent uses a two-stage orchestrator-worker design: an LLM first synthesizes an individual- and weekday-conditioned activity chain from historical evidence via in-context learning, and a deterministic workflow then grounds each activity into a complete visit using personalized POI retrieval, distance-aware location selection, kinematics-aware travel-time propagation, and LLM-based duration estimation. To evaluate realism beyond aggregate spatiotemporal statistics, we introduce an anomaly-detection-based evaluation framework using two complementary detectors to assess behavioral and semantic plausibility. Experiments on benchmark and large-scale simulation datasets show that TrajGenAgent improves spatiotemporal fidelity, semantic coherence, and individual-specific behavioral realism over representative neural and LLM-based baselines, while avoiding parameter updates.
Comment: 14 pages, 2 figures, 8 tables. Accepted by the 27th IEEE International Conference on Mobile Data Management (MDM 2026)
arXiv PDF
Video World Models
18
默认显示 5 篇
From Seeing to Experiencing: Scaling Navigation Foundation Models with Reinforcement Learning
Honglin He, Yukai Ma, Brad Squicciarini, Wayne Wu, Bolei Zhou
arXiv:2507.22028v2 •updated • 2025-07-29
Navigation foundation models trained on massive web-scale data enable agents to generalize across diverse environments and embodiments. However, these models, which are trained solely on offline data, often lack the capacity to reason about the consequences of their actions or adapt through counterfactual understanding. They thus face significant limitations in real-world urban navigation, where interactive and safe behaviors, such as avoiding obstacles and moving pedestrians, are critical. To tackle these challenges, we introduce the Seeing-to-Experiencing (S2E) learning framework to scale the capability of navigation foundation models with reinforcement learning. S2E combines the strengths of pretraining on offline videos and post-training through reinforcement learning. It maintains the model's generalizability acquired from large-scale real-world videos while enhancing its interactivity through reinforcement learning in simulation environments. Specifically, we introduce two innovations: (1) an Anchor-Guided Distribution Matching strategy for offline pretraining, which stabilizes learning and models diverse motion patterns through anchor-based supervision; and (2) a Residual-Attention Module for reinforcement learning, which obtains reactive behaviors from simulation environments without erasing the model's pretrained knowledge. Moreover, we establish a comprehensive end-to-end evaluation benchmark, NavBench-GS, built on photorealistic 3D Gaussian Splatting reconstructions of real-world scenes that incorporate physical interactions. It can systematically assess the generalizability and safety of navigation foundation models.
Comment: 27 pages, 20 figures, 9 tables, conference
arXiv PDF
Foresight: Iterative Reasoning About Clues that Matter for Navigation
Arthur Zhang, Carl Qi, Donne Su, Xiangyun Meng, Amy Zhang, Joydeep Biswas
arXiv:2606.12550v1 • 2026-06-10
Open-world mapless navigation from sparse language instructions requires resolving underspecified goals and inferring which environmental cues are relevant for reaching the goal. For instance, reaching an out-of-view destination may require interpreting ramps, signs, or detours that reveal where to go or which route to take. Prior works are limited by their reliance on known navigation factors and closed-set factor categories, or identify cues before motion planning and miss plan-dependent cues. We argue that pretrained Vision-Language Models (VLMs) can discover novel instruction-relevant cues, but require adaptation to focus on which cues matter and how they should influence motion planning. We realize these ideas in Foresight, a test-time framework in which a finetuned VLM alternates between proposing image-space motion plans and critiquing them using the language goal and visual context. Subsequent plans are conditioned on prior critiques, enabling iterative motion refinement before execution. To align plan critiques and refinements with open-set behavior preferences, we learn a reward model from human feedback and use it to post-train the VLM with reinforcement learning in the plan-critique loop. In offline evaluations and 6 real-world environments, Foresight improves average task success by 37% and reduces interventions per mission by 52% relative to state-of-the-art test-time reasoning and foundation-model baselines, while running in real-time on a Jetson AGX Orin. We will release code, data, and training details to support future work on test-time reasoning for robot motion refinement. Additional videos at: https://amrl.cs.utexas.edu/foresight
Comment: 22 pages, 10 figures, 3 tables
arXiv PDF
World Pilot: Steering Vision-Language-Action Models with World-Action Priors
Zefu Lin, Rongxu Cui, Junjia Xu, Xiaojuan Jin, Wenling Li, Lue Fan, Zhaoxiang Zhang
arXiv:2606.12403v1 • 2026-06-10
Vision-Language-Action (VLA) models inherit semantic grounding from large-scale pretraining and perform competently across in-distribution manipulation tasks. This grounding, however, is built on static image-text pairs, whereas manipulation is a continuous, contact-rich process whose dynamics this pretraining cannot capture. We present World Pilot, a VLA framework that augments the policy with priors from a World-Action Model (WAM), routed into the decision chain through two complementary pathways. Latent Steering conditions the perception layer on a scene-evolution latent, and Action Steering supplies an anticipated trajectory as a motion prior to the action generator. Together the two priors equip the VLA with an anticipated view of the scene and a trajectory-level motion hint alongside its semantic conditioning, and the scene-evolution prior remains effective even when supplied by a video-pretrained world model that has not been action-post-trained. World Pilot attains a state-of-the-art Total success rate of 84.7% on the LIBERO-Plus zero-shot OOD benchmark and the highest success rate on every real-robot setting across four manipulation tasks, with the largest margins under shifts in viewpoint, geometry, deformable state, and pose. Project Website: https://world-pilot.github.io/
Comment: Project Website: https://world-pilot.github.io/
arXiv PDF
Making Foresight Actionable: Repurposing Representation Alignment in World Action Models
Lu Qiu, Yizhuo Li, Yi Chen, Yuying Ge, Yixiao Ge, Xihui Liu
arXiv:2606.12217v1 • 2026-06-10
World Action Models (WAMs) offer a promising route for robot manipulation by using video generation models to model future scene evolution before producing control actions. However, our empirical observations reveal a phenomenon: generating plausible visual futures does not always guarantee the extraction of accurate actions. To diagnose this failure, we conduct action-head attention analysis and causal interventions. We find that the action decoder fails to focus on task-relevant interaction regions and remains sensitive to perturbations in task-irrelevant areas. This reveals a representation mismatch: hidden states optimized for visual reconstruction are not inherently organized in a form useful for low-level action control. In this paper, we propose AGRA, an Action-Grounded Representation Alignment objective that regularizes the world-action interface by aligning intermediate video diffusion features with spatially coherent semantic representations from a foundation visual encoder. We evaluate AGRA on real-world manipulation tasks. Experiments show that AGRA makes world model representations more action-grounded: by focusing the action decoder on the correct interaction regions, it improves object localization accuracy and affordance understanding, and makes the policy more robust to perturbations in task-irrelevant regions. As a result, AGRA consistently improves both in-distribution performance and out-of-distribution generalization over the baseline world action model.
arXiv PDF
LLM-Based User Personas for Recommendations at Scale
Haoting Wang, Haokai Lu, Zheyun Feng, Jenny Huang, Yifat Amir, Gregory Hinkson, Ben Most, Zelong Zhao, Yixin Kelly Cui, Rein Zhang, Fabio Soldo, Yu Xia, Nihar Bhupalam, Minmin Chen, Konstantina Christakopoulou, Lichan Hong, Ed H. Chi
arXiv:2606.12198v1 • 2026-06-10
Large Language Models (LLMs) offer unprecedented potential for enhancing recommendation systems through their world knowledge and reasoning capabilities. However, existing approaches often rely on structured IDs or offline processing, limiting semantic richness, real-time adaptability, and user-facing interpretability. In this paper, we introduce a novel framework that enables real-time generation of LLM-based user interest personas for a large-scale commercial video recommendation platform. Our method generates natural-language user interest personas that address the exploitation-exploration trade-off by combining the summarization of existing interests with novel topics, directly during serving. To overcome the computational challenges of online LLM inference at a billion-user scale, we design a cost-efficient architecture leveraging knowledge distillation, asynchronous inference, and input optimization via semantically clustered video representations. Extensive offline evaluations, user studies, and live A/B tests demonstrate significant improvements in viewer value. This work bridges the gap between high-level semantic understanding and industrial-scale recommendation, paving the way for more dynamic, explainable, and satisfying personalized experiences.
arXiv PDF
2026-06-09
100 篇
Robotics
89
默认显示 5 篇
Vision-Aided Relative State Estimation for Approach and Landing on a Moving Platform with Inertial Measurements
Tarek Bouazza, Alessandro Melis, Soulaimane Berkane, Robert Mahony, Tarek Hamel
arXiv:2512.19245v2 •updated • 2025-12-22
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from Inertial Measurement Units (IMUs) mounted on both systems, assuming there is a suitable communication channel to exchange data, together with visual information provided by an onboard monocular camera, from which the bearing (line-of-sight direction) to the platform's center and the normal vector of its planar surface are extracted. We propose a cascade observer with a complementary filter on $\mathbf{SO}(3)$ to reconstruct the relative attitude, followed by a linear Riccati observer for relative position and velocity estimation. Convergence of both observers is established under persistently exciting conditions, and the cascade is shown to be almost globally asymptotically and locally exponentially stable. We further extend the design to the case where the platform's rotation is restricted to its normal axis and show that its measured linear acceleration can be exploited to recover the remaining unobservable rotation angle. A sufficient condition for local exponential convergence in this setting is provided. The proposed observers are validated through extensive simulations.
Comment: 13 pages, 4 figures. To appear in proceedings of IFAC World Congress 2026
arXiv PDF
Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents
Angelo Moroncelli, Roberto Zanetti, Marco Maccarini, Loris Roveda
arXiv:2604.13733v2 •updated • 2026-04-15
Reinforcement learning (RL) enables high-frequency, closed-loop control for robotic manipulation, but scaling to long-horizon tasks with sparse or imperfect rewards remains difficult due to inefficient exploration and poor credit assignment. Vision-Language-Action (VLA) models leverage large-scale multimodal pretraining to provide generalist, task-level reasoning, but current limitations hinder their direct use in fast and precise manipulation. In this paper, we propose Vision-Language-Action Jump-Starting (VLAJS), a method that bridges sparse VLA guidance with on-policy RL to improve exploration and learning efficiency. VLAJS treats VLAs as transient sources of high-level action suggestions that bias early exploration and improve credit assignment, while preserving the high-frequency, state-based control of RL. Our approach augments Proximal Policy Optimization (PPO) with a directional action-consistency regularization that softly aligns the RL agent's actions with VLA guidance during early training, without enforcing strict imitation, requiring demonstrations, or relying on continuous teacher queries. VLA guidance is applied sparsely and annealed over time, allowing the agent to adapt online and ultimately surpass the guiding policy. We evaluate VLAJS on six challenging manipulation tasks: lifting, pick-and-place, peg reorientation, peg insertion, poking, and pushing in simulation, and validate a subset on a real Franka Panda robot. VLAJS consistently outperforms PPO and distillation-style baselines in sample efficiency, reducing required environment interactions by over 50% in several tasks. Real-world experiments demonstrate zero-shot sim-to-real transfer and robust execution under clutter, object variation, and external perturbations.
Comment: ICRA 2026 Workshop on Reinforcement Learning in the Era of Imitation Learning
arXiv PDF
Steering Multirobot Behavior via Closed-Loop Affine Activation Editing
Satyajeet Das, Darren Chiu, Shashank Hegde, Gaurav S. Sukhatme
arXiv:2606.11489v1 • 2026-06-09
Real-world robots need to adapt their behavior beyond the envelope of their pre-trained policy. Policy finetuning or retraining are options, but they risk catastrophic forgetting, degrading the pretrained policy's base performance. To combat this, we introduce CLAE: Closed-Loop Affine Activation Editing, an inference-time framework for steering the behavior of a frozen policy by editing intermediate activations while keeping the base policy weights and downstream action head untouched. CLAE approaches behavior steering as a closed-loop problem whose outputs edit policy activations that adapt online to the robot state, environment, target behavior, and multi-robot context. It trains a sparse autoencoder over frozen-policy activations, selects behavior-relevant latent features via post-hoc probing, and learns a lightweight RL-based steering policy that applies state-dependent affine edits to selected latents during inference. We validate CLAE on a frozen multi-quadrotor navigation policy trained to perform a single task: navigating robots to a set of goal locations while avoiding obstacles. Through extensive simulations and physical tests, we show that while navigating to their goal positions, CLAE can 1. steer individual robot behavior by controlling each robot's velocity profile; 2. coordinate multirobot behavior by preserving a desired formation; and 3. produce entirely new behavior wherein robots are required to reduce their exposure to surveillance cameras in the environment.
arXiv PDF
Bridging the sim2real gap in the table tennis robot with a transformer-based ball states predictor
Yin Bi, Christian Conti, Bilan Yang, Alexander Sigrist, Peter Dürr, Naoya Takahashi
arXiv:2606.11464v1 • 2026-06-09
Robotic table tennis is a representative benchmark for high-speed, closed-loop robotic control in dynamic environments, where accurate and fast prediction of ball states is critical for reliable planning and control. Physics-based approaches rely heavily on accurate parameter identification and precise initial state, while learning-based methods often struggle to capture long-range temporal dependencies and are typically trained on limited or simulated data. We propose a transformer-based framework for table tennis ball state prediction that leverages attention mechanisms to model long-range temporal correlations directly from historical observations, without relying on explicit flight or bounce models. To support robust learning and generalization, we collected a large-scale real-world dataset from players of varying skill levels and diverse ball cannon configurations. The combination of a high-capacity transformer architecture and extensive real-world data enables accurate long-horizon forecasting. Building on this capability, we introduce a plug-and-play sim-to-real transfer strategy, Swap Predictor at Deployment (SPAD), which replaces the physics-based simulator used during training with the proposed real-world-trained predictor at deployment, improving the sim-to-real transferability of the policy without requiring retraining. We demonstrate that this simple substitution effectively narrows the sim-to-real gap while preserving the efficiency and scalability of simulation-based training.
arXiv PDF
A Modular Dual-Camera Pipeline for Micro-Inspection Using Aerial Robots
S. H. Mirtajadini, N. Rublein, R. M. Ramakrishnan, G. ter Maat, M. Aldibaja, A. Y. Mersha
arXiv:2606.11419v1 • 2026-06-09
Most existing drone-based inspection systems require the drone to fly dangerously close to the target or follow complex flight paths to capture small details. In addition, drone flight is affected by disturbances and localization inaccuracies, which can cause the drone to lose sight of its supposed target when it has a narrow view. Furthermore, trajectory planning often requires prior information about the target's geometry, position, and orientation, which is not always available for non-structural targets such as trees, vehicles, or people. To address these challenges, this paper presents aerial_micro_inspection, a generic pipeline for aerial micro-inspection across different use cases. The pipeline assumes a PX4-powered drone equipped with two cameras: (i) a zoomed, gimbal-mounted inspection camera that captures fine details without requiring the drone to fly very close to the target, and (ii) a wide-field-of-view stereo navigation camera that acquires the target surface on site, estimates its range, and partitions it into smaller inspection regions. In addition, a vision-based feedback loop compensates for drone motion while the inspection camera visits small partitions of a larger surface. We evaluate the pipeline in simulation and real-world experiments, mainly in two use-case scenarios: tree inspection for detecting oak processionary caterpillars and their eggs, and greenhouse inspection of sticky traps for detecting whiteflies. The results show improved coverage robustness under drone disturbances in simulation, as well as effective detection of caterpillars and eggs and high-detail imaging of insects in real-world experiments. The pipeline is open-source, developed in ROS 2, and can be adapted to new applications by replacing the surface-segmentation and micro-target detection checkpoints. The code is available at: https://github.com/SaxionMechatronics/aerial_micro_inspection
arXiv PDF
Video World Models
10
默认显示 5 篇
PLUME: Probabilistic Latent Unified World Modeling and Parameter Estimation for Multi-Finger Manipulation
Abhinav Kumar, Soshi Iba, Rana Soltani Zarrin, Dmitry Berenson
arXiv:2606.11396v1 • 2026-06-09
Dexterous manipulation with multi-finger hands can be sensitive to physical parameters such as object shape, pose, and friction coefficients. While simulation enables large-scale data collection with known parameter values, simulation-trained policies must still handle uncertainty at deployment, where the true parameters and therefore the true dynamics are unknown. Standard domain randomization strategies may be insufficient for precise tasks like screwdriver turning, as manipulation strategies may need to change depending on specific parameter values. To address this, we propose Probabilistic Latent Unified world Modeling and parameter Estimation (PLUME), a world model that jointly learns to evolve a belief over parameter values as well as the system dynamics conditioned on those parameters. We learn a latent space to jointly represent multiple qualitatively different physical parameters along with rewards, themselves functions of partially-observable variables, to inform planning. Our novel learning framework leads to efficient alignment of the world model to true dynamics through online parameter inference as opposed to re-training or fine-tuning. We evaluate our method on simulated screwdriver turning, valve turning, bucket lifting, and disk flicking tasks, as well as a hardware screwdriver turning task, where we achieve successful zero-shot transfer of our simulation-trained policy and outperform state-of-the-art offline reinforcement learning and world-model-augmented behavior cloning baselines. Please see our website at https://plume-world-model.github.io for videos.
Comment: 16 pages, 5 figures
arXiv PDF
Next Forcing: Causal World Modeling with Multi-Chunk Prediction
Gangwei Xu, Qihang Zhang, Jiaming Zhou, Xing Zhu, Yujun Shen, Xin Yang, Yinghao Xu
arXiv:2606.11187v1 • 2026-06-09
Autoregressive video generation has emerged as a powerful paradigm for World Action Models (WAMs). However, existing approaches suffer from slow training convergence and limited converged accuracy, particularly at high frame rates, as the training supervision is confined to the current chunk without explicit signals about future dynamics; they also suffer from slow inference due to iterative video denoising. In this paper, we present Next Forcing, a multi-chunk prediction (MCP) framework for causal world modeling that enables faster training, higher accuracy, and accelerated inference. Inspired by multi-token prediction in large language models, Next Forcing introduces an MCP training objective that augments the main model with lightweight auxiliary MCP modules to simultaneously denoise video chunks at multiple future temporal horizons (next$^1$, next$^2$, next$^3$ chunks). These MCP modules form a causal chain across prediction depths, where intermediate features fused from multiple layers of the main model are leveraged to predict future dynamics, allowing near-future predictions to inform farther-future ones and providing dense multi-scale temporal supervision back to the main model. During training, the MCP modules significantly accelerate convergence and improve converged accuracy, especially at high frame rates: at 50 fps, Next Forcing achieves a 93.1% relative improvement over LingBot-VA at 5k training steps and 2.3x faster convergence, and establishes new state-of-the-art results on the RoboTwin benchmark (94.1/93.5% on Clean/Random). At inference, the MCP modules can be retained to predict the next video chunk in parallel with the current one, achieving 2x inference acceleration. Next Forcing also demonstrates significant improvements on PhyWorld, a benchmark evaluating adherence to physical laws in video generation, and over 50% FVD reduction on general video pretraining.
Comment: Project page: https://gangweix.github.io/next-forcing/
arXiv PDF
AnyMod-LLVE: Low-Light Video Enhancement with Modality-Agnostic Inference
Hangfeng Liang, Yutao Hu, Yanhan Hu, Xiaohan Wu, Wenqi Shao, Ying Fu
arXiv:2606.11186v1 • 2026-06-09
Low-light video enhancement (LLVE) remains a challenging task due to severe information degradation under low-illumination conditions. Recent multimodal approaches have significantly improved enhancement performance by incorporating auxiliary modalities, such as event streams and infrared images. However, these methods typically assume the availability of these modalities at inference, which is often not feasible in real-world scenarios. To solve this problem, in this work, we propose AMNet, a unified multimodal framework for LLVE, to support flexible modality-agnostic inference, where auxiliary modalities may be unavailable. To address the issue of modality absence, we introduce a Spatial-Spectral Dual-Gated Translator that learns the correspondence between auxiliary modalities and RGB inputs, producing implicit auxiliary representations to support the robust enhancement. Additionally, to fully facilitate the learning of cross-modal correspondence, we conduct large-scale multimodal pretraining based on the RGB-only dataset with synthetic auxiliary modalities. Extensive experiments demonstrate that AMNet could handle arbitrary inference-time modality combinations and exhibits superior performance for LLVE under modality absence conditions. Code and models are available on the project page.
Comment: Accepted at ICML 2026; Project page and code: https://lhfgghc.github.io/LLVE-AMNet
arXiv PDF
WorldOlympiad: Can Your World Model Survive a Triathlon?
Yuke Zhao, Wangbo Zhao, Weijie Wang, Zeyu Zhang, Dakai An, Akide Liu, Yinghao Yu, Jiasheng Tang, Fan Wang, Wei Wang, Bohan Zhuang
arXiv:2606.11129v1 • 2026-06-09
We introduce WorldOlympiad, a benchmark for diagnosing video-based world models across physical faithfulness, geometric consistency, and interaction fidelity. While existing benchmarks often focus on visual quality, semantic alignment, or short-term temporal coherence, they provide limited insight into whether generated videos obey physical rules, preserve coherent 3D structure, and sustain controllable interactions over long horizons. To address this gap, WorldOlympiad decomposes world-model evaluation into three complementary dimensions. The physical track uses object segmentation and MLLM-as-judge to assess whether generated videos follow interpretable rules in mechanics, thermal phenomena, and material properties. The geometry track reconstructs generated videos with Gaussian splatting and evaluates structural consistency, cross-view coherence, and camera-trajectory alignment. The interaction track assesses whether generated rollouts follow complex action prompts and maintain smooth, coherent transitions across consecutive video chunks. WorldOlympiad further covers three major downstream scenarios, including gaming, robotics, and general real-world videos, capturing diverse challenges from interactive control and embodied manipulation to open-domain motion and camera dynamics. Together, these tracks and scenarios form a scalable and interpretable evaluation suite that exposes failure modes beyond generic video quality. Experiments on state-of-the-art models reveal substantial gaps in physical reasoning, 3D consistency, and long-horizon interaction, underscoring the need for more structured evaluation protocols for generative world models.
Comment: Project Page: https://alibaba-damo-academy.github.io/WorldOlympiad/, Code: https://github.com/alibaba-damo-academy/WorldOlympiad
arXiv PDF
WorldPlay: Towards Long-Term Geometric Consistency for Real-Time Interactive World Modeling
Wenqiang Sun, Haiyu Zhang, Haoyuan Wang, Junta Wu, Zehan Wang, Zhenwei Wang, Yunhong Wang, Jun Zhang, Tengfei Wang, Chunchao Guo
arXiv:2512.14614v2 •updated • 2025-12-16
This paper presents WorldPlay, a streaming video diffusion model that enables real-time, interactive world modeling with long-term geometric consistency, resolving the trade-off between speed and memory that limits current methods. WorldPlay draws power from three key ingredients. 1) We use a Dual Action Representation to enable robust action control in response to the user's keyboard and mouse inputs. 2) To enforce long-term consistency, our Reconstituted Context Memory dynamically rebuilds context from past frames and uses temporal reframing to keep geometrically important but long-past frames accessible, effectively alleviating memory attenuation. 3) We also propose Context Forcing, a novel distillation method designed for memory-aware model. Aligning memory context between the teacher and student preserves the student's capacity to use long-range information, enabling real-time speeds while preventing error drift. Taken together, WorldPlay generates long-horizon streaming 720p video at 24 FPS with superior consistency, comparing favorably with existing techniques and showing strong generalization across diverse scenes. Project page and online demo can be found: https://3d-models.hunyuan.tencent.com/world/ and https://3d.hunyuan.tencent.com/sceneTo3D.
Comment: project page: https://3d-models.hunyuan.tencent.com/world/, demo: https://3d.hunyuan.tencent.com/sceneTo3D, code: https://github.com/Tencent-Hunyuan/HY-WorldPlay
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
Dexterous Point Policy: Learning Point-based Dexterous Hand Policies from Human Demonstrations
Beomjun Kim, Seong Hyeon Park, Seunghoon Sim, Seungjun Moon, Sanghyeok Lee, Jinwoo Shin
arXiv:2606.10614v1 • 2026-06-09
Robotic foundation models pre-trained on human demonstration videos have shown promise, but a significant embodiment gap remains when the resulting policies are deployed on real robots. A common remedy is to fine-tune these models on robot-specific demonstrations. However, robot data collection can be prohibitively expensive and time-consuming, which is particularly acute in dexterous manipulation, e.g., teleoperating a multi-fingered hand for even a single atomic task can take days. To address this, we introduce Dexterous Point Policy, a framework that learns dexterous manipulation policies directly from human videos and requires no robot demonstrations. Our core insight is that a unified 3D keypoint representation can bridge human and robot embodiments when used for both observations and actions. Specifically, we extract 3D keypoints of task-relevant objects and human hands from raw videos, and train an autoregressive transformer over these keypoints. We observe that at the keypoint level, specifically the wrist and fingertips, human and robot behaviors closely align, enabling direct policy transfer. On a suite of real-robot tasks spanning pick-and-place and tool use, Dexterous Point Policy attains 75.0% success, whereas a state-of-the-art VLA baseline reaches only 1.0%. Furthermore, our method generalizes strongly to unseen scenarios, including multi-object environments and novel object categories.
arXiv PDF
2026-06-08
100 篇
Robotics
78
默认显示 5 篇
Glove2Hand: Synthesizing Natural Hand-Object Interaction from Multi-Modal Sensing Gloves
Xinyu Zhang, Ziyi Kou, Chuan Qin, Mia Huang, Ergys Ristani, Ankit Kumar, Lele Chen, Kun He, Abdeslam Boularias, Li Guan
arXiv:2603.20850v2 •updated • 2026-03-21
Understanding hand-object interaction (HOI) is fundamental to computer vision, robotics, and AR/VR. However, conventional hand videos often lack essential physical information such as contact forces and motion signals, and are prone to frequent occlusions. To address the challenges, we present Glove2Hand, a framework that translates multi-modal sensing glove HOI videos into photorealistic bare hands, while faithfully preserving the underlying physical interaction dynamics. We introduce a novel 3D Gaussian hand model that ensures temporal rendering consistency. The rendered hand is seamlessly integrated into the scene using a diffusion-based hand restorer, which effectively handles complex hand-object interactions and non-rigid deformations. Leveraging Glove2Hand, we create HandSense, the first multi-modal HOI dataset featuring glove-to-hand videos with synchronized tactile and IMU signals. We demonstrate that HandSense significantly enhances downstream bare-hand applications, including video-based contact estimation and hand tracking under severe occlusion.
Comment: CVPR 2026 Highlight. This version includes the motion retarget process in the appendix
arXiv PDF
YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale
Takehiko Ohkawa, Jumpei Arima, Yuki Noguchi, Masatoshi Tateno, Makoto Sugiura, Takuya Okubo, Kengo Ikeuchi, Yuma Shin, Hiroki Nishizawa, Naoaki Kanazawa, Yuki Wakayama, Daiki Fukunaga, Koshi Makihara, Tomohiro Motoda, Floris Erich, Yukiyasu Domae, Tatsuya Matsushima, Yohishiro Okumatsu, Kei Ota
arXiv:2606.10244v1 • 2026-06-08
We introduce Yielding Universal Bidigital Interface (YUBI), a finger-aligned gripper designed to enable intuitive, ergonomic, and scalable data collection for bimanual dexterous manipulation. While handheld data collection systems such as Universal Manipulation Interface (UMI) enable affordable data collection, their bulky pistol-grip designs can pose ergonomic and usability challenges for fine-grained, dexterous manipulation tasks. To address this, YUBI presents a distinct design principle: yielding, finger-driven actuation that directly maps human finger movements to gripper jaw motion. Using the YUBI devices, we set up a data collection system with integrated VR-based 6 DoF tracking of the gripper, ensuring high-fidelity trajectory data acquisition. We curate a UMI-based dataset of unprecedented scale: 8,434 hours across 1.20M episodes and 119 tasks. Experiments show that YUBI offers advantages over the UMI gripper in versatility for complex bimanual tasks, dexterity, and operational efficiency. A single policy trained on the YUBI dataset transfers across multiple bimanual robots (UR, Franka, and ELEY) simply by mounting the gripper on each platform, confirming that the collected data are directly executable as policy supervision. We release the gripper hardware, data-collection software, and dataset as one integrated stack, offering the open community a reproducible path to large-scale data acquisition for advancing robotic foundation models.
Comment: Project page: https://yubi.airoa.io/
arXiv PDF
What Demonstration Curation Metrics Do to Your Policy
Aarav Bedi
arXiv:2606.10229v1 • 2026-06-08
We study whether demonstration-curation metrics that detect defective training episodes also improve the downstream behavior-cloning policy that trains on the curated data. On a contact-rich LIBERO pick-and-place benchmark with a controlled structural defect (early gripper release during the carry phase), we find that the two quantities are sharply decoupled. The metric with the highest defect-detection AUROC (0.804) produces the worst curated policy (13.3% task success), while a metric with a substantially lower AUROC (0.638) produces a policy that nearly matches the oracle trained on ground-truth clean data (90.0% vs. 93.3%). We further show that five of the seven metrics we evaluate exploit episode length as a trivial proxy for the defect label, a confound that inflates reported AUROCs to near-perfect values and disappears once episode length is controlled. Across all conditions, the contaminated baseline succeeds on only 3.3% of rollouts, and the two best curation methods close this to within 3 percentage points of the 93.3% oracle ceiling. Our results argue that curation methods should be evaluated by the policy they produce, not the defects they flag, and that any curation benchmark must control for episode length before reporting detection accuracy. We release the testbed, all metric implementations, and the evaluation pipeline.
Comment: 6 pages, 1 figure, 2 tables
arXiv PDF
SHAPO: Sharpness-Aware Policy Optimization for Safe Exploration
Kaustubh Mani, Yann Pequignot, Vincent Mai, Liam Paull
arXiv:2606.10228v1 • 2026-06-08
Safe exploration is a prerequisite for deploying reinforcement learning (RL) agents in safety-critical domains. In this paper, we approach safe exploration through the lens of epistemic uncertainty, where the actor's sensitivity to parameter perturbations serves as a practical proxy for regions of high uncertainty. We propose Sharpness-Aware Policy Optimization (SHAPO), a sharpness-aware policy update rule that evaluates gradients at perturbed parameters, making policy updates pessimistic with respect to the actor's epistemic uncertainty. Analytically we show that this adjustment implicitly reweighs policy gradients, amplifying the influence of rare unsafe actions while tempering contributions from already safe ones, thereby biasing learning toward conservative behavior in under-explored regions. Across several continuous-control tasks, our method consistently improves both safety and task performance over existing baselines, significantly expanding their Pareto frontiers.
Comment: ICLR 2026
arXiv PDF
Exploration of Foundation Model-Based Robots in Patient and Elderly Care
Zhiwen Qiu, Wei Liu, Yuexing Hao
arXiv:2606.10208v1 • 2026-06-08
Demand for older-adult and patient care is growing rapidly as populations age worldwide. Foundation models are increasingly being integrated into robots and interactive agents, with the promise of more flexible communication and personalized assistance. However, care settings require reliable and workflow-compatible systems with accountable human oversight, and it remains unclear whether current embodied systems can translate technical advances into clinical impact. This Perspective synthesizes foundation model-based care robots across three areas: design features, user experience, and evidence for care-related outcomes. Current systems most commonly use foundation models as conversational and reasoning layers within voice-centered socially assistive embodiments, while multimodal grounding and physical autonomy remain limited. Empirical evaluations report positive usability and engagement benefits, but reliability failures persist across the interaction pipeline such as hallucinations and conversational breakdowns. Evidence for care impact remains concentrated in proximal outcomes such as cognitive engagement and participation, with limited evidence for validated clinical or care-related changes. We argue that future research should transition toward care-specific evaluation standards, accountable autonomy, and integration into care workflows to support more responsive and responsible care technologies.
arXiv PDF
Video World Models
22
默认显示 5 篇
RadKey: An LLM-Guided RF Backscatter System for Through-Wall Keystroke Inference
Qijun Wang, Chunqi Qian, Huacheng Zeng
arXiv:2606.10148v1 • 2026-06-08
In today's digitally connected world, keyboards remain the primary interface for inputting sensitive information, making them a persistent target for eavesdropping attacks. While prior keystroke inference techniques have exploited side-channel signals such as acoustics and vibrations, they typically rely on conspicuous, short-range sensors and require victim-specific data for model training, limiting their practicality, scalability, and stealth. In this paper, we present RadKey, an RF backscatter system for covert, long-range, through-wall keystroke eavesdropping. RadKey comprises two components: a compact batteryless backscatter tag and an RF reader. The tag captures keystroke-induced vibrations and acoustic signals, modulating them onto the frequency shift of its backscattered RF signal using two magnetically-coupled LC resonators. This design also enables spectral separation between the excitation and backscatter signals, mitigating self-interference for the RF reader and thus extending eavesdropping range. The RF reader demodulates the backscattered RF signal to infer typed content. It employs a dedicated signal processing pipeline that extracts user- and keyboard-independent keystroke features across time and frequency domains, enabling strong generalizability. To further enhance adaptability, RadKey integrates an LLM for online adaptation, leveraging LLM outputs as pseudo ground-truth labels to refine the classifier during runtime. We have built a prototype of the full RadKey system and evaluated it through extensive over-the-air experiments. Results show that RadKey achieves accurate and robust keystroke inference across diverse users in real-world settings. A demo video is available at: https://radkey-submission.github.io/RadKey/
Comment: Accepted to the 47th IEEE Symposium on Security and Privacy (IEEE S&P), 2026
arXiv PDF
From Senses to Decisions: The Information Flow of Auditory and Visual Perception in Multimodal LLMs
Wish Suharitdamrong, Muhammad Awais, Xiatian Zhu, Sara Atito
arXiv:2606.10147v1 • 2026-06-08
Multimodal Large Language Models (MLLMs) can listen and see, but how do audio and visual signals actually travel through the network to shape an answer? Despite their growing role in research and real-world applications, the internal pathways through which audio and visual tokens influence the final prediction remain poorly understood. In this study, we examine audio-visual information flow inside Audio-Visual Large Language Models (AVLLMs), tracing how AVLLMs route, utilize, and integrate audio and visual information across two input configurations, audio-visual video and multiple interleaved audio-visual items. We find that for audio-visual video, AVLLMs follow the sequential information flow pathway established for VLMs and VideoLLMs, with audio and visual contribution flowing along this pathway in proportion to the task's reliance on each modality. In settings with multiple interleaved audio-visual items, this routing shifts to different parallel streams. Furthermore, we demonstrate that audio-visual and other token types can be discarded once their information is transferred to LLM, with minimal impact on the model's prediction or even slight improvement, generalizing across multiple tasks and datasets, enabling more efficient inference. These findings hold across multiple models and scales, Qwen2.5-Omni and Video-SALMONN2 Plus at 3B and 7B scales, leading to hypotheses on why these flow structures emerge. Together, these results deliver the first coherent picture of how AVLLMs orchestrate sound and sight inside the network and lay the groundwork for the next wave of interpretability, design, and efficiency advances in audio-visual and broader MLLMs.
Comment: 40 pages, 29 figures
arXiv PDF
Development of COVID-19 Booster Vaccine Policy by Microsimulation and Q-learning
Guoxuan Ma, Sicong Xie, Lili Zhao, Jian Kang
arXiv:2410.12936v4 •updated • 2024-10-16
The COVID-19 pandemic highlighted the urgent need for effective vaccine policies, but traditional clinical trials often lack sufficient data to capture the diverse population characteristics necessary for comprehensive public health strategies. Ethical concerns around randomized trials during a pandemic further complicate policy development for public health. Reinforcement Learning (RL) offers a promising alternative for vaccine policy development. However, direct online RL exploration in real-world scenarios can result in suboptimal and potentially harmful decisions. This study proposes a novel framework combining tabular Q-learning with microsimulation, where a Recurrent Neural Network (RNN) serves as a digital twin environment simulator of the target population. This digital twin captures temporal associations between infection and patient characteristics to generate realistic individual disease trajectories, enabling safe and efficient policy learning without real-world interaction. Our tabular Q-learning model produces an interpretable policy table that balances the risks of severe infection against vaccination side effects. Applied to COVID-19 booster policies, the learned Q-learning-based policy outperforms current practices, offering a path toward more effective vaccination strategies. A project webpage introducing our work, including links to the software, a brief introductory video, and a step-by-step tutorial video, is available at https://public.websites.umich.edu/~jiankang/software/dtpl_website_umich/index.html.
arXiv PDF
BiWM: Advancing Open-Source Interactive Video World Models with Bidirectional Autoregression
Shaohao Rui, Xiaofeng Mao, Zhanyu Zhang, Peijia Lin, Yansong Zhu, Yibo Zhang, Haibin Wan, Weijie Ma
arXiv:2606.10135v1 • 2026-06-08
Transitioning bidirectional video diffusion models into an autoregressive paradigm improves the interactivity of video world models, but existing causal pipelines need many stages (control fine-tuning, autoregressive training, causal initialization, few-step distillation) and still trail bidirectional models in quality due to error accumulation. Recent world models such as Yume-1.5 and Matrix-Game-3.0 instead adopt a bidirectional autoregressive approach, gaining fidelity and stable long-horizon rollout from self-correcting error propagation, yet open-source frameworks (e.g., minWM) support only causal models. We present BiWM, the first full-stack framework for interactive video world models under the bidirectional autoregressive paradigm, jointly optimizing generation quality and inference speed. From a pretrained video backbone, BiWM injects camera control by fine-tuning, then runs a few-step Distribution Matching Distillation (DMD) stage that turns the backbone into an action/camera-controllable world model: just two training stages instead of four in minWM, converging in a few hundred steps on 8xH200 GPUs. A single recipe spans Wan2.1-1.3B, Wan2.2-5B, HunyuanVideo-1.5-8B, and LTX-2.3-22B, and also supports secondary fine-tuning of existing bidirectional models. BiWM enables real-world camera control where minWM loses controllability, integrates pluggable history compression (FramePack-style and PackForcing-style) for long rollouts, and offers an optional NVFP4 4-bit training/inference pipeline. To counter DMD's mode-seeking degradation, we add GAN and mass-covering forward-KL objectives that preserve scene dynamics. We open-source BiWM for resource-constrained research and high-fidelity environment simulation.
arXiv PDF
Efficient-WAM: A 1B-Parameter World-Action Model with Low-Cost Future Imagination
Jiajun Li, Tiecheng Guo, Yifan Ye, Rongyu Zhang, Xiaowei Chi, Qianpu Sun, Ying Li, Yunfan Lou, Yan Huang, Zhihe Lu, Meng Guo, Shanghang Zhang
arXiv:2606.10040v1 • 2026-06-08
World-Action Models (WAMs) have emerged as a promising paradigm for embodied control by coupling future visual prediction with action generation. However, most existing WAMs rely on photorealistic future prediction, which incurs high inference latency and makes real-time robot deployment difficult. This motivates a more efficient WAM design that preserves the control benefits of future visual prediction while reducing its inference cost. We introduce Efficient-WAM, a World-Action Model that reduces the cost of future imagination while preserving its control benefit. Efficient-WAM improves inference efficiency via a compact video expert transferred from WAN-2.2-5B, token-sparse video latents, and asymmetric video-action denoising that allocates fewer sampling steps to video than to actions. Instead of optimizing the future branch for visual fidelity, Efficient-WAM treats future video prediction as a compact guidance signal for action generation. Comprehensive experiments on RoboTwin 2.0 and real-world manipulation tasks show that Efficient-WAM maintains strong action performance despite visibly coarse future predictions. While maintaining competitive control capabilities, our 1B-parameter model can reduce per-chunk latency to around 100 ms during physical deployment, achieving a 30x speedup over existing WAMs.
arXiv PDF
2026-06-07
49 篇
Robotics
44
默认显示 5 篇
Benchmarking Vision-Language-Action Models on SO-101: Failure and Recovery Analysis
Yi Yu, Xinchuan Qiu
arXiv:2606.08881v1 • 2026-06-07
Vision-Language-Action (VLA) models have demonstrated strong generalization in robotic manipulation, yet existing evaluations are primarily conducted in simulation or on expensive robotic platforms, leaving their robustness on affordable real-world robots largely unexplored. We present a standardized real-world benchmark for evaluating representative VLA and imitation learning policies on the low-cost SO-101 robotic platform. The benchmark comprises four representative manipulation tasks together with unified evaluation protocols, enabling systematic comparison under embodiment uncertainty. Using real-world teleoperated demonstrations, we fine-tune and evaluate $π_{0.5}$, SmolVLA, Wall-X, and ACT directly on the physical platform. Beyond conventional task success rates, the benchmark incorporates a structured failure taxonomy, semantic- and execution-level failure decomposition, and recovery-aware evaluation metrics to characterize policy robustness. Experimental results show that stronger pretrained VLA policies generally outperform the imitation learning baseline, although performance remains highly task-dependent under low-cost robotic deployment conditions. Execution instability emerges as the dominant failure source, while recovery capability varies substantially across architectures. These results highlight the importance of failure and recovery analysis beyond binary task success and establish SO-101 as a practical benchmark for evaluating embodied AI systems under realistic low-cost robotic deployment conditions.
Comment: 13 pages, 9 figures,
arXiv PDF
Geometry-Aware Fisheye-LiDAR Fusion for Robust 3D Object Detection in Low-Overlap Setups
Xiangzhong Liu, Xihao Wang, Hao Shen
arXiv:2606.08844v1 • 2026-06-07
As autonomous systems expand from capital-intensive robotaxis to cost-sensitive logistics, sensor configurations are increasingly optimized for coverage-per-cost. A prevalent sparse-view setup utilizes dual-fisheye cameras with a roof-mounted LiDAR, introducing severe geometric challenges: extreme radial distortion, minimal overlap, and misalignment between spherical projections and rectilinear grids. BEV fusion algorithms typically force image and point cloud modalities into unified Cartesian grids early in the pipeline, causing significant feature distortion and information loss for wide-view fisheye cameras. To address this, we propose a Geometry-Aware Hybrid Fusion (GA-HF) framework that explicitly accounts for fisheye geometry and BEV feature distortion, where fisheye features are lifted into a polar BEV grid via a Distortion-Aware Lift-Splat-Shoot (LSS) module to preserve native angular density, while LiDAR features are processed in native Cartesian space for metric fidelity of bounding box regression. To bridge these heterogeneous streams, we introduce a Dual-Attention Warping Correction module that applies spatial and channel attention to the warped camera features before fusion, explicitly suppressing artifacts in low-quality peripheral regions while enhancing high-quality semantic cues. GA-HF is evaluated on three benchmarks: KITTI-360, Dur360BEV, and Fisheye3DOD datasets. To the best of our knowledge, it is the first approach to explore LiDAR-fisheye camera fusion. On KITTI-360, GA-HF improves NDS by 4.2% over Cartesian baselines; on Dur360BEV, it surpasses both LiDAR-only and BEVFusion, while significantly reducing orientation error despite the geometric distortions; on Fisheye3DOD, it attains the highest detection score among all fusion methods.
Comment: 8 pages, 4 figures, submitted to RA-L
arXiv PDF
Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video
Yunhai Han, Jianuo Qiu, Linhao Bai, Ziyu Xiao, Zihang Zeng, Yangcen Liu, Zhaodong Yang, Shalin Jain, Wenrui Ma, Jiaqi Fu, Yuqian Zheng, Manisha Natarajan, Muhammad Zubair Irshad, Kenneth Shaw, Matthew Gombolay, Zsolt Kira, Harish Ravichandar
arXiv:2606.08828v1 • 2026-06-07
Human manipulation videos are a convenient and intuitive source for robot learning. However, directly transferring human dexterity to robots remains challenging due to perception errors and embodiment gap. To address this, we introduce Video2Sim2Real, a full-stack framework for autonomous skill acquisition from a single human manipulation video. Our framework first uses off-the-shelf foundation models to reconstruct a simulator-ready digital twin and extract robot and object motion priors. Rather than treating the extracted robot motion as a reliable reference throughout execution, our key idea is to recover and leverage the most fundamental sources of supervision from the demonstrated skill: We identify object-centric keyframes to optimize the corresponding robot configurations using object information from the simulator, and use these configurations as anchors that refine the robot motion such that it ultimately has the desired impact on the environment. To bridge the remaining sim-to-real gap, we introduce a sim-to-real strategy that decouples robustness to noisy and incomplete perception from variations in hand-object interaction dynamics. Specifically, we learn to recalibrate robot configurations from noisy real-world point clouds via IL, and leverage residual RL to perform local finger-level adaptations to ensure for robust and effective interactions. Finally, a collision-aware motion planning module enables spatial generalization to novel object configurations. Across several everyday manipulation tasks, Video2Sim2Real improves simulated task success, safety, and trajectory coherence over numerous baselines, and achieves better sim-to-real transfer than existing techniques. These results demonstrate a promising path toward autonomous dexterous skill acquisition from human videos.
Comment: Website: https://video2sim2real.github.io/
arXiv PDF
Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks
Raktim Gautam Goswami, Prashanth Krishnamurthy, Yann LeCun, Farshad Khorrami
arXiv:2606.08775v1 • 2026-06-07
Visual world models have shown great potential in learning complex system dynamics. Recent advancements leverage these models as transition functions within Model Predictive Control (MPC) frameworks to solve various control tasks. When applied to robotics, however, they are limited to single-stage tasks such as reaching or grasping, and struggle with multi-stage ones that demand complex sequential planning. In this work, we introduce WorldDP, a world model framework designed for multi-stage robotic manipulation. Our hierarchical approach utilizes a high-level world model as a transition function to optimize for feasible subgoals during runtime, which are subsequently reached by a low-level Diffusion Policy. To further aid in learning dynamics and planning, we incorporate object-centric representations that decouple environmental entities and enable us to plan sequentially with respect to each. Evaluated across several robotics benchmarks, WorldDP consistently outperforms existing baselines, validating that coupling the world model's physically grounded planning with diffusion policy's efficient execution yields superior multi-stage performance.
arXiv PDF
RGB-S: Image-Aligned Tactile Saliency for Robust Dexterous Manipulation
Shengcheng Luo, Kefei Wu, Xiaoying Zhou, Wanlin Li, Ziyuan Jiao, Chenxi Xiao
arXiv:2606.08765v1 • 2026-06-07
Effective visuo-tactile integration is critical for robotic dexterous manipulation, especially when visual observations are unreliable or occluded. However, robustly aligning sparse, heterogeneous tactile measurements with dense visual representations remains a fundamental challenge. Most existing approaches require policies to learn cross-modal correspondences implicitly from limited demonstrations, without leveraging geometric priors. As a result, they are often data-inefficient and generalize poorly when visual observations are degraded. To address this limitation, we propose a framework that explicitly grounds physical contacts in the image domain. Using robot forward kinematics and camera calibration, we project tactile sensor locations directly onto the RGB image plane. We then render force-modulated Gaussian saliency maps to model spatial uncertainty arising from kinematic and calibration errors. By integrating these 2D spatial anchors through a zero-initialized conditioning architecture, our method injects physical contact priors into standard visual backbones while preserving pre-trained visual representations. We evaluate our method on six dexterous manipulation tasks in both simulation and the real world under severe visual occlusions. Real-world experiments show that explicit RGB-S grounding in the image domain improves real-world occluded manipulation success rates by $26.7$ percentage points over the strongest implicit visuo-tactile baseline, suggesting its improved spatial reasoning and robustness to occlusion. Project page: touch-as-saliency.github.io
Comment: 20 pages, 7 figures
arXiv PDF
Video World Models
5
默认显示 5 篇
Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video
Yunhai Han, Jianuo Qiu, Linhao Bai, Ziyu Xiao, Zihang Zeng, Yangcen Liu, Zhaodong Yang, Shalin Jain, Wenrui Ma, Jiaqi Fu, Yuqian Zheng, Manisha Natarajan, Muhammad Zubair Irshad, Kenneth Shaw, Matthew Gombolay, Zsolt Kira, Harish Ravichandar
arXiv:2606.08828v1 • 2026-06-07
Human manipulation videos are a convenient and intuitive source for robot learning. However, directly transferring human dexterity to robots remains challenging due to perception errors and embodiment gap. To address this, we introduce Video2Sim2Real, a full-stack framework for autonomous skill acquisition from a single human manipulation video. Our framework first uses off-the-shelf foundation models to reconstruct a simulator-ready digital twin and extract robot and object motion priors. Rather than treating the extracted robot motion as a reliable reference throughout execution, our key idea is to recover and leverage the most fundamental sources of supervision from the demonstrated skill: We identify object-centric keyframes to optimize the corresponding robot configurations using object information from the simulator, and use these configurations as anchors that refine the robot motion such that it ultimately has the desired impact on the environment. To bridge the remaining sim-to-real gap, we introduce a sim-to-real strategy that decouples robustness to noisy and incomplete perception from variations in hand-object interaction dynamics. Specifically, we learn to recalibrate robot configurations from noisy real-world point clouds via IL, and leverage residual RL to perform local finger-level adaptations to ensure for robust and effective interactions. Finally, a collision-aware motion planning module enables spatial generalization to novel object configurations. Across several everyday manipulation tasks, Video2Sim2Real improves simulated task success, safety, and trajectory coherence over numerous baselines, and achieves better sim-to-real transfer than existing techniques. These results demonstrate a promising path toward autonomous dexterous skill acquisition from human videos.
Comment: Website: https://video2sim2real.github.io/
arXiv PDF
Harnessing Streaming Video in the Wild
Dingyu Yao, Shuhuan Gu, Qingyi Si, Junhao Zhou, Chenxu Yang, Chuanyu Qin, Naibin Gu, Zheng Lin, Weiping Wang, Nan Duan, Jiaqi Wang
arXiv:2606.08615v1 • 2026-06-07
Vision-Language Models (VLMs) are increasingly required to process unbounded video streams in applications such as video-call assistants, live commentary, and embodied robots. An ideal streaming system should support proactive interaction, long-horizon memory, and real-time processing, while resting on a VLM backbone capable of handling diverse in-the-wild streaming tasks. However, existing VLMs excel at offline video understanding but fall short in streaming capabilities and lack dedicated infrastructure for streaming deployment. We address this gap on three fronts. (i) For backbone capability, we construct \textbf{Streaming-Train-248K}, a streaming dataset paired with a novel training objective for adapting VLMs to streaming interaction and understanding. (ii) For real-world deployment, we introduce \textbf{Streaming Harness}, a plug-and-play system that endows any VLM with three core abilities: proactive interaction (per-second response decisions), long-term memory (12-hour context retention), and real-time processing (sub-second latency). (iii) To drive continued community progress on streaming capabilities, we design \textbf{Streaming-Eval}, a benchmark that reflects models' capabilities across diverse in-the-wild scenarios. Extensive experiments demonstrate consistent gains from our approach across all core capabilities required for streaming video understanding. We will open-source our data, code, and benchmark to advance the community's shift from offline video understanding to deployable streaming intelligence.
arXiv PDF
See, Infer, Intervene: Proactive World Modeling for Goal-Oriented Social Intelligence
Honghui Zhang, Chenmeinian Guo, Yichen Yu, Guanyu Liu, Yujia Zhang, Yongming Qin, Chongguo Song, Mengyue Yang, Lei Yu, Tianyu Shi
arXiv:2606.03371v2 •updated • 2026-06-02
Multimodal retail agents should not only recognize what a customer is doing, but also decide whether and how to assist before an explicit request is made. We study this setting through the See--Infer--Intervene (SII) framework, where a device must see pre-interaction behavior, infer latent customer intent, and act by selecting an appropriate service intervention or choosing to wait. We instantiate SII with the Proactive Intent World Model (PIWM), which represents customer state with AIDA (Attention, Interest, Desire, Action) purchasing phases and BDI (belief, desire, intention) psychological fields, predicts action-conditioned intent transitions, and selects from five response classes: Greet, Elicit, Inform, Recommend, and Hold. We further construct GuidanceSalesBench, a smart-retail benchmark containing state manifests, pre-interaction videos, candidate responses, action-conditioned outcomes, and best-action labels. When conditioned on ground-truth customer state to isolate action selection, PIWM achieves 0.641 macro F1 on 30 held-out target videos, outperforming a zero-shot Qwen2.5-VL-7B baseline and training variants without balanced action supervision; end-to-end video-only selection drops to 0.295, below the 5-class balanced random baseline of 0.414, identifying video-to-state grounding as the dominant deployment-time bottleneck. A preliminary staged real-store pilot (recorded with paid participants performing scripted customer behaviors) reaches 0.579 action macro F1 on 20 fully annotated videos, with 10 additional accessible videos released with index-level labels.
Comment: 16 pages, 3 figures, 9 tables. Preprint
arXiv PDF
CoVEBench: Can Video Editing Models Handle Complex Instructions?
Jiangtao Wu, Jiaming Wang, Yiwen He, Yuanxing Zhang, Shihao Li, Dunyuan Liu, Xuedong Zhao, Jialu Chen, Zekun Moore Wang, Jiaheng Liu
arXiv:2606.08415v1 • 2026-06-07
While recent text-guided video editing models excel at elementary tasks (e.g., style transfer, object insertion), real-world user requests are highly compositional. A single prompt often demands multiple coupled edits, such as modifying subjects, actions, and camera views, while strictly preserving unrelated spatiotemporal content. Existing benchmarks, heavily constrained by isolated edits and coarse global metrics, fail to diagnose how models handle such complex workflows. To address this gap, we introduce CoVEBench, a compositional video editing benchmark comprising 416 curated source videos, 626 multi-point editing instructions, and 9,990 fine-grained checklist items. Covering diverse editing dimensions, CoVEBench evaluates models via MLLM-judged instruction compliance and video fidelity, alongside automated metrics for video quality. Extensive experiments reveal that compositional editing remains a profound challenge: current models frequently omit edits, violate preservation constraints, or introduce artifacts when handling multiple operations simultaneously. CoVEBench provides a challenging, diagnostic testbed to advance video editing toward realistic user workflows.
Comment: 34 pages, 11 figures, 9 tables
arXiv PDF
Co-GLANCE: Uncertainty-Aware Active Perception for Heterogeneous Robot Teaming
Michal P. Podolinsky, Neel P. Bhatt, Pranay Samineni, Rohan Siva, Christian Ellis, Ufuk Topcu
arXiv:2606.09919v1 • 2026-06-07
Perceptual uncertainty is a central challenge for heterogeneous robot teams operating in unstructured outdoor environments, where no single viewpoint affords reliable scene understanding. Perceptual uncertainty, arising from sources such as occlusions, manifests differently across robot viewpoints depending on scene structure. Detecting and resolving sources of perceptual uncertainty requires both scene-based contextual reasoning and capability-aware robot allocation. While vision-language models provide strong semantic priors for both, they are computationally prohibitive for onboard inference and lack calibrated uncertainty quantification. We introduce Co-GLANCE, a real-time onboard perception and decision-making system for uncertainty resolution in heterogeneous robot teams. Co-GLANCE distills the semantic reasoning capabilities of a vision-language model into an end-to-end model for occlusion segmentation and robot allocation, eliminating the need for cloud-based inference. To quantify perceptual uncertainty, Co-GLANCE combines conformal prediction with selective abstention to provide statistically valid coverage guarantees for segmentation, robot allocation, and detection outputs. These calibrated uncertainty estimates directly trigger active perception, dispatching the most appropriate robot to acquire informative viewpoints and resolve uncertainty. Across real-world scenarios, Co-GLANCE outperforms cloud-based vision-language model baselines in occlusion segmentation and robot allocation accuracy by 25% and 36%, respectively, while reducing per-frame inference latency 350x. We also release an air-ground dataset for future research. Code, videos, and dataset available at https://co-glance.github.io/ .
Comment: Code, videos, and dataset available at https://co-glance.github.io/
arXiv PDF
2026-06-06
50 篇
Robotics
42
默认显示 5 篇
Uncertainty-Aware Intention Prediction for Human-to-Robot Assembly Teleoperation
Fnu Heman, Yixuan Wang, Kolin Xu, Conner Wallace, John Dang, Akhil Joshi, Jun Sheng, Pinhas Ben-Tzvi, Mingyu Cai
arXiv:2606.08341v1 • 2026-06-06
In assisted teleoperation for human-robot collaboration, accurate intention prediction is critical for enabling timely and reliable robotic assistance during long-horizon manipulation and assembly tasks. These systems require continuous understanding of user behavior to recognize actions, anticipate intentions, and detect mistakes in real time. However, robot teleoperation demonstrations are costly and hardware-limited, whereas human demonstrations are easier to collect and provide rich temporal structure. To address this challenge, we propose an uncertainty-aware human-to-robot intention prediction framework that combines: (1) hierarchical transfer learning, where MS-TCN++ is pretrained on human hand demonstrations and fine-tuned on limited robot teleoperation data to capture low-level actions and high-level task intentions; (2) a conformal prediction module that provides frame-level prediction sets with statistical coverage guarantees for reliable uncertainty quantification and early intention estimation; and (3) VLM-guided segment correction, which selectively reviews low-confidence or temporally uncertain segments using visual and temporal context. The framework supports action recognition, temporal segmentation, intention anticipation, and mistake detection for assisted teleoperation. Experiments on robot assembly demonstrations with 22 action classes show that human-to-robot fine-tuning improves the robot test-set Edit score from 70.50 to 80.70 using only 16 robot demonstrations. Edit-safe VLM correction further improves frame accuracy from 45.21% to 46.42% and increases F1@25 and F1@50 while preserving the Edit score. These results show that human demonstrations provide scalable pretraining data for robust, uncertainty-aware robot action segmentation. Code and data: project website.
Comment: 7 pages, 6 figures. Preprint version
arXiv PDF
Reward Evolution with Graph-of-Thoughts: A Bi-Level Language Model Framework for Reinforcement Learning
Changwei Yao, Xinzi Liu, Chen Li, Marios Savvides
arXiv:2509.16136v5 •updated • 2025-09-19
Designing effective reward functions remains a major challenge in reinforcement learning (RL), often requiring considerable human expertise and iterative refinement. Recent advances leverage Large Language Models (LLMs) for automated reward design, but these approaches are limited by hallucinations, reliance on human feedback, and challenges with handling complex, multi-step tasks. In this work, we introduce Reward Evolution with Graph-of-Thoughts (RE-GoT), a novel bi-level framework that enhances LLMs with structured graph-based reasoning and integrates Visual Language Models (VLMs) for automated rollout evaluation. RE-GoT first decomposes tasks into text-attributed graphs, enabling comprehensive analysis and reward function generation, and then iteratively refines rewards using visual feedback from VLMs without human intervention. Extensive experiments on 10 RoboGen and 4 ManiSkill2 tasks demonstrate that RE-GoT consistently outperforms existing LLM-based baselines. On RoboGen, our method improves average task success rates by 32.25%, with notable gains on complex multi-step tasks. On ManiSkill2, RE-GoT achieves an average success rate of 93.73% across four diverse manipulation tasks, significantly surpassing prior LLM-based approaches and even exceeding expert-designed rewards. Our results indicate that combining LLMs and VLMs with graph-of-thoughts reasoning provides a scalable and effective solution for autonomous reward evolution in RL.
arXiv PDF
Sparse Autoencoders Reveal Interpretable and Steerable Features in VLA Models
Aiden Swann, Lachlain McGranahan, Hugo Buurmeijer, Monroe Kennedy, Mac Schwager
arXiv:2603.19183v2 •updated • 2026-03-19
Vision-Language-Action (VLA) models have emerged as a promising approach for general-purpose robot manipulation. However, little research has mechanistically explored when and why they generalize across objects, scenes, and instructions. To probe internal representations, we train Sparse Autoencoders (SAEs) on the VLA's hidden-layer activations. SAEs learn sparse dictionaries over model activations, often revealing features that correspond to interpretable directions in the model's representation space. We identify SAE features corresponding to motion primitives and semantic concepts, including features that are general across episodes and causally steerable. We propose a metric to categorize features as general transferable primitives or episode-specific memorizations, offering a promising glimpse towards VLA generalization. We validate these findings through steering experiments on both the LIBERO simulation benchmark and on real-world DROID hardware. We find that amplifying general and semantic features induces behaviors consistent with their meanings, whereas ablating them destroys model performance. Furthermore, we demonstrate steering as a way to control behavior in unpromptable directions. Together, these results provide mechanistic evidence that VLAs can learn reusable internal features linking perception, language, and action across tasks and scenes. Our project page is located at https://drvla.github.io
Comment: 24 pages, 11 figures
arXiv PDF
RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
Chaoyi Xu, Yixuan Jiang, Jiahui Huan, Yuhui Fu, Haoyu Zhou, Weitian Yuan, Jiayi Yu, Wanpeng Zhang, Haoqi Yuan, Zongqing Lu
arXiv:2606.06033v2 •updated • 2026-06-04
Learning dexterous manipulation requires demonstrations that preserve fine hand-object interactions while remaining executable at deployment. Existing pipelines either lose deployable dexterity through retargeting or embodiment conversion, or rely on robot-specific teleoperation that is costly to scale and often lacks intuitive, contact-aware control for dexterous data collection. We present RealDexUMI, a wearable universal manipulation interface built around a shared dexterous end-effector module that integrates a lightweight dexterous hand, in-hand vision, and fingertip tactile sensing. A palm-side isomorphic teleoperation glove maps human finger inputs to robot-hand joint commands, enabling real-time, retargeting-free, intuitive, and precise hand control. The shared hand and sensing modules yield zero-gap end-effector data, with matched in-hand observations, tactile signals, contacts, and hand actions between collection and deployment. Across eight real-robot tasks spanning fine-grained, contact-rich, long-horizon, and bimanual manipulation, policies trained on RealDexUMI data achieve an average success rate of 88.75%, generalize to unseen initial poses, and transfer across three embodiments. Website: https://research.beingbeyond.com/realdexumi
arXiv PDF
MotionVLA: Injecting Geometric Motion into Vision-Language-Action Model
Shanglin Yuan, Weiheng Zhao, Xianda Guo, Wei Sui, Li Yu, Wenyu Liu, Xinggang Wang
arXiv:2606.08288v1 • 2026-06-06
Vision-language-action (VLA) models increasingly condition robot policies on history, depth, or 4D features to resolve ambiguity in long-horizon manipulation. However, more spatiotemporal evidence is not necessarily better: when the injected evidence is not motion-consistent, it can introduce geometric drift, fragmented temporal cues, and unstable action generation. This raises a simple question: should a VLA remember past frames, or remember the motion that connects them? We introduce MotionVLA, a motion-history interface that converts a short past-only video window into compact, time-continuous trajectory-field tokens. Instead of treating history as a sparse set of ndependently lifted frames, MotionVLA represents recent observations as physically coherent motion evidence. Current visual tokens query this history to retrieve task-relevant motion information, which is then recoupled into the VLA stream under trajectory-grounded supervision. Experiments across simulation benchmarks and preliminary real-robot rollouts show that MotionVLA improves long-horizon manipulation while producing smoother and more direct executions. These results suggest that effective VLA memory is not just about providing more 4D context, but about exposing motion-consistent evidence that is usable for control.
Comment: 17 pages, 8 figures
arXiv PDF
Video World Models
8
默认显示 5 篇
Light-WAM: Efficient World Action Models with State-Fusion Action Decoding
Ziang Li, Dongzhou Cheng, Yibin Wang, Shiyue Wang, Xiaoyang Xu, Lingxuan Weng, Juan Wang, Jiaqi Wang
arXiv:2606.08242v1 • 2026-06-06
World Action Models (WAMs) extend robot policy learning by incorporating future prediction as an additional training objective, encouraging the policy to encode task-relevant temporal structure in its representations. Current WAMs often rely on large-scale generative architectures that incur high training costs and inference latency, making them difficult to deploy as efficient closed-loop policies. We propose Light-WAM, a lightweight World Action Model for efficient robot manipulation. Specifically, it is built with a compact video backbone and performs future-video supervision in a downsampled latent space, reducing the cost of video co-training while retaining its benefits for representation learning. For action prediction, Light-WAM introduces the StateFusionActionExpert, which reads adapted states from multiple backbone layers, fuses them through learned-query pooling, and directly predicts action chunks in a single forward pass. This design provides an efficient interface between video backbone representations and robot actions, avoiding the need for heavy generative action experts. Experiments demonstrate that Light-WAM maintains strong performance on LIBERO and achieves usable multi-task performance on RoboTwin 2.0, while using only 0.44B trainable parameters. It also achieves 72.03ms inference latency with 4.1GiB peak GPU memory and improved training throughput.
arXiv PDF
Continual Quadruped Robots Coordination via Semantic Skill Discovery
Daoqing Wang, Yuchen Xiao, Weixuan Huang, Zhilong Zhang, Shenghua Wan, Meng Li, Lei Yuan, Yang Yu
arXiv:2606.08102v1 • 2026-06-06
Multi-quadruped coordination has attracted increasing attention due to its enhanced payload capacity, broader contact coverage, and improved adaptability to challenging tasks. Existing methods for multi-quadruped manipulation typically focus on predefined or closed task families, often relying on multi-agent reinforcement learning (MARL) to train task-specific coordination policies. However, such methods struggle in open-ended continual learning settings, where tasks arrive sequentially and robots are expected to acquire new coordination skills while reusing previously learned ones without catastrophic forgetting. To address this challenge, we propose Conquer, a semantic skill-library framework that formulates continual multi-quadruped coordination as a retrieve-adapt-update process. First, to accommodate varying team sizes across tasks, we design a team-structured Self-Allies-Goal (SAG) backbone that supports variable-cardinality robot teams by explicitly modeling each robot's own state, teammate context, and task goal. For each incoming task, Conquer constructs a task-level semantic descriptor from pre-execution information and retrieves a relevant skill from the library for adaptation. After successful execution, Conquer updates the skill library by extracting trajectory-level semantic descriptors and organizing them according to semantic distance, thereby enabling continual skill accumulation and cross-task knowledge transfer. Simulation experiments show that Conquer achieves a final average success rate of 95.6%, demonstrating strong forward transfer and negligible catastrophic forgetting. Real-world rollouts on Unitree Go2 teams further validate the deployment feasibility of Conquer for practical multi-quadruped coordination. Simulation and real-robot demonstration videos are available at: https://conquer-project.pages.dev/.
Comment: 22 pages, 8 figures, 11 tables. Project page: https://conquer-project.pages.dev/
arXiv PDF
Light Interaction: Training-Free Inference Acceleration for Interactive Video World Models
Jiacheng Lu, Haoyi Zhu, Sipei Yi, Enze Xie, Yu Li, Cheng Zhuo
arXiv:2605.31158v2 •updated • 2026-05-29
Interactive video world models generate video chunk by chunk in response to user-controlled camera movements, enabling applications such as real-time game simulation, virtual scene navigation, and embodied AI training. However, scaling to long interactive trajectories is prohibitively expensive due to growing context memory, quadratic attention complexity, and repeated denoising steps. We present Light Interaction, a training-free inference acceleration framework for interactive video world models. Our key insight is that interaction naturally enables trajectory-dependent adaptive computation: retrieved spatial memory can be discarded during novel exploration, temporal context can be adjusted according to local latent dynamics, and early-step model outputs can be reused when the camera revisits familiar regions. Based on this insight, Light Interaction combines adaptive context management, denoising cache acceleration, and hardware-software co-designed 3D block sparse attention with fused Triton kernels. Evaluated on HY-WorldPlay and Matrix-Game-3.0, Light Interaction achieves up to 2.59x speedup without model retraining while maintaining competitive visual quality.
Comment: 13 pages, 6 figures, 3 tables. Project page: https://2843721358l-del.github.io/Light-Interaction-Project/
arXiv PDF
Embody4D: A Generalist Data Engine for Embodied 4D World Modeling
Peiyan Tu, Hanxin Zhu, Jingwen Sun, Shaojie Ren, Cong Wang, Yuyan Xu, Jiayi Luo, Xiaoqian Cheng, Zhibo Chen
arXiv:2605.01799v2 •updated • 2026-05-03
Embodied agents require robust and comprehensive 3D spatiotemporal representations to support spatial reasoning, manipulation understanding, and downstream decision making. However, existing robot data are typically captured from fixed or sparse viewpoints, providing only partial and view-dependent observations, which limits multi-view perception and generalization across viewpoints. Given the difficulty of collecting additional viewpoints in real-world settings, we propose Embody4D, a dedicated video-to-video world model for embodied scenarios to bridge this observation gap by transforming a monocular robot video into novel-view videos from flexible target camera viewpoints. First, to tackle training data scarcity, we introduce a 3D-aware compositional synthesis pipeline to curate a heterogeneous dataset compositing cross-embodiment robotic arms with diverse backgrounds, promoting broad generalization. Second, to enforce geometric stability, we devise a latent confidence-aware expert modulation strategy, which estimates the reliability of warped latent priors and adaptively routes regions to copy, repair, or inpaint experts for spatiotemporally consistent 4D generation. Finally, to enhance the fidelity of the manipulation, we incorporate an interaction-aware attention mechanism that explicitly attends to the robotic interaction regions. Extensive experiments show that Embody4D achieves state-of-the-art performance on visual evaluation benchmarks, while both simulated and real-world robotic experiments further demonstrate its effectiveness as a robust data engine for synthesizing high-fidelity, view-consistent videos that empower downstream robotic planning and learning.
arXiv PDF
CamoSAM2: SAM2-oriented Prompt Auto-Refinement for Video Camouflaged Object Detection
Xin Zhang, Keren Fu, Qijun Zhao
arXiv:2504.00375v2 •updated • 2025-04-01
The Segment Anything Model 2 (SAM2), a prompt-guided video foundation model, has remarkably performed in video object segmentation, drawing significant attention in the community. Due to the high similarity between camouflaged objects and their surroundings, which makes them difficult to distinguish even by the human eye, the application of SAM2 for automated segmentation in real-world scenarios faces challenges in camouflage perception and reliable prompts generation. To address these issues, we propose CamoSAM2, a motion-appearance prompt inducer (MAPI) and refinement framework to automatically generate and refine prompts for SAM2, enabling high-quality automatic detection and segmentation in VCOD task. Initially, we introduce a prompt inducer that simultaneously integrates motion and appearance cues to detect camouflaged objects, delivering more accurate initial predictions than existing methods. Subsequently, we propose a video-based adaptive multi-prompts refinement (AMPR) strategy tailored for SAM2, aimed at mitigating prompt error in initial coarse masks and further producing good prompts. Specifically, we introduce a novel three-step process to generate reliable prompts by camouflaged object determination, pivotal prompt frame selection, and multi-prompts formation. Extensive experiments conducted on two benchmark datasets demonstrate that our proposed model, CamoSAM2, significantly outperforms existing state-of-the-art methods, achieving increases of 8.0% and 10.1% in mIoU metric. Additionally, our method achieves the fastest inference speed compared to current VCOD models.
Comment: 13 pages, 8 figures,
arXiv PDF
2026-06-05
79 篇
Robotics
69
默认显示 5 篇
End-to-End Control of a Powered Knee-Ankle Prosthesis Towards Unified, Tuning-Free Assistance
John Shim, Christoph Nuesslein, Sixu Zhou, Hanjun kim, Kinsey Herrin, Aaron Young
arXiv:2606.07902v1 • 2026-06-05
Powered prostheses conventionally rely on impedance controllers that require extensive manual tuning and explicit mode classification. In this work, we present real-time deployment of an end-to-end prosthesis controller that estimates continuous actuator signals from onboard sensors, eliminating the need for intent classifiers and subject-specific tuning. Temporal Convolutional Networks were trained on a multi-terrain dataset from 18 individuals with transfemoral amputation and deployed in real time across five locomotion modes. Four participants (three able-bodied, one with transfemoral amputation) ambulated across level ground, ramp ascent and descent, and stair ascent and descent. During level walking, the deployed controller reproduced the training-data scaling of peak ankle torque with walking speed (deployed 0.85 Nm/kg per m/s, p = 0.001; training 0.96 Nm/kg per m/s, 95% CI [0.42, 1.50], p = 0.002), after excluding one outlier traced to atypical prosthesis loading. During ramp ascent, the controller scaled knee pre-flexion with grade (deployed 2.92 deg/deg, p = 0.027; training 3.30 deg/deg, 95% CI [1.83, 4.77], p < 0.001). During ramp descent, the controller increased resistive knee torque relative to level walking (deployed +0.16 Nm/kg, p < 0.001; training +0.16 Nm/kg, p = 0.008). Seamless stair transitions were generated for both intact- and prosthetic-side-leading sequences in ascent and descent, despite the training data containing only one limb-leading sequence. These results provide initial evidence towards end-to-end control that can provide unified, mode-adaptive prosthetic assistance without subject-specific tuning.
Comment: 7 pages, 6 figures
arXiv PDF
TBD-VLA: Temporal Block Diffusion Vision Language Action Model
Sung-Wook Lee, Xuhui Kang, Yen-Ling Kuo
arXiv:2606.07895v1 • 2026-06-05
Discrete Vision-Language-Action (VLA) models typically formulate action generation as next-token prediction over discretized action spaces, conditioning each token autoregressively on prior context. While effective, this paradigm incurs high inference latency and largely ignores the temporal structure inherent in action trajectories. Recent efforts introduce parallel decoding to improve efficiency, enabling faster inference, but lack explicit mechanisms for modeling token dependencies. We introduce TBD-VLA, a discrete token-based VLA framework that incorporates block diffusion to enable temporal action generation. We partition action sequences into temporal blocks and perform masked discrete diffusion within each block, while maintaining autoregressive generation across blocks. This design unifies temporal autoregression and parallel action decoding, achieving both strong temporal coherence and improved inference speed. In addition, the explicit temporal modeling enables asynchronous execution of action chunks (e.g., Real-Time Chunking) via temporal in-painting. TBD-VLA significantly outperforms prior VLA approaches in both simulation and real-world manipulation tasks, offering a scalable path toward fast, temporally aware, discrete VLA models. Project webpage: https://tbd-vla.github.io/
arXiv PDF
Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAX
Martin Schuck, Marcel P. Rath, Yufei Hua, Abhishek Goudar, SiQi Zhou, Angela P. Schoellig
arXiv:2606.01478v2 •updated • 2026-05-31
High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing the capabilities of robot algorithms. While aerial robotics simulators have evolved to support specialized needs such as fidelity, differentiability, and swarms independently, a unified platform that can synthesize data across all these domains is missing. In this work, we propose Crazyflow, a simulator designed to push the limits of aerial-robotics algorithm development, from model-based to data-driven methods, gradient-based to sampling-based approaches, and single-agent to multi-agent systems. Compared to existing state-of-the-art drone simulators, it achieves speeds more than an order of magnitude faster for a single drone and can simulate thousands of swarms of 4000 drones each. Real-world experiments show Crazyflow supports both analytical-gradient-based policy learning, achieving sub-centimeter trajectory tracking accuracy without domain randomization, and sampling-based obstacle avoidance at speeds exceeding half a billion steps per second. Breaking the traditional train-then-deploy paradigm, we show that its unprecedented speed even enables in-flight reinforcement learning; we demonstrate this by throwing a physical drone into the air and training a recovery policy from scratch in 0.38 seconds, successfully stabilizing the drone. Crazyflow supports multiple levels of simulation abstraction, is directly compatible with all open-source Crazyflie models, and enables rapid reconfiguration across custom drone platforms and applications by providing a light-weight system identification pipeline. By pushing accuracy, speed, and differentiability simultaneously, Crazyflow serves as an open-source resource for synthetic data generation, with emerging capabilities for large-scale parallelization for online, in-execution learning and optimization, opening the door to novel algorithm development.
Comment: Fix minor metadata mistakes
arXiv PDF
A Survey on Deep Multi-Task Learning in Connected Autonomous Vehicles
Jiayuan Wang, Farhad Pourpanah, Q. M. Jonathan Wu, Ning Zhang
arXiv:2508.00917v2 •updated • 2025-07-29
Connected autonomous vehicles (CAVs) must simultaneously perform multiple tasks, such as perception, prediction, planning, and control, to ensure safe and reliable navigation in complex environments. Moreover, through vehicle-to-everything (V2X) communication, cooperative perception and driving among CAVs can be enabled, thereby mitigating the limitations of individual vehicles, while it also introduces stringent latency, reliability, and bandwidth constraints. Traditionally, tasks are addressed using separate models, which leads to high deployment costs, increased computational overhead, and challenges in achieving real-time performance. Multi-task learning (MTL) has recently emerged as a promising solution that enables the joint learning of multiple tasks within a unified model. This offers improved efficiency and resource utilization. To the best of our knowledge, this survey is the first comprehensive review focusing on deep MTL in CAVs. We begin with an overview of CAVs and MTL to provide foundational background. Then, we review MTL approaches across key functional domains in CAVs, including perception, prediction, planning, control, as well as V2X communications and radio resource management (RRM). For the first four domains, we categorize existing works under ego vehicle-only (onboard-only) and V2X-enhanced cooperative (multi-agent) paradigms. We further discuss V2X communications and RRM as communication-centric MTL problems. Finally, we discuss the strengths and limitations of existing methods, identify key research gaps, and provide future research directions aimed at advancing MTL methodologies for CAV systems.
arXiv PDF
Path Planning Using Deep Deterministic Policy Gradient: A Reinforcement Learning Approach
Qiang Le, Yaguang Yang, Isaac E. Weintraub
arXiv:2606.07855v1 • 2026-06-05
Path-planning for autonomous vehicles in threat-laden environments is a fundamental challenge because the problem is nonlinear and nonconvex even in simplest scenarios. While traditional optimal control methods can be used to find ideal paths, the computational time is often too slow for real-time decision-making. To solve this challenge, we propose a method based on Deep Deterministic Policy Gradient (DDPG) and model the threat as possibly multiple circular 'no-go' zones. A mission is regarded as a failure if the vehicle enters this restricted zone at any time or does not reach a neighborhood of the destination. The DDPG agent is trained through trial and error in a simulated environment, learning a direct mapping from its current state (position and heading) to a series of feasible actions that guide the agent to safely reach its destination. The reword function has three parts: (a) an attractive field centered at the final destination, (b) some repulsive fields centered at the origins of circular obstacles, and (c) a penalty of control energy consumption (the magnitude of heading change) that indirectly in favor for straight path. The DDPG trains the agent using these incentives to find the largest possible set of starting points wherein a safe path to the destination is guaranteed. This provides critical information for mission planning, showing beforehand whether a task is achievable from a given starting point, assisting pre-mission planning activities. The approach is validated in simulation. A comparison between the DDPG method and a traditional optimal control (pseudo-spectral) method is carried out. The results show that the learning-based agent produces effective paths while being significantly faster, making it a better fit for real-time applications.
Comment: 14 pages, 12 figures
arXiv PDF
Video World Models
10
默认显示 5 篇
PEDRA: Evaluating the Realism of Pedestrian Dynamics in Video Generation
Aaron Appelle, Jerome P. Lynch
arXiv:2510.20182v2 •updated • 2025-10-23
Pedestrian simulation traditionally relies on expert-tuned, hand-crafted models that limit scalability and generalization. Meanwhile, large-scale video generation models have achieved high visual realism across diverse settings, motivating exploration of their potential as general-purpose world simulators. Existing benchmarks primarily assess single-subject realism rather than scenes with multiple interacting people, leaving the plausibility of multi-agent dynamics in generated videos untested. We propose a rigorous evaluation protocol to benchmark text-to-video (T2V) and image-to-video (I2V) models as implicit simulators of pedestrian dynamics. For I2V, we leverage start frames from established datasets to enable direct comparison with ground truth videos, while for T2V we design a prompt suite covering varied crowd densities and interaction types. A key component is a method to reconstruct 2D bird's-eye view trajectories from pixel-space without known camera parameters. Our analysis shows that leading models exhibit effective priors for plausible multi-agent behavior, though issues such as merging and disappearing pedestrians reveal limits to their physical consistency.
Comment: Accepted to CVPR 2026
arXiv PDF
Cosmos 3: Omnimodal World Models for Physical AI
NVIDIA, :, Aditi, Niket Agarwal, Arslan Ali, Jon Allen, Martin Antolini, Adeline Aubame, Alisson Azzolini, Junjie Bai, Maciej Bala, Yogesh Balaji, Josh Bapst, Aarti Basant, Mukesh Beladiya, Mohammad Qazim Bhat, Zaid Pervaiz Bhat, Dan Blick, Vanni Brighella, Han Cai, Tiffany Cai, Eric Cameracci, Jiaxin Cao, Yulong Cao, Mark Carlson, Carlos Casanova, Ting-Yun Chang, Yan Chang, Yu-Wei Chao, Prithvijit Chattopadhyay, Roshan Chaudhari, Chieh-Yun Chen, Junyu Chen, Ke Chen, Qizhi Chen, Wenkai Chen, Xiaotong Chen, Yu Chen, An-Chieh Cheng, Click Cheng, Xiu Chia, Jeana Choi, Chaeyeon Chung, Wenyan Cong, Yin Cui, Magdalena Dadela, Nalin Dadhich, Wenliang Dai, Joyjit Daw, Alperen Degirmenci, Rodrigo Vieira Del Monte, Robert Denomme, Sameer Dharur, Marco Di Lucca, Ke Ding, Wenhao Ding, Yifan Ding, Yuzhu Dong, Nicole Drumheller, Yilun Du, Aigul Dzhumamuratova, Aleksandr Efitorov, Hamid Eghbalzadeh, Naomi Eigbe, Imad El Hanafi, Hassan Eslami, Benedikt Falk, Jiaojiao Fan, Jim Fan, Amol Fasale, Sergiy Fefilatyev, Liang Feng, Francesco Ferroni, Sanja Fidler, Xiao Fu, Vikram Fugro, Prashant Gaikwad, TJ Galda, Katelyn Gao, Yihuai Gao, Wenhang Ge, Sreyan Ghosh, Arushi Goel, Vivek Goel, Akash Gokul, Rama Govindaraju, Jinwei Gu, Miguel Guerrero, Elfie Guo, Aryaman Gupta, Siddharth Gururani, Hugo Hadfield, Song Han, Ankur Handa, Zekun Hao, Mohammad Harrim, Ali Hassani, Nathan Hayes-Roth, Yufan He, Chris Helvig, Cyrus Hogg, Madison Huang, Michael Huang, Sophia Huang, Yufan Huang, Jacob Huffman, DeLesley Hutchins, Suneel Indupuru, Boris Ivanovic, Arihant Jain, Joel Jang, Ryan Ji, Yanan Jian, Dongfu Jiang, Jingyi Jin, Atharva Joshi, Nikhilesh Joshi, Pranjali Joshi, Andy Ju, Jaehun Jung, Weiwei Kang, Scott Kassekert, Jan Kautz, Ashna Khetan, Julia Kiczka, Slawek Kierat, Gwanghyun Kim, Kuno Kim, Sunny Kim, Kezhi Kong, Xin Kong, Zhifeng Kong, Tomasz Kornuta, Egor Krivov, Hui Kuang, Saurav Kumar, Chia-Wen Kuo, George Kurian, Wojciech Kutak, JF Lafleche, Himangshu Lahkar, Omar Laymoun, Jayjun Lee, Sanggil Lee, Gabriele Leone, Boyi Li, Freya Li, Jiajun Li, Jinfeng Li, Ling Li, Pengcheng Li, Shangru Li, Tingle Li, Xiaolong Li, Xuan Li, Zhaoshuo Li, Zhiqi Li, Hao Liang, Maosheng Liao, Chen-Hsuan Lin, Tsung-Yi Lin, Ming-Yu Liu, Sifei Liu, Zihan Liu, Hai Loc Lu, Xiangyu Lu, Alice Luo, Ruipu Luo, Wenjie Luo, Jiangran Lyu, Martin Ding Ma, Nic Ma, Qianli Ma, Dawid Majchrowski, Louis Marcoux, Miguel Martin, Qing Miao, Ashkan Mirzaei, Shreyas Misra, Kaichun Mo, Durra Mohsin, Hyejin Moon, Pawel Morkisz, Saeid Motiian, Kirill Motkov, Seungjun Nah, Yashraj Narang, Deepak Narayanan, Thabang Ngazimbi, Julian Ouyang, Shubham Pachori, David Page, Yatian Pang, Sehwi Park, Mahesh Patekar, Mostofa Patwary, Marco Pavone, Trung Pham, Wei Ping, Soha Pouya, Shrimai Prabhumoye, Varun Praveen, Delin Qu, Hesam Rabeti, Morteza Ramezanali, Marilyn Reeb, Xuanchi Ren, Kristen Rumley, Wojciech Rymer, Jun Saito, Yeongho Seol, John Shao, Piyush Shekdar, Tianwei Shen, Humphrey Shi, Min Shi, Stella Shi, Kevin Shih, Mohammad Shoeybi, Mateusz Sieniawski, Shuran Song, Alexander Sotelo, Amir Sotoodeh, Sunil Srinivasa, Vignesh Srinivasakumar, Bartosz Stefaniak, Rahul Heinrich Steiger, Shangkun Sun, Jiaxiang Tang, Shitao Tang, Yangyang Tang, Yue Tang, Tolou Tavakkoli, Kayley Ting, Krzysztof Tomala, Wei-Cheng Tseng, Jibin Varghese, Sergei Vasilev, Thomas Volk, Raju Wagwani, Roger Waleffe, Andrew Z. Wang, Boxiang Wang, Haoxiang Wang, Qiao Wang, Shihao Wang, Shijie Wang, Ting-Chun Wang, Yan Wang, Yu Wang, Rohit Watve, David Wehr, Fangyin Wei, Xinshuo Weng, Jay Zhangjie Wu, Kedi Wu, Hongchi Xia, Summer Xiao, Tianjun Xiao, Kevin Xie, Daguang Xu, Jiashu Xu, Mengyao Xu, Ruqing Xu, Xingqian Xu, Yao Xu, Dinghao Yang, Dong Yang, Hans Yang, Xiaodong Yang, Xuning Yang, Yichu Yang, Yurong You, Zhiding Yu, Hao Yuan, Simon Yuen, Xiaohui Zeng, Pengcuo Zeren, Cindy Zha, Haotian Zhang, Jenny Zhang, Jing Zhang, Liangkai Zhang, Paris Zhang, Shun Zhang, Xuanmeng Zhang, Zhizheng Zhang, Ann Zhao, Yilin Zhao, Yuliya Zhautouskaya, Charles Zhou, Fengzhe Zhou, Shilin Zhu, Yuke Zhu, Dima Zhylko, Artur Zolkowski
arXiv:2606.02800v2 •updated • 2026-06-01
We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-transformers architecture. By supporting highly flexible input-output configurations, Cosmos 3 seamlessly unifies critical modalities for Physical AI -- effectively subsuming vision-language models, video generators, world simulators, and world-action models into a single framework. Our evaluation demonstrates that Cosmos 3 establishes a new state-of-the-art across a diverse suite of understanding and generation tasks, demonstrating omnimodal world models as scalable, general-purpose backbones for embodied agents. Our post-trained Cosmos 3 models were ranked as the best open-source Text-to-Image and Image-to-Video models by Artificial Analysis, and the best policy model by RoboArena at the time the technical report was written. To accelerate open research and deployment in Physical AI, we make our code, model checkpoints, curated synthetic datasets, and evaluation benchmark available under the Linux Foundation's OpenMDW-1.1 License at https://github.com/nvidia/cosmos and https://huggingface.co/collections/nvidia/cosmos3. The project website is available at https://research.nvidia.com/labs/cosmos-lab/cosmos3.
arXiv PDF
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
Kaichen Zhou, Yuzhen Chen, Fangneng Zhan, Hang Hua, Grace Chen, Xinhai Chang, Ao Qu, Yilun Du, Zhuang Liu, Paul Pu Liang, Mengyu Wang
arXiv:2605.22882v3 •updated • 2026-05-20
Video world models can generate realistic futures from a single instruction, but they often fail to track the same physical points consistently across time. As a result, the generated videos appear plausible, yet lack the physical grounding required for reliable action execution, such as robot manipulation. We present GEM-4D, a geometry-grounded video world model that resolves this limitation by injecting dense 4D correspondence supervision distilled from a pretrained geometry foundation model into the video generative backbone during training. This supervision enables the model to jointly capture appearance and geometric structure while retaining a single-stream architecture with no additional inference cost. We further introduce an inverse dynamics module that converts correspondence-consistent video rollouts into executable robot trajectories, enabling direct deployment in both real-world and simulated manipulation. GEM-4D achieves state-of-the-art performance on both video prediction and geometric consistency across both simulation and realistic scenarios and improves real-world manipulation success from 61% to 81%. Additional results are available at https://gem-4d.github.io/.
Comment: Robotic World Model, Video Generative Model
arXiv PDF
PAGE-4D: VGGT-4D Perception via Disentangled Pose and Geometry Estimation
Kaichen Zhou, Yuhan Wang, Grace Chen, Xinhai Chang, Gaspard Beaudouin, Fangneng Zhan, Paul Pu Liang, Mengyu Wang
arXiv:2510.17568v7 •updated • 2025-10-20
Recent 3D feed-forward models, such as the Visual Geometry Grounded Transformer (VGGT), have shown strong capability in inferring 3D attributes of static scenes. However, since they are typically trained on static datasets, these models often struggle in real-world scenarios involving complex dynamic elements, such as moving humans or deformable objects like umbrellas. To address this limitation, we introduce PAGE-4D, a feedforward model that extends VGGT to dynamic scenes, enabling camera pose estimation, depth prediction and point cloud reconstruction - all without post-processing. A central challenge in multitask 4D reconstruction is the inherent conflict between tasks: accurate camera pose estimation requires suppressing dynamic regions, while geometry reconstruction requires modeling them. To resolve this tension, we propose a dynamics aware aggregator that disentangles static and dynamic information by predicting a dynamics-aware mask - suppressing motion cues for pose estimation while amplifying them for geometry reconstruction. Extensive experiments show that PAGE-4D consistently outperforms the original VGGT in dynamic scenarios, achieving superior results in camera pose estimation, monocular and video depth estimation, and dense point map reconstruction. Necessary code and additional demos are available at Link: https://page4d.github.io/, including both the training-and-inference masking variant and the training-only masking variant (= VGGT architecture at inference). Keywords: VGGT-4D, 4D Perception, Dynamic Scene Reconstruction.
Comment: ICLR 2026, VGGT-4D, Dynamic VGGT
arXiv PDF
MMAE: A Massive Multitask Audio Editing Benchmark
Ziyang Ma, Ruiqi Yan, Ruiyang Xu, Jie Fang, Zhikang Niu, Yi-Wen Chao, Wenming Tu, Tianrui Wang, Auden, Qi Chen, Wenxi Chen, Jiaying Chi, Yanru Huo, Zixuan Jiang, Xiquan Li, Yalin Li, Junxi Liu, Minghao Liu, Binghao Qiang, Yijia Shan, Zheshu Song, Tian Tan, Zixiang Wang, Zeyu Xie, Zhifei Xie, Xiaoyu Xing, Qixiang Xu, Chen Yang, Guanrou Yang, Shan Yang, Yifan Yang, Steve Yves, Haotian Zhang, Haina Zhu, Kai Yu, Liefeng Bo, Eng-Siong Chng, Xie Chen
arXiv:2606.07229v1 • 2026-06-05
We introduce MMAE, a Massive Multitask Audio Editing benchmark, serving as the first comprehensive evaluation testbed designed for general-purpose instruction-based audio editing. Spurred by the shift toward intelligent creation, interactive editing has rapidly expanded from visual domains, pioneered by models like Nano-banana 2 for images and Gemini-Omni for video, into audio. However, the current evaluation infrastructure lags severely, remaining highly fragmented and restricted to specific subdomains or basic operations. Unlike existing benchmarks that are limited in scope, MMAE extends to a broad spectrum of real-world scenarios, encompassing 7 distinct audio modalities, including sound, speech, music, and their mixtures. Furthermore, we establish a comprehensive taxonomy spanning 6 levels of task complexity, from basic modifications to multi-hop reasoning and multi-round editing, 2 levels of granularity, and 8 distinct operation types. Meticulously curated through human-agent collaboration, MMAE comprises 2,000 high-fidelity samples paired with a pioneering rubric-based evaluation framework. By decomposing free-form tasks into 17,741 verifiable criteria, this robust rubric-based paradigm enables a precise, multi-dimensional assessment of both instruction following and context consistency. Our extensive evaluation of leading models reveals that current systems remain far from achieving reliable edits. Strikingly, the Exact Match Rate (EMR) consistently falls below 5% and plummets to an absolute 0% in complex, mixed-modality tasks, exposing critical bottlenecks in precise execution and structural robustness. We hope MMAE will serve as a catalyst for future advances in the intelligent creation community, providing a clear diagnostic roadmap and establishing a standardized, long-lasting evaluation paradigm for next-generation audio editing systems.
Comment: Open-Source at https://github.com/ddlBoJack/MMAE
arXiv PDF
2026-06-04
94 篇
Robotics
77
默认显示 5 篇
ActiveGrasp: Information-Guided Active Grasping with Calibrated Energy-based Model
Boshu Lei, Wen Jiang, Kostas Daniilidis
arXiv:2511.12795v2 •updated • 2025-11-16
Grasping in a densely cluttered environment is a challenging task for robots. Previous methods tried to solve this problem by actively gathering multiple views before grasp pose generation. However, they either overlooked the importance of the grasp distribution for information gain estimation or relied on the projection of the grasp distribution, which ignores the structure of grasp poses on the SE(3) manifold. To tackle these challenges, we propose a calibrated energy-based model for grasp pose generation and an active view selection method that estimates information gain from grasp distribution. Our energy-based model captures the multi-modality nature of grasp distribution on the SE(3) manifold. The energy level is calibrated to the success rate of grasps so that the predicted distribution aligns with the real distribution. The next best view is selected by estimating the information gain for grasp from the calibrated distribution conditioned on the reconstructed environment, which could efficiently drive the robot to explore affordable parts of the target object. Experiments on simulated environments and real robot setups demonstrate that our model could successfully grasp objects in a cluttered environment with limited view budgets compared to previous state-of-the-art models. Our simulated environment can serve as a reproducible platform for future research on active grasping. The source code of our paper will be made public when the paper is released to the public.
Comment: CVPR 2026
arXiv PDF
Multi-Robot Planning and Control from CCTV Camera Networks in a Real Warehouse
Luke Robinson, Benjamin Ramtoula, Anas Izaaryene, Paul Newman, Daniele De Martini
arXiv:2606.06762v1 • 2026-06-04
Off-board control of mobile robots from cameras embedded in the environment offers a practical path to scalable autonomy, moving sensing and compute off the robots. We extend this idea from the single-robot case to coordinated fleets in a real warehouse, driving multiple robots with only a distributed CCTV network and edge compute. The system operates entirely in image space over an uncalibrated, pixel-wise topological camera graph, enabling wide-area operation with flexible camera placement. A hierarchical planner selects a camera sequence per robot and plans its image-space motion through each view, coordinating robots with a prioritised-then-joint strategy and treating overlapping camera regions as shared resources held by one robot at a time to prevent collisions and deadlocks. We validate the approach in a real warehouse with four robots and 30 cameras across six 27 m aisles, reporting mission times and coordination statistics. To our knowledge, this is the first field demonstration of multi-robot planning and coordination using only an external camera network and off-board compute, with robots carrying no task-specific navigation hardware.
arXiv PDF
AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation
Jiyun Jang, Yujin Sung, Woosung Joung, Daewon Chae, Sangwon Lee, Sohwi Kim, Jinkyu Kim, Jungbeom Lee
arXiv:2606.06761v1 • 2026-06-04
Visuomotor manipulation policies trained via large-scale behavior cloning have achieved strong semantic scene understanding, yet often fail to reliably execute correct low-level actions under distribution shifts. For example, even in a simple pickup task with identical scene layouts, camera viewpoints, and illumination, performance can degrade substantially when the object is placed at unseen locations. We argue that this gap arises from insufficient action understanding, namely the inability to interpret the robot's base-frame action coordinate system in image space. To address this issue, we introduce AxisGuide, a lightweight guidance method that bridges semantic scene understanding and action-coordinate interpretation. Using camera parameters and end-effector poses, AxisGuide renders the robot base-frame axes in each camera view and augments RGB observations with a small set of cue channels that explicitly visualize the meaning of the +x, +y, and +z motions in image space. Extensive evaluations in both the LIBERO simulation and real-world environments demonstrate that AxisGuide yields substantial performance gains and improved generalization, highlighting the effectiveness of explicit action-coordinate cues for learning reliable and transferable generalist visuomotor policies.
Comment: Accepted to Robotics: Science and Systems (RSS) 2026
arXiv PDF
ScenicRules: An Autonomous Driving Benchmark with Multi-Objective Specifications and Abstract Scenarios
Kevin Kai-Chun Chang, Ekin Beyazit, Alberto Sangiovanni-Vincentelli, Tichakorn Wongpiromsarn, Sanjit A. Seshia
arXiv:2602.16073v2 •updated • 2026-02-17
Developing autonomous driving systems for complex traffic environments requires balancing multiple objectives, such as avoiding collisions, obeying traffic rules, and making efficient progress. In many situations, these objectives cannot be satisfied simultaneously, and explicit priority relations naturally arise. Also, driving rules require context, so it is important to formally model the environment scenarios within which such rules apply. Existing benchmarks for evaluating autonomous vehicles lack such combinations of multi-objective prioritized rules and formal environment models. In this work, we introduce ScenicRules, a benchmark for evaluating autonomous driving systems in stochastic environments under prioritized multi-objective specifications. We first formalize a diverse set of objectives to serve as quantitative evaluation metrics. Next, we design a Hierarchical Rulebook framework that encodes multiple objectives and their priority relations in an interpretable and adaptable manner. We then construct a compact yet representative collection of scenarios spanning diverse driving contexts and near-accident situations, formally modeled in the Scenic language. Experimental results show that our formalized objectives and Hierarchical Rulebooks align well with human driving judgments and that our benchmark effectively exposes agent failures with respect to the prioritized objectives. Our benchmark can be accessed at https://github.com/BerkeleyLearnVerify/ScenicRules/.
Comment: v2: Minor numerical corrections for Table V. 16 pages, 14 figures, 7 tables. Extended version of paper accepted to 2026 IEEE Intelligent Vehicles Symposium (IV 2026). ScenicRules benchmark available at https://github.com/BerkeleyLearnVerify/ScenicRules
arXiv PDF
IDDMBSE: Integrating Data-Driven and Model-Based Systems Engineering for Trusted Autonomous Cyber-Physical Systems
John S. Baras, Sai Sandeep Damera, Ryan Matheu, Clinton Enwerem, Praveen M. S. Kumar
arXiv:2606.06727v1 • 2026-06-04
Autonomous cyber-physical systems (CPS) sit at the intersection of Model-Based Systems Engineering (MBSE) and data-driven Machine Learning and Artificial Intelligence (ML/AI), yet no integrated Systems Engineering (SE) methodology natively spans both. We address this gap with IDDMBSE, an Integrated Data-Driven and Model-Based Systems Engineering methodology that extends the rigorous MBSE V-process with a data-driven loop at every step, anchored in SysML, the autonomy stack, and a hybrid model-based plus data-driven trade-off architecture. We instantiate IDDMBSE as an interoperable, open-source tool chain: PERFECT, which maps SysML system architectures to executable ROS autonomy stacks for scalable performance evaluation; TRADES-X, which decomposes design-space exploration into a model-based optimization stage followed by a data-driven evaluation stage; and VERITAS, which combines formal, data-driven, and runtime verification into a single assurance workflow. We demonstrate IDDMBSE on a Trusted Autonomous Ground Robot across its development lifecycle, spanning sensor-suite selection, risk-sensitive path planning, behavior-tree task verification, conformal-prediction-based robust perception, and assured multi-robot coordination, all exercised in a contested-terrain Isaac Sim test range that we release with the tool chain. We close by sketching how IDDMBSE is being re-formulated on SysML v2 / KerML foundations to enable language-native composability and tighter ML/AI integration.
Comment: 9 pages, 11 figures. This work has been submitted to the IEEE for possible publication
arXiv PDF
Video World Models
17
默认显示 5 篇
Simultaneous hyperkinetic movement disorders phenotyping: a cross-cohort pediatric transfer study using routine videos, markerless pose estimation and a tabular foundation model
Laura Cif, Diane Demailly, Zohra Souei, Muhammad Mushhood Ur Rehman, Juan Dario Ortigoza Escobar, Mayté Castro Jiménez, Cécile A. Hubsch, Sophie Huby, Morgan Dornadic, Gun-Marie Hariz, Eduardo M. Moraud, Jocelyne Bloch, Gabriella A. Horvath, Xavier Vasques
arXiv:2606.07674v1 • 2026-06-04
Objective: To develop and externally test a video-based framework for simultaneous detection of hyperkinetic MDs phenomenologies: dystonia, tremor, myoclonus, chorea, athetosis, ballismus, stereotypies, and tics using routine clinical recordings, with explicit testing of external, cross-cohort transfer from adult to pediatric populations. Methods: In this proof-of-concept study, the framework combines markerless pose estimation, kinematic descriptors, and a pretrained fondation model. A shared predictive backbone was developed on 21 adults with confirmed hyperkinetic MDs and 4 healthy controls assessed under a standardized protocol. External validation was performed on an independent external cohort: a real-world pediatric sample (n=12, monogenic combined MDs). For the external dataset, the backbone was deployed without retraining; lightweight calibration adjusted only the final subject-level decision step using a small labeled subset of patients selected by clinicians as representative of the cohort's phenotypic range. Results: After local calibration of the decision layer on the clinician-selected subset, performance improved consistently on the held-out pediatric patients (n=7): Hamming accuracy rose from 0.804 to 0.839 and the Jaccard index from 0.548 to 0.633. This calibrated performance was preserved, and the Jaccard index further improved, when the evaluation was restricted to the phenomenologies with more definite clinician agreement (Hamming accuracy 0.9, Jaccard index 0.786), indicating that the gains did not rest on the least-reliable labels.
arXiv PDF
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson, Juo-Tung Chen, Jesse Haworth, Xinhao Chen, Lukas Zbinden, Dianye Huang, Alaa Eldin Abdelaal, Alberto Arezzo, Ayberk Acar, Farshid Alambeigi, Carlo Alberto Ammirati, Yunke Ao, Pablo David Aranda Rodriguez, Soofiyan Atar, Mattia Ballo, Noah Barnes, Federica Barontini, Filip Binkiewicz, Peter Black, Sebastian Bodenstedt, Leonardo Borgioli, Nikola Budjak, Benjamin Calmé, Fabio Carrillo, Nicola Cavalcanti, Changwei Chen, Haoxin Chen, Sihang Chen, Qihan Chen, Zhongyu Chen, Ziyang Chen, Shing Shin Cheng, Meiqing Cheng, Min Cheng, Zih-Yun Sarah Chiu, Xiangyu Chu, Camilo Correa-Gallego, Giulio Dagnino, Anton Deguet, Jacob Delgado, Jonathan C. DeLong, Kaizhong Deng, Alexander Dimitrakakis, Qingpeng Ding, Hao Ding, Giovanni Distefano, Daniel Donoho, Anqing Duan, Marco Esposito, Shane Farritor, Jad Fayad, Zahi Fayad, Mario Ferradosa, Filippo Filicori, Chelsea Finn, Philipp Fürnstahl, Jiawei Ge, Stamatia Giannarou, Xavier Giralt Ludevid, Frederic Giraud, Aditya Amit Godbole, Ken Goldberg, Antony Goldenberg, Diego Granero Marana, Xiaoqing Guo, Tamás Haidegger, Evan Hailey, Pascal Hansen, Ziyi Hao, Kush Hari, Kengo Hayashi, Jonathon Hawkins, Shelby Haworth, Ortrun Hellig, S. Duke Herrell, Zhouyang Hong, Andrew Howe, Junlei Hu, Zhaoyang Jacopo Hu, Ria Jain, Mohammad Rafiee Javazm, Howard Ji, Rui Ji, Jianmin Ji, Zhongliang Jiang, Dominic Jones, Jeffrey Jopling, Britton Jordan, Ran Ju, Michael Kam, Luoyao Kang, Fausto Kang, Siddhartha Kapuria, Peter Kazanzides, Sonika Kiehler, Ethan Kilmer, Ji Woong Kim, Przemysław Korzeniowski, Chandra Kuchi, Nithesh Kumar, Alan Kuntz, Federico Lavagno, Yu Chung Lee, Hao-Chih Lee, Hang Li, Zhen Li, Xiao Liang, Xinxin Lin, Jinsong Lin, Chang Liu, Fei Liu, Pei Liu, Yun-hui Liu, Wanli Liuchen, Eszter Lukács, Sareena Mann, Miles Mannas, Brett Marinelli, Sabina Martyniak, Francesco Marzola, Lorenzo Mazza, Xueyan Mei, Maria Clara Morais, Luigi Muratore, Chetan Reddy Narayanaswamy, Michał Naskręt, David Navarro-Alarcon, Cyrus Neary, Chi Kit Ng, Christopher Nguan, David Noonan, Ki Hwan Oh, Tom Christian Olesch, Allison M. Okamura, Justin Opfermann, Matteo Pescio, Doan Xuan Viet Pham, Tito Porras, Hongliang Ren, Ariel Rodriguez Jimenez, Ferdinando Rodriguez y Baena, Septimiu E. Salcudean, Asmitha Sathya, Preethi Satish, Lalithkumar Seenivasan, Jiaqi Shao, Yiqing Shen, Yu Sheng, Lucy XiaoYang Shi, Zoe Soulé, Stefanie Speidel, Mingwu Su, Jianhao Su, Idris Sunmola, Kristóf Takács, Yunxi Tang, Patrick Thornycroft, Yu Tian, Jordan Thompson, Mehmet K. Turkcan, Mathias Unberath, Pietro Valdastri, Carlos Vives, Quan Vuong, Martin Wagner, Farong Wang, Wei Wang, Lidian Wang, Chung-Pang Wang, Guankun Wang, Junyi Wang, Erqi Wang, Ziyi Wang, Tanner Watts, Wolfgang Wein, Yimeng Wu, Zijian Wu, Hongjun Wu, Luohong Wu, Jie Ying Wu, Junlin Wu, Victoria Wu, Kaixuan Wu, Mateusz Wójcikowski, Yunye Xiao, Nan Xiao, Wenxuan Xie, Hao Yang, Tianqi Yang, Yinuo Yang, Menglong Ye, Ryan S. Yeung, Nural Yilmaz, Chim Ho Yin, Michael Yip, Rayan Younis, Chenhao Yu, Sayem Nazmuz Zaman, Milos Zefran, Han Zhang, Yuelin Zhang, Yidong Zhang, Yanyong Zhang, Xuyang Zhang, Yameng Zhang, Joyce Zhang, Ning Zhong, Peng Zhou, Haoying Zhou, Xiuli Zuo, Nassir Navab, Mahdi Azizian, Sean D. Huver, Axel Krieger
arXiv:2604.21017v3 •updated • 2026-04-22
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been limited by a fundamental data problem: existing medical robotic datasets are small, single-embodiment, and rarely shared openly, restricting the development of foundation models that the field needs to advance. We introduce Open-H-Embodiment, the largest open dataset of medical robotic video with synchronized kinematics to date, spanning more than 50 institutions and multiple robotic platforms including the CMR Versius, Intuitive Surgical's da Vinci, da Vinci Research Kit (dVRK), Rob Surgical BiTrack, Virtual Incision's MIRA, Moon Surgical Maestro, and a variety of custom systems, spanning surgical manipulation, robotic ultrasound, and endoscopy procedures. We demonstrate the research enabled by this dataset through two foundation models. GR00T-H is the first open foundation vision-language-action model for medical robotics, which is the only evaluated model to achieve full end-to-end task completion on a structured suturing benchmark (25% of trials vs. 0% for all others) and achieves 64% average success across a 29-step ex vivo suturing sequence. We also train Cosmos-H-Surgical-Simulator, the first action-conditioned world model to enable multi-embodiment surgical simulation from a single checkpoint, spanning nine robotic platforms and supporting in silico policy evaluation and synthetic data generation for the medical domain. These results suggest that open, large-scale medical robot data collection can serve as critical infrastructure for the research community, enabling advances in robot learning, world modeling, and beyond.
Comment: Project website: https://open-h.github.io/open-h-embodiment/
arXiv PDF
Towards One-to-Many Temporal Grounding
Qi Xu, Yue Tan, Shihao Chen, Jiahao Meng, Anna Wang, Shunping Ji, Hao Fei, Jason Li
arXiv:2606.06294v1 • 2026-06-04
Temporal Grounding (TG) aims to localize video segments corresponding to a textual query. Prior research predominantly focuses on single-segment retrieval. Real-world scenarios, however, often require localizing multiple disjoint segments for a single query -- a setting we term One-to-Many Temporal Grounding (OMTG). Previous state-of-the-art MLLMs, optimized for one-to-one settings, struggle in this context, often yielding near-zero scores due to a lack of event cardinality perception. To bridge this gap, we present a systematic solution with three key contributions. First, we establish the first comprehensive OMTG benchmark, introducing Count Accuracy (C-Acc) and Effective Temporal F1 (EtF1) as evaluation metrics. Second, we curate a high-quality OMTG dataset comprising 56k samples through a sophisticated construction pipeline. Third, we develop novel temporal and caption reward functions specifically designed for OMTG. In particular, the caption reward leverages Chain-of-Thought reasoning over dense video captions to explicitly guide policy optimization toward both preciseness and completeness. Extensive experiments show our model achieves a new state-of-the-art EtF1 of 43.65\% on OMTG Bench, outperforming Gemini 2.5 Pro and Seed-1.8 by 15.85\% and 15.61\%, respectively.
Comment: Accepted to ICML'26
arXiv PDF
OneReason Technical Report
OneRec Team, Biao Yang, Boyang Ding, Chenglong Chu, Dunju Zang, Fei Pan, Han Li, Hao Jiang, Honghui Bao, Huanjie Wang, Jian Liang, Jiangxia Cao, Jiao Ou, Jiaxin Deng, Jinghao Zhang, Kun Gai, Lu Ren, Peiru Du, Pengfei Zheng, Rongzhou Zhang, Ruiming Tang, Shiyao Wang, Siyang Mao, Siyuan Lou, Teng Shi, Wei Yuan, Wenlong Xu, Xingchen Liu, Xingmei Wang, Xinqi Jin, Yan Sun, Yan Wang, Yifei Hu, Yingzhi He, Yufei Ye, Yuhao Wang, Yunhao Zhou, Yuqin Dai, Zhao Liu, Zhipeng Wei, Zhixin Ling, Ziming Li, Zixing Zhang, Ziyuan Liu, An Zhang, Changxin Lao, Chaoyi Ma, Chengru Song, Defu Lian, Fan Yang, Guowang Zhang, Hao Peng, Jiayao Shen, Jie Chen, Jun Xu, Junmin Chen, Kun Zhang, Kuo Cai, Mingxing Wen, Minmao Wang, Minxuan Lv, Qi Zhang, Qiang Luo, Sheng Yu, Shijie Li, Shijie Yi, Shuang Yang, Shugui Liu, Shuni Chen, Tinghai Zhang, Tingting Gao, Xiang Wang, Xiangyu Wu, Xiangyu Zhao, Xiao Lv, Xiaoyou Zhou, Xuming Wang, Yong Du, Zejian Zhang, Zhaojie Liu, Zhiyang Zhang, Zhuang Zhuang, Ziqi Wang, Ziyi Zhao
arXiv:2606.06260v1 • 2026-06-04
Generative recommendation models in the OneRec family have been widely deployed in many real-world services, such as short-video, live-streaming, advertising, and e-commerce. However, these generative models can only benefit from the scaling advantage, while their reasoning ability is hard to activate, since we cannot construct meaningful Chain-of-Thought (CoT) sequences consisting of itemic tokens only. Inspired by the success of the reasoning-style ``think before answer'' paradigm in the LLM field, we conduct preliminary studies (i.e., OneRec-Think, OpenOneRec) to explore reasoning capability in generative recommendation. Nevertheless, we notice an unexpected phenomenon: the thinking mode does not show advantages over the non-thinking mode. Drawing insights from recent findings on CoT robustness in multi-modal language models, we argue that effective reasoning in recommendation rests on two factors: perception, the ability to ground itemic tokens in their underlying language semantics, and cognition, the ability to reorganize a user's behavior sequence into coherent latent interest points. We therefore propose OneReason, which includes: (1) strong itemic token perception in pre-training, (2) a three-level cognition-enhanced CoT format for recommendation tasks in SFT, and (3) a specialize-then-unify training recipe in RL to enhance the thinking ability.
Comment: Work in progress
arXiv PDF
ActiveMimic: Egocentric Video Pretraining with Active Perception
Xingyao Lin, Guojin Zhong, Tianyi Lu, Ziyi Ye, Yichen Zhu, Zuxuan Wu, Yu-Gang Jiang
arXiv:2606.06194v1 • 2026-06-04
Egocentric human video offers a scalable alternative to robot data for pretraining, yet models pretrained on such video consistently underperform those pretrained on robot data. We attribute this gap to a missing signal, the active perception behavior in egocentric videos, where humans continuously reposition their viewpoint during manipulation, inducing camera motion that standard pipelines treat as noise. To address this, we present ActiveMimic, a pretraining framework that recovers synchronized camera and wrist trajectories from a single body-worn RGB camera, models camera motion as a viewpoint action, and jointly learns active perception and manipulation from in-the-wild egocentric human video before adapting to a target robot. Empirically, real-world experiments across tasks with diverse active perception demands show that ActiveMimic consistently surpasses baselines pretrained on human video and matches state-of-the-art models pretrained on robot data. Further analysis provides evidence that active perception capability originates from egocentric human video pretraining rather than robot-specific fine-tuning, confirming active perception as the key to unlocking egocentric human video for robot pretraining.
Comment: Project Page: https://activemimic.github.io/
arXiv PDF
2026-06-03
85 篇
Robotics
72
默认显示 5 篇
Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy
Longchen Niu, Andrew Nasif, Gennaro Notomista
arXiv:2604.15524v3 •updated • 2026-04-16
This paper presents a novel density control framework for multi-robot systems with spatial safety and energy sustainability guarantees. Stochastic robot motion is encoded through the Fokker-Planck Partial Differential Equation (PDE) at the density level. Control Lyapunov and control barrier functions are integrated with PDEs to enforce target density tracking, obstacle region avoidance, and energy sufficiency over multiple charging cycles. The resulting quadratic program enables fast in-the-loop implementation that adjusts commands in real-time. Multi-robot experiment and extensive simulations were conducted to demonstrate the effectiveness of the controller under localization and motion uncertainties.
arXiv PDF
Learning Contact Representation for Leg Odometry
Emre Girgin, Cagri Kilic
arXiv:2606.05501v1 • 2026-06-03
The estimation of odometry in legged robots depends on the assumption that the velocity of the foot with respect to the world remains zero during the stance phase. Feedback for the main body velocity is derived from the kinematic serial chain of the feet making accurate leg phase detection is a critical subproblem. A considerable number of studies employ ground reaction force sensors mounted at the tip of the foot to classify, yet these sensors may not be universally available for all legged robots. Additionally, these sensors are often unresponsive to unaccounted disturbances, such as slippage, while the foot remains in contact with the ground. In this study, we propose a self-supervised representation learning framework for contact detection that utilizes the standard sensor set of joint encoders without reliance on force sensor augmentations. We employ learned representations to model the stance and swing phases probabilistically. The experimental results obtained confirm the efficacy of the proposed self-supervised contact detector. Our framework exhibited superior performance in comparison to supervised methods which necessitate sensor set augmentation and labeling, as well as baseline probabilistic approaches. Additionally, we make our code available to the public.
Comment: 17 pages
arXiv PDF
Unpaired RGB-Thermal Gaussian-Splatting Using Visual Geometric Transformers
Jean Cordonnier, Chenghao Xu, Olga Fink, Malcolm Mielle
arXiv:2606.05491v1 • 2026-06-03
Multi-modal novel view synthesis (NVS) combining RGB and thermal imagery enables precise 3D scene reconstruction with visual and thermal information. However, existing methods typically rely on precisely calibrated RGB-thermal image pairs or stereo setups, limiting scalability and practical deployment. To address this, we introduce a framework for unpaired RGB-thermal NVS that leverages VGGT, a 3D feed-forward transformer architecture, to independently estimate camera poses for each modality. The pose sets are then aligned using the Procrustes algorithm with a cross-modal feature matcher, enabling joint registration without paired calibration. Building on this alignment, we further propose a multi-modal 3D Gaussian Splatting approach that learns directly from unpaired RGB and thermal images. Experiments on diverse scenes demonstrate that our method achieves competitive performance in thermal view synthesis while maintaining RGB fidelity. Moreover, we show that existing reconstruction approaches can produce modality-specific reconstructions that lack cross-modal consistency. We thus introduce a benchmarking framework to rigorously evaluate both per-modality image synthesis and the multi-modal coherence of reconstructed scenes.
Comment: Accepted at ICRA 2026's Workshop MM-SpatialAI: Multi-Modal Spatial AI for Robust Navigation and Open-World Understanding
arXiv PDF
HERO: Learning Humanoid End-Effector Control for Visual Whole-Body Open-Vocabulary Object Grasping
Runpei Dong, Ziyan Li, Arjun Gupta, Xialin He, Saurabh Gupta
arXiv:2602.16705v3 •updated • 2026-02-18
Visual loco-manipulation of arbitrary in-the-wild objects requires accurate end-effector (EE) control and a generalizable understanding of the scene from visual inputs (eg, RGB-D images). Existing imitation and sim2real methods jointly learn both these aspects via monolithic end-to-end learning and are thus hard to scale. In this work, we bring to bear the best tools for each of these problems -- large vision models for generalizable scene understanding and simulated training for accurate EE control -- leading to an overall modular loco-manipulation system that exhibits strong generalization. Our core technical innovation is HERO, an accurate residual-aware EE tracking policy made possible by combining classical robotics with machine learning. It uses a) inverse kinematics to convert residual end-effector targets into reference trajectories, b) a learned neural forward model for accurate forward kinematics, and c) goal adjustment and replanning. Together, these innovations reduce the end-effector tracking error to 2.44cm, outperforming the strongest prior method by 5.5x. Our overall system operates in diverse real-world environments, from offices to coffee shops, where the robot reliably grasps various everyday objects (eg, mugs, apples, toys) on surfaces ranging from 43cm to 92cm in height. Systematic modular and end-to-end tests demonstrate the effectiveness of our proposed design. We believe our advances open up new ways of training humanoids to interact with daily objects.
Comment: Project page: https://hero-humanoid.github.io/
arXiv PDF
FlowPRO: Reward-Free Reinforced Fine-Tuning of Flow-Matching VLAs via Proximalized Preference Optimization
Yihao Wu, He Zhang, Junbo Tan, Xueqian Wang, Zhengyou Zhang
arXiv:2606.05468v1 • 2026-06-03
Post-training Vision-Language-Action (VLA) models into policies that can be reliably deployed on real robots remains a major bottleneck. SFT and DAgger exploit failure signals only indirectly, and reward-based RL is bottlenecked by the difficulty of real-world reward design and of training reliable critics. We present FlowPRO, a reward-free offline reinforced fine-tuning framework for flow-matching VLAs. Algorithmically, we propose RPRO (Robotic Flow-matching Proximalized Preference Optimization), a preference-optimization objective tailored to the flow-matching action head of VLA models. RPRO pairs a contrastive optimizer with an explicit proximal regularizer that anchors the absolute magnitude of the implicit reward, thereby eliminating the reward-hacking failure mode of plain Flow-DPO. On the data side, a teleoperated intervention-and-rollback paradigm produces naturally paired positive and negative trajectories $(τ^w, τ^l)$ on a real robot from a single operator action; a Smooth Interpolation procedure, combined with batch mixing, then converts these sparse corrections into dense per-state supervision while preserving the base policy's capabilities. On four long-horizon bimanual tasks, FlowPRO attains the highest success rate, outperforming four representative baselines, and ablations confirm the contribution of each loss component.
arXiv PDF
Video World Models
13
默认显示 5 篇
The Invisible Hand of Physics: When Video Diffusion Models Know More Than They Show
Parsa Esmati, Somjit Nath, Katja Hofmann, Derek Nowrouzezahrai, Samira Ebrahimi Kahou, Majid Mirmehdi
arXiv:2606.05328v1 • 2026-06-03
Modern video diffusion models generate increasingly realistic and temporally coherent videos, motivating their use as candidate world simulators. Yet it remains unclear whether these models internally encode physical structure, or merely reproduce motion patterns seen during training. We study this question by probing video diffusion models along latent trajectories corresponding to real videos with known physical plausibility. To obtain such trajectories, we approximately invert the deterministic sampling process by integrating the learned velocity field backward from a clean video latent to noise, giving access to the model's intermediate states and attention maps. Using these recovered trajectories, we show that physical plausibility is linearly decodable from diffusion transformer states across IntPhys and InfLevel, reaching around 81.27% average accuracy and outperforming dedicated representation-learning baselines such as V-JEPA and VideoMAE. Surprisingly, this signal is absent from the VAE latent input and emerges inside the denoising transformer itself, despite the model not being trained with a self-supervised predictive objective. These findings suggest that physically meaningful representations can arise as a byproduct of generative denoising.
arXiv PDF
CityRAG: Stepping Into a City via Spatially-Grounded Video Generation
Gene Chou, Charles Herrmann, Kyle Genova, Boyang Deng, Songyou Peng, Bharath Hariharan, Jason Y. Zhang, Noah Snavely, Philipp Henzler
arXiv:2604.19741v2 •updated • 2026-04-21
We address the problem of generating a 3D-consistent, navigable environment that is spatially grounded: a simulation of a real location. Existing video generative models can produce a plausible sequence that is consistent with a text (T2V) or image (I2V) prompt. However, the capability to reconstruct the real world under arbitrary weather conditions and dynamic object configurations is essential for downstream applications including autonomous driving and robotics simulation. To this end, we present CityRAG, a video generative model that leverages large corpora of geo-registered data as context to ground generation to the physical scene, while maintaining learned priors for complex motion and appearance changes. CityRAG relies on temporally unaligned training data, which teaches the model to semantically disentangle the underlying scene from its transient attributes. Our experiments demonstrate that CityRAG can generate coherent minutes-long, physically grounded video sequences, maintain weather and lighting conditions over thousands of frames, achieve loop closure, and navigate complex trajectories to reconstruct real-world geography.
Comment: Project page: cityrag.github.io
arXiv PDF
GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors
Tianyi Xie, Haotian Zhang, Jinhyung Park, Zi Wang, Bowen Wen, Jiefeng Li, Xueting Li, Qingwei Ben, Haoyang Weng, Yufei Ye, David Minor, Tingwu Wang, Chenfanfu Jiang, Sanja Fidler, Jan Kautz, Linxi Fan, Yuke Zhu, Zhengyi Luo, Umar Iqbal, Ye Yuan
arXiv:2606.05160v1 • 2026-06-03
Scaling humanoid loco-manipulation requires robot-compatible demonstrations across diverse objects, whole-body motions, and scene geometries, but teleoperation and motion capture are difficult to scale because each collection depends on physical setups, instrumented actors, and robot operation. We present GRAIL, a digital generation pipeline that remains fully virtual until deployment: it composes 3D assets, simulator-ready scenes, and priors from video foundation models (VFMs) to synthesize interactions without rebuilding physical environments or teleoperating the robot. Rather than reconstructing unconstrained in-the-wild videos, GRAIL starts from fully specified 3D configurations in which object geometry, camera parameters, metric scale, environment depth, and a robot-proportioned character are known before video generation and reused during reconstruction. This privileged setup better conditions 4D recovery, allowing model-based object tracking, human motion estimation, and interaction-aware optimization to reconstruct metric 4D human-object interaction (HOI) trajectories with reduced depth ambiguity and morphology mismatch. We retarget the recovered motions to a humanoid robot and train complementary task-general trackers: an object-aware latent adaptor for manipulation and a scene-aware tracker for terrain traversal. GRAIL produces over 20,000 sequences spanning pick-up, object manipulation, sitting, and terrain traversal. Using only GRAIL-generated data, we train egocentric visual policies through a sim-to-real pipeline and deploy them on a Unitree G1 humanoid, achieving 84\% real-world success on diverse object pick-up and 90\% success on stair-climbing.
Comment: Project page: https://research.nvidia.com/labs/dair/grail/
arXiv PDF
Sem-NaVAE: Semantically-Guided Outdoor Mapless Navigation via Generative Trajectory Priors
Gonzalo Olguín, Javier Ruiz-del-Solar
arXiv:2602.01429v2 •updated • 2026-02-01
This work presents a mapless navigation approach for outdoor applications. It combines the exploratory capacity of conditional variational autoencoders (CVAEs) to generate trajectories and the semantic segmentation capabilities of a lightweight visual language model (VLM) to select the trajectory to execute. Open-vocabulary segmentation is used to score and select the generated trajectories based on natural language, and a state-of-the-art local planner executes velocity commands. One of the key features of the proposed approach is its ability to generate a large variability of trajectories and select them to navigate in real-time. In real-world outdoor experiments, Sem-NaVAE achieves a 90% success rate across routes of 120-240m in unseen environments, outperforming the nearest baseline by 10% while remaining within 7% of a map-based upper bound. A video showing an experimental run of the system can be found in https://youtu.be/i3R5ey5O2yk.
Comment: Accepted for publication in IEEE Robotics and Automation Letters (RA-L). 8 pages, 5 figures
arXiv PDF
Flash-WAM: Modality-Aware Distillation for World Action Models
Arman Akbari, Ci Zhang, Arash Akbari, Lin Zhao, Yixiao Chen, Weiwei Chen, Xuan Zhang, Geng Yuan, Yanzhi Wang
arXiv:2606.05254v1 • 2026-06-03
World-action models (WAMs) jointly generate future video and robot actions through iterative diffusion, achieving strong performance on manipulation benchmarks but requiring tens of denoising steps, a cost that precludes real-time control. Step distillation has emerged as the natural remedy, but off-the-shelf methods break down in the joint video-action setting because video and action streams use different SNR-shifted noise schedules and reach training with substantially different marginal noise distributions, an asymmetry that single-modality distillation methods cannot accommodate. We introduce \textbf{Flash-WAM}, a modality-aware step-distillation framework inspired by consistency distillation that selects the consistency function for each modality to match its noise regime: a linear-gradient-scaling parametrization for the action stream's low-noise regime, paired with a variance-preserving parametrization for the video stream's high-noise regime, grounded in a structural analysis of the consistency-function family that characterizes the achievable gradient scaling under the consistency boundary condition. Instantiated on LingBot-VA, Flash-WAM compresses inference to a single step in each modality. On RoboTwin 2.0, this reduces per-chunk latency from $8.1$ seconds to $348$ ms on NVIDIA L40S, a $23{\times}$ speedup that enables real-time inference. Flash-WAM preserves task success on simulation benchmarks ($85.5\%$ RoboTwin 2.0, $95.7\%$ LIBERO) and substantially recovers real-world performance ($60\%$ average on a Unitree G1 humanoid robot), while naive consistency distillation drops to $24\%$ at the same step budget.
arXiv PDF
2026-06-02
118 篇
Robotics
105
默认显示 5 篇
Instant-Fold: In-Context Imitation Learning for Deformable Object Manipulation
Yilong Wang, Cheng Qian, Edward Johns
arXiv:2606.04269v1 • 2026-06-02
Deformable object manipulation (DOM) is challenging due to high-dimensional, partially observable states that evolve through long-horizon, topology-changing interactions with multiple valid manipulation modes. We introduce Instant-Fold, an in-context imitation learning framework for DOM. Given a single human demonstration, our policy infers and executes diverse manipulation modes directly from the demonstration, including variations in spatial execution and ordering, without requiring gradient updates. Our approach first learns deformation-aware visual representations via temporal contrastive pretraining, after which a flow-matching transformer policy conditioned on the demonstration predicts actions to execute the intended manipulation mode. Trained entirely in simulation, Instant-Fold generalizes across diverse folding modes and transfers zero-shot to real-world settings without additional data collection or finetuning. Videos are available at https://instant-fold.github.io.
arXiv PDF
ContactExplorer: Contact Coverage-Guided Exploration for General-Purpose Dexterous Manipulation
Zixuan Liu, Ruoyi Qiao, Chenrui Tie, Xuanwei Liu, Yunfan Lou, Chongkai Gao, Zhixuan Xu, Lin Shao
arXiv:2603.10971v2 •updated • 2026-03-11
Reinforcement learning has achieved remarkable success in domains such as Atari games, navigation, and locomotion, where exploration can often be guided by novelty over states or dynamics. In contrast, dexterous manipulation requires rich physical hand--object interactions, but existing methods often suffer from unstable contact-based novelty signals, inefficient distance novelty signals, or reliance on task-specific priors. We propose ContactExplorer, a general exploration method for dexterous manipulation tasks. ContactExplorer represents contact as the intersection between object surface points and hand keypoints, encouraging dexterous hands to discover diverse and novel contact patterns, namely which fingers contact which object regions. It maintains a contact counter conditioned on discretized object states obtained via learned hash codes, capturing how frequently each finger interacts with different object regions. This counter is leveraged in two complementary ways: (1) to assign a count-based contact coverage reward that promotes exploration of novel contact patterns, and (2) an energy-based reaching reward that guides the agent toward under-explored contact regions. We evaluate ContactExplorer on a diverse set of dexterous manipulation tasks. Experimental results show that ContactExplorer substantially improves sample efficiency and success rates over existing exploration methods, and that the contact patterns learned with ContactExplorer transfer robustly to the real world. Project page is https://contact-explorer.github.io.
Comment: 24 pages
arXiv PDF
RSC: Decentralized Rigid Formation Flocking for Large-Scale Swarms via Hybrid Predictive Control and Online Reconfiguration
Ganyu Zou, Linhan Wang, Chen Dai, Siji Chen, Chang-Tien Lu
arXiv:2606.04248v1 • 2026-06-02
Decentralized rigid formation flocking requires a swarm of autonomous agents to maintain a predetermined geometric configuration while moving, relying solely on local sensing and communication. However, existing decentralized control methods struggle to maintain strict inter-agent distance constraints in cluttered environments, often suffering from local minima deadlocks, high frequency control oscillations, or limited flexibility during obstacle navigation, resulting in low success rate. To address these limitations, we propose Rigid Swarm Control (RSC), a decentralized control framework for large-scale rigid formation flocking. To escape local minima via robust long-term planning while ensuring short-term safety, RSC integrates finite-horizon trajectory predictions with a reactive artificial potential field (APF) safety controller within a hybrid architecture. Furthermore, to accelerate formation reassembly after obstacle traversal without interrupting task execution, RSC introduces an online leader-follower reconfiguration mechanism based on stable role exchange. Extensive evaluations in challenging cluttered environments with 25 UAVs demonstrate that RSC reliably unifies rigid formation maintenance, obstacle avoidance, and target tracking. Under strict success criteria - collision-free operation with a maximum relative edge-length error below 10%, RSC achieves an 83% success rate, significantly outperforming existing heuristic and learning-based baselines that fall below 5%.
Comment: 8 pages, 4 figures, two-column format
arXiv PDF
What Are We Actually Benchmarking in Robot Manipulation?
Tianchong Jiang, Xiangshan Tan, Samuel Wheeler, Luzhe Sun, Tewodros W. Ayalew, Matthew Walter
arXiv:2606.04233v1 • 2026-06-02
A robotics benchmark score measures success under one fixed evaluation setup, yet is routinely treated as evidence of general manipulation capability. We identify four failure modes, each of which weakens or invalidates a benchmark's role as a valid proxy for that capability: shortcut solvability, lack of statistical significance, creeping overfitting, and data-source dependence. We propose one diagnostic per failure mode. We audit LIBERO, CALVIN, SimplerEnv, RoboCasa, and RoboTwin 2.0 under these diagnostics. LIBERO and CALVIN fail multiple diagnostics. RoboCasa and RoboTwin 2.0 fail fewer, despite appearing far less often in recent progress claims. On LIBERO, a 0.09B probe with no language encoder scores at or near reported SOTA, and most reported gains are not provably statistically significant. On CALVIN, randomizing block poses within the training range drops performance for every tested policy. We release the four diagnostics with reference implementations for authors and reviewers to apply before treating a benchmark score as evidence of progress. Code and artifacts are available at https://ripl.github.io/manipulation_benchmark_audit/.
Comment: 31 pages, 6 figures
arXiv PDF
PerceptTwin: Semantic Scene Reconstruction for Iterative LLM Planning and Verification
Charlie Gauthier, Sacha Morin, Liam Paull
arXiv:2606.04226v1 • 2026-06-02
Simulation environments are useful for both robot policy learning and planning verification and validation. Traditionally, the process of creating a simulation was onerous. Creating a bespoke simulation environment for each individual environment that a robot would operate in was simply infeasible. In this work, we introduce PerceptTwin, a fully automatic pipeline that constructs interactive simulations directly from semantic scene representations produced by a robot's perception stack. PerceptTwin combines open-vocabulary object maps with 3D asset generation, affordance prediction, and commonsense condition checking. These interactive simulations can be used to validate and refine plans before they are executed on the robot hardware. Borrowing from the AI alignment literature, we also introduce an LLM judge that verifies plan correctness and alignment with human preferences. Experiments show that PerceptTwin feedback allows LLM planners to refine plans, enhance safety, and resist harmful black-box prompting attacks. In our suite of tasks, PerceptTwin improves plan success by an average of approximately 39% for GPT5, GPT5Mini, and GPT5Nano planners. Additionally, PerceptTwin also improves human plan verification by up to 18% on average for plans that fail due to unfilled skill preconditions. Our results demonstrate the potential of open-vocabulary scene simulation from robot perception as a foundation for safer, more reliable robot planning.
Comment: Accepted at ICRA 2026 (Vienna); published on arxiv for archival purposes. See also https://percept-twin.github.io/
arXiv PDF
Video World Models
13
默认显示 5 篇
A Cookbook of 3D Vision: Data, Learning Paradigms, and Application
Hongyang Du, Zongxia Li, Dawei Liu, Runhao Li, Haoyuan Song, Qingyu Zhang, Yubo Wang, Jingcheng Ni, Shihang Gui, Congchao Dong, Tao Hu
arXiv:2606.04291v1 • 2026-06-02
3D vision has rapidly evolved, driven by increasingly diverse data representations, learning paradigms, and modeling strategies. Yet the field remains fragmented across representations and benchmarks, making it difficult to develop unified perspectives on efficiency, fidelity, and scalability. This work provides a data-centric taxonomy of 3D vision that connects geometric representations, datasets, learning frameworks, and applications within a single conceptual map. We begin by analysing the principal structural representations of 3D data--point clouds, meshes, voxels, and 3D Gaussians--along with their acquisition pipelines. We then examine how dataset design, benchmark construction, and supervision regimes shape recent advances, spanning 2D-supervised 3D learning, implicit neural representations, and 4D world modeling. Through this integrative lens, we clarify the relationships among representations, learning paradigms, and downstream tasks in reconstruction, generation, and video modeling, offering a consolidated view of emerging trends toward balancing efficiency and fidelity and toward multimodal geometric grounding.
Comment: Accepted to the CVPR 2026 OpenSUN3D Workshop. Official version available at CVF Open Access. https://openaccess.thecvf.com/content/CVPR2026W/OpenSUN3D/html/Du_A_Cookbook_of_3D_Vision_Data_Learning_Paradigms_and_Application_CVPRW_2026_paper.html
arXiv PDF
CLAW: Learning Continuous Latent Action World Models via Adversarial Latent Regularization
Tewodros Ayalew, Matthew Jeung, Samuel Wheeler, Xiao Zhang, Andre de la Cruz Arce, Kaylene Stocking, Michael Maire, Matthew R. Walter
arXiv:2606.04130v1 • 2026-06-02
We introduce CLAW, a fully end-to-end self-supervised framework for learning a world model jointly with continuous latent action representations directly from action-free videos. Our approach leverages adversarial latent regularization and diffusion-based video generation to capture structured and semantically meaningful action representations while modeling rich, predictive environment dynamics, without relying on any action labels or annotations. By simultaneously training the Latent Action Model and world model, CLAW learns to reason about how inferred actions induce environment transitions from visual observations alone. We show that the resulting latent action world model supports both imitation learning from observation and goal-directed planning. In imitation learning, latent actions extracted from raw videos enable behavior cloning. For planning, CLAW generates sequences of latent actions and maps them to executable actions to reach desired goals. Extensive experiments across diverse tasks and embodiments demonstrate that CLAW produces semantically meaningful latent action representations, supports effective action transfer, and enables planning and imitation from observation, outperforming existing methods.
Comment: 8 pages, 15 pages of supplementary material
arXiv PDF
Back into Plato's Cave: Examining Cross-modal Representational Convergence at Scale
A. Sophia Koepke, Daniil Zverev, Shiry Ginosar, Alexei A. Efros
arXiv:2604.18572v2 •updated • 2026-04-20
The Platonic Representation Hypothesis suggests that neural networks trained on different modalities (e.g., text and images) align and eventually converge toward the same representation of reality. If true, this has significant implications for whether modality choice matters at all. We show that the experimental evidence for this hypothesis is fragile and depends critically on the evaluation regime. Alignment is measured using mutual nearest neighbors on small datasets ($\approx$1K samples) and degrades substantially as the dataset is scaled to millions of samples. The same behavior is observed beyond text-image, for text-audio and text-video alignment. The alignment that remains between model representations reflects coarse semantic overlap rather than consistent fine-grained structure. Moreover, the evaluations in Huh et al. are done in a one-to-one image-caption setting, a constraint that breaks down in realistic many-to-many settings and further reduces measured alignment. We also find that the reported trend of stronger language models increasingly aligning with vision does not appear to hold for newer models. Overall, our findings suggest that the current evidence for cross-modal representational convergence is considerably weaker than subsequent works have taken it to be. Models trained on different modalities may learn equally rich representations of the world, just not the same one.
Comment: Project page: http://akoepke.github.io/cave_umwelten/
arXiv PDF
Benchmarking Visual State Tracking in Multimodal Video Understanding
Sihyun Yu, Nanye Ma, Pinzhi Huang, Hyunseok Lee, Shusheng Yang, June Suk Choi, Ellis Brown, Oscar Michel, Boyang Zheng, Jinwoo Shin, Saining Xie
arXiv:2606.03920v1 • 2026-06-02
Understanding a video requires more than recognizing isolated moments, as humans continuously track entities, states, and events over time. This capacity for visual state tracking is fundamental to video understanding, yet remains underexplored in current evaluations of Multimodal Large Language Models (MLLMs). We introduce Visual STAte Tracking benchmark (VSTAT), a video-based benchmark designed to diagnose visual state tracking in MLLMs. VSTAT consists of 834 clips drawn from both synthetic and real-world videos, paired with 1,500 questions that cannot be answered from any single frame or short segment, requiring continuous perception and integration of events across the entire video stream. Despite their strong performance on existing video benchmarks, we find that state-of-the-art MLLMs perform far below humans and only modestly above answer-prior baselines. To analyze this gap, we compare MLLMs' thinking traces with the underlying video stream to understand why and when MLLMs fail on VSTAT. We find that MLLMs reason and track correctly in text, but fail at visually perceiving the events they need to track. Finally, our preliminary evaluation suggests that recent agentic approaches, including MLLM-based video agents and coding agents, do not readily resolve these failures, still falling short on VSTAT.
Comment: Website: https://vision-x-nyu.github.io/vstat-site/
arXiv PDF
Unified Video-Action Joint Denoising for Dexterous Action and Data Generation
Dingrui Wang, YuAn Wang, Jinkun Liu, Yue Zhang, Mattia Piccinini, Yu Sun, Johannes Betz
arXiv:2606.03868v1 • 2026-06-02
Recent world action models leverage video foundation models by aligning broad visual-dynamics priors with executable robot actions. We revisit this alignment from a distributional perspective. Existing formulations typically narrow the aligned prior into an observation-conditioned policy distribution over future actions. In contrast, we keep the distribution broader by modeling the joint space of interaction videos and executable hand trajectories under multiple conditioning regimes. We propose Donk, a unified video-action denoising model for dexterous hands. With language, an initial image, and the initial hand state, Donk samples future videos and bimanual MANO trajectories as an action policy. Without the image condition, the same denoising architecture samples paired video-action rollouts from a text-conditioned distribution, turning the aligned video prior into a data engine. Across action, video, and text-only generation evaluations, Donk improves dexterous trajectory accuracy, preserves strong video fidelity, and produces smooth text-conditioned action rollouts under the same unified training recipe.
Comment: 9 pages, 5 figures
arXiv PDF
2026-06-01
109 篇
Robotics
86
默认显示 5 篇
The Road Ahead in Autonomous Driving: The KITScenes Multimodal Dataset
Richard Schwarzkopf, Fabian Immel, Alexander Blumberg, Jonas Merkert, Nils Rack, Kaiwen Wang, Fabian Konstantinidis, Julian Truetsch, Carlos Fernandez, Annika Bätz, Kevin Rösch, Marlon Steiner, Willi Poh, Yinzhe Shen, Royden Wagner, Felix Hauser, Dominik Strutz, Jaime Villa, Gleb Stepanov, Holger Caesar, Ömer Şahin Taş, Frank Bieder, Jan-Hendrik Pauls, Christoph Stiller
arXiv:2606.02956v1 • 2026-06-01
Existing autonomous driving datasets have enabled major progress, but fall short in sensor fidelity, map completeness, or geographic diversity. We present KITScenes Multimodal, a European dataset built around high-fidelity sensors and maps. Our fully synchronized sensor suite combines high-resolution global-shutter cameras, long-range lidar beyond 400m, 4D imaging radar, and redundant GNSS/INS localization. Our HD maps are, to our knowledge, the most complete of any sensor dataset, validated through autonomous driving trials on open-source software. For the first time in a public dataset, all driving-relevant traffic elements, such as traffic lights, are mapped in 3D to a reprojection-accurate level with full topological connectivity. Recorded in cities with irregular street layouts and mixed traffic modes, our dataset complements existing datasets by broadening the available geographic diversity. We also introduce four benchmarks, each advancing spatial learning for embodied AI: online HD map construction, long-range depth estimation, novel view synthesis, and end-to-end driving. Project page: https://kitscenes.com/
Comment: 28 pages, 21 figures
arXiv PDF
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
Faisal Lawan, Xiaoran Han, Joaquin Carrasco, Barry Lennox, Xiaoxiao Cheng
arXiv:2605.28367v4 •updated • 2026-05-27
Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose an online adaptive impedance control framework that enforces joint-state safety while achieving compliant interaction under uncertain dynamics. The approach combines a quadratic-program-based safety filter with a novel composed position-velocity non-smooth control barrier function (NCBF), enabling joint position and velocity constraints to be enforced through a unified relative-degree-one barrier. Unknown dynamics are compensated online using an interval type-2 fuzzy logic system, while actuator torque limits are handled through soft constraints with exact penalty recovery of feasible solutions. A disturbance-observer-enhanced safety mechanism improves robustness against modelling errors and external interaction forces. Using composite Lyapunov analysis, we prove forward invariance of the safe set and the uniform ultimately boundedness of the impedance-tracking error. Simulations on a 7-DOF manipulator with severe parametric uncertainty and external interaction wrenches demonstrate safe constraint satisfaction and robust impedance tracking.
Comment: 12 pages, 3 figures
arXiv PDF
SCOPE: Real-Time Natural Language Camera Agent at the Edge
Nikolaj Hindsbo, Sina Ehsani, Pragyana Mishra
arXiv:2606.02951v1 • 2026-06-01
Deploying language-driven agents in robotics requires evaluations that reflect real-world task demands: natural-language instructions with reproducible outcomes. Such agents must connect language models to callable perception and control tools, and be assessed using deployment-critical metrics including latency, accuracy, and error modes. We present SCOPE (Simulation and Camera Operations for Perception and Evaluation), a modular agent for natural-language, open-vocabulary pan-tilt-zoom (PTZ) camera control and visual scene understanding, designed explicitly for edge deployment. SCOPE operates both in a Blender-based simulation environment and on a physical PTZ camera, executing all perception, planning, and control locally at the deployment site using edge-accessible compute. We release a 536-task benchmark spanning QA, single- and multi-step commands, counting, spatial reasoning, descriptions, and optical character recognition in a Blender-based simulation environment that exposes realistic PTZ control affordances. Execution traces are combined with an LM-as-Judge to evaluate latency, accuracy, and error modes. We evaluate 19 planner-perception model combinations pairing Qwen3 small language models (SLMs) with Moondream and Qwen vision-language models (VLMs). Stronger SLMs substantially reduce hallucinations and improve tool routing, leading to more reliable closed-loop behavior. Once a sufficiently capable SLM is used, perception becomes the dominant performance bottleneck. Mixture-of-Experts models on both the planning and perception side consistently match or exceed dense alternatives at latencies and memory footprints comparable to much smaller networks. Quantization provides additional efficiency gains with minimal accuracy degradation, identifying a practical, sim-to-real validated design point for real-time, edge-feasible language-driven PTZ control.
Comment: 9 pages, 4 figures, 6 tables. Accepted at HRI '26 (21st ACM/IEEE International Conference on Human-Robot Interaction), Edinburgh, Scotland, March 16--19, 2026. Code: https://github.com/HindsboNikolaj/SCOPE
arXiv PDF
Latent Activation Editing: Inference-Time Refinement of Learned Policies for Safer Multirobot Navigation
Satyajeet Das, Darren Chiu, Zhehui Huang, Lars Lindemann, Gaurav S. Sukhatme
arXiv:2509.20623v2 •updated • 2025-09-24
Reinforcement learning has enabled significant progress in complex domains such as coordinating and navigating multiple quadrotors. However, even well-trained policies remain vulnerable to collisions in obstacle-rich environments. Addressing these infrequent but critical safety failures through retraining or fine-tuning is costly and risks degrading previously learned skills. Inspired by activation steering in large language models and latent editing in computer vision, we introduce a framework for inference-time Latent Activation Editing (LAE) that refines the behavior of pre-trained policies without modifying their weights or architecture. The framework operates in two stages: (i) an online classifier monitors intermediate activations to detect states associated with undesired behaviors, and (ii) an activation editing module that selectively modifies flagged activations to shift the policy towards safer regimes. In this work, we focus on improving safety in multi-quadrotor navigation. We hypothesize that amplifying a policy's internal perception of risk can induce safer behaviors. We instantiate this idea through a latent collision world model trained to predict future pre-collision activations, thereby prompting earlier and more cautious avoidance responses. Extensive simulations and real-world Crazyflie experiments demonstrate that LAE achieves statistically significant reduction in collisions (nearly 90% fewer cumulative collisions compared to the unedited baseline) and substantially increases the fraction of collision-free trajectories, while preserving task completion. More broadly, our results establish LAE as a lightweight paradigm, feasible on resource-constrained hardware, for post-deployment refinement of learned robot policies.
arXiv PDF
RadarSFD: Single-Frame Diffusion with Pretrained Priors for Radar Point Clouds
Bin Zhao, Nakul Garg
arXiv:2509.18068v2 •updated • 2025-09-22
Millimeter-wave radar provides robust perception in fog, smoke, dust, and low light, making it attractive for size-, weight-, and power-constrained robotic platforms. Existing radar imaging methods typically rely on synthetic aperture or multi-frame aggregation to improve resolution, which is impractical for small aerial, inspection, or wearable systems. We present RadarSFD, a conditional latent diffusion framework that reconstructs dense LiDAR-like point clouds from a single radar frame without motion or SAR. Our approach transfers geometric priors from a pretrained monocular depth estimator into the diffusion backbone, anchors them to radar inputs via channel-wise latent concatenation, and regularizes outputs with a dual-space objective combining latent and pixel-space losses. On the RadarHD benchmark, RadarSFD achieves state-of-the-art performance against baseline models. Qualitative results show recovery of fine walls and narrow gaps, and experiments across new environments confirm strong generalization. Ablation studies highlight the importance of pretrained initialization, radar BEV conditioning, and the dual-space loss. Together, these results establish a practical single-frame, no-SAR mmWave radar pipeline for dense point cloud perception in compact robotic systems.
Comment: Accepted to the 2026 IEEE International Conference on Robotics and Automation (ICRA 2026). Project page: https://phi-lab-rice.github.io/RadarSFD/
arXiv PDF
Video World Models
23
默认显示 5 篇
Cosmos 3: Omnimodal World Models for Physical AI
Aditi, Niket Agarwal, Arslan Ali, Jon Allen, Martin Antolini, Adeline Aubame, Alisson Azzolini, Junjie Bai, Maciej Bala, Yogesh Balaji, Josh Bapst, Aarti Basant, Mukesh Beladiya, Mohammad Qazim Bhat, Zaid Pervaiz Bhat, Dan Blick, Vanni Brighella, Han Cai, Tiffany Cai, Eric Cameracci, Jiaxin Cao, Yulong Cao, Mark Carlson, Carlos Casanova, Ting-Yun Chang, Yan Chang, Yu-Wei Chao, Prithvijit Chattopadhyay, Roshan Chaudhari, Chieh-Yun Chen, Junyu Chen, Ke Chen, Qizhi Chen, Wenkai Chen, Xiaotong Chen, Yu Chen, An-Chieh Cheng, Click Cheng, Xiu Chia, Jeana Choi, Chaeyeon Chung, Wenyan Cong, Yin Cui, Magdalena Dadela, Nalin Dadhich, Wenliang Dai, Joyjit Daw, Alperen Degirmenci, Rodrigo Vieira Del Monte, Robert Denomme, Sameer Dharur, Marco Di Lucca, Ke Ding, Wenhao Ding, Yifan Ding, Yuzhu Dong, Nicole Drumheller, Yilun Du, Aigul Dzhumamuratova, Aleksandr Efitorov, Hamid Eghbalzadeh, Naomi Eigbe, Imad El Hanafi, Hassan Eslami, Benedikt Falk, Jiaojiao Fan, Jim Fan, Amol Fasale, Sergiy Fefilatyev, Liang Feng, Francesco Ferroni, Sanja Fidler, Xiao Fu, Vikram Fugro, Prashant Gaikwad, TJ Galda, Katelyn Gao, Yihuai Gao, Wenhang Ge, Sreyan Ghosh, Arushi Goel, Vivek Goel, Akash Gokul, Rama Govindaraju, Jinwei Gu, Miguel Guerrero, Elfie Guo, Aryaman Gupta, Siddharth Gururani, Hugo Hadfield, Song Han, Ankur Handa, Zekun Hao, Mohammad Harrim, Ali Hassani, Nathan Hayes-Roth, Yufan He, Chris Helvig, Cyrus Hogg, Madison Huang, Michael Huang, Sophia Huang, Yufan Huang, Jacob Huffman, DeLesley Hutchins, Suneel Indupuru, Boris Ivanovic, Arihant Jain, Joel Jang, Ryan Ji, Yanan Jian, Dongfu Jiang, Jingyi Jin, Atharva Joshi, Nikhilesh Joshi, Pranjali Joshi, Jaehun Jung, Weiwei Kang, Scott Kassekert, Jan Kautz, Ashna Khetan, Julia Kiczka, Slawek Kierat, Gwanghyun Kim, Kuno Kim, Sunny Kim, Kezhi Kong, Xin Kong, Zhifeng Kong, Tomasz Kornuta, Egor Krivov, Hui Kuang, Saurav Kumar, Chia-Wen Kuo, George Kurian, Wojciech Kutak, JF Lafleche, Himangshu Lahkar, Omar Laymoun, Jayjun Lee, Sanggil Lee, Gabriele Leone, Boyi Li, Freya Li, Jiajun Li, Jinfeng Li, Ling Li, Pengcheng Li, Shangru Li, Tingle Li, Xiaolong Li, Xuan Li, Zhaoshuo Li, Zhiqi Li, Hao Liang, Maosheng Liao, Chen-Hsuan Lin, Tsung-Yi Lin, Ming-Yu Liu, Sifei Liu, Zihan Liu, Hai Loc Lu, Xiangyu Lu, Alice Luo, Ruipu Luo, Wenjie Luo, Jiangran Lyu, Martin Ding Ma, Nic Ma, Qianli Ma, Dawid Majchrowski, Louis Marcoux, Miguel Martin, Qing Miao, Ashkan Mirzaei, Shreyas Misra, Kaichun Mo, Durra Mohsin, Hyejin Moon, Pawel Morkisz, Saeid Motiian, Kirill Motkov, Seungjun Nah, Yashraj Narang, Deepak Narayanan, Thabang Ngazimbi, Julian Ouyang, David Page, Yatian Pang, Sehwi Park, Mahesh Patekar, Mostofa Patwary, Marco Pavone, Trung Pham, Wei Ping, Soha Pouya, Shrimai Prabhumoye, Varun Praveen, Delin Qu, Hesam Rabeti, Morteza Ramezanali, Marilyn Reeb, Xuanchi Ren, Kristen Rumley, Wojciech Rymer, Jun Saito, Yeongho Seol, John Shao, Piyush Shekdar, Tianwei Shen, Humphrey Shi, Min Shi, Stella Shi, Kevin Shih, Mohammad Shoeybi, Mateusz Sieniawski, Shuran Song, Alexander Sotelo, Amir Sotoodeh, Sunil Srinivasa, Vignesh Srinivasakumar, Bartosz Stefaniak, Rahul Heinrich Steiger, Shangkun Sun, Jiaxiang Tang, Shitao Tang, Yangyang Tang, Yue Tang, Tolou Tavakkoli, Kayley Ting, Krzysztof Tomala, Wei-Cheng Tseng, Jibin Varghese, Sergei Vasilev, Thomas Volk, Raju Wagwani, Roger Waleffe, Andrew Z. Wang, Boxiang Wang, Haoxiang Wang, Qiao Wang, Shihao Wang, Shijie Wang, Ting-Chun Wang, Yan Wang, Yu Wang, David Wehr, Fangyin Wei, Xinshuo Weng, Jay Zhangjie Wu, Kedi Wu, Hongchi Xia, Summer Xiao, Tianjun Xiao, Kevin Xie, Daguang Xu, Jiashu Xu, Mengyao Xu, Ruqing Xu, Xingqian Xu, Yao Xu, Dinghao Yang, Dong Yang, Hans Yang, Xiaodong Yang, Xuning Yang, Yichu Yang, Yurong You, Zhiding Yu, Hao Yuan, Simon Yuen, Xiaohui Zeng, Pengcuo Zeren, Cindy Zha, Haotian Zhang, Jenny Zhang, Jing Zhang, Liangkai Zhang, Paris Zhang, Shun Zhang, Xuanmeng Zhang, Zhizheng Zhang, Ann Zhao, Yilin Zhao, Yuliya Zhautouskaya, Charles Zhou, Fengzhe Zhou, Shilin Zhu, Yuke Zhu, Dima Zhylko, Artur Zolkowski
arXiv:2606.02800v1 • 2026-06-01
We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-transformers architecture. By supporting highly flexible input-output configurations, Cosmos 3 seamlessly unifies critical modalities for Physical AI -- effectively subsuming vision-language models, video generators, world simulators, and world-action models into a single framework. Our evaluation demonstrates that Cosmos 3 establishes a new state-of-the-art across a diverse suite of understanding and generation tasks, demonstrating omnimodal world models as scalable, general-purpose backbones for embodied agents. Our post-trained Cosmos 3 models were ranked as the best open-source Text-to-Image and Image-to-Video models by Artificial Analysis, and the best policy model by RoboArena at the time the technical report was written. To accelerate open research and deployment in Physical AI, we make our code, model checkpoints, curated synthetic datasets, and evaluation benchmark available under the Linux Foundation's OpenMDW-1.1 https://openmdw.ai/license/1-1/ License at https://github.com/nvidia/cosmos}{github.com/nvidia/cosmos and https://huggingface.co/collections/nvidia/cosmos3 . The project website is available at https://research.nvidia.com/labs/cosmos-lab/cosmos3 .
arXiv PDF
Diagnosis of Human Object Interaction Detectors for Real World Educational Applications
Divya Mereddy, Ashwin Tudur Sadashiva, Marcos Quinones-Grueiro, Gautam Biswas
arXiv:2606.02789v1 • 2026-06-01
Human-object interaction (HOI) recognition is critical for automatically analyzing student behavior in complex educational environments. Although state-of-the-art (SOTA) HOI detectors perform well on benchmark datasets, their performance often degrades when deployed in real-world training environments due to domain-specific objects, occlusions, and complex visual conditions. In this paper, we introduce a diagnosis-driven framework that integrates a triplet-level HOI error taxonomy with error-factor attribution analysis for real-world educational video data. We study this problem in the context of Critical Care Air Transport Team (CCATT) mixed-reality medical training. Based on an analysis of HOI failure modes and their causes, we develop a diagnosis-informed refinement strategy for adapting pretrained HOI models to the target domain. Experiments on the CCATT dataset show that this approach improves the macro-F1 score of a pretrained CDN model from 48.6 to 90.2 through targeted refinement guided by diagnosed error factors. These results highlight the value of detailed diagnostic analysis for informing targeted adaptation of HOI models in real-world educational environments.
arXiv PDF
MetaWorld: Scaling Multi-Agent Video World Model from Single-view Video Data
Teng Hu, Mingchun Lu, Yating Wang, Jiangning Zhang, Jinkun Hao, Ye Pan, Ran Yi, Lizhuang Ma, Dacheng Tao
arXiv:2606.02753v1 • 2026-06-01
Video world models are a foundational generative technology for embodied AI and the Metaverse, yet existing approaches are inherently limited to a single agent observing from a single perspective. Extending these models to multi-agent settings introduces two critical challenges: data scarcity (coordinated multi-view recordings are prohibitively expensive to collect for general open-domain scenarios) and world state alignment (independently generated video streams cannot ensure that shared physical environments and events evolve consistently across views). To address these challenges, we propose MetaWorld, a novel framework that scales multi-agent video world models to open-domain environments directly from single-view videos. First, we introduce Monocular World-State Unrolling (MWSU) to explicitly decompose monocular footage into the camera operator's ego-motion and the visible subject's spatial trajectory. This camera-trajectory decomposition naturally extracts synchronized multi-agent motion data within a shared 3D space, completely bypassing the need for multi-camera setups. Second, for precise visual control, we develop the Subject-Aware World Generator to enable appearance-driven simulation conditioned on per-agent identity images. Finally, to ensure both views are grounded in the identical physical reality, we propose World-State Alignment, a per-frame inter-branch cross-attention mechanism inserted at every transformer layer of the video DiT. By jointly synchronizing the denoising process, WSA enforces both static geometric consistency and dynamic motion consistency, encouraging that the shared 3D environment and physical events remain well-aligned across both egocentric views. Extensive experiments demonstrate that MetaWorld achieves superior cross-view consistency and identity fidelity, establishing a highly scalable, physics-driven paradigm for multi-agent video world modeling.
arXiv PDF
SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos
Jaehyeon Son, Junhyun Kim, Kyle Kam, Jeremiah Coholich, Seok Joon Kim, Jinhoo Kim, Chris Dongjoo Kim, Jaemin Cho, Dieter Fox, Zsolt Kira
arXiv:2606.02745v1 • 2026-06-01
Vision-language-action models (VLAs) are promising general-purpose robot policies, but adapting them to new tasks typically requires costly task-specific teleoperation data. As an alternative, we study one-shot demo-conditioned VLAs, where a robot policy is conditioned on a single demonstration video of an unseen task. We find that existing end-to-end approaches often struggle when successful execution requires precisely localizing small target regions. To address this limitation, we propose SeeTraceAct, a demo-conditioned VLA framework that encourages precise spatial grounding through visibility-aware prediction of future end-effector traces. To enable reproducible evaluation with cross-embodiment demonstrations, we introduce and release RoboCasa-DC, a demo-conditioned extension of RoboCasa with episode-paired humanoid videos. Experiments on RoboCasa-DC and a real-world benchmark, where a Franka Panda arm is conditioned on human demonstrations, show that SeeTraceAct outperforms baselines, achieving the best success rate across all four RoboCasa-DC settings and improving real-world average success by 12.5 percentage points.
arXiv PDF
AVTrack: Audio-Visual Tracking in Human-centric Complex Scenes
Yaoting Wang, Yun Zhou, Zipei Zhang, Henghui Ding
arXiv:2606.02724v1 • 2026-06-01
Audio-visual speaker tracking aims to localize and track active speakers by leveraging auditory and visual cues, enabling fine-grained, human-centric scene understanding. This capability is essential for real-world applications such as intelligent video editing, surveillance, and human-computer interaction. However, existing datasets are largely limited to simple or homogeneous audio-visual scenes with coarse annotations. Such oversimplified settings bias evaluation toward static audio-visual co-occurrence, rather than rigorously assessing robust spatiotemporal modeling and cross-modal reasoning in complex, dynamic scenes. To address these limitations, we introduce AVTrack, a human-centric audio-visual instance segmentation (AVIS) dataset designed for dynamic real-world scenarios. AVTrack features diverse and challenging conditions, including camera motion, visual occlusions, and position changes. Evaluations of representative AVIS methods on AVTrack reveal substantial performance degradation, establishing AVTrack as a challenging benchmark for robust human-centric audio-visual scene understanding in complex environments. We further provide a simple yet effective baseline to facilitate future research. Project website: https://FudanCVL.github.io/AVTrack/
Comment: 19 pages, 10 figures, ICML 2026
arXiv PDF
2026-05-31
54 篇
Robotics
47
默认显示 5 篇
Line-Search Filter Differential Dynamic Programming for Optimal Control with Nonlinear Equality Constraints
Ming Xu, Stephen Gould, Iman Shames
arXiv:2504.08278v7 •updated • 2025-04-11
We present FilterDDP, a differential dynamic programming algorithm for solving discrete-time, optimal control problems (OCPs) with nonlinear equality constraints. Unlike prior methods based on merit functions or the augmented Lagrangian class of algorithms, FilterDDP uses a step filter in conjunction with a line search to handle equality constraints. We identify two important design choices for the step filter criteria which lead to robust numerical performance: 1) we use the Lagrangian instead of the cost in the step acceptance criterion and, 2) in the backward pass, we perturb the value function Hessian. Both choices are rigorously justified, for 2) in particular by a formal proof of local quadratic convergence. In addition to providing a primal-dual interior point extension for handling OCPs with both equality and inequality constraints, we validate FilterDDP on three contact implicit trajectory optimisation problems which arise in robotics.
Comment: Accepted for publication in the IEEE International Conference on Robotics and Automation (ICRA) 2026. Revised version with more exposition in methodology and updated results with improved implementation
arXiv PDF
Global Convergence of a Line-Search Filter Differential Dynamic Programming Method
Ming Xu, Iman Shames
arXiv:2606.01487v1 • 2026-05-31
In this article, we establish the global convergence properties of the FilterDDP algorithm, which extends the discrete-time differential dynamic programming (DDP) algorithm of Mayne and Jacobson [\emph{International Journal of Control}, 3, (1966), pp. 85-95] to handle nonlinear constraints over states and controls, in addition to the dynamics. FilterDDP adopts a line-search filter procedure for step acceptance. However, instead of a damped Newton step applied in the general nonlinear programming setting, the computation of a trial point involves applying a backward recursion and a forward simulation. We establish the global convergence of FilterDDP by showing that for a subset of constrained optimal control problems, the this backward-forward procedure satisfies the same properties as a Newton step for the purpose of establishing global convergence of a line-search filter method, following the analysis of Wächter and Biegler [\emph{SIAM Journal on Optimization}, 16 (2005), pp. 1-31].
arXiv PDF
Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAX
Martin Schuck, Marcel P. Rath, Yufei Hua, AbhisheK Goudar, SiQi Zhou, Angela P. Schoellig
arXiv:2606.01478v1 • 2026-05-31
High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing the capabilities of robot algorithms. While aerial robotics simulators have evolved to support specialized needs such as fidelity, differentiability, and swarms independently, a unified platform that can synthesize data across all these domains is missing. In this work, we propose Crazyflow, a simulator designed to push the limits of aerial-robotics algorithm development, from model-based to data-driven methods, gradient-based to sampling-based approaches, and single-agent to multi-agent systems. Compared to existing state-of-the-art drone simulators, it achieves speeds more than an order of magnitude faster for a single drone and can simulate thousands of swarms of 4000 drones each. Real-world experiments show Crazyflow supports both analytical-gradient-based policy learning, achieving sub-centimeter trajectory tracking accuracy without domain randomization, and sampling-based obstacle avoidance at speeds exceeding half a billion steps per second. Breaking the traditional train-then-deploy paradigm, we show that its unprecedented speed even enables in-flight reinforcement learning; we demonstrate this by throwing a physical drone into the air and training a recovery policy from scratch in 0.38 seconds, successfully stabilizing the drone. Crazyflow supports multiple levels of simulation abstraction, is directly compatible with all open-source Crazyflie models, and enables rapid reconfiguration across custom drone platforms and applications by providing a light-weight system identification pipeline. By pushing accuracy, speed, and differentiability simultaneously, Crazyflow serves as an open-source resource for synthetic data generation, with emerging capabilities for large-scale parallelization for online, in-execution learning and optimization, opening the door to novel algorithm development.
arXiv PDF
LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World
Hojune Kim, Timothy Chen, Jiankai Sun, Lars W. Osterberg, Qianzhong Chen, Ke Wang, Mac Schwager
arXiv:2606.01458v1 • 2026-05-31
Training vision-language-action (VLA) policies for humanoid loco-manipulation is constrained by the high cost and complexity of collecting human teleoperation demonstrations. VLA policies fine-tuned in simulators have, until now, failed to transfer effectively in humanoid loco-manipulation tasks. We present LEGS (Loco-manipulation via Embodied Gaussian Splatting), a hybrid simulator that composites a mesh foreground (robot, objects, props) over a photorealistic 3D Gaussian Splatting (3DGS) background reconstructed from a handheld scene capture. LEGS uses a procedural motion-primitive generator to synthesize labeled demonstrations at scale without human teleoperation, and a deterministic two-stage color calibration to align the rendered 3DGS image to the robot's deployment camera. On a Unitree G1 humanoid robot, across three pick-and-place tasks of increasing whole-body difficulty and three VLA backbones (psi_0, pi_0.5, GR00T N1.6), a policy trained purely on LEGS data matches or exceeds one trained on human teleoperation demos on every experiment. It also outperforms a mesh-only simulation baseline that ablates the effect of the 3DGS background, showing that photorealistic rendering is a key enabler for synthetic data transfer. Humanoid motion is recorded independently of scene appearance in LEGS, allowing the same auto-generated demonstrations to be re-rendered under new backgrounds and object meshes--covering a new scene at more than 15x lower cost than teleoperation--to augment training data for robustness to scene variations. Under combined object-and-scene appearance shift, the policy trained on re-rendered LEGS-AUG data maintains task success while the baseline trained on teleoperation data fails entirely. Our project page is located at https://legsvla.github.io/.
Comment: https://legsvla.github.io/
arXiv PDF
Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
Jan Schneider, Mridul Mahajan, Le Chen, Simon Guist, Bernhard Schölkopf, Ingmar Posner, Dieter Büchler
arXiv:2604.09487v2 •updated • 2026-04-10
Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice due to inherent nonlinearities, friction, and hysteresis, which complicate modeling and control. So far, these challenges have hindered policy transfer from simulation to real systems. To bridge this gap, we propose a sim-to-real pipeline that learns a neural network model of this complex actuation and leverages established rigid body simulation for the arm dynamics and interactions with the environment. Our method, called Generalized Actuator Network (GenAN), enables actuation model identification across a wide range of robots by learning directly from joint position trajectories rather than requiring torque sensors. Using GenAN on PAMY2, a tendon-driven robot powered by pneumatic artificial muscles, we successfully deploy dynamic but precise goal-reaching, ball-in-a-cup, and table tennis policies, trained entirely in simulation. To the best of our knowledge, this result constitutes the first successful sim-to-real transfer for a four-degrees-of-freedom muscle-actuated robot arm.
arXiv PDF
Video World Models
7
默认显示 5 篇
LLM Trainer: Automated Robotic Data Generation via Demonstration Augmentation using LLMs
Abraham George, Amir Barati Farimani
arXiv:2509.20070v2 •updated • 2025-09-24
We present LLM Trainer, a fully automated pipeline that leverages the world knowledge of Large Language Models (LLMs) to transform a small number of human demonstrations (as few as one) into a large robot dataset for imitation learning. Our approach decomposes demonstration generation into two steps: (1) offline demonstration annotation that extracts keyframes, salient objects, and pose-object relations; and (2) online keypose retargeting that adapts those keyframes to a new scene, given an initial observation. Using these modified keypoints, our system warps the original demonstration to generate a new trajectory, which is then executed, and the resulting demo, if successful, is saved. Because the annotation is reusable across scenes, we use Thompson sampling to optimize the annotation, significantly improving generation success rate. We evaluate our method on a range of tasks, and find that our data annotation method consistently outperforms expert-engineered baselines. We further show an ensemble policy that combines the optimized LLM feed-forward plan with a learned feedback imitation learning controller. Finally, we demonstrate hardware feasibility on a Franka Emika Panda robot. For additional materials and demonstration videos, please see the project website: https://sites.google.com/andrew.cmu.edu/llm-trainer
Comment: 9 pages, 5 figures, 4 tables. Accepted in ICRA 2026
arXiv PDF
AlbedoEdit: Unified Instance-Level Video Editing with Albedo Guidance
Xilong Zhou, Bao-Huy Nguyen, Zheng Zeng, Jacob Munkberg, Jon Hasselgren, Thomas Leimkühler, Nima Kalantari, Miloš Hašan, Christian Theobalt
arXiv:2606.01362v1 • 2026-05-31
Video generative models have achieved remarkable progress in synthesizing photorealistic video sequences. However, enabling broader and more creative downstream applications requires fine-grained instance-level video editing, including object insertion, object removal, and texture editing, which has emerged as a prominent yet challenging problem. Existing approaches either propose unified generative frameworks with only coarse semantic control, or design task-specific frameworks for individual editing tasks, limiting their flexibility and applicability across diverse real-world scenarios. To address these limitations, we propose AlbedoEdit, a unified generative video editing framework that jointly supports object insertion, object removal, and texture editing. Our key insight is that the intrinsic albedo map, which is invariant to lighting and contains no specularity, shadowing and inter-reflection effects, provides an effective and user-friendly mechanism for specifying fine-grained appearance edits. Built upon video foundation models, AlbedoEdit is fine-tuned to translate source RGB videos into edited RGB videos, conditioned on a user-edited first-frame albedo. Trained on a new paired synthetic dataset covering all three editing tasks, AlbedoEdit implicitly learns to harmonize edited contents and simulate complex real-world visual effects triggered by editing operations, including specular highlights, soft shadows, and mirror reflections. AlbedoEdit demonstrates superior performance over state-of-the-art video editing approaches, both qualitatively and quantitatively. Project webpage is https://vcai.mpi-inf.mpg.de/projects/AlbedoEdit/.
arXiv PDF
Interpretable Multimodal Gesture Recognition for Drone and Mobile Robot Teleoperation via Log-Likelihood Ratio Fusion
Seungyeol Baek, Jaspreet Singh, Lala Shakti Swarup Ray, Hymalai Bello, Paul Lukowicz, Sungho Suh
arXiv:2602.23694v3 •updated • 2026-02-27
Human operators are still frequently exposed to hazardous environments such as disaster zones and industrial facilities, where intuitive and reliable teleoperation of mobile robots and Unmanned Aerial Vehicles (UAVs) is essential. In this context, hands-free teleoperation enhances operator mobility and situational awareness, thereby improving safety in hazardous environments. While vision-based gesture recognition has been explored as one method for hands-free teleoperation, its performance often deteriorates under occlusions, lighting variations, and cluttered backgrounds, limiting its applicability in real-world operations. To overcome these limitations, we propose a multimodal gesture recognition framework that integrates inertial data (accelerometer, gyroscope, and orientation) from Apple Watches on both wrists with capacitive sensing signals from custom gloves. We design a late fusion strategy based on the log-likelihood ratio (LLR), which not only enhances recognition performance but also provides interpretability by quantifying modality-specific contributions. To support this research, we introduce a new dataset of 20 distinct gestures inspired by aircraft marshalling signals, comprising synchronized RGB video, IMU, and capacitive sensor data. Experimental results demonstrate that our framework achieves performance comparable to a state-of-the-art vision-based baseline while significantly reducing computational cost, model size, and training time, making it well suited for real-time robot control. We therefore underscore the potential of sensor-based multimodal fusion as a robust and interpretable solution for gesture-driven mobile robot and drone teleoperation.
arXiv PDF
ImagineUAV: Aerial Vision-Language Navigation via World-Action Modeling and Kinodynamic Planning
Xuchen Liu, Jiawei Huang, Shihao Xia, Bingxi Liu, Jinqiang Cui, Jiankun Yang
arXiv:2606.01205v1 • 2026-05-31
Vision-language navigation (VLN) for UAVs demands grounding free-form instructions into 6-DoF flight under partial observability. While Vision-Language-Action (VLA) models excel at semantic reasoning, they suffer from brittleness due to geometric inconsistency and dynamics mismatch. To address this, we propose ImagineUAV, an imagination-driven framework leveraging cascaded world-action modeling. Instead of direct regression, ImagineUAV employs a latent video diffusion model to generate instruction-conditioned future observations, explicitly imagining environmental evolution, from which 6-DoF motions are inferred via an action extractor. A kinodynamic planner then refines these estimates into collision-free trajectories. Additionally, a step-distilled inference pipeline ensures real-time execution. With only 1.3B parameters, ImagineUAV outperforms prior VLN and VLA baselines on benchmarks and real-world flights, validating the practicality of imagination-driven aerial navigation.
Comment: Video demo: https://www.youtube.com/watch?v=Ng1alP0yhc0
arXiv PDF
Towards Interactive Video World Modeling: Frontiers, Challenges, Benchmarks, and Future Trends
Jiuming Liu, Chaojun Ni, Mengmeng Liu, Chensheng Peng, Fangjinhua Wang, Sitian Shen, Marc Pollefeys, Masayoshi Tomizuka, Ayush Tewari, Per Ola Kristensson
arXiv:2606.01164v1 • 2026-05-31
With rapid development of large language models and diffusion-based content generation, world modeling has attracted increasing research attention, benefiting various downstream domains such as game engines, embodied AI, autonomous driving, etc. Through explicitly incorporating user actions into world state transition, recent literature empowers world modeling with interactivity in an action-conditioned video or 3D generation paradigm, further enhancing controllability over world evolutions and facilitating users to freely traverse, manipulate, navigate, and personalize the state evolution. In this paper, we aim to systematically review recent research trends, technical developments, evaluation benchmarks, and also propose future potential directions in interactive world modeling. Specifically, we first summarize recent efforts and trends in terms of application scenarios, world state evolution, and scene modality. Afterwards, we delve into three crucial technical challenges, including action-conditioned controllability, long-horizon interactions and memory, and action-following responsiveness for real-time interactivity. Furthermore, we also thoroughly compare existing benchmarks and metrics in four specific application fields: open-world exploration, game engine, autonomous driving, and robotics. Finally, we discuss several promising future directions in achieving next-generation interactive world modeling. The corresponding repository is publicly available at: https://github.com/liujiuming123/Awesome-Interactive-World-Model.
Comment: Under review. The GitHub repository is publicly available at: https://github.com/liujiuming123/Awesome-Interactive-World-Model
arXiv PDF
2026-05-30
53 篇
Robotics
46
默认显示 5 篇
Generative Multi-Robot Motion Planning via Diffusion Modeling with Multi-Agent Reinforcement Learning Guidance
Suk Ki Lee, Venkata Sai Deepak Mutta, Hyunwoong Ko
arXiv:2606.00933v1 • 2026-05-30
Coordinating multiple robots in shared environments requires generating feasible trajectories for each agent while accounting for interactions among agents. Centralized planning approaches become difficult to scale as the number of robots increases, while decentralized approaches that allow each agent to plan independently do not inherently account for inter-agent interactions. This paper presents a framework for coordinated multi-robot motion planning that combines decentralized generative trajectory planning with multi-agent reinforcement learning (MARL)-based coordination. Each robot independently generates candidate trajectories using a diffusion model trained on single-agent motion data, leveraging the generative model's ability to produce feasible and diverse trajectories. To reduce conflicts between agents, a centralized value function trained via MARL guides the reverse diffusion process through gradient-based steering, enabling interaction-aware trajectory generation without centralized joint planning or retraining of the generative model. This guidance follows an exponential tilting formulation, in which the value function biases the denoising distribution toward trajectories with higher expected multi-agent return. The framework is evaluated in a simulated maze environment with four mobile robots. Experimental results show that the proposed value-guided diffusion planning reduces the inter-agent interference rate from 55.4% to 41.8%, demonstrating that coordination can be effectively achieved while preserving the scalability of decentralized trajectory generation. These results suggest that MARL-based value guidance can effectively introduce coordination into decentralized generative planners without requiring a fully joint multi-robot model.
Comment: 11 pages, 6 figures, 1 table. This paper has been accepted for publication in the proceedings of ASME IDETC-CIE 2026
arXiv PDF
A Machine-to-Machine Knowledge-Guided LLM Agent for Generalizable Radiotherapy Treatment Planning
Md Mainul Abrar, Xun Jia, Yujie Chi
arXiv:2606.00922v1 • 2026-05-30
In this work, we propose a prototype machine-to-machine (M2M) knowledge-guided Large Language Model (LLM) framework for automated radiotherapy treatment planning. In the proposed paradigm, Treatment Planning Parameter (TPP) distribution knowledge discovered by a Deep Reinforcement Learning (DRL) agent is transferred to an LLM agent through in-context learning, enabling autonomous iterative planning without human intervention. While standard LLM-based planning often lacks physical intuition and struggles with convergence, the integration of DRL-derived guidance constrains the agent to a physically valid parameter space. Experimental evaluations are performed across three diverse planning scenarios: basic prostate cases, complex prostate configurations with increased organ-at-risk (OAR) constraints, and liver cases. The evaluation results demonstrate that the guided LLM agent consistently achieves optimal planning scores while significantly reducing the number of iterations compared to unguided planning. Analysis of the final TPP configurations reveals that the agent successfully learns a hierarchical priority of objectives, effectively restoring a logical "cause-and-effect" relationship between parameter tuning and dosimetric outcomes. Crucially, this prototype framework exhibits robust generalizability, maintaining high planning quality regardless of specific patient anatomy, treatment site, or initial plan quality. By bridging the specialized optimization of DRL with the adaptive reasoning of LLMs, this M2M framework establishes a scalable foundation towards generalizable autonomous treatment planning, ultimately benefiting clinical practice in realistic environments.
Comment: 10 pages, 6 figures
arXiv PDF
Too Much of a Good Thing: When sim2real Efforts Impede Policy Learning (And What to Do About It)
Kyle Morgenstein, Bharath Masetty, Stephen Welch, Luis Sentis
arXiv:2606.02636v1 • 2026-05-30
While sim2real efforts are necessary for effective policy transfer to hardware, there is such a thing as too much of a good thing. We argue that sim2real efforts have led to misaligned incentives with policy learning, resulting in simulator lock in and poor policy exploration due to the unreasonable constraints imposed by the real world. We offer a diagnosis and explanation of the current status of the problem, and propose a potential solution via a sim2sim2real paradigm that leverages the robot's kinematics as the sole design constraint.
arXiv PDF
GABI: Geometry-Aware Boundary Integration for Spacecraft Segmentation
Iason Georgios Velentzas, Dhruv Ahuja, Panagiotis Tsiotras
arXiv:2606.00886v1 • 2026-05-30
Accurate segmentation is crucial for autonomous spacecraft, as it directly affects downstream tasks related to 3D situational awareness. The harsh illumination conditions of space, however, produce images with high variability in appearance, hindering the generalization of segmentation approaches across different spacecraft and environments. In this work, we propose GABI, a lightweight boundary-aware multi-task segmentation architecture that augments a convolutional backbone with an auxiliary distance-field prediction head. The distance field provides dense geometric supervision around object boundaries, encouraging the network to learn spatially consistent representations of spacecraft structures while maintaining low model complexity suitable for onboard perception systems. We evaluated GABI against both an established convolutional baseline and a heavier transformer-based architecture. On the SPARK benchmark, distance-field supervision improves the baseline by up to $5\%$ in Average Precision while achieving performance comparable to the transformer models. In generalization experiments, GABI improves Average Precision by more than $50\%$ over the baseline. In cross-domain evaluation, the lightweight GABI variant performs within $5\%$ in IoU and F1-score of the heavier transformer model while being approximately ten times smaller. At the same time, the heavier GABI variant surpasses the transformer architectures while remaining nearly three times lighter.
Comment: Accepted to AI4Space at CVPR 2026
arXiv PDF
Scalar-Measurement Attitude Estimation on $\mathbf{SO}(3)$ with Bias Compensation
Alessandro Melis, Tarek Bouazza, Hassan Alnahhal, Sifeddine Benahmed, Soulaimane Berkane, Tarek Hamel
arXiv:2603.02478v2 •updated • 2026-03-03
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which naturally arise either as components of vector readings or as independent constraints from other sensing modalities. We propose nonlinear deterministic observers on $\mathbf{SO}(3)$ that incorporate gyroscope bias compensation and guarantee uniform local exponential stability under suitable observability conditions. A key feature of the framework is its robustness to partial sensing: accurate estimation is maintained even when only a subset of vector components is available. Experimental validation on the BROAD dataset confirms consistent performance across progressively reduced measurement configurations, with estimation errors remaining small even under severe information loss. To the best of our knowledge, this is the first work to establish fundamental observability results showing that two scalar measurements under suitable excitation suffice for attitude estimation, and that three are enough in the static case. These results position scalar-measurement-based observers as a practical and reliable alternative to conventional vector-based approaches.
Comment: 9 pages, 4 figures. Accepted to ICRA 2026
arXiv PDF
Video World Models
7
默认显示 5 篇
CountGD++: Generalized Prompting for Open-World Counting
Niki Amini-Naieni, Andrew Zisserman
arXiv:2512.23351v2 •updated • 2025-12-29
The flexibility and accuracy of methods for automatically counting objects in images and videos are limited by the way the object can be specified. While existing methods allow users to describe the target object with text and visual examples, the visual examples must be manually annotated inside the image, and there is no way to specify what not to count. To address these gaps, we introduce novel capabilities that expand how the target object can be specified. Specifically, we extend the prompt to enable what not to count to be described with text and/or visual examples, introduce the concept of `pseudo-exemplars' that automate the annotation of visual examples at inference, and extend counting models to accept visual examples from both natural and synthetic external images. We also use our new counting model, CountGD++, as a vision expert agent for an LLM. Together, these contributions expand the prompt flexibility of multi-modal open-world counting and lead to significant improvements in accuracy, efficiency, and generalization across multiple datasets. Code is available at https://github.com/niki-amini-naieni/CountGDPlusPlus.
Comment: CVPR 2026
arXiv PDF
MBench: A Comprehensive Benchmark on Memory Capability for Video World Models
Shengjun Zhang, Zhang Zhang, Simin Huang, Zhenyu Tang, Hanyang Wang, Chensheng Dai, Min Chen, Yifan Li, Yuxin Li, Yingjie Chen, Hao Liu, Chen Li, Yueqi Duan
arXiv:2606.00793v1 • 2026-05-30
Recent advancements in video-based world models have demonstrated an unprecedented ability to synthesize high-fidelity visual sequences. However, a fundamental gap persists between visually plausible video generation and the functional requirements of a world model, particularly in maintaining a stable and reasonable internal state over extended temporal horizons. While existing benchmarks primarily emphasize visual quality, motion coherence, and text-video alignment, they largely overlook memory, the core capability of a world model to preserve consistency across long-term horizons and complex interactions. To address this gap, we present \textbf{MBench}, a comprehensive benchmark dedicated to quantifying and evaluating the memory capability of video world models. We systematically decompose the memory capability of video world models into three hierarchical and complementary core dimensions: entity consistency, environment consistency, and causal consistency, which are further refined into 12 quantifiable sub-dimensions for comprehensive characterization of long-term memory. Our benchmark is built upon rigorously curated real-captured long videos, and evaluated by rule-based quantitative matrices and VLM to enable objective and comprehensive consistency assessment. Extensive evaluations of mainstream state-of-the-art video world models reveal critical systemic limitations of existing methods in long-term state retention, providing a standardized benchmark and clear research direction to advance the field.
Comment: Project Page: https://peanutup.github.io/MBench-project/
arXiv PDF
OmniHuman: A Large-scale Dataset and Benchmark for Human-Centric Video Generation
Lei Zhu, Xing Cai, Yingjie Chen, Yiheng Li, Binxin Yang, Hao Liu, Jie Chen, Chen Li, Jing LYu
arXiv:2604.18326v2 •updated • 2026-04-20
Recent advancements in audio-video joint generation models have demonstrated impressive capabilities in content creation. However, generating high-fidelity human-centric videos in complex, real-world physical scenes remains a significant challenge. We identify that the root cause lies in the structural deficiencies of existing datasets across three dimensions: limited global scene and camera diversity, sparse interaction modeling (both person-person and person-object), and insufficient individual attribute alignment. To bridge these gaps, we present OmniHuman, a large-scale, multi-scene dataset designed for fine-grained human modeling. OmniHuman provides a hierarchical annotation covering video-level scenes, frame-level interactions, and individual-level attributes. To facilitate this, we develop a fully automated pipeline for high-quality data collection and multi-modal annotation. Complementary to the dataset, we establish the OmniHuman Benchmark (OHBench), a three-level evaluation system that provides a scientific diagnosis for human-centric audio-video synthesis. Crucially, OHBench introduces metrics that are highly consistent with human perception, filling the gaps in existing benchmarks by providing a comprehensive diagnosis across global scenes, relational interactions, and individual attributes.
Comment: 19 pages, 6 figures
arXiv PDF
SKIP: Sparse Keyframe Interpolation Paradigm for Efficient Embodied World Models
Ziheng He, Yixiang Chen, Ning Yang, Zhanqian Wu, Qisen Ma, Yuan Xu, Jiabing Yang, Peiyan Li, Xiangnan Wu, Xiaofeng Wang, Zheng Zhu, Jing Liu, Nianfeng Liu, Yan Huang
arXiv:2606.00664v1 • 2026-05-30
Embodied world models have emerged as a promising paradigm in robotics by predicting how robot actions affect the surrounding scene. However, the rollout inference remains computationally expensive in pixel space, as long-horizon manipulation videos typically have to be generated frame by frame. This cost cannot be easily reduced by indiscriminately dropping frames, since downstream policies rely on complete preservation of sparse task-relevant events such as approach, contact, grasp, and release. To address this challenge, we propose Sparse Keyframe Interpolation Paradigm (SKIP), an event-preserving sparse-to-dense framework that avoids dense frame-by-frame generation. SKIP first identifies task-relevant keyframes by leveraging robot-aware multimodal features. It then synthesizes only these keyframes with a sparse video diffusion model. A learned gap predictor and an action-conditioned interpolator subsequently reconstruct the missing intervals according to the robot actions. On LIBERO, SKIP generates dense rollouts $4.16\times$ faster than a dense baseline while improving visual fidelity and reducing aggregate FVD by $89.0\%$. Importantly, SKIP-generated videos are effective policy-training data. Even when they fully replace real demonstrations, $π_{0.5}$ success drops only $1.3$ pp in LIBERO simulation and $6.7$ pp on the real robot, whereas fully dense frame-by-frame generation collapses by $48$ to $58$ pp.
Comment: 25 pages, 10 figures
arXiv PDF
Sandboxed Coding Agents are Competitive Omni-modal Task Solvers
Dongping Chen, Xuanao Huang, Zhihan Hu, Qingyuan Shi, Dianqi Li, Tianyi Zhou
arXiv:2606.00579v1 • 2026-05-30
As multimodal LLMs increasingly target video and audio, it is often assumed that such tasks require native omnimodal models. We show that this is not always the case: coding agents with only text+image access and a sandboxed tool-use interface can match, and in several settings outperform, SOTA native omnimodal models and predefined multimodal agent scaffolds across multiple audio-video benchmarks. Our trajectory analysis suggests that their strength comes from writing code and orchestrating tools to extract relevant evidence from transcripts, frames, and other modality signals, thereby converting omnimodal tasks into retrieval and information-processing problems rather than ingesting entire media streams. We further characterize their limitations through a failure taxonomy and process-level trace analysis, and show that simple skill injection, including human-written and self-distilled skills, substantially improves performance. To explore open-source elicitation, we introduce Code-X, a training recipe with the OmniCoding trajectory dataset and verifiable reward, and provide baselines on Qwen-3.5-9B and Qwen-3.6-27B. Finally, we argue that the next frontier is many-modality processing, and introduce TerminalBench-O, a process-level benchmark for real-world omnimodal processing tasks. Code will be available at https://github.com/Dongping-Chen/OmniCoding.
Comment: Paper under review
arXiv PDF
2026-05-29
115 篇
Robotics
94
默认显示 5 篇
Literary Emotions in Motion: A Soft Robotics Installation for Tactile Storytelling
Carolina Silva-Plata, Abraham Villavicencio-Carmona, Miguel Silva Plata, Stefan Escaida, Ruben Fernandez
arXiv:2606.00418v1 • 2026-05-29
Soft robotics is increasingly explored in artistic contexts, where tactile interaction provides audiences with embodied engagement beyond visual or auditory signals. This work presents an interactive installation that maps semantic emotion analysis of narrative text into variable stiffness of soft pneumatic modules. A natural language model identifies two dominant emotions from a predefined set of six, driving the inflation of seven hexagonally arranged soft actuators. The central actuator represents the primary emotion, while the surrounding ones express the secondary. We develop and mechanically characterize silicone actuators, called soft modules, featuring a thin membrane layer, demonstrating how this morphological control expands the achievable stiffness range while preserving simplicity and low-cost fabrication. A user study with ten participants further evaluates how multisensory coupling of stiffness and LEDs intensity influences emotional perception. The results suggest that stiffness modulation accompanied by color change can support emotionally meaningful and engaging tactile interaction in soft robotic installations.
Comment: 8 pages, 8 figures
arXiv PDF
SoFiE: Soft Finger Exoskeleton for Intelligent Grasping
Magnus Malthe Sigsgaard Nielsen, Nicklas Nikolaj Grønvall, Xiaofeng Xiong, Saravana Prashanth Murali Babu
arXiv:2606.00397v1 • 2026-05-29
Soft wearable robotic systems have emerged as a promising solution for assisting individuals with reduced hand function. This paper presents SoFiE, a modular soft finger exoskeleton designed to assist index-finger flexion during grasping tasks. The proposed system is primarily fabricated using 3D-printed flexible materials, enabling a lightweight, low-profile, and modular design. Actuation is achieved through a tendon-driven mechanism powered by a compact DC motor, while passive extension is provided by a compliant conductive spring. This element, termed StretchSense, also functions as a proprioceptive sensor by exhibiting resistance changes under deformation. Furthermore, a novel tactile sensing approach, MagSense, is introduced, using a magnet and magnetometer pair embedded in a soft fingertip structure to estimate contact force and object compliance. The system is fully untethered and controlled by an embedded microcontroller. In addition, actuator-level sensing through motor encoder feedback enables estimation of the system state, providing a foundation for safe and adaptive control strategies. Experimental validation demonstrates the capability of the system to provide reliable pose estimation, distinguish between materials with different stiffness, and generate distinct sensor signatures across different grasping tasks. This paper details the design, fabrication, and sensing concepts of the proposed exoskeleton as a proof of concept toward modular, soft, and assistive wearable robotics.
arXiv PDF
Behavior Cloning of MPC for 3-DOF Robotic Manipulators
Theo Guegan, Dexter Wen Jie Teo
arXiv:2606.00383v1 • 2026-05-29
While Model Predictive Control (MPC) provides strong stability and robustness, it imposes a significant computational burden on real-time systems. This paper investigates the application of Behavior Cloning to approximate MPC policies for the real-time control of a 3-degree-of-freedom robotic manipulator. We present a baseline controller combining Inverse Kinematics with MPC and evaluate neural network architectures, ranging from classical regression algorithms to deep learning models including Deep MLPs and RNNs, to derive computationally efficient surrogate policies. We analyze generalization capabilities, stability considerations, and the trade-offs inherent in different architectural choices. Our empirical study employs both online and offline evaluations to assess performance regarding accuracy, computational efficiency, and fidelity to the original MPC policy. Our results demonstrate that Behavior Cloning can effectively reduce the computational burden of MPC policies for 3-DOF robotic manipulators, achieving a 3x reduction in inference latency with a 84.98% success rate under relaxed tolerances. Notably, we find that static architectures outperform temporal variants, confirming the sufficiency of instantaneous state observations for this task. However, we observe a precision gap under strict tolerances, which suggest that while Behavior Cloning captures the global optimal trajectory, further research is needed to minimize terminal steady-state error.
Comment: Accepted at the IEEE ICRA 2026 Workshop on Reinforcement Learning in the Era of Imitation Learning (RL4IL), 6 pages excluding references
arXiv PDF
Constrained Whole-Body Tracking for Humanoid Robots
Daniel Morton, Pranit Mohnot, Marco Pavone
arXiv:2606.00374v1 • 2026-05-29
Recent advances in reinforcement learning (RL) have demonstrated impressive whole-body agility for humanoid robots, yet ensuring safety and satisfying constraints -- particularly those specified after training -- remains a challenge. Towards this goal, we present ConstrainedMimic, a control framework that leverages whole-body kinematics and dynamics for real-time constraint enforcement within RL tracking policies. By integrating principles from operational space control and control barrier functions (CBFs), we enable the satisfaction of arbitrary runtime constraints on both the kinematic reference motion and the underlying dynamics. In whole-body motion-tracking and teleoperation experiments on a (simulated) Unitree G1 with a learned policy, we demonstrate collision avoidance (both with the robot body and external obstacles), joint limits, and center of mass stability constraints. By remaining consistent with the current contact mode and tracking objectives, we minimally restrict the capabilities of the policy when constraints are active. Our method is fully differentiable, runs on CPU, GPU, and TPU, and can be deployed at up to 300-500 Hz. All software will be freely available upon publication.
arXiv PDF
FAIR^2 Drones: An AI-Ready Standard for Cross-Domain Wildlife Drone Datasets
Jenna Kline, Kilian Meier, Vandita Shukla, Edouard G. A. Rolland, Elena Iannino, Lucie Laporte-Devylder, Constanza Andrea Molina Catricheo, Blair Costelloe, Elizabeth Campolongo, Henrik S. Midtiby, Devis Tuia, Benjamin Risse, Ulrik P. S. Lundquist, Anders Lyhne Christensen, Fabio Remondino, Thomas Richardson, Tanya Berger-Wolf
arXiv:2606.00355v1 • 2026-05-29
Animal ecology data collection using drones represents a substantial investment of time, expertise, and financial resources. Yet most existing datasets serve only a single research community, limiting interdisciplinary reuse. We propose a unified drone dataset standard, FAIR^2 Drones, that bridges ecology, robotics, and computer vision by building on existing FAIR and AI-ready data frameworks while adding essential platform metadata and annotation specifications. Our standard enables datasets to simultaneously support ecological analysis, robotics algorithm development, and computer vision benchmarking. We provide open-source validation tools, reference implementations, and multimodal extensions linking drone imagery with complementary sensors such as camera traps, GPS, and acoustics. By standardizing metadata across disciplines, this framework maximizes the scientific return on investment for costly field deployments and accelerates cross-domain collaboration in environmental monitoring.
arXiv PDF
Video World Models
21
默认显示 5 篇
Do Joint Audio-Video Generation Models Understand Physics?
Zijun Cui, Xiulong Liu, Hao Fang, Mingwei Xu, Jiageng Liu, Zexin Xu, Weiguo Pian, Shijian Deng, Feiyu Du, Chenming Ge, Yapeng Tian
arXiv:2605.07061v2 •updated • 2026-05-08
Joint audio-video generation models are rapidly approaching professional production quality, raising a central question: do they understand audio-visual physics, or merely generate plausible sounds and frames that violate real-world consistency? We introduce AV-Phys Bench, a benchmark for evaluating physical commonsense in joint audio-video generation. AV-Phys Bench tests models across three scene categories: Steady State, Event Transition, and Environment Transition. It covers physics-grounded subcategories drawn from real-world scenes, plus Anti-AV-Physics prompts that deliberately request physically inconsistent audio-video behavior. Each generation is evaluated along five dimensions: visual semantic adherence, audio semantic adherence, visual physical commonsense, audio physical commonsense, and cross-modal physical commonsense. Across three proprietary and four open-source models, we find that Seedance 2.0 performs best overall, but all models remain far from robust physical understanding. Performance drops sharply on event-driven and environment-driven transitions, and even strong proprietary systems collapse on Anti-AV-Physics prompts. We further introduce AV-Phys Agent, a ReAct-style evaluator that combines a multimodal language model with deterministic acoustic measurement tools, producing rankings that closely align with human ratings. Our results identify cross-modal physical consistency and transition-driven scene dynamics as key open challenges for joint audio-video generation.
Comment: Preprint. Project Page: https://zijuncui.com/AV-Phys/. Full abstract appears in the PDF
arXiv PDF
X-Foresight: A Joint Vision-Action Causal Forecasting Network via Predictive World Modeling
Baolu Li, Jingyu Qian, Rui Guo, Yilun Chen, Hanpeng Liu, Yuan Lin, Junhong Zhou, Ruixin Liu, Willow Yang, Yutong Zheng, Zhenli Zhang, Tenglong, Gu, Zhuangzhuang Ding, Pengkun Zheng, Yu Zhang, Xianming Liu
arXiv:2605.24892v2 •updated • 2026-05-24
Physical world knowledge resides mainly in videos. Equipping Vision-Language-Action (VLA) models with such knowledge is fundamental for safe and generalizable planning. Predictive world modeling enables VLA to internalize physical dynamics and long-term causality by predicting future video from past observations. However, naive next-frame prediction faces two challenges: 1) unlike semantically distinct text tokens, video tokens are low-entropy and redundant, causing prediction to degenerate into trivial extrapolation. 2) world modeling poses a temporal dilemma: dense prediction captures instantaneous dynamics, but cannot efficiently model long-horizon causality. To learn world knowledge effectively, we introduce X-Foresight, a predictive world model integrated directly into the VLA architecture to jointly learn world modeling and real-time action control. At its core lies a long-horizon chunk-wise auto-regressive strategy that addresses both challenges: by predicting semantically distant chunks rather than adjacent frames, it escapes trivial extrapolation, while preserving dense intra-chunk frames for instantaneous dynamics and sparse inter-chunk transitions for long-term causality. A curriculum learning schedule progressively extends prediction horizons and stabilizes long-horizon training. To capture long-term causality effectively, we present temporal importance sampling, which concentrates supervision on safety-critical chunks identified by ego-motion and behavioral signals. We further delegate photorealistic synthesis to a diffusion-based multi-view renderer, improving photorealistic appearance. Comprehensive experiments demonstrate that X-Foresight significantly outperforms VLA baselines in planning performance while maintaining strong generative fidelity, establishing a robust paradigm for world-knowledge-driven autonomous systems.
arXiv PDF
Coding Agent Is Good As World Simulator
Hongyu Wang, Jingquan Wang, Bocheng Zou, Radu Serban, Dan Negrut
arXiv:2605.14398v2 •updated • 2026-05-14
World models have emerged as a powerful paradigm for building interactive simulation environments, with recent video-based approaches demonstrating impressive progress in generating visually plausible dynamics. However, because these models typically infer dynamics from video and represent them in latent states, they do not explicitly enforce physical constraints. As a result, the generated video rollouts are not physically plausible, exhibiting unstable contacts, distorted shapes, or inconsistent motion. In this paper, we present an agentic framework constructing physics-based world models through executable simulation code. The framework coordinates planning, code generation, visual review, and physics analysis agents. The planning agent converts the natural language prompt into a structured scene plan, the code agent implements it as executable simulation code, and the visual review agent provide visual feedback while the physics analysis agent checks physical consistency. The code is iteratively revised based on the feedback until the simulation matches the prompt reqirements and physical constraints. Experimental results show that our framework outperforms advanced video-based models in physical accuracy, instruction fidelity and visual quality, which could be applied to various scenarios including driving simulation and embodied robot tasks.
arXiv PDF
StressDream: Steering Video World Models for Robust Policy Evaluation and Improvement
Junwon Seo, Sushant Veer, Ran Tian, Wenhao Ding, Apoorva Sharma, Karen Leung, Edward Schmerling, Marco Pavone, Andrea Bajcsy
arXiv:2606.00267v1 • 2026-05-29
Video world models (WMs) have shown promise for policy evaluation and improvement by imagining realistic future observations conditioned on ego-robot actions. While WMs can model distributions over futures, policy evaluation and improvement typically rely on nominal imaginations, which can miss high-impact outcomes of robot actions unless prohibitively many samples are drawn. To enable robust policy evaluation and improvement over WM imaginations, we propose StressDream, which steers imaginations toward high-impact yet plausible outcomes specified at inference time by optimizing the initial noise of diffusion-based WMs. However, optimizing high-dimensional noise is challenging: the optimization must reason about nuanced, scene-dependent target events in generated videos while avoiding out-of-distribution (OOD) noise that yields implausible imaginations. We address this with two complementary objectives: a semantic objective with a Vision-Language Model that provides informative gradients by reasoning about the generated video, and a plausibility objective that prevents the optimized noise from drifting OOD. With state-of-the-art video world models for autonomous driving and robotic manipulation, we show that StressDream effectively steers imaginations toward high-impact yet plausible outcomes specified by text at inference time, such as task failures, enabling robust policy evaluation and improvement by identifying actions whose plausible futures include undesirable outcomes. Video results are available at https://junwon.me/StressDream/.
Comment: Project page: https://junwon.me/StressDream/
arXiv PDF
Ego-METAS: Egocentric online Multimodal Energy-efficient Temporal Action Segmentation benchmark
Maria Santos-Villafranca, Jesus Bermudez-cameo, Alejandro Perez-Yus, Giovanni Maria Farinella, Antonino Furnari
arXiv:2606.02246v1 • 2026-05-29
To operate in the physical world, embodied agents must perceive their environment in an "always-on" fashion, selectively accessing the most informative sensors to balance energy constraints and task accuracy. Despite its importance for resource-constrained devices, energy-aware perception remains under-explored, with most prior work assuming unlimited compute. To address this, we introduce Ego-METAS: the first Egocentric online Multimodal Energy-efficient Temporal Action Segmentation benchmark. Ego-METAS provides a unified testbed of more than 100 hours of untrimmed egocentric video from EgoExo4D, CMU-MMAC, and CaptainCook4D, spanning 5 modalities (RGB, audio, gaze, IMU, and monochrome camera). We formulate an online temporal action segmentation task where models must dynamically select which sensors to activate at each timestep while strictly adhering to hardware-representative energy budgets. Alongside the benchmark, we release unified splits, cleaned annotations, pre-extracted features, and a diverse suite of baseline routing policies. Our evaluations show that optimal routing is highly scenario-dependent, and that existing policy-learning methods, designed primarily for trimmed clips, struggle to adapt to continuous, untrimmed environments. However, even simple dynamic fusion of complementary modalities (e.g., via random routing) proves critical for balancing predictive accuracy against strict energy budgets. Ultimately, Ego-METAS provides a standardized foundation to develop robust, cost-aware policies for autonomous, always-on embodied AI.
Comment: Project Page: https://maria-sanvil.github.io/Ego-METAS-website/
arXiv PDF
2026-05-28
109 篇
Robotics
87
默认显示 5 篇
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
Kaichen Zhou, Yuzhen Chen, Fangneng Zhan, Hang Hua, Grace Chen, Xinhai Chang, Ao Qu, Yilun Du, Zhuang Liu, Paul Pu Liang, Mengyu Wang
arXiv:2605.22882v2 •updated • 2026-05-20
Video world models can generate realistic futures from a single instruction, but they often fail to track the same physical points consistently across time. As a result, the generated videos appear plausible, yet lack the physical grounding required for reliable action execution, such as robot manipulation. We present GEM-4D, a geometry-grounded video world model that resolves this limitation by injecting dense 4D correspondence supervision distilled from a pretrained geometry foundation model into the video generative backbone during training. This supervision enables the model to jointly capture appearance and geometric structure while retaining a single-stream architecture with no additional inference cost. We further introduce an inverse dynamics module that converts correspondence-consistent video rollouts into executable robot trajectories, enabling direct deployment in both real-world and simulated manipulation. GEM-4D achieves state-of-the-art performance on both video prediction and geometric consistency across both simulation and realistic scenarios and improves real-world manipulation success from 61% to 81%. Additional results are available at https://gem-4d.github.io/.
Comment: Robotic World Model, Video Generative Model
arXiv PDF
BOKBO (Best of K Bad Options): Calibrated Abstention for VLA Policies
Anya Singh, Cabrel Happi, Jai Relan, Varun Nair, Vidyut Baradwaj
arXiv:2605.30660v1 • 2026-05-28
Test-time scaling for vision-language-action (VLA) policies, methods such as RoboMonkey, SEAL, MG-Select, and V-GPS, samples K candidate action chunks at inference and executes the verifier-best. When all K candidates are unsafe, the system executes a violating action with no warning. We propose BOKBO, the first conformal abstention layer for K-sample VLA inference, providing finite-sample distribution-free guarantees on executed-violation rate. We provide both global and per-task (Mondrian) variants, with the per-task variant closing the conditional gap on the hardest tasks. Our analysis exposes a structural failure of policy-internal nonconformity scores under perturbation-based K-sampling: the base-policy confidence proxy and K-sample disagreement correlate at 0.98 with the action-noise hyperparameter $σ$, while correlating at the noise floor with actual safety violations. We test the failure's scope by replicating the analysis under token-level temperature sampling and find the failure is mechanism-specific and partially mitigated under policy-stochasticity-based sampling. A learned violation predictor conditioned on semantic visual features and task identity supports tight calibration: at $ε$ = 0.05 on libero_object_temp_x0.1 with OpenVLA-OFT, the conditional CRC bound holds on 86% of bootstrap splits with 78% coverage and 70% net task success. Mondrian-BOKBO raises the minimum per-task conditional hold fraction from 0.71 to 0.93. Results are stable across 5 training seeds, replicate within bootstrap noise on $π_0$-FAST, hold on libero_spatial_temp_x0.1 as a co-equal benchmark, and survive four within-suite distribution shifts. We additionally identify and correct a methodological pitfall: globally-set force thresholds well below expert-typical manipulation forces conflate unsafe behavior with normal manipulation, inflating violation rates by $5\times$.
arXiv PDF
SpaCeFormer: Fast Proposal-Free Open-Vocabulary 3D Instance Segmentation
Chris Choy, Junha Lee, Chunghyun Park, Minsu Cho, Jan Kautz
arXiv:2604.20395v2 •updated • 2026-04-22
Open-vocabulary 3D instance segmentation is a core capability for robotics and AR/VR, but prior methods trade one bottleneck for another: multi-stage 2D+3D pipelines aggregate foundation-model outputs at hundreds of seconds per scene, while pseudo-labeled end-to-end approaches rely on fragmented masks and external region proposals. We present SpaCeFormer, a proposal-free space-curve transformer that runs in 0.12--0.30 seconds per scene across standard benchmarks, 2--3 orders of magnitude faster than multi-stage 2D+3D pipelines. We pair it with SpaCeFormer-3M, the largest open-vocabulary 3D instance segmentation dataset (3.0M multi-view-consistent captions over 604K instances from 7.4K scenes) built through multi-view mask clustering and multi-view VLM captioning; it reaches 21$\times$ higher mask recall than prior single-view pipelines (54.3% vs 2.5% at IoU$>$0.5). SpaCeFormer combines spatial window attention with Morton-curve serialization for spatially coherent features, and uses a RoPE-enhanced decoder to predict instance masks directly from learned queries without external proposals. On ScanNet200 we achieve 11.1 zero-shot mAP, a 2.8$\times$ improvement over the prior best proposal-free method; on ScanNet++ and Replica, we reach 22.9 and 24.1 mAP, surpassing all prior methods including those using multi-view 2D inputs.
Comment: Project page: https://nvlabs.github.io/SpaCeFormer/
arXiv PDF
Bidirectional Incremental Generalized Hybrid A*
Sidharth Talia, Oren Salzman, Siddhartha Srinivasa
arXiv:2605.30647v1 • 2026-05-28
We focus on the problem of efficient anytime kinodynamic planning for systems with complex dynamics in unstructured environments that make precomputing motion primitives infeasible. Directly applying A* to such problems is computationally infeasible due to the curse of dimensionality. Methods such as Hybrid A* addressed this burden by discretizing the state space, but in turn creating a coupling between tree discovery and the discretization resolution. The Incremental Generalized Hybrid A* (IGHA*) performs search over a hierarchy of resolutions in an anytime fashion to break this coupling, by freezing vertices to use in later search iterations rather than pruning them. However, the frozen vertices can hide solution-supporting vertices from the search at a particular iteration. While classical bidirectional search is motivated by the reduction of search depth, extending IGHA* into the bidirectional setting (termed Bi-IGHA*) obtains additional benefit by fundamentally mitigating the behaviour induced by frozen vertices hiding solutions. We show that Bi-IGHA* preserves IGHA*'s guarantees on monotonic cost improvement and termination. We empirically show that Bi-IGHA* substantially reduces expansions on R3, R4, and R6 planning problems, and achieves equivalent closed-loop performance with kinodynamic planning for high-speed off-road autonomy while requiring significantly fewer expansions. Website: https://personalrobotics.github.io/IGHAStar/biighastar.html
arXiv PDF
PInVerify: An Offline Embodied Benchmark for Active Instance Verification
Yuhang Jiang
arXiv:2605.30639v1 • 2026-05-28
Embodied agents have made strong progress in navigating to target objects, but reaching the goal vicinity does not guarantee that the agent has found the correct instance: subtle attribute differences (e.g., "white floral" vs. "white striped") often require close-range, multi-view inspection. We address this gap with Active Instance Verification (AIV), a task in which an agent actively selects viewpoints around a candidate object to decide whether it matches a fine-grained natural-language description. We formalize AIV as a finite-horizon decision process and introduce PInVerify, an offline embodied benchmark for AIV: 3,000 evaluation episodes across 18 object categories, delivered as multi-view captures with a 6-sector navigation topology that exposes trap views (navigable but uninformative) and unreachable sectors. As reference baselines we build a training-free pipeline and a LoRA-fine-tuned end-to-end agent around open-source multimodal large language models (MLLMs) at on-device scale ($\leq$8B parameters), with attribute decomposition, a visibility-weighted multi-view tracker, and three next-best-view (NBV) strategies. In our evaluation across Qwen3-VL (4B/8B), SenseNova-SI-1.2-InternVL3-8B, CLIP, and SigLIP2, the best MLLM-based baseline exceeds the best embedding baseline by 4.9 pp; GT-box ablations show a +3.1 pp detection gap; and we do not observe reliable gains from active viewpoint selection within the tested NBV strategies. A LoRA-fine-tuned agent (SFT+GSPO) reaches 85.6%. PInVerify aims to support further work on active, fine-grained semantic verification in embodied AI. Code: https://github.com/Avalon-S/PInVerify.
Comment: Accepted as a poster at the Foundation Models Meet Embodied Agents (FMEA) Workshop, CVPR 2026. 44 pages including appendix. Code: https://github.com/Avalon-S/PInVerify
arXiv PDF
Video World Models
22
默认显示 5 篇
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
Kaichen Zhou, Yuzhen Chen, Fangneng Zhan, Hang Hua, Grace Chen, Xinhai Chang, Ao Qu, Yilun Du, Zhuang Liu, Paul Pu Liang, Mengyu Wang
arXiv:2605.22882v2 •updated • 2026-05-20
Video world models can generate realistic futures from a single instruction, but they often fail to track the same physical points consistently across time. As a result, the generated videos appear plausible, yet lack the physical grounding required for reliable action execution, such as robot manipulation. We present GEM-4D, a geometry-grounded video world model that resolves this limitation by injecting dense 4D correspondence supervision distilled from a pretrained geometry foundation model into the video generative backbone during training. This supervision enables the model to jointly capture appearance and geometric structure while retaining a single-stream architecture with no additional inference cost. We further introduce an inverse dynamics module that converts correspondence-consistent video rollouts into executable robot trajectories, enabling direct deployment in both real-world and simulated manipulation. GEM-4D achieves state-of-the-art performance on both video prediction and geometric consistency across both simulation and realistic scenarios and improves real-world manipulation success from 61% to 81%. Additional results are available at https://gem-4d.github.io/.
Comment: Robotic World Model, Video Generative Model
arXiv PDF
SAW-Bench: Learning Situated Awareness in the Real World
Chuhan Li, Rilyn Han, Joy Hsu, Yongyuan Liang, Rajiv Dhawan, Jiajun Wu, Ming-Hsuan Yang, Xin Eric Wang
arXiv:2602.16682v2 •updated • 2026-02-18
A core aspect of human perception is situated awareness, the ability to relate ourselves to the surrounding physical environment and reason over possible actions in context. However, most existing benchmarks for multimodal foundation models (MFMs) emphasize environment-centric spatial relations (relations among objects in a scene), while largely overlooking observer-centric relationships that require reasoning relative to agent's viewpoint, pose, and motion. To bridge this gap, we introduce SAW-Bench (Situated Awareness in the Real World), a novel benchmark for evaluating egocentric situated awareness using real-world videos. SAW-Bench comprises 786 self-recorded videos captured with Ray-Ban Meta (Gen 2) smart glasses spanning diverse indoor and outdoor environments, and over 2,071 human-annotated question-answer pairs. It probes a model's observer-centric understanding with six different awareness tasks. Our comprehensive evaluation reveals a human-model performance gap of 37.66%, even with the best-performing MFM, Gemini 3 Flash. Beyond this gap, our in-depth analysis uncovers several notable findings; for example, while models can exploit partial geometric cues in egocentric videos, they often fail to infer a coherent camera geometry, leading to systematic spatial reasoning errors. We position SAW-Bench as a benchmark for situated spatial intelligence, moving beyond passive observation to understanding physically grounded, observer-centric dynamics.
arXiv PDF
World Models: A Comprehensive Survey of Architectures, Methodologies, Reasoning Paradigms, and Applications
Arif Hassan Zidan, Yi Pan, Hanqi Jiang, Ruiyu Yan, Wei Ruan, Zihao Wu, Lifeng Chen, Weihang You, Xinliang Li, Bowen Chen, Huawen Hu, Peilong Wang, Sizhuang Liu, Jing Zhang, Siyuan Li, Zhengliang Liu, Yu Bao, Lin Zhao, Lichao Sun, Dajiang Zhu, Xiang Li, Jinglei Lv, Quanzheng Li, Wei Liu, Tianming Liu, Wei Zhang
arXiv:2606.00133v1 • 2026-05-28
World models, internal simulators that learn the structure and dynamics of an environment, have emerged as a central paradigm in the pursuit of artificial general intelligence, enabling agents to predict, plan, and reason within learned representations. Despite rapid progress across reinforcement learning, robotics, autonomous driving, and video generation, the field lacks a unified framework integrating its diverse architectural choices, training methods, reasoning mechanisms, and application settings. This survey addresses that gap with a multi-axis taxonomy organized along four dimensions: (i) architecture, encompassing representation format, dynamics formulation, input modality, learning paradigm, and downstream application; (ii) methodological family, including state-space and recurrent approaches, transformer-based models, diffusion-based generators, physics-informed networks, and language-augmented multimodal systems; (iii) reasoning strategy, covering imagination-based planning, latent policy learning, counterfactual reasoning, and planning under uncertainty; and (iv) application domain, spanning robotics, autonomous driving, video prediction, multimodal agents, reinforcement learning, scientific modeling, medical imaging, educational measurement, and business and finance. Tracing the field from early cognitive-science foundations to milestone systems such as PlaNet, the Dreamer family, MuZero, Sora, Cosmos, and Genie, we examine how these dimensions interact and highlight the recent convergence of chain-of-thought reasoning with world-model imagination. We review evaluation protocols and benchmarks, identify persistent challenges such as compounding prediction errors, sim-to-real transfer, and fragmented evaluation, and outline future directions toward unified multimodal world models, foundation-scale interactive simulators, and safe deployment in safety-critical domains.
arXiv PDF
Reasoning-Aware Multimodal Fusion for Hateful Video Detection
Shuonan Yang, Tailin Chen, Jiangbei Yue, Guangliang Cheng, Jianbo Jiao, Zeyu Fu
arXiv:2512.02743v2 •updated • 2025-12-02
Hate speech in online videos is posing an increasingly serious threat to digital platforms, especially as video content becomes increasingly multimodal and context-dependent. Existing methods often struggle to effectively fuse the complex semantic relationships between modalities and lack the ability to understand nuanced hateful content. To address these issues, we propose an innovative Reasoning-Aware Multimodal Fusion (RAMF) framework. To tackle the first challenge, we design Local-Global Context Fusion (LGCF) to capture both local salient cues and global temporal structures, and propose Semantic Cross Attention (SCA) to enable fine-grained multimodal semantic interaction. To tackle the second challenge, we introduce adversarial reasoning-a structured three-stage process where a vision-language model generates (i) objective descriptions, (ii) hate-assumed inferences, and (iii) non-hate-assumed inferences-providing complementary semantic perspectives that enrich the model's contextual understanding of nuanced hateful intent. Evaluations on two real-world hateful video datasets demonstrate that our method achieves robust generalisation performance, improving upon state-of-the-art methods by 3% and 7% in Macro-F1 and hate class recall, respectively. The source codes and data required to reproduce our results are available at https://github.com/Multimodal-Intelligence-Lab-MIL/RAMF.
Comment: Accepted at Transactions on Machine Learning Research (TMLR)
arXiv PDF
Flow Equivariant World Models: Memory for Partially Observed Dynamic Environments
Hansen Jin Lillemark, Benhao Huang, Fangneng Zhan, Yilun Du, Thomas Anderson Keller
arXiv:2601.01075v2 •updated • 2026-01-03
Embodied systems experience the world as 'a symphony of flows': a combination of many continuous streams of sensory input coupled to self-motion, interwoven with the dynamics of external objects. These sensory streams and the underlying dynamics of the world obey smooth, time-parameterized symmetries which existing world models ignore. Without a memory that respects this structure, partial observability presents a major obstacle to existing methods: each observation reveals only a fraction of the world, while unobserved regions continue to evolve. In this work, we introduce Flow Equivariant World Modeling, a framework that leverages time-parameterized symmetries within a latent memory for stable and accurate dynamics prediction over long horizons. The latent memory shifts and transforms equivariantly with self-motion and inferred external object motion, keeping information about out-of-view regions aligned as time progresses. We demonstrate the advantage of this framework over state-of-the-art diffusion, memory-augmented, and recurrent world model architectures on 2D and 3D partially observed video world modeling benchmarks. More broadly, our results suggest that predictive representations become more powerful when they are organized in line with the temporal and dynamical structure of the world they model. Project page: https://flowequivariantworldmodels.github.io/
Comment: Accepted at ICML 2026
arXiv PDF
2026-05-27
98 篇
Robotics
77
默认显示 5 篇
Enhancing Reinforcement Learning in 3D Environments through Semantic Segmentation: A Case Study in ViZDoom
Jin Huang
arXiv:2511.11703v2 •updated • 2025-11-12
Reinforcement learning (RL) in 3D environments with high-dimensional sensory input poses two major challenges: (1) the high memory consumption induced by memory buffers required to stabilise learning, and (2) the complexity of learning in partially observable Markov Decision Processes (POMDPs). This project addresses these challenges by proposing two novel input representations: SS-only and RGB+SS, both employing semantic segmentation on RGB colour images. Experiments were conducted in deathmatches of ViZDoom, utilizing perfect segmentation results for controlled evaluation. Our results showed that SS-only was able to reduce the memory consumption of memory buffers by at least 66.6%, and up to 98.6% when a vectorisable lossless compression technique with minimal overhead such as run-length encoding is applied. Meanwhile, RGB+SS significantly enhances RL agents' performance with the additional semantic information provided. Furthermore, we explored density-based heatmapping as a tool to visualise RL agents' movement patterns and evaluate their suitability for data collection. A brief comparison with a previous approach highlights how our method overcame common pitfalls in applying semantic segmentation in 3D environments like ViZDoom.
Comment: Master's Thesis at the University of Edinburgh (2024)
arXiv PDF
CA-AC-MPC: CUDA-Accelerated Actor-Critic Model Predictive Control
Antoonio Buo, Vittorio Cammarota, Michele Avagnale, Pierluigi Arpenti, Vincenzo Lippiello, Fabio Ruggiero
arXiv:2605.29155v1 • 2026-05-27
In the literature, actor-critic model predictive control (AC-MPC) integrates MPC with reinforcement learning to enable high-performance control of complex dynamical systems. However, its differentiable MPC layer requires repeatedly solving an optimization problem in both the forward and backward passes, leading to substantial training and inference latency. This paper tackles this bottleneck introducing a CUDA-accelerated variant that significantly reduces end-to-end execution time while preserving the control performance of the baseline formulation. Simulation results on an agile drone racing task show that our approach achieves state-of-the-art lap times and near-limit dynamic behaviour with markedly reduced training and inference time.
Comment: Accepted for presentation at the 2026 International Conference on Unmanned Aircraft Systems, ICUAS 2026
arXiv PDF
When Should a Robot Think? Resource-Aware Reasoning via Reinforcement Learning for Embodied Robotic Decision-Making
Jun Liu, Pu Zhao, Zhenglun Kong, Xuan Shen, Peiyan Dong, Fan Yang, Lin Cui, Hao Tang, Geng Yuan, Wei Niu, Wenbin Zhang, Xue Lin, Gaowen Liu, Yanzhi Wang, Dong Huang
arXiv:2603.16673v4 •updated • 2026-03-17
Embodied robotic systems increasingly rely on large language model (LLM)-based agents to support high-level reasoning, planning, and decision-making during interactions with the environment. However, invoking LLM reasoning introduces substantial computational latency and resource overhead, which can interrupt action execution and reduce system reliability. Excessive reasoning may delay actions, while insufficient reasoning often leads to incorrect decisions and task failures. This raises a fundamental question for embodied agents: when should the agent reason, and when should it act? In this work, we propose RARRL (Resource-Aware Reasoning via Reinforcement Learning), a hierarchical framework for resource-aware orchestration of embodied agents. Rather than learning low-level control policies, RARRL learns a high-level orchestration policy that operates at the agent's decision-making layer. This policy enables the agent to adaptively determine whether to invoke reasoning, which reasoning role to employ, and how much computational budget to allocate based on current observations, execution history, and remaining resources. Extensive experiments, including evaluations with empirical latency profiles derived from the ALFRED benchmark, show that RARRL consistently improves task success rates while reducing execution latency and enhancing robustness compared with fixed or heuristic reasoning strategies. These results demonstrate that adaptive reasoning control is essential for building reliable and efficient embodied robotic agents.
arXiv PDF
Learning and Adaptation in Wire Arc Additive Manufacturing Bead Geometry Control
Chen-Lung Lu, John Wen
arXiv:2605.29144v1 • 2026-05-27
Robotics Wire Arc Additive Manufacturing (WAAM) is governed by complex and nonlinear process dynamics coupling thermal field to the build geometry. The process may be regarded as a multi-input/multi-output dynamical system with welding torch speed and wire feed rate as inputs and weld bead deposition height and width as outputs. In this paper, we use the input/output data to learn a data-driven model and use it for weld planning and control. We show that a simple recurrent neural network architecture and one-step-ahead predictive control can improve the process performance in terms of height and width consistency. To account for the changing thermal conditions during the printing process, we update the learning model using prediction error from the previous layer. This adaptation step further improves the prediction accuracy and controller performance. Experiments on a robotic WAAM testbed with integrated line-scanner feedback significant improvements in height and width consistency compared to constant input and static model baselines. The proposed learning and adaptation framework provides a practical pathway toward robust, data-driven regulation of additive manufacturing processes.
arXiv PDF
Multi-Resolution End-to-End Deep Neural Network for Optimizing Latency-Accuracy Tradeoff in Autonomous Driving
Qitao Weng, Heechul Yun
arXiv:2605.29138v1 • 2026-05-27
Latency-accuracy tradeoffs are fundamental in real-time applications of deep neural networks (DNNs) for cyber-physical systems. In autonomous driving, in particular, safety depends on both prediction quality and the end-to-end delay from sensing to actuation. We observe that (1) when latency is accounted for, the latency-optimal network configuration varies with scene context and compute availability; and (2) a single fixed-resolution model becomes suboptimal as conditions change. We present a multi-resolution, end-to-end deep neural network for the CARLA urban driving challenge using monocular camera input. Our approach employs a convolutional neural network (CNN) that supports multiple input resolutions through per-resolution batch normalization, enabling runtime selection of an ideal input scale under a latency budget, as well as resolution retargeting, which allows multi-resolution training without access to the original training dataset. We implement and evaluate our multi-resolution end-to-end CNN in CARLA to explore the latency-safety frontier. Results show consistent improvements in per-route safety metrics - lane invasions, red-light infractions, and collisions - relative to fixed-resolution baselines.
Comment: ICCPS 2026
arXiv PDF
Video World Models
20
默认显示 5 篇
Nano World Models: A Minimalist Implementation of Future Video Prediction
Siqiao Huang, Partha Kaushik, Michael Chen, Hengkai Pan, Kaiwen Geng, Omar Chehab, Fernando Moreno-Pino, Max Simchowitz
arXiv:2605.23993v2 •updated • 2026-05-17
World models have become a central paradigm for learning predictive simulators that support generation, planning, and decision-making. Yet, despite rapid progress in industry-scale interactive video generation, the broader research community still lacks compact, reproducible, and easily extensible implementations for studying the design choices underlying modern world models. We introduce Nano World Models, a minimalist codebase for future video prediction centered around diffusion forcing. Nano World Models provides a unified interface for generative objectives, model scales, action-conditioning mechanisms, latent observation spaces, datasets, evaluation protocols, and long-horizon rollout procedures. This design enables controlled studies of world-modeling components that are often entangled across separate implementations. Through experiments across simple control environments, game simulation, and real-robot data, we examine how prediction parameterization, architecture scale, action injection, sampling budget, and domain complexity affect video prediction quality and autoregressive rollout behavior. By releasing code, configurations, evaluation scripts, and pretrained checkpoints, Nano World Models aims to provide a compact yet extensible experimental substrate for open, reproducible, and scientific world-model research.
Comment: Project page: https://simchowitzlabpublic.github.io/nano-world-model/
arXiv PDF
Gaga: Group Any Gaussians via 3D-aware Memory Bank
Weijie Lyu, Xueting Li, Abhijit Kundu, Yi-Hsuan Tsai, Ming-Hsuan Yang
arXiv:2404.07977v4 •updated • 2024-04-11
We introduce Gaga, a framework that reconstructs and segments open-world 3D scenes by leveraging inconsistent 2D masks predicted by zero-shot class-agnostic segmentation models. Contrasted to prior 3D scene segmentation approaches that rely on video object tracking or contrastive learning methods, Gaga utilizes spatial information and effectively associates object masks across diverse camera poses through a novel 3D-aware memory bank. By eliminating the assumption of continuous view changes in training images, Gaga demonstrates robustness to variations in camera poses, particularly beneficial for sparsely sampled images, ensuring precise mask label consistency. Furthermore, Gaga accommodates 2D segmentation masks from diverse sources and demonstrates robust performance with different open-world zero-shot class-agnostic segmentation models, significantly enhancing its versatility. Extensive qualitative and quantitative evaluations demonstrate that Gaga performs favorably against state-of-the-art methods, emphasizing its potential for real-world applications such as 3D scene understanding and manipulation.
Comment: TMLR Camera-Ready Version. Project Page: https://weijielyu.github.io/Gaga
arXiv PDF
Gamma-World: Generative Multi-Agent World Modeling Beyond Two Players
Fangfu Liu, Kai He, Tianchang Shen, Tianshi Cao, Sanja Fidler, Yueqi Duan, Jun Gao, Igor Gilitschenski, Zian Wang, Xuanchi Ren
arXiv:2605.28816v1 • 2026-05-27
World models for interactive video generation have largely focused on single-agent settings, where future observations are generated from a single control signal. However, many generated environments require multi-agent interaction: multiple players, robots, or embodied agents act simultaneously within a shared space. Scaling world models to such settings requires a principled multi-agent design: agents should remain independently controllable, permutation-symmetric, and support efficient inference while maintaining consistency across time and perspectives. In this paper, we present our generative multi-agent world model for interactive simulation. It introduces Simplex Rotary Agent Encoding, a parameter-free extension of 3D RoPE that represents agents as vertices of a regular simplex in rotary angle space. This gives each agent a distinct phase while making all agents permutation-equivalent, enabling scalable agent identity without learned per-slot identities or a fixed agent ordering. To avoid dense all-to-all attention across agents, we further propose Sparse Hub Attention, where learnable hub tokens mediate token interaction across agents, reducing cross-agent attention cost from quadratic to linear in the number of agents. For real-time rollout, we distill a full-context diffusion teacher into a causal student that generates temporal blocks sequentially with KV caching, enabling action-responsive generation at 24 FPS. Experiments in multiplayer virtual environments show that our model improves video fidelity, action controllability, and inter-agent consistency over slot-based and dense-attention baselines, while generalizing from two to four players without additional training.
Comment: Project Page: https://research.nvidia.com/labs/sil/projects/gamma-world
arXiv PDF
DriveWAM: Video Generative Priors Enable Scalable World-Action Modeling for Autonomous Driving
Chen Shi, Jinrui Xu, Shaoshuai Shi, Kehua Sheng, Bo Zhang, Li Jiang
arXiv:2605.28544v1 • 2026-05-27
Pretrained foundation models have become an important basis for end-to-end autonomous driving. In contrast to vision-language models pretrained primarily on static image-text pairs, video generative models capture temporal dynamics and motion priors that are naturally suited for driving. We present DriveWAM, a driving world-action model that adapts a pretrained video diffusion transformer into an autoregressive video-action policy. DriveWAM organizes video and action streams into a unified temporal token sequence and trains them under a joint flow-matching objective, preserving the pretrained video-generation architecture while adapting its large-scale video priors to action generation. To incorporate high-level scene understanding, we introduce scene-evolving driving guidance, where a frozen VLM produces chunk-specific semantic intent to guide video-action generation. To keep long-horizon rollout bounded, we further introduce selective KV memory, which maintains bounded modality-aware video and action memory pools through relevance-redundancy cache selection at inference time. Experiments on NAVSIM and the PhysicalAI-Autonomous-Vehicles benchmark show that DriveWAM achieves strong planning performance, and a data-scaling study from 4k to 100k driving clips further confirms the scaling potential of world-action modeling for end-to-end autonomous driving.
arXiv PDF
Physics from Video: Identifiability of Time-Invariant Second-Order ODEs under Minimal Trajectory Conditions
Yuanyuan Wang, Wenjie Wang, Kun Zhang, Mingming Gong
arXiv:2606.00115v1 • 2026-05-27
Bridging the gap between visual realism and physical understanding is a core challenge for video-based world models. We study the structural identifiability of continuous-time physical laws from raw pixels, focusing on whether an encoder-only pipeline can uniquely recover the parameters of second-order linear ODEs. We prove that a level-set slope-coverage condition ensures the learned latent space is locally affine to the true physical state, enabling exact parameter recovery. Our theory provides the first characterization of minimal data requirements across damping regimes, establishing that underdamped systems are identifiable from a single video clip, whereas other regimes require three diverse trajectories. We further introduce a variance-floor regularizer to stabilize the decoder-free objective and prevent latent collapse. Validated on synthetic and real-world data, our approach demonstrates that interpretable physical constants can be reliably estimated from video without the need for compute-intensive pixel reconstruction, ensuring both physical correctness and transparency. Code is available at https://github.com/wenjiewang3/PhysicsFromVideo.
Comment: Accepted at ICML 2026
arXiv PDF
Foundation Models
1
默认显示 1 篇
OmniVerifier-M1: Multimodal Meta-Verifier with Explicit Structured Recalibration
Xinchen Zhang, Bowei Liu, Jiale Liu, Chufan Shi, Yizhen Zhang, Junhong Liu, Youliang Zhang, Zhiheng Li, Yujiu Yang, Ling Yang
arXiv:2605.28805v1 • 2026-05-27
Visual outcomes are increasingly central to multimodal large language models, making reliable and fine-grained verification essential for scaling generalist foundation models. In this work, we investigate multimodal meta-verification, which leverages verifier-generated rationales rather than decision-only signals, and explore how to effectively incorporate meta-verification feedback into multimodal verifier training. We identify two key findings. First, symbolic verifier outputs (e.g., bounding boxes) outperform textual explanations as meta-verification rationales, enabling efficient rule-based reinforcement learning rewards while avoiding reliance on model-based rewards from auxiliary judge models. Second, decoupling reinforcement learning objectives for binary judgment and meta-verification substantially outperforms joint reward optimization, due to intrinsic differences in output structure and learning dynamics. Based on these insights, we train OmniVerifier-M1, a generalist visual verifier leveraging symbolic meta-verification and decoupled reinforcement learning. OmniVerifier-M1 provides robust verification and fine-grained error localization, and further enables M1-TTS, a verifier-driven agentic generation system achieving dynamic region-level self-correction. This approach paves the way for more reliable, interpretable, and fine-grained multimodal verification, supporting safer and more controllable foundation model deployment.
Comment: ICML 2026. Project: https://github.com/Cominclip/OmniVerifier
arXiv PDF
2026-05-26
81 篇
Robotics
64
默认显示 5 篇
Colosseum V2: Benchmarking Generalization for Vision Language Action Models
Jeremy Morgan, Prajwal Vijay, Hyeonho Oh, Jincen Song, Ashvin Arora, Alina Du, Gaurav Sukhatme, Jesse Thomason, Ishika Singh
arXiv:2605.27759v1 • 2026-05-26
Vision-Language-Action (VLA) models demonstrate promising generalization in robotic manipulation, driven by advances in large-scale vision and language pre-training. This progress can be misleading. Despite the zero-shot perception and language capabilities of VLAs, their overall task performance often degrades under distribution shifts, revealing gaps in how these systems translate high-level understanding into robust behavior. To systematically study this gap, we introduce Colosseum V2, a large-scale simulation benchmark for evaluating VLA generalization in robot learning across diverse conditions. The benchmark comprises 28 tasks spanning 13 task categories and two robot morphologies, covering a wide range of manipulation primitives and long-horizon behaviors. Built on the ManiSkill simulator, Colosseum V2 enables fast, GPU-parallelized evaluation and supports both in-domain and out-of-domain testing at scale. We evaluate state-of-the-art methods, including Action Chunking Transformers (ACT) and Pi0.5, and reveal limitations in both base performance and generalization. We demonstrate strong correlations between simulation and real-world metrics that support the ecological validity of the benchmark. By standardizing tasks, metrics, and evaluation protocols within a unified benchmark, Colosseum V2 enables reproducible and fair comparisons, reduced evaluation overhead, and accelerated progress toward general-purpose robot policies.
arXiv PDF
Inversely Learning Transferable Rewards via Abstracted States
Yikang Gui, Prashant Doshi
arXiv:2501.01669v4 •updated • 2025-01-03
Inverse reinforcement learning (IRL) has progressed significantly toward accurately learning the underlying rewards in both discrete and continuous domains from behavior data. The next advance is to learn {\em intrinsic} preferences in ways that produce useful behavior in settings or tasks which are different but aligned with the observed ones. In the context of robotic applications, this helps integrate robots into processing lines involving new tasks (with shared intrinsic preferences) without programming from scratch. We introduce a method to inversely learn an abstract reward function from behavior trajectories in two or more differing instances of a domain. The abstract reward function is then used to learn task behavior in another separate instance of the domain. This step offers evidence of its transferability and validates its correctness. We evaluate the method on trajectories in tasks from multiple domains in OpenAI's Gym testbed and AssistiveGym and show that the learned abstract reward functions can successfully learn task behaviors in instances of the respective domains, which have not been seen previously.
Comment: Accepted at IJCAI 2026
arXiv PDF
HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning
Kevin Lin, Ajay Mandlekar, Caelan Reed Garrett, Nikita Chernyadev, Yu Fang, Runyu Ding, Yuqi Xie, Justin Tran, Linxi Fan, Yuke Zhu
arXiv:2605.27724v1 • 2026-05-26
Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and difficult to collect via teleoperation. Existing data-generation algorithms can automatically synthesize demonstrations for manipulators, but they are ineffective on humanoids because their high-dimensional composite action spaces involve arms, legs, and torsos. We present HumanoidMimicGen, a method for generating humanoid legged loco-manipulation data. Our method adapts contact-rich whole-body skills from a handful of source demonstrations to new states, generalizing across changes in object pose. By interleaving these single- and dual-arm skills with whole-body locomotion and manipulation planning, the method generates stable, collision-free data across diverse scenes and layouts. To evaluate our approach, we introduce a new simulated loco-manipulation benchmark containing nine diverse tasks that test humanoid loco-manipulation capabilities. There, we demonstrate that HumanoidMimicGen automatically generates large datasets for imitation learning and enables a systematic study of how data generation and policy learning decisions impact model performance. We show that whole-body visuomotor policies co-trained with data generated by HumanoidMimicGen outperform those trained only on real-world data by 20%.
Comment: website: https://humanoidmimicgen.github.io/
arXiv PDF
AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems
Seyedali Golestaneh, Zhuoyun Zhong, Donghyung Lee, Constantinos Chamzas
arXiv:2605.27699v1 • 2026-05-26
Sampling-based motion planners offer a practical and scalable approach to kinodynamic motion planning, notably for high-dimensional, underactuated, or non-holonomic systems. However, these planners are typically used offline, requiring execution to begin only after the trajectory has been computed. In addition, the planned trajectory may not be accurately tracked in the presence of motion uncertainty, leading to deviations from the nominal solution. In this work, these limitations were addressed within a unified framework, \method, an asymptotically-optimal meta-planner framework that improves both path quality and tracking performance during execution. In addition to the main execution thread, this framework comprises a replanning method that continuously explores the state space and refines the trajectory during execution, and an optimization process that refines future control inputs to reduce tracking error. Together, these components enable \method to leverage asymptotically optimal planning online while improving execution accuracy under uncertainty. The proposed approach is evaluated in both simulation and real-world environments across multiple systems, demonstrating consistent improvements in trajectory quality, tracking accuracy, and overall performance compared with baseline methods.
arXiv PDF
Simulation-Informed Diffusion for Decentralized Multi-robot Motion Planning
Jinhao Liang, Sven Koenig, Ferdinando Fioretto
arXiv:2605.27697v1 • 2026-05-26
Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or learning-based, generate trajectories from a static snapshot of the local observation, which limits their ability to anticipate the future behavior of neighboring robots. This limitation is critical as the number of robots increases and the environment becomes more cluttered. To overcome this challenge, this paper introduces Simulation-Informed Diffusion (SID), a decentralized framework built on constraint-aware diffusion models (CADM). SID first uses CADM to simulate the future trajectories of neighboring robots from their currently observed states, and then uses the same CADM to plan each robot's own trajectory under safety constraints informed by these simulations. Crucially, the accurate simulation of neighbors enables a minimal communication scheme that triggers coordination only when necessary in highly congested scenarios. Experiments across diverse environments show that SID consistently outperforms baseline methods in terms of planning effectiveness and constraint satisfaction, and scales to scenarios with 108 robots and 160 obstacles.
arXiv PDF
Video World Models
17
默认显示 5 篇
AgenticVBench: Can AI Agents Complete Real-World Post-Production Tasks?
Zongheng Cao, Yi Zheng, Rui Song, Xinyu Hu
arXiv:2605.27705v1 • 2026-05-26
Video production workflows offer a rich and demanding arena for evaluating multimodal AI agents: they require composite capabilities across text, image, audio, and video understanding, along with long-horizon planning, and tool use. To this end, we introduce AgenticVBench, a benchmark of 100 agentic tasks across 4 task families spanning the real world post-production workflow, constructed from real production workflows contributed by 20 industry experts averaging 6 years of professional experience. Tasks are paired with evaluation specifications that combine programmatic verifiers and expert rubrics. We evaluate frontier vision-language models (VLMs) with both vendor-native and open-source harnesses. The best evaluated agent stack barely crosses 30%, far below human expert performance on the same tasks. We further find that the choice of harness substantially affects model behavior, including scores, tool-use patterns, and failure modes. AgenticVBench provides a foundation for diagnosing and improving both models and harnesses for agentic video production. Benchmark website: https://agenticvbench.com.
Comment: 22 pages, 6 figures. Benchmark website: https://agenticvbench.com
arXiv PDF
What-If World: A Causal Benchmark for General World Models in Embodied Scenarios
Kunlin Cai, Rui Song, Jinghuai Zhang, Kaiyuan Zhang, Pranav Bodapati, Alicia Yu, Fnu Suya, Mohammad Rostami, Jiaqi Ma, Yuan Tian
arXiv:2605.27589v1 • 2026-05-26
Video generation models are increasingly used as world simulators for tasks like driving and robotic manipulation. What matters in these settings is not whether a single video looks right, but whether the model's output changes when its input changes. We test this by giving a model two prompts describing the same scene with one physical detail varied, and checking whether the two videos diverge the way physics predicts. The wording difference between the prompts is small by design, since only one variable is changed, but the correct physical difference is not. A model that misses this can still produce two videos that each look plausible individually, and existing benchmarks score videos one at a time and cannot detect this failure. We introduce What-If World, 319 such prompt pairs built on real frames from nuScenes and DROID, organized by a taxonomy of six physical variables shared across driving and manipulation. Each pair is scored with APEO, a four-part rubric checking whether each video follows its prompt (Adherence), is physically consistent (Physics), preserves the shared scene (Environment), and ends in the correct difference (Outcome). Across nine state-of-the-art models, no system exceeds 52% on the paired score, and open-source models cluster near 28%. Every model tested fails on a large fraction of causal interventions, indicating substantial room before these models can reliably support action-conditioned simulation or model-based planning. Where models do score well, performance appears to track the visual prominence of the intervention rather than the tractability of its underlying physics. Some visually subtle interventions score as low as 14.2%, while visually pronounced ones reach 40.4%.
Comment: 38 pages, World Model Benchmark
arXiv PDF
Unique Lives, Shared World: Learning from Single-Life Videos
Tengda Han, Sayna Ebrahimi, Dilara Gokay, Li Yang Ku, Maks Ovsjanikov, Iva Babukova, Daniel Zoran, Viorica Patraucean, Joao Carreira, Andrew Zisserman, Dima Damen
arXiv:2512.04085v2 •updated • 2025-12-03
We introduce the "single-life" learning paradigm, where we train a distinct vision model exclusively on egocentric videos captured by one individual. We leverage the multiple viewpoints naturally captured within a single life to learn a visual encoder in a self-supervised manner. Our experiments demonstrate three key findings. First, models trained independently on different lives develop a highly aligned geometric understanding. We demonstrate this by training visual encoders on distinct datasets each capturing a different life, both indoors and outdoors, as well as introducing a novel cross-attention-based metric to quantify the functional alignment of the internal representations developed by different models. Second, we show that single-life models learn generalizable geometric representations that effectively transfer to downstream tasks, such as depth estimation, in unseen environments. Third, we demonstrate that training on up to 30 hours from one week of the same person's life leads to comparable performance to training on 30 hours of diverse web data, highlighting the strength of single-life representation learning. Overall, our results establish that the shared structure of the world, both leads to consistency in models trained on individual lives, and provides a powerful signal for visual representation learning.
arXiv PDF
FineVLA: Fine-Grained Instruction Alignment for Steerable Vision-Language-Action Policies
Xintong Hu, Xuhong Huang, Jinyu Zhang, Yutong Yao, Yuchong Sun, Qiuyue Wang, Mingsheng Li, Sicheng Xie, Yitao Liu, Junhao Chen, Yixuan Chen, Yingming Zheng, Shuai Bai, Tao Yu
arXiv:2605.27284v1 • 2026-05-26
Vision-Language-Action (VLA) models are increasingly expected to not only complete robot tasks, but also follow human instructions about how those tasks should be executed. However, existing robot datasets usually pair trajectories with coarse goal-level language, leaving execution-critical details such as active arm, approach direction, and contact region unspecified. This limits steerable policy learning and robotic video understanding. We introduce FineVLA, an open framework for action-aligned fine-grained VLA supervision. The framework includes: (1) a data construction tool that unifies 972,247 trajectories across 85K tasks from 10 open-source robot datasets and builds FineVLA-Data, a human-verified dataset of 47,159 fine-grained trajectories; (2) a held-out benchmark with 500 videos, 10,816 atomic facts, and 1,030 VQA questions; (3) a robotics-specialized VLM annotator for scalable fine-grained annotation; and (4) a steerable VLA policy trained with controlled mixtures of fine-grained and raw goal-level instructions. Our experiments yield three findings. First, fine-grained supervision does not sacrifice goal-level success: FG-only improves over Raw-only by +1.4 to +8.1 success-rate points across settings. Second, fine-grained and raw instructions are complementary, following a consistent inverted-U trend peaking at FG:Raw = 1:2 to 1:1. The best mixed setting reaches 86.8%/82.5% in RoboTwin simulation and 62.7/100 in real-world dual-arm manipulation (vs. 49.9 Raw-only). Third, fine-grained supervision improves steerable control: the largest real-world gains appear on pose (+23), color (+18), and approach direction (+18)--factors where goal-level instructions provide no guidance. Overall, fine-grained language should augment goal-level instructions: specifying how to execute alongside what to achieve. Project page: https://finevla.xlang.ai/
Comment: 26 pages, 7 figures, 25 tables
arXiv PDF
GE-Sim 2.0: A Roadmap Towards Comprehensive Closed-loop Video World Simulators for Robotic Manipulation
Boxiang Qiu, Liliang Chen, Yue Liao, Nan Wang, Lintao Wang, Jiayi Luo, Wenzhi Zhao, Shengcong Chen, Di Chen, Ye Li, Chen Gao, Shuicheng Yan, Si Liu, Maoqing Yao, Guanghui Ren
arXiv:2605.27491v1 • 2026-05-26
We introduce GE-Sim 2.0 (Genie Envisioner World Simulator 2.0), a closed-loop video world simulator for robotic manipulation. Building on the action-conditioned video generation framework of Genie Envisioner, GE-Sim 2.0 is re-trained on thousands of hours of real-world robot data spanning teleoperation, contact-rich interaction, and on-robot policy deployment, substantially improving action-following fidelity and trajectory coverage. On top of this foundation, three new modules close the loop from video simulation to policy learning: a state expert that decodes proprioceptive state from video latents to support next-chunk prediction by downstream VLA policies; a world judge that scores generated rollouts against task instructions, yielding machine-verifiable success signals and rewards in place of manual inspection; and an acceleration framework that delivers a 25-frame rollout in 2.3 seconds on a single H100, with up to 4* frame skipping at inference for long-horizon evaluation. GE-Sim 2.0 tops the public WorldArena leaderboard at only 2B parameters, outperforming both dedicated robotic world models and closed-source general video generators, and policies trained against its rollouts and rewards translate into measurable real-world gains, establishing GE-Sim 2.0 as a practical platform for scalable evaluation and closed-loop learning of manipulation policies.
arXiv PDF
2026-05-25
72 篇
Robotics
55
默认显示 5 篇
LAD-VF: LLM-Automatic Differentiation Enables Fine-Tuning-Free Robot Planning from Formal Methods Feedback
Yunhao Yang, Junyuan Hong, Gabriel Jacob Perin, Zhiwen Fan, Li Yin, Zhangyang Wang, Ufuk Topcu
arXiv:2509.18384v2 •updated • 2025-09-22
Large language models (LLMs) can translate natural language instructions into executable action plans for robotics, autonomous driving, and other domains. Yet, deploying LLM-driven planning in the physical world demands strict adherence to safety and regulatory constraints, which current models often violate due to hallucination or weak alignment. Traditional data-driven alignment methods, such as Direct Preference Optimization (DPO), require costly human labeling, while recent formal-feedback approaches still depend on resource-intensive fine-tuning. In this paper, we propose LAD-VF, a fine-tuning-free framework that leverages formal verification feedback for automated prompt engineering. By introducing a formal-verification-informed text loss integrated with LLM-AutoDiff, LAD-VF iteratively refines prompts rather than model parameters. This yields three key benefits: (i) scalable adaptation without fine-tuning; (ii) compatibility with modular LLM architectures; and (iii) interpretable refinement via auditable prompts. Experiments in robot navigation and manipulation tasks demonstrate that LAD-VF substantially enhances specification compliance, improving success rates from 60% to over 90%. Our method thus presents a scalable and interpretable pathway toward trustworthy, formally-verified LLM-driven control systems.
Comment: Presented at ICRA 2026
arXiv PDF
Closing the Loop in Teleoperation: Episode-Level Data Quality Assessment and Feedback for High-Quality Demonstration Collection
Gokul Narayanan, Yash Shahapurkar, Melih Erdogan, Brian Zhu, Eugen Solowjow
arXiv:2605.26349v1 • 2026-05-25
Industrial automation is at a pivotal moment, as Physical AI is driving a transition from rigid, hand-engineered automation systems toward more flexible and adaptive systems. This shift has created a growing demand for large-scale, real-world robot demonstration data, making teleoperation an increasingly important mechanism for data collection. However, high-quality teleoperated demonstrations remain difficult to obtain in practice, as novice operators often produce episodes that are task-successful but suboptimal for downstream use due to inefficient motion, repeated corrections, or operation near robot joint limits. We present a Data Quality Assessment and Feedback (DQAF) framework that closes the loop in teleoperation by providing immediate post-episode feedback grounded in semantic task progress and robot telemetry. The framework extracts quality relevant signals such as sub-task progress, motion smoothness, stalls, kinematic limits and converts them into structured quality assessments and actionable natural-language feedback. Unlike binary success or failure feedback, the proposed system explains why an episode is suboptimal and highlights specific behaviors to correct in the next trial. We evaluate the framework through a diagnostic validation study and a pilot user study. In the validation study, the system is compared with a human reviewer during dataset curation, producing rejection reasons and actionable feedback for improvement. In the pilot study with three novice operators across two manipulation tasks, the operator who received the systems immediate, automated post-episode feedback improved faster than those who did not, producing higher-quality demonstrations sooner.
arXiv PDF
RCSP: Risk-Sensitive Conjectural Scenario Planning for Safe Dynamic Robot Navigation
Zhengye Han, Quanyan Zhu
arXiv:2605.26348v1 • 2026-05-25
Mobile robots can fail before they collide: a velocity that is safe now may commit the robot to a passage that moving obstacles will soon close. We study this predictive near-miss commitment problem and propose Risk-Sensitive Conjectural Scenario Planning (RCSP), a planning layer that evaluates candidate commands against plausible short-horizon obstacle futures. RCSP maintains a lightweight belief over local motion conjectures, samples future interactions, penalizes high-risk tails, and executes through a local safety check. In controlled MuJoCo bottleneck tasks, the RCSP planner reaches the goal without collisions and yields higher secondary safety and path-quality point estimates than a non-adaptive predictor, with additional latency. In ROS2/Gazebo, adding the local safety layer to a standard Nav2 stack reduces dynamic near-miss failures. On official DynaBARN/Jackal transfer, tuned DWA and TEB remain stronger on strict benchmark success, revealing the boundary of the approach. These simulation results position RCSP as a predictive-risk module that complements existing navigation stacks in dynamic bottleneck regimes.
arXiv PDF
NightSight: Passive Computation for Navigation in Dark Using Events
Deepak Singh, Brijan Vaghasiya, Shreyas Khobragade, Nitin Sanket
arXiv:2605.26330v1 • 2026-05-25
Small aerial robots are particularly well-suited for search and rescue in confined and hazardous environments due to their agility, low cost, and ability to traverse through cluttered spaces that are inaccessible to larger platforms. However, enabling autonomous navigation in complete darkness remains a significant challenge, because small aerial robots cannot easily accommodate perception systems that demand substantial payload, power, or computation. In this work, we present a lightweight perception approach that combines a monocular event camera, a coded aperture lens, and an infrared dot projector to enable navigation in such conditions. The projected pattern, when imaged through the coded aperture, produces depth dependent blur signatures that implicitly encode scene geometry. We train a convolutional neural network to decode these signatures into dense depth maps using only synthetic data generated from a simple planar wall setup. Despite this minimal training regime, the model generalizes zero-shot to complex real-world scenes. Our system operates in real time at 20 Hz on a NVIDIA Jetson Orin Nano, demonstrating suitability for resource-constrained platforms. We further analyze the impact of different coded aperture designs on depth estimation performance. Our approach gives high accuracy (l1 error 7.0cm) upto 2.5m range (2.80% error). These results highlight the potential of combining structured illumination, coded optics, and event-based sensing for enabling robust perception and navigation in complete darkness.
Comment: 6 pages, 7 figures
arXiv PDF
A Factory-Floor Deployment Case Study of VLA Pipelines for Industrial Packaging Task: Workflow, Failures, and Lessons
Brian Zhu, Philipp Schmitt, Philine Meister, Lukas Gensler, Momen Khalil, Emmanuele Poggi, Johannes Hechtl, Carsten Braunroth, Kai Wurm, Gokul Narayanan, Eugen Solowjow, Georg von Wichert, Andre Scholz, Felix Albrecht, Maxmillian Metzner
arXiv:2605.27461v1 • 2026-05-25
Vision-Language-Action (VLA) policies have shown promising manipulation capabilities, yet their practical impact is often limited by the reliability demands of real-world deployment. We present a deployment study of an industrial packaging task at Siemens Factory (GWE, Erlangen, Germany), where a robot must pick a transparent accessory bag from a cluttered pile, insert it into the remaining cavity of a cardboard package, and ensure that the bag and its contents remain below the closing plane. Our goal is to understand the practical effort required to adapt a pretrained Pi0.5 policy to a single factory-floor task through iterative fine-tuning and deployment-driven refinement. The pipeline consists of repeated loops of data collection, curation, fine-tuning, evaluation, and targeted recovery data collection. We have accumulated 2535 episodes (10 hours) from the on-site factory settings. In this paper, we contribute an empirical account of a factory-floor VLA deployment, highlighting recurring failure modes and lessons that inform how to improve the deployment workflow.
arXiv PDF
Video World Models
17
默认显示 5 篇
EgoExo-WM: Unlocking Exo Video for Ego World Models
Danny Tran, Roberto Martín-Martín, Kristen Grauman
arXiv:2605.15477v2 •updated • 2026-05-14
Egocentric world models present a promising direction for enabling agents to predict and plan, but their performance is constrained by the limited availability of egocentric training data and its inherent partial observability of humans' physical actions. In contrast, exocentric video is abundant and reveals body poses well, but lacks direct alignment with an agent's action space -- and is not egocentric. We propose a method to bridge this gap by extracting structured body pose from exocentric video as a representation of action and transforming the exocentric video to egocentric video, informed by a human kinematics prior. This process unlocks the integration of in-the-wild exocentric data for egocentric world model training. We show that training whole-body action-conditioned egocentric world models with our converted data significantly improves both prediction quality and downstream planning performance, where we infer the sequence of body poses needed to achieve a visual goal state. Our approach paves the way to enlist arbitrary in-the-wild videos for building powerful egocentric world models, furthering applications in robot planning and augmented-reality guidance.
Comment: Project Page: https://vision.cs.utexas.edu/projects/EgoExo-WM/
arXiv PDF
E$^3$C: Video Generation with 3D Environmental Memory and Ego-Exo Human Pose Control
Qiao Gu, Lingni Ma, Adam W Harley, Richard Newcombe, Florian Shkurti, Julian Straub
arXiv:2605.26316v1 • 2026-05-25
Controllable and physically grounded egocentric video generation is essential for embodied agents to reason about how their own and others' actions manifest and change the world. Compared to generic video synthesis, egocentric generation is especially challenging: the camera is tightly coupled to the actor, leading to rapid viewpoint changes and frequent self-occlusions; the underlying actions are subtle, articulated, and often only partially visible; and both the people and the scene state must evolve consistently with the specified controls. We present E$^3$C, a controllable video diffusion framework for egocentric generation that builds structured and compact conditions disentangling persistent scene structure from human-driven dynamics. From context frames, E$^3$C constructs a semi-dense point cloud-based 3D memory and augments each point with appearance descriptors from video-VAE features. Rendering this memory into target viewpoints produces conditioning aligned with the target frames. Human dynamics are modeled separately. The observed people in the scene are controlled by skeleton renderings (exo human control), while the camera wearer is specified by their 3D body joints and 6DoF wrist motion (ego human control). To preserve ego human control when the wearer's body parts are invisible, we introduce an ego motion encoder that produces persistent cross-attention tokens. Experiments on Nymeria show that E$^3$C improves visual fidelity, camera-motion accuracy, object consistency, and ego & exo human control over strong baselines, while also enabling intuitive scene editing.
Comment: Preprint. Project Page: https://e3c-videogen.github.io/
arXiv PDF
Multi-Pair Temporal Sentence Grounding via Multi-Thread Knowledge Transfer Network
Xiang Fang, Wanlong Fang, Changshuo Wang, Daizong Liu, Keke Tang, Jianfeng Dong, Pan Zhou, Beibei Li
arXiv:2412.15678v3 •updated • 2024-12-20
Given some video-query pairs with untrimmed videos and sentence queries, temporal sentence grounding (TSG) aims to locate query-relevant segments in these videos. Although previous respectable TSG methods have achieved remarkable success, they train each video-query pair separately and ignore the relationship between different pairs. We observe that the similar video/query content not only helps the TSG model better understand and generalize the cross-modal representation but also assists the model in locating some complex video-query pairs. Previous methods follow a single-thread framework that cannot co-train different pairs and usually spends much time re-obtaining redundant knowledge, limiting their real-world applications. To this end, in this paper, we pose a brand-new setting: Multi-Pair TSG, which aims to co-train these pairs. In particular, we propose a novel video-query co-training approach, Multi-Thread Knowledge Transfer Network, to locate a variety of video-query pairs effectively and efficiently. Firstly, we mine the spatial and temporal semantics across different queries to cooperate with each other. To learn intra- and inter-modal representations simultaneously, we design a cross-modal contrast module to explore the semantic consistency by a self-supervised strategy. To fully align visual and textual representations between different pairs, we design a prototype alignment strategy to 1) match object prototypes and phrase prototypes for spatial alignment, and 2) align activity prototypes and sentence prototypes for temporal alignment. Finally, we develop an adaptive negative selection module to adaptively generate a threshold for cross-modal matching. Extensive experiments show the effectiveness and efficiency of our proposed method.
Comment: Accepted by AAAI 2025
arXiv PDF
WBench: A Comprehensive Multi-turn Benchmark for Interactive Video World Model Evaluation
Kaining Ying, Hengrui Hu, Siyu Ren, Jiamu Li, Fengjiao Chen, Ziwen Wang, Xuezhi Cao, Xunliang Cai, Henghui Ding
arXiv:2605.25874v1 • 2026-05-25
Interactive world models are advancing rapidly, yet existing benchmarks cover only part of the required competencies, leaving no unified standard for systematic evaluation. To fill this gap, we introduce WBench, a comprehensive multi-turn benchmark for interactive world model evaluation along five dimensions, namely video quality, setting adherence, interaction adherence, consistency, and physics compliance. WBench contains 289 test cases and 1,058 interaction turns, where each case specifies a world setting and a multi-turn interaction sequence, covering diverse scenes, styles, subjects, and both first- and third-person perspectives, together with four interaction types, including navigation, subject action, event editing, and perspective switching. For navigation, WBench unifies text, 6-DoF pose, and discrete-action control, enabling evaluation of models with different native input interfaces. Evaluation uses 22 automatic sub-metrics that combine specialist vision models with large multimodal models, and all metrics are validated against human judgments. Across 20 state-of-the-art models, we find that no single model performs strongly across all dimensions. We provide detailed diagnostic insights into the characteristic strengths, weaknesses, and open challenges of each model. Code and data are available at https://github.com/meituan-longcat/WBench.
Comment: Technical report of WBench. Homepage: https://meituan-longcat.github.io/WBench/
arXiv PDF
An Analysis Focused on Womens Safety: Can VAD Models Be Enhanced by a Multi-modal Dataset?
Sangeeta, Maddikuntla Sai Prajwal, Debi Prosad Dogra, Kamalakar Vijay Thakare, Hyungjoo Jung, Ig-Jae Kim, Heeseung Choi
arXiv:2605.25806v1 • 2026-05-25
Women's safety and security are paramount for a modern society. Crimes against women occur in daylight as well as in low-light conditions. Often, such events are captured through real-world surveillance cameras that operate at lower resolutions. Despite substantial progress in CV-related research, video anomaly detection (VAD) focused on women's safety has not yet been adequately addressed. Existing video anomaly datasets contain well-lit, high-resolution, close-shot videos, and fail to represent women-centric anomalies such as chain snatching, stalking, inappropriate touch, and other subtle forms of crime against women. To address these problems, we propose the ExtrAnom dataset, a new multi-modal benchmark containing 1001 videos with textual descriptions, 500 normal and 501 anomalous, classified into 5 different types of women-centric crimes. The dataset comprises low-light (8%), low-resolution videos (13%), long-shot (15%), along with daylight (64%) anomalous videos. And it covers anomalous events like stalking (3.9%), chain snatching (17.6%), kidnapping (7.3%), assassinations (2.3%), harassment (18.9%), and normal (50%). Each video is supplemented with 4 textual annotations, including one human-generated and three LLM-generated descriptions, enabling cross-modal and VLM-based validations. The aim of creating a women-centric dataset is to accurately detect the women-centric anomaly patterns, which are possible to observe visually. The dataset supplements the VLMs to accurately generate video-level descriptions. ExtrAnom has been benchmarked against popular unimodal and multi-modal VAD datasets (e.g., XD-Violence, UCF-Crime, and UCA) and SOTA methods. Experiments reveal that the existing datasets are insufficient to train models for detecting women-centric anomalies.
Comment: 7 pages, 6 figures, 4 tables
arXiv PDF
2026-05-24
53 篇
Robotics
44
默认显示 5 篇
Neuromorphic LiDAR-based Bird's Eye View Object Detection using Energy-efficient Spiking Neural Networks
Sambit Mohapatra, Senthil Yogamani, Heinrich Gotzig, Patrick Mader
arXiv:2605.25293v1 • 2026-05-24
Autonomous driving perception demands accurate and efficient processing of three-dimensional sensor data under strict power constraints. Traditional convolutional neural networks achieve strong detection accuracy but are computationally intensive, limiting their suitability for deployment on resource-constrained neuromorphic platforms. Spiking neural networks offer a compelling alternative through event-driven sparse computation, yet their application to complex real-world perception tasks such as three-dimensional object detection remains limited. In this work, we propose an end-to-end spiking encoder-decoder network for object detection in bird's eye view representations of LiDAR point clouds, trained using surrogate gradient backpropagation. We train two variants: a membrane potential variant that reads continuous neuron state at the output stage for maximum accuracy, achieving $92.05$/$87.04$/$86.51$ AP at $\mathrm{IoU}\!=\!0.5$ (Easy/Moderate/Hard), and, a fully binary spiking variant that operates exclusively on spike trains at every layer for direct neuromorphic deployment. We evaluate four input spike encoding strategies and demonstrate that allowing the network to learn spike representations directly from data outperforms hand-crafted Poisson, latency, and z-axis encoding schemes on the KITTI benchmark, where sequential frames are unavailable and the BEV input is presented repeatedly across timesteps as a proxy for temporal streaming. A block-wise energy analysis demonstrates a $3.33\times$ reduction in synaptic operation energy over an equivalent CNN under conservative loop-based operation. Together, these results demonstrate the viability of spiking neural networks for accurate and energy-efficient neuromorphic perception in autonomous driving.
arXiv PDF
A Formal gatekeeper Framework for Safe Dual Control with Active Exploration
Kaleb Ben Naveed, Devansh R. Agrawal, Dimitra Panagou
arXiv:2510.06351v2 •updated • 2025-10-07
Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduction and leads to overly conservative behavior. Actively reducing uncertainty on-the-fly during a nominal mission defines the dual control problem. Most approaches address this by adding a weighted exploration term to the cost, tuned to trade off the nominal objective and uncertainty reduction, but without formal consideration of when exploration is beneficial. Moreover, safety is enforced in some methods but not in others. We propose a framework that integrates robust planning with active exploration under formal guarantees as follows: The key innovation and contribution is that exploration is pursued only when it provides a verifiable improvement without compromising safety. To achieve this, we utilize our earlier work on gatekeeper as an architecture for safety verification, and extend it so that it generates both safe and informative trajectories that reduce uncertainty and the cost of the mission, or keep it within a user-defined budget. The methodology is evaluated via simulation case studies on the online dual control of a quadrotor under parametric uncertainty.
Comment: Accepted at American Control Conference (ACC) 2026
arXiv PDF
GreenSeg: Ground Segmentation Algorithm for Agricultural Robots in Mediterranean Greenhouses using RGB-D Point Clouds
Fernando Cañadas-Aránega, José C. Moreno, José L. Blanco-Claraco
arXiv:2605.25279v1 • 2026-05-24
Greenhouse agriculture in the Mediterranean region faces significant automation challenges due to its unique structural and environmental constraints. These environments are characterized by extremely narrow aisles, heterogeneous terrains ranging from concrete to tilled soil and severe optical interference caused by polyethylene covers, which induce specular reflections and "ghost points" in depth sensors. While autonomous navigation is essential for digitizing agricultural tasks, traditional solutions often rely on expensive 3D LiDAR systems that are economically unscalable for most facilities. To address this, this paper presents GreenSeg, a robust perception framework for autonomous navigation using RGB-D sensing. The proposed method introduces a dual-layer validation strategy: a robust global plane fitting combined with a surface curvature filter for terrain adaptability, and a seed-point-based Region Growing constraint to ensure the spatial continuity of the navigable plane. Experimental validation was conducted using the AGRICOBIOT I platform across four diurnal scenarios with varying solar elevations. The results show that GreenSeg consistently outperforms benchmark segmentation methods, achieving peak improvements of 11.58% in mean Recall and 19.24% in mIoU during critical rotational maneuvers at the end of corridors. These findings confirm that the proposed algorithm enables stable and safe autonomous navigation in unstructured, dynamic agricultural environments that are subject to budget constraints and sensitive to lighting conditions.
arXiv PDF
FusionCore: A 23-State Unscented Kalman Filter for IMU, Wheel Encoder, GPS, and Visual SLAM Fusion in ROS 2
Manan Kharwar
arXiv:2605.25239v1 • 2026-05-24
We present FusionCore, an open-source ROS 2 sensor fusion package that fuses IMU, wheel encoder odometry, GPS, and Visual SLAM pose into a single 100 Hz odometry stream using a 23-state Unscented Kalman Filter (UKF). The 23rd state is an online estimate of the wheel encoder's systematic yaw rate bias, identified through GPS heading cross-covariance and subtracted during GPS blackouts to reduce heading drift in coast mode. FusionCore also estimates gyroscope and accelerometer biases as explicit filter states, handles GPS natively in ECEF without a separate coordinate projection node, applies per-sensor Mahalanobis chi-squared outlier gating calibrated to measurement degrees of freedom, and adapts sensor noise covariance automatically from the innovation sequence. VSLAM pose fusion enables GPS-denied operation with any visual odometry or SLAM system, including automatic recovery from map reinitialization. We evaluate against robot_localization on twelve full-length sequences (55-92 min each) from the NCLT public dataset. FusionCore achieves lower Absolute Trajectory Error (ATE) on ten of twelve sequences, with improvements ranging from 1.2x to 22.2x on winning sequences. The robot_localization UKF diverges numerically on all twelve sequences. FusionCore is available at https://github.com/manankharwar/fusioncore under the Apache 2.0 license.
Comment: 8 pages, 4 figures, 2 tables. Source code: https://github.com/manankharwar/fusioncore (Apache 2.0)
arXiv PDF
Multi-view Consistent 3D Gaussian Head Avatars 'without' Multi-view Generation
Aviral Chharia, Fernando De la Torre
arXiv:2605.25220v1 • 2026-05-24
High-fidelity 3D Gaussian head avatar generation is critical for applications such as AR/VR, telepresence, and digital humans. Existing methods depend on multi-view datasets, 3D captures, or intermediate 2D view synthesis. In contrast, we learn both conditional and unconditional 3D head models from randomly sampled 2D images alone, without using multi-view data, 3D supervision, or intermediate view generation. We introduce MVCHead, a single-shot state space model that enforces multi-view consistency (MVC) directly in the 3D representation while regressing 3D Gaussians under these constraints. At its core, we propose a Hierarchical State Space (HiSS) block that progressively refines Gaussians from coarse to fine, while capturing long-range dependencies. Within each HiSS block, we modify Mamba's standard unidirectional scan with the proposed Hierarchical Bi-directional State Scan (HiBiSS) that aligns recurrence with the axes along which multi-view inconsistencies are strongest. Finally, we design an SE(3) Multi-view Critic that judges whether a set of self-renders arises from a single underlying 3D configuration, rewarding cross-view pixel alignment without observing real multi-view pairs. MVCHead achieves state-of-the-art perceptual quality, surpasses prior methods in both texture and geometric consistency, and maintains comparable shape consistency. To demonstrate scalability, we release FaceGS-10K, the first large-scale dataset of ready-to-use 3D Gaussian head assets for training and evaluation of 3D head models. Project Page and code: https://humansensinglab.github.io/MVCHead/
Comment: CVPR 2026; Project Website: https://humansensinglab.github.io/MVCHead/
arXiv PDF
Video World Models
9
默认显示 5 篇
DeltaCam: Differential Intrinsic Camera Modeling for Video Generation
Debabrata Mandal, Zhihan Peng, Yujie Wang, Praneeth Chakravarthula
arXiv:2605.25266v1 • 2026-05-24
Incorporating camera intrinsics into video generation models offers a principled way to control not only scene dynamics but also the imaging process that governs visual appearance. Prior work has primarily focused on extrinsic control, such as camera pose and motion, while treating intrinsic camera parameters as implicit or fixed. A key bottleneck is the lack of large-scale video datasets with accurate and diverse temporally varying camera metadata, which makes learning absolute camera parameterizations difficult. As a result, current models struggle to incorporate photographic camera behavior, including depth-of-field transitions, exposure variations, lens distortions, and color processing, in a controllable and temporally consistent manner. We introduce DeltaCam, a video diffusion framework that models camera behavior through $Δ$-parameterized neural camera adaptors, operating on relative changes in camera motion and intrinsics instead of absolute states. By learning this differential formulation from synthetic video data, we mitigate reliance on precise real-world camera labels and enable smooth, consistent control over imaging factors such as focal length, aperture, ISO, color temperature, and lens distortion. We extend this framework to real-world footage through two mechanisms: finetuning the controls on real image-metadata pairs for precise shot matching, and extracting disentangled embeddings for implicit video-to-video style transfer without requiring explicit camera parameters. By effectively separating scene content from intrinsic imaging behavior, DeltaCam enables camera-consistent video generation and editing operations that are difficult to achieve with existing models. Ultimately, our results establish a practical and scalable approach for bridging synthetic control and real-world photographic emulation.
arXiv PDF
STREAM: A Data-Centric Framework for Mining High-Value Task-Oriented Dialogues from Streaming Media
Liang Xue, Haoyu Liu, Cheng Wang, Pengyu Chen, Haozhuo Zheng, Yang Liu
arXiv:2605.25162v1 • 2026-05-24
Large language models for vertical domains are bottlenecked by the scarcity of complex, domain-specific task-oriented dialogues. Existing data acquisition pipelines face a persistent trilemma: expert annotation is expensive, real-world service conversations are constrained by privacy and commercial restrictions, and static corpora quickly become temporally stale. We propose Stream, a data-centric framework that leverages publicly available streaming media (live streams and short videos) to synthesize high-value service dialogues at scale. Stream mines authentic interaction signals from noisy streams and synthesizes conversations by integrating role-grounded persona construction with Conversational Blueprint construction; it further adopts retrieval-augmented generation (RAG) to support knowledge-aware responses. Based on Stream, we release StreamDial, a large-scale multi-domain dataset covering Automotive, Restaurant, and Hotel. StreamDial contains 87,498 dialogue sessions and 1,497,320 turns in total, with an average of 17.11 turns per session and a comparable scale across domains. Each session is organized as a structured quadruplet $\langle P_u, P_a, B, H \rangle$ that pairs dialogue history with explicit user/agent personas and a Conversational Blueprint, capturing realistic service behaviors such as requirement mining, constraint conflicts, negotiation, and recovery. Evaluations with automatic judges and downstream tasks show that StreamDial improves intrinsic dialogue quality over strong baselines, and models trained with StreamDial improve Dialogue State Tracking across backbones; we further report a completed human-evaluation set and encouraging multilingual transfer on Qwen3-8B under a controlled training budget. The data is released in https://github.com/hitxueliang/DialogDataSetBySTREAM.
arXiv PDF
Logic-Guided Socially-aware Robot Navigation World Model
Weizheng Wang, Obi Ike, Soyun Choi, Sungeun Hong, Aniket Bera, Byung-Cheol Min
arXiv:2510.23509v2 •updated • 2025-10-27
Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabling movement in dynamic human spaces. However, relying solely on LLMs for planning often leads to unpredictable and unsafe behaviors, especially in dynamic human spaces, due to limited physical grounding and weak logical consistency. In this work, we introduce NaviWM, a socially-aware robot Navigation World Model that augments LLM reasoning with a structured world model and a logic-driven chain-of-thought process. NaviWM consists of two main components: (1) a spatial-temporal world model that captures the positions, velocities, and activities of agents in the environment, and (2) a deductive reasoning module that guides LLMs through a multi-step, logic-based inference process. This integration enables the robot to generate navigation decisions that are both socially compliant and physically safe, under well-defined constraints such as personal space, collision avoidance, and timing. Unlike previous methods based on prompting or fine-tuning, NaviWM encodes social norms as first-order logic, enabling interpretable and verifiable reasoning. Experiments show that NaviWM improves success rates and reduces social violations, particularly in crowded environments. These results demonstrate the benefit of combining formal reasoning with LLMs for robust social navigation. Additional experimental details and demo videos for this work can be found at: https://sites.google.com/view/NaviWM.
arXiv PDF
WorldCraft: From Camera Navigation to Object Manipulation in Interactive Video World Models
Bohai Gu, Taiyi Wu, Yueyang Yuan, Jian Liu, Xiaocheng Lu, Dazhao Du, Jie Zhang, Jinxiang Lai, Shuai Yang, Xiaotong Zhao, Alan Zhao, Song Guo
arXiv:2605.25077v1 • 2026-05-24
Recent video-based world models have made pixel-space environments interactive at the camera level: users can navigate viewpoints while the model generates coherent visual continuations. Yet their action spaces remain incomplete: users can move the camera, but cannot act on individual objects. Since real-world interaction is inherently object-centric, such models remain closer to passive scene observers than truly manipulable environments. We present WorldCraft, a framework that expands interactive video world models from camera navigation to object-level trajectory actions. Given a user click and a sketched path, WorldCraft generates future frames in which the selected object follows the prescribed trajectory while the camera continues to navigate the scene. WorldCraft achieves this through a trajectory-centric control pipeline: First, Normalized World Trajectory (NWT) represents user-drawn motion in a camera-invariant world coordinate system and dynamically re-projects it under the current camera pose, separating object motion from camera-induced screen-space displacement; Spatial-Pathway LoRA (SP-LoRA) then injects this world-space signal through the model's spatial-control pathway, adding object manipulation capability while preserving the pretrained camera controller; finally, Trajectory-Anchored State Persistence (TASP) treats the world trajectory as a persistent spatial state and refreshes autoregressive memory after trajectory-conditioned generation, allowing moved objects to reappear at their updated positions after leaving the camera view. Experiments show that WorldCraft enables accurate object control, preserves the video-based world model's camera fidelity under camera-only evaluation, and maintains object state across long autoregressive rollouts with off-camera excursions.
Comment: Project page: https://nevsdev.github.io/WorldCraft/
arXiv PDF
Don't Guess, Just Ask: Resolving Ambiguity in Referring Segmentation via Multi-turn Clarification
Yuting Yang, Haichao Jiang, Tianming Liang, Quan Zhang, Jian-Fang Hu
arXiv:2605.17531v2 •updated • 2026-05-17
Referring segmentation aims to segment the target objects in images or videos based on the textual query. Despite remarkable progress over the past years, existing works always assume that the user-provided queries are already precise and clear. However, this assumption is impractical. In real-world scenarios, it is unrealistic to expect all users to thoroughly review their visual content and carefully ensure their queries are unique and unambiguous. When encountering such cases, existing segmentation models tend to arbitrarily guess the user preferences, often resulting in undesired outcomes. To address this limitation, we propose IC-Seg, a novel agentic framework that proactively clarifies user intent through multi-turn conversation before segmentation. To effectively incentivize this capability, we further introduce Hi-GRPO, a new hierarchical optimization strategy that injects dense and informative supervision signals at the trajectory, turn, and step levels. This strategy encourages efficient intent clarification, effectively eliminating redundant interactions and improving overall dialogue quality. For evaluation, we establish Ambi-RVOS, a referring video object segmentation benchmark with ambiguous user queries. Extensive experiments demonstrate that IC-Seg not only outperforms existing methods by a large margin in resolving ambiguous queries, but also maintains state-of-the-art performance on standard reasoning segmentation benchmarks. Code and data will be released at https://github.com/iSEE-Laboratory/IC-Seg.
arXiv PDF
2026-05-23
32 篇
Robotics
26
默认显示 5 篇
MR-LiDAR: A Multi-Resolution Roadside LiDAR Benchmark for Perception Diagnostics and Deployment Guidance
Shunlai Cui, Peng Cao, Yuan Zhu, Yongjiang He, Jiacheng Yin, Xiao Huo, Gang Cao, Xiaobo Liu
arXiv:2605.24777v1 • 2026-05-23
LiDAR model selection is a critical issue in roadside sensing systems, as it directly determines both perception capability and deployment cost. However, the lack of empirical benchmarks for comparing perception performance across different LiDAR configurations has greatly constrained scientific sensor selection and deployment planning. To address this gap, we present MR-LiDAR, a controlled multi-resolution LiDAR benchmark for roadside perception diagnostics. Using 16-, 32-, 80-, and 128-beam LiDARs in identical roadside scenarios, we collect point clouds and ground-truth annotations for diverse traffic participants, including vehicles and vulnerable road users (VRUs), across varying distances. This controlled design isolates intrinsic LiDAR specifications, particularly beam count and beam distribution, as the key variables for precise performance diagnostics. Based on MR-LiDAR, we conduct systematic empirical analyses to examine how beam count, beam distribution, target distance, object category, and vehicle occlusion affect LiDAR perception performance. The results reveal that all of these factors have substantial impacts. In particular, contrary to the common assumption that higher beam counts always yield better perception, we show that an 80-beam LiDAR with optimized beam distribution can match or even outperform a 128-beam LiDAR with uniform beam distribution. In addition, we provide a practical reference guide for LiDAR selection, including target point-count statistics and detection performance comparisons based on two widely used detection algorithms. This work offers a diagnostic benchmark and practical guidance for determining cost-effective LiDAR configurations in roadside perception applications.
Comment: 9 pages, 6 figures
arXiv PDF
Enhanced INS/GNSS State Estimation using GNSS-Based Acceleration Measurements
Gal Versano, Itzik Klein
arXiv:2605.24767v1 • 2026-05-23
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states, particularly during low-dynamic motion. In this work, we propose utilizing past GNSS measurements alongside a motion model to extract meaningful vehicle acceleration information. This acceleration measurement is then integrated into the INS/GNSS filter to improve its robustness and accuracy. The proposed approach is evaluated on two real-world unmanned ground vehicle datasets collected from different mobile platforms and inertial sensor grades. Results demonstrate consistent positioning accuracy improvements relative to the standard position-aided filter, with mean position root mean square error improvements of 11.40 % and 20.74 % on the two datasets, respectively.
arXiv PDF
Drift-Resistant Navigation World Model with Anchored Epipolar Guidance
Po-Chien Luan, Zimin Xia, Wuyang Li, Yang Gao, Alexandre Alahi
arXiv:2605.24761v1 • 2026-05-23
We propose Drift-Resistant Navigation World Model, a generative model that mitigates both perceptual drift and geometric drift in conventional rollout-based navigation world models. Existing methods recursively feed generated content into subsequent steps, causing noise accumulation and degraded predictions, i.e., perceptual drift. Meanwhile, their predictions often deviate from the agent's motion, resulting in geometry drift. We address both types of drift by redesigning world-model prediction as an anchor-guided rollout. Instead of rolling out every frame sequentially, we first predict sparse future anchors that serve as stable long-range targets, and then generate intermediate frames within each chunk conditioned on both past context and future anchors. Importantly, these sparse anchors also provide geometric constraints, supported by bidirectional epipolar geometry, to localize where corresponding content should appear in the intermediate frames. Experiments on four benchmarks demonstrate consistent improvements over strong baselines in long-horizon visual quality, geometric consistency, and multi-view coherence. These gains further translate into improved downstream planning performance under the same planners, highlighting the importance of drift-resistant, geometry-aware prediction for reliable navigation world models.
arXiv PDF
Geometric Workspace Analysis and Transmission-Aware Dynamics of a Serial Spherical Tool for Microsurgery
Anestis Mablekos-Alexiou, Lyndon da Cruz, Christos Bergeles
arXiv:2605.24760v1 • 2026-05-23
We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides geometric insight into reachable motion and enables rapid selection of rotation axis orientations without numerical optimization. The second contribution is a dynamics-informed methodology for mechanisms driven by self-locking transmissions, supporting evaluation of torque requirements for a prescribed workspace geometry. The framework is accompanied by an open-source software package for friction identification and inverse dynamics analysis. Experiments on a purpose-built robotic tool for vitreoretinal surgery validate the predictive capability of the models and demonstrate their practical utility for engineering design.
arXiv PDF
Passivity-based Semi-autonomous Rotational Motion Navigation for Rigid-body Networks: Stability and Human Passivity Analysis
Reiji Terunuma, Yuta Nakamura, Takeshi Hatanaka
arXiv:2605.24731v1 • 2026-05-23
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful execution of complex tasks, ensuring stability of human-in-the-loop systems on the $SO(3)$ manifold remains a largely unsolved challenge. We first propose a new control architecture in which a multi-robot system preserves invariance of the average information fed back to the human operator through so-called stealthy control, and the human intervention is mediated through a virtual leader, which is coupled with the robots via a passivity-based attitude synchronization law. We then rigorously prove closed-loop stability of the proposed human-in-the-loop system under the assumption that the human behaves as a passive system. To support this analysis, simulation studies are conducted to identify the human operator as a dynamical system, and to examine passivity properties of the identified model.
Comment: This work is to be submitted to the 6th Workshop on Cyber-Physical Human Systems (CPHS2026) for possible publication
arXiv PDF
Video World Models
6
默认显示 5 篇
AVBench: Human-Aligned and Automated Evaluation Benchmark for Audio-Video Generative Models
Jialiang Yang, Bin Xia, Ruihang Chu, Dingdong Wang, Wanke Xia, Zhun Mou, Tianyang Zhong, Yiting Zhao, Wenming Yang
arXiv:2605.24652v1 • 2026-05-23
Rapid advances in audio-video (AV) generation have enabled high-fidelity synthesis with synchronized sound, particularly for human-related scenarios involving speech and interactions. Yet evaluation for AV generation remains at an early stage, with only a few coarse-grained benchmarks for human-related scenarios and relying on limited preset evaluations with generic multimodal LLMs, leading to inaccurate assessments of model capabilities. To address these issues, we introduce AVBench, a fully automated benchmark tailored for human-centric AV generation. AVBench is built on two key designs for comprehensive and accurate evaluation: (i) Human-centric and fine-grained metrics. AVBench integrates ten evaluation dimensions designed for human-centered real-world scenarios, covering visual quality, audio quality, and multi-level consistency across modalities. These practical metrics capture human-related details that existing benchmarks often overlook. (ii) Specialized evaluators via preference learning. To address the lack of specialized training data, we construct large-scale supervision by transforming real-world videos into diverse training pairs with controlled perturbations. After fine-tuning on this high-quality dataset, the evaluators learn to reliably detect subtle cross-modal inconsistencies. Crucially, instead of producing discrete textual judgment, AVBench derives continuous evaluation scores from the model's prediction confidence on binary decisions. This probabilistic scoring mechanism enables a more reliable assessment than traditional VQA-style evaluation and aligns closely with human judgment. Taken together, AVBench offers automated evaluation for AV generation, demonstrates strong potential for data filtering, and serves as a differentiable reward signal for Reinforcement Learning from Human Feedback (RLHF).
arXiv PDF
DexSIM: Real-time Dexterous Simulation with Unified Causal Video Diffusion
Adam Lee
arXiv:2605.24630v1 • 2026-05-23
Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating dexterous manipulation in real-time. While previous works utilizing video diffusion and 3D reconstruction focus on navigation, dexterous manipulation has been limited while it has extensive applications for creating interactive experiences with the simulated world and for generating synthetic data for robotics. Existing methods lack real-time interactivity and long-term spatial consistency and memory. We propose a 2-stage training framework for DexSIM. First we train a bi-directional video diffusion model by jointly embedding the hand action trajectory and video in a unified feature space. We utilize gaussian heatmap hand encoding for more accurate hand representation. Then we conduct a roll-out based autoregressive training with updated spatial cache as attention sink for spatial memory, which improves long-term consistency and 3D aware dexterous manipulation simulation. DexSIM outperforms the baseline on pixel and semantic similarity, motion fidelity, and hand projection accuracy. It also allows new applications such as hand motion transfer and runs at 15.24 FPS real-time interactivity.
Comment: World Model @ ICLR 2026
arXiv PDF
World Models as Group Actions
Zijie Wang, Wei Zhang, Weiming Zhang, Fanqi Zhang, Xiao Tan, Yipeng Qin, Guanbin Li
arXiv:2605.24578v1 • 2026-05-23
Video world models have achieved strong visual realism, but this does not ensure that their dynamics are truly governed by actions. In this work, we argue that action faithfulness should be understood through the compositional structure of actions, which in many embodied settings follows a group structure (e.g., SE(2) for navigation). Based on this insight, we formalize action-conditioned world modeling as realizing a group action on the state space, providing a principled criterion for evaluating dynamics beyond visual quality. To operationalize this framework, we propose a unified approach that enforces identity, inverse, and composition consistency via latent-space regularization with synthesized supervision, avoiding additional data collection. We further introduce two metrics: Group-Action Consistency (GAC) and Group-Action Robustness (GAR), to evaluate structural correctness and rollout stability. Extensive experimental results show that our method consistently improves both GAC and GAR in state-of-the-art video world models without degrading perceptual quality.
Comment: Under review
arXiv PDF
FoodMonitor: Benchmarking MLLMs for Explainable Compliance Analysis
Ruihao Xu, Xingming Shui, Jingxuan Niu, Yiqin Wang, Jilin Yu, Haoji Zhang, Yansong Tang
arXiv:2605.24503v1 • 2026-05-23
As AI-powered compliance monitoring becomes increasingly important in public governance and industrial safety, the ability to provide verifiable evidence and traceable accountability signals is essential. However, existing video anomaly detection datasets focus on event-level binary classification, lacking the rule-driven, explainable analysis required for real-world compliance scenarios. We introduce FoodMonitor, a benchmark for explainable compliance analysis in commercial kitchen surveillance. FoodMonitor comprises 477 video clips with 3,307 violation annotations across a dual-channel design covering both person-level and environment-level violations. Each annotation specifies which rule was violated, what non-compliant behavior occurred, and who committed it with frame-level bounding boxes. We establish a unified evaluation protocol with a two-stage matching mechanism that separately assesses spatial localization and semantic understanding, along with a composite metric ($C_{\text{score}}$) that balances environment and person detection performance. Systematic evaluation of several state-of-the-art multimodal large language models reveals that the best-performing model achieves only 0.360 $C_{\text{score}}$, with spatial localization and fine-grained rule understanding emerging as the primary bottlenecks. Our analysis identifies two distinct failure modes: localization-dominated errors and semantics-dominated errors, providing diagnostic insights for future model development.
arXiv PDF
FineBench: Benchmarking and Enhancing Vision-Language Models for Fine-grained Human Activity Understanding
Gueter Josmy Faure, Min-Hung Chen, Jia-Fong Yeh, Hung-Ting Su, Winston H. Hsu
arXiv:2605.19846v3 •updated • 2026-05-19
Vision-Language Models (VLMs) have demonstrated remarkable capabilities in general video understanding, yet they often struggle with the fine-grained comprehension crucial for real-world applications requiring nuanced interpretation of human actions and interactions. While some recent human-centric benchmarks evaluate aspects of model behaviour such as fairness/ethics, emotion perception, and broader human-centric metrics, they do not combine long-form videos, very dense QA coverage, and frame-level spatial/temporal grounding at scale. To bridge this gap, we introduce FineBench, a human-centric video question answering (VQA) benchmark specifically designed to assess fine-grained understanding. FineBench comprises 199,420 multiple-choice QA pairs densely annotated across 64 long-form videos (15 minutes each), focusing on detailed person movement, person interaction, and object manipulation, including compositional actions. Our extensive evaluation reveals that while proprietary models like GPT-5 achieve respectable performance, current open-source VLMs significantly underperform, struggling particularly with spatial reasoning in multi-person scenes and distinguishing subtle differences in human movements and interactions. To address these identified weaknesses, we propose FineAgent, a modular framework that enhances VLMs by leveraging a Localizer and a Descriptor. Experiments show that FineAgent consistently improves the performance of various open VLMs on FineBench. FineBench provides a rigorous testbed for future research into fine-grained human-centric video understanding, while FineAgent offers a practical approach to enhance such reasoning in current VLMs. Project page and code at https://joslefaure.github.io/assets/html/finebench.html.
Comment: CVPR'26 (Workshop on Video Large Language Models). Project Page: https://joslefaure.github.io/assets/html/finebench.html
arXiv PDF
2026-05-22
67 篇
Robotics
51
默认显示 5 篇
Approximating Safety Feedback Without a Safety Oracle via Model Predictive Control
Jeff Pflueger, Michael Everett
arXiv:2510.20955v2 •updated • 2025-10-23
Safe decision-making algorithms for control of mobile robots often require the existence of feedback to verify the safety of proposed actions. This feedback is assumed to be directly available during the development or deployment of the control system. It can take the form of either an explicit constraint formulation or a set of hand-labeled safety data, both of which can be inaccurate or time consuming to produce. Many recently developed simulators can handle complex interactions and varied environments. These environments have implicit safety constraints that may be hard to model. By leveraging one of these simulators, we can construct a proxy for a safety function that bypasses the need for hand designed feedback in capturing these constraints. We present an algorithm that approximates safety by using reversibility and a positive-invariance assumption on the unsafe state space. This method employs the Model-Predictive Path Integral algorithm (MPPI) to establish this reversibility and verify a proposed action. First the action is projected via the simulator to a future state. Then if MPPI can find a path back to a previous state in the trajectory, that state is guaranteed to be outside the unsafe (positive invariant) set. Experimental results demonstrate that the proposed algorithm can approximate the performance of a safety oracle while avoiding classification of unsafe states as safe.
Comment: 8 pages, 5 figures
arXiv PDF
ECo-MoE: Embodiment-Conditioned Mixture of Experts Increases the Evolvability of Robots
Yibin Wang, Muhan Li, Zihan Guo, Sam Kriegman
arXiv:2605.24225v1 • 2026-05-22
In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of each decoded design (phenotype). This provides a scalable alternative to co-design algorithms that either train an individual policy for every robot, which is inefficient, or a monolithic universal controller for all robots, which results in overly conservative structures and behaviors. Our approach lies somewhere between these two extremes, preserving ancestral knowledge in a unified yet modular framework in which different body plans activate and deactivate different combinations of learned sensorimotor circuits for goal-directed behavior. This allows one part of the controller to be overhauled to better suit new species of designs as they emerge without disrupting the hard-earned knowledge contained within other expert modules. It also allows pretrained expert policies to be directly plugged into the mixture, which can steer evolution into otherwise unexplored areas of latent space containing desired morphological traits. We refer to this process as "evo by demo" and explore how it may be used to guide freeform evolution toward canonical structures defined by the pretrained model. Videos and code can be found at: https://eco-moe.github.io.
arXiv PDF
Language Movement Primitives: Grounding Language Models in Robot Motion
Yinlong Dai, Benjamin A. Christie, Daniel J. Evans, Dylan P. Losey, Simon Stepputtis
arXiv:2602.02839v3 •updated • 2026-02-02
Enabling robots to perform novel manipulation tasks from natural language instructions remains a fundamental challenge in robotics, despite significant progress in generalized problem solving with foundational models. Large vision and language models (VLMs) are capable of processing high-dimensional input data for visual scene and language understanding, as well as decomposing tasks into a sequence of logical steps; however, they struggle to ground those steps in embodied robot motion. On the other hand, robotics foundation models output action commands, but require in-domain fine-tuning or experience before they are able to perform novel tasks successfully. At its core, there still remains the fundamental challenge of connecting abstract task reasoning with low-level motion control. To address this disconnect, we propose Language Movement Primitives (LMPs), a framework that grounds VLM reasoning in Dynamic Movement Primitive (DMP) parameterization. Our key insight is that DMPs provide a small number of interpretable parameters, and VLMs can set these parameters to specify diverse, continuous, and stable trajectories. Put another way: VLMs can reason over free-form natural language task descriptions, and semantically ground their desired motions into DMPs -- bridging the gap between high-level task reasoning and low-level position and velocity control. Building on this combination of VLMs and DMPs, we formulate our LMP pipeline for zero-shot robot manipulation that effectively completes tabletop manipulation problems by generating a sequence of DMP motions. Across 31 real-world manipulation tasks, we show that LMP achieves 65% task success as compared to 35% for the best performing baseline. See videos at our website: https://collab.me.vt.edu/lmp
arXiv PDF
Afford-VLA: Action-Aligned Visual Planning via Internalized Affordance
Runze Wang, Yuqian Fu, Yu Li, Tao Lin, Tianwen Qian, Mohamed Elhoseiny, Bo Zhao, Yanwei Fu, Yu-Gang Jiang, Xiangyang Xue
arXiv:2605.24203v1 • 2026-05-22
Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determining where to interact in complex visual scenes. While recent efforts introduce various forms of visual planning to address this issue, existing approaches either rely on global geometric cues, symbolic intermediate representations, or externally generated visual signals, which are often weakly coupled with downstream action prediction. In this work, we revisit visual planning in VLA systems and argue that effective planning should be local, visually grounded, internally generated, and directly aligned with action. Based on this insight, we propose Afford-VLA, a unified framework that internalizes task-conditioned affordance as an explicit visual planning interface within VLA models. Concretely, we introduce learnable <AFF> tokens to query task-relevant interaction regions, decode affordance masks from multimodal features, and convert them into compact embeddings that directly condition action generation. This design enables affordance to be both generated and utilized within the VLA, forming a tightly coupled perception-action pathway. To further support this integration, we adopt a training strategy that allows the affordance pathway to be jointly optimized with action prediction, improving its effectiveness for downstream control. We evaluate our method on multiple simulation benchmarks, including LIBERO, LIBERO-Plus, and SimplerEnv, achieving consistent state-of-the-art performance, along with strong real-world results. These findings demonstrate that internalizing affordance as action-aligned visual planning provides a powerful paradigm for improving VLA systems.
Comment: 20 pages
arXiv PDF
Investigating the Effect of a Series Elastic Actuation Retrofit to Black-Box Actuators
Ivan Tregear, Ayhan Aktas, Ferdinando Rodriguez y Baena
arXiv:2605.24127v1 • 2026-05-22
In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain environments. Series Elastic Actuation (SEA) introduces compliance to enhance disturbance rejection and enable force measurement via Hooke's Law but reduces system bandwidth. A custom Series Elastic (SE) element was retrofitted to a black-box actuator to mitigate non-linearities like backlash and static friction. Integrating the SE element enabled high-fidelity force measurements, improving force control bandwidth and performance. A torsional SE element was designed through Finite Element (FE) analysis, yielding a stiffness of 2155.4 Nm/rad. Open-loop force control bandwidth was measured for the original motor and the SEA-integrated configuration, while closed-loop bandwidth was assessed using feedback from the SEA and a commercial force sensor. The SEA module increased bandwidth from 10.32 Hz to 30.32 Hz, a 2.93X improvement. Additionally, it outperformed the commercial sensor by 7.63% despite costing 25 GBP, a fraction of the price.
Comment: Related GitHub repo available here: https://github.com/ITregear/SeriesElasticActuation-FYP
arXiv PDF
Video World Models
16
默认显示 5 篇
Language Movement Primitives: Grounding Language Models in Robot Motion
Yinlong Dai, Benjamin A. Christie, Daniel J. Evans, Dylan P. Losey, Simon Stepputtis
arXiv:2602.02839v3 •updated • 2026-02-02
Enabling robots to perform novel manipulation tasks from natural language instructions remains a fundamental challenge in robotics, despite significant progress in generalized problem solving with foundational models. Large vision and language models (VLMs) are capable of processing high-dimensional input data for visual scene and language understanding, as well as decomposing tasks into a sequence of logical steps; however, they struggle to ground those steps in embodied robot motion. On the other hand, robotics foundation models output action commands, but require in-domain fine-tuning or experience before they are able to perform novel tasks successfully. At its core, there still remains the fundamental challenge of connecting abstract task reasoning with low-level motion control. To address this disconnect, we propose Language Movement Primitives (LMPs), a framework that grounds VLM reasoning in Dynamic Movement Primitive (DMP) parameterization. Our key insight is that DMPs provide a small number of interpretable parameters, and VLMs can set these parameters to specify diverse, continuous, and stable trajectories. Put another way: VLMs can reason over free-form natural language task descriptions, and semantically ground their desired motions into DMPs -- bridging the gap between high-level task reasoning and low-level position and velocity control. Building on this combination of VLMs and DMPs, we formulate our LMP pipeline for zero-shot robot manipulation that effectively completes tabletop manipulation problems by generating a sequence of DMP motions. Across 31 real-world manipulation tasks, we show that LMP achieves 65% task success as compared to 35% for the best performing baseline. See videos at our website: https://collab.me.vt.edu/lmp
arXiv PDF
Geo-Align: Video Generation Alignment via Metric Geometry Reward
Zizun Li, Haoyu Guo, Runzhe Teng, Chunhua Shen, Tong He
arXiv:2605.23903v1 • 2026-05-22
Camera-controlled video generation has achieved remarkable progress in recent years. However, existing video-to-video re-rendering methods primarily rely on Supervised Fine-Tuning using synthetic datasets. At present, there is an extreme scarcity of synchronized, multi-view real-world video data. Consequently, the prevailing paradigm often exhibits limited generalization when processing out-of-distribution real-world videos, with models struggling to accurately adhere to physical scales and camera trajectories. To bridge this gap, we propose Geo-Align, the first Reinforcement Learning framework specifically designed for camera-controlled video re-rendering. Built upon a pretrained model, we optimize the model through a scale-aware perceptual reward mechanism. Specifically, we introduce a metric 3D estimator to extract precise camera trajectories from generated videos, explicitly penalizing deviations in rotation and translation. Furthermore, we meticulously designed a data pipeline strategy based on real-world conditioning videos and target camera trajectories derived from synthetic data, eliminating the reliance on paired data. Extensive experiments demonstrate that Geo-Align consistently outperforms existing supervised learning baselines in both precise camera controllability and visual fidelity, indicating the effectiveness of our method.
arXiv PDF
Smart-Insertion-V: Photorealistic Video Insertion via a Closed-Loop Feedback Dual-Stream Framework
Xiao Cao, Yansong Qu, Xiangzhen, Chang, Wen Xiao, Jiakui Hu, Heyuan Li, Jialun Liu, Zhiyong Huang, Xuelong Li
arXiv:2605.23891v1 • 2026-05-22
Mask-free video object insertion has emerged as a challenging task, requiring harmonious integration of reference objects into source videos. However, existing methods struggle when references exhibit severe stylistic domain gaps with the source scene. To overcome this, we propose \textit{\textbf{Smart-Insertion-V}}, an end-to-end \textbf{Dual-Stream} framework that concurrently conducts video insertion and image style transfer. Within this framework, the image stream synchronously guides the video generation process, while a \textbf{Closed-loop Feedback} mechanism is further incorporated to ensure robust insertion. Inevitably, integrating these diverse conditioning signals results in feature entanglement and style leakage. To tackle this issue, we design \textbf{Dual-World-View RoPE} to distinguish different signals via spatial-temporal offsets without incurring heavy training overhead. Furthermore, to facilitate spatial grounding and stylistic adaptation, we introduce a \textbf{Decoupled Guidance Module} that leverages a Vision-Language Model for semantic reasoning while preserving original temporal guidance with native text encoder. To bridge data gap for harmonious reference insertion task, we propose a data curation pipeline and will release an \textbf{open-source dataset}. Experiments demonstrate that our method can insert objects into plausible positions while achieving the most harmonious results.
arXiv PDF
LaMo: Self-Supervised Latent Motion Priors for Physical Realism in Video Generation
Bo Jiang, Depu Meng, Yihan Hu, Yichen Xie, Tianshuo Xu, Wei Zhan
arXiv:2605.23878v1 • 2026-05-22
Modern video generators produce visually compelling clips but still struggle with physical and motion consistency, limiting their use as reliable world simulators. Existing remedies often rely on external simulators, teacher models, or curated physics-focused data. We explore a complementary self-supervised direction: extracting motion cues from the unlabeled videos already used to train video diffusion models. We propose LaMo, which formulates a latent motion prior over frame-to-frame latent changes conditioned on the current latent and prompt. This prior is exposed through two lightweight readouts: a macro motion drift used during training as a Motion Drift Loss, and a learned micro motion field used during sampling as Motion Prior Guidance. Both components are plug-and-play with existing video diffusion backbones, requiring no architectural or I/O changes. On VideoPhy and VideoPhy2, LaMo improves CogVideoX backbones and outperforms recent physics-aware baselines that use external supervision. On VBench, it preserves overall generation quality while improving motion-related dimensions. These results suggest that unlabeled video contains useful motion supervision for improving physical fidelity in modern video diffusion models.
Comment: Project Page: https://lamo-ai.github.io/
arXiv PDF
Learning a Particle Dynamics Model with Real-world Videos
Chanho Kim, Suhas V. Sumukh, Li Fuxin
arXiv:2605.23845v1 • 2026-05-22
Data-driven learning approaches for physics simulation, sometimes referred to as world models, have emerged as promising alternatives to traditional physics simulators due to their differentiable nature. Prior work has demonstrated impressive results in predicting the motions of rigid and non-rigid objects in complex scenes involving multiple interacting bodies. However, these models are typically trained in simulated environments because obtaining perfect state information such as complete scene point clouds and point correspondences over time is challenging in real-world settings. This reliance on synthetic data can limit their applicability when the sim-to-real gap is large. In this work, we aim to overcome these limitations by introducing a novel framework for training neural object dynamics models directly from unlabeled real-world videos. Specifically, we propose to learn a particle-based dynamics model compatible with a Gaussian splatting framework, which operates on dense particles derived from Gaussians (i.e., particles with scales and rotations) and predicts their position and rotation changes over time. The model is trained via rendering supervision, enabling learning from real-world videos without requiring particle-level labeled states. Our model operates directly on dense Gaussians without relying on heuristic subsampling anchor points. To enable this study, we also present a real-world dataset consisting of about 500 videos capturing diverse object interactions.
Comment: CVPR 2026 Findings
arXiv PDF
2026-05-21
87 篇
Robotics
69
默认显示 5 篇
Four Simple Proprioceptive Estimators for Legged Robots
Frank Dellaert, Chiyun Noh, Varun Agrawal, Ayoung Kim
arXiv:2605.23100v1 • 2026-05-21
Legged robots carry an IMU, but the inertial solution drifts because consumer-grade IMUs are noisy. However, the feet create intermittent contacts with the environment that can be used to mitigate that drift. This report develops a sequence of increasingly expressive legged robot state estimators that leverage this. In all cases, the floating-base state comprises attitude, position, velocity, and IMU biases. To model foot contacts, we start from the contact-aided invariant EKF of Hartley et al., albeit at a reduced contact update rate. This is then augmented by replacing the measurement update by a small factor graph. Finally, we turn the same factors into a fixed-lag smoother with contact-episode footholds, with and without an evolving IMU bias. To facilitate reproducibility and further research in proprioceptive legged odometry, all four variants are available in GTSAM (Dellaert et. al), and we additionally provide a ROS2-compatible implementation.
arXiv PDF
UfM*: Uncertainty from Motion* for DNN Depth Estimation Using Gaussians
Soumya Sudhakar, Sertac Karaman, Vivienne Sze
arXiv:2605.23098v1 • 2026-05-21
Reliable uncertainty estimation is critical for deploying monocular depth deep neural networks (DNNs) in safety-critical robotic systems. Conventional uncertainty methods such as ensembles and sampling-based approaches require multiple inferences per image, incurring substantial compute and memory overhead. Moreover, uncertainty predicted from a single image misses out on measuring disagreement between predictions across views of the same region. We propose Uncertainty from Motion* (UfM*), an uncertainty estimation algorithm that measures multiview disagreement efficiently by comparing previous and current views using a compact Gaussian mixture, requiring only a single DNN inference per image. Using Gaussians to compute multiview disagreement is not only more compute- and memory-efficient than a prior approach using a point cloud, but also improves uncertainty by measuring disagreement across regions of 3D space. UfM* paired with aleatoric uncertainty improves expected calibration error by 24-28% compared to an ensemble, while requiring only 3% of the energy and 0.02% of the memory on 100 out-of-distribution ScanNet sequences. We demonstrate UfM* consumes only 63 mJ per 224x224 image while running real-time at 30 FPS on an Arm Cortex-A76 CPU onboard a miniature energy-constrained robot, highlighting that measuring multiview disagreement using Gaussians enables efficient uncertainty for resource-constrained robotic systems.
Comment: 18 pages, 15 figures
arXiv PDF
Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy
Longchen Niu, Andrew Nasif, Gennaro Notomista
arXiv:2604.15524v2 •updated • 2026-04-16
This paper presents a novel density control framework for multi-robot systems with spatial safety and energy sustainability guarantees. Stochastic robot motion is encoded through the Fokker-Planck Partial Differential Equation (PDE) at the density level. Control Lyapunov and control barrier functions are integrated with PDEs to enforce target density tracking, obstacle region avoidance, and energy sufficiency over multiple charging cycles. The resulting quadratic program enables fast in-the-loop implementation that adjusts commands in real-time. Multi-robot experiment and extensive simulations were conducted to demonstrate the effectiveness of the controller under localization and motion uncertainties.
arXiv PDF
LACY: A Vision-Language Model-based Language-Action Cycle for Self-Improving Robotic Manipulation
Youngjin Hong, Houjian Yu, Mingen Li, Changhyun Choi
arXiv:2511.02239v2 •updated • 2025-11-04
Learning generalizable policies for robotic manipulation increasingly relies on large-scale models that map language instructions to actions (L2A). However, this one-way paradigm often produces policies that execute tasks without deeper contextual understanding, limiting their ability to generalize or explain their behavior. We argue that the complementary skill of mapping actions back to language (A2L) is essential for developing more holistic grounding. An agent capable of both acting and explaining its actions can form richer internal representations and unlock new paradigms for self-supervised learning. We introduce LACY (Language-Action Cycle), a unified framework that learns such bidirectional mappings within a single vision-language model. LACY is jointly trained on three synergistic tasks: generating parameterized actions from language (L2A), explaining observed actions in language (A2L), and verifying semantic consistency between two language descriptions (L2C). This enables a self-improving cycle that autonomously generates and filters new training data through an active augmentation strategy targeting low-confidence cases, thereby improving the model without additional human labels. Experiments on pick-and-place tasks in both simulation and the real world show that LACY improves task success rates by 56.46% on average and yields more robust language-action grounding for robotic manipulation. Project page: https://vla2026.github.io/LACY/
Comment: Accepted to ICRA 2026. Project page: https://vla2026.github.io/LACY/
arXiv PDF
V-VLAPS: Value-Guided Planning for Vision-Language-Action Models
Ke Ren, Ali Salamatian, Kieran Pattison, Cyrus Neary
arXiv:2601.00969v2 •updated • 2026-01-02
Vision-language-action (VLA) models provide strong action priors for robotic manipulation, but their reactive behavior can fail under distribution shift and long-horizon task structure. Recent VLA-guided planning methods improve execution by using pretrained policies to guide tree search, yet node selection still depends heavily on policy priors and visit-count exploration. Consequently, when the policy favors poor actions, the planner lacks a learned value signal to correct this bias. Prior work has shown that VLA representations encode rollout success and failure information, suggesting that they may also support value estimation during planning. We introduce Value-Guided Vision-Language-Action Planning and Search (V-VLAPS), which augments VLA-guided planning with a lightweight value head trained on offline VLA rollouts to predict Monte Carlo returns. These predictions guide Monte Carlo Tree Search toward higher-value branches. Across five LIBERO suites, V-VLAPS matches value-free planning baseline at the default search budget in aggregate, and analysis shows that many hard failures are root-level timeouts where predicted values are weakly separated. With a larger search budget, V-VLAPS improves over the baseline in all task suites with +6 percentage points on LIBERO-Object and +4 percentage points on LIBERO-10. Our results suggest that VLA representations can support not only failure prediction, but also value-guided planning when search reaches branches where value-based ranking matters.
arXiv PDF
Video World Models
18
默认显示 5 篇
EMMA: Extracting Multiple physical parameters from Multimodal Data
Farhat Shaikh, Ayan Banerjee, Sandeep Gupta
arXiv:2605.24047v1 • 2026-05-21
We introduce EMMA, a physics-informed multimodal framework that recovers all identifiable dynamical parameters of a system directly from raw video, audio, and image-based time-series observations. Unlike prior video-only approaches that struggle with occluded states, hidden actuation inputs, or assumptions about known initial conditions and coordinate frames, EMMA performs joint inference of explicit parameters, implicit dynamical components, and calibration invariants within a unified continuous-time model. EMMA leverages a Liquid Time-Constant (LTC) network to learn latent dynamics from heterogeneous modalities while a physics-constrained loss enforces consistency with the governing differential equations. A unified feature pipeline enables consistent alignment across video trajectories, acoustic signatures, and chart-derived measurements, allowing EMMA to estimate parameters under forced, implicit, and multivariate dynamics without requiring segmentation masks, differentiable rendering, or specialized sensors. Across 100+ scenarios including five standard dynamical benchmarks (75 Delfys videos), real-world rover and quadrotor systems with hidden inputs, and simulation-chart case studies spanning biological and chaotic systems, EMMA delivers robust multi-parameter recovery and significantly outperforms existing single-modality and equation-discovery baselines. Our results establish EMMA as a general, scalable solution for physics-consistent model extraction from opportunistic multimodal data. Code and data are available at: https://github.com/ImpactLabASU/EMMA-CVPR2026
Comment: Accepted at CVPR 2026 (main conference)
arXiv PDF
VideoOdyssey: A Benchmark for Ultra-Long-Context and Omni-Modal Video Understanding
Haichen He, Jiayi Zhou, Sifeng Shang, Yihan Hu, Yuanhan Zhang, Kaiyang Zhou
arXiv:2605.22907v1 • 2026-05-21
Real-world long video understanding requires models to perform continuous tracking, information integration and memory retention over massive temporal spans within extreme video durations. Mastering this intense cognitive load constitutes the fundamental bottleneck in long video understanding. While existing benchmarks have driven progress by scaling up video duration, their evaluation tasks often require comprehending only short and isolated video segments, falling short of capturing the challenge of ultra-long-context reasoning. To measure this cognitive load, we emphasize continuous certificate length, defined as the video length a human must continuously watch to definitively answer a given question. Driven by this metric, we introduce VideoOdyssey, a benchmark specifically designed for ultra-long-context and omni-modal video understanding. VideoOdyssey is characterized by three key features: 1) Extreme video duration and diversity: spanning 11 domains and 54 subcategories with an average video duration of 109 minutes; 2) Comprehensive evaluation scenarios: offering two subsets to address different research focuses, i.e., VideoOdyssey-V for probing the limits of visual understanding in MLLMs, and VideoOdyssey-AV for evaluating synchronized audio-visual understanding for omni-modal models; 3) Ultra-long and multi-level continuous certificates: extending the average continuous certificate to 16 minutes for VideoOdyssey-V and 12.8 minutes for VideoOdyssey-AV. Crucially, we design 5 granular levels from seconds to hours, providing a comprehensive diagnostic tool to evaluate models across varying context lengths and cognitive loads. Extensive evaluations show that bottlenecks of current MLLMs extend beyond simple retrieval to include struggles with continuous reasoning across varying context lengths, fine-grained perception, and non-verbal omni-modal understanding.
arXiv PDF
Which Way Did It Move? Diagnosing and Overcoming Directional Motion Blindness in Video-LLMs
Jongseo Lee, Hyuntak Lee, Sunghun Kim, Sooa Kim, Jihoon Chung, Jinwoo Choi
arXiv:2605.22823v1 • 2026-05-21
Video Large Language Models (Video-LLMs) have made rapid progress on temporal video understanding, yet many fail at a basic perceptual primitive: signed image-plane motion direction. On simple videos of a single object moving left, right, up, or down, most Video-LLMs perform near chance, with above-chance cases largely attributable to prediction biases rather than genuine direction understanding. We call this failure directional motion blindness. We localize the failure by tracing motion direction information through the Video-LLM pipeline. Motion direction remains linearly accessible from the vision encoder, projector, and LLM hidden states, but the readout fails to bind this signal to the correct verbal answer option, revealing a direction binding gap. Although synthetic motion direction instruction tuning reduces this gap on the source domain, motion direction concept vector analysis shows that visual complexity weakens the signal magnitude and limits out-of-domain generalization. We introduce MoDirect, a dataset family for motion direction instruction tuning and evaluation, and DeltaDirect, a diagnosis-driven, projector-level objective that predicts normalized 2-D motion vectors from adjacent-frame feature deltas. On MoDirect-SynBench, instruction tuning with DeltaDirect improves motion direction accuracy from 25.9% to 85.4%. On MoDirect-RealBench, DeltaDirect improves real-world motion direction accuracy by 21.9 points over the vanilla baseline without real-world tuning data, while preserving standard video-understanding performance. Code: https://github.com/KHU-VLL/DeltaDirect
Comment: Preprint. 59 pages, including appendix. Code: https://github.com/KHU-VLL/DeltaDirect
arXiv PDF
Cambrian-P: Pose-Grounded Video Understanding
Jihan Yang, Zifan Zhao, Xichen Pan, Shusheng Yang, Junyi Zhang, Bingyi Kang, Hu Xu, Saining Xie
arXiv:2605.22819v1 • 2026-05-21
Camera pose matters. The position and orientation of each viewpoint define a shared spatial coordinate frame that relates observations across video frames. Yet this signal is largely absent from multimodal LLMs (MLLMs) for video understanding, which process frames as isolated 2D snapshots, instead of the persistent scene humans perceive. We revisit pose as a lightweight supervisory signal and introduce Cambrian-P, a video MLLM augmented with per-frame learnable camera tokens and a pose regression head. With a carefully designed sampling scheme, the model achieves substantial gains of 4.5-6.5% on spatial reasoning benchmarks such as VSI-Bench, generalizes across eight additional spatial and general video QA benchmarks, and, as a byproduct, achieves state of the art streaming pose estimation on ScanNet. Surprisingly, training on pseudo-annotated poses from in-the-wild video further improves general video QA benchmarks, showing pose helps beyond spatial reasoning. Together, these results position camera pose as a fundamental signal for video models that reason about the physical world.
Comment: Project Page: https://cambrian-mllm.github.io/
arXiv PDF
Remember to be Curious: Episodic Context and Persistent Worlds for 3D Exploration
Lily Goli, Justin Kerr, Daniele Reda, Alec Jacobson, Andrea Tagliasacchi, Angjoo Kanazawa
arXiv:2605.22814v1 • 2026-05-21
Exploration is a prerequisite for learning useful behaviors in sparse-reward, long-horizon tasks, particularly within 3D environments. Curiosity-driven reinforcement learning addresses this via intrinsic rewards derived from the mismatch between the agent's predictive model of the world and reality. However, translating this intrinsic motivation to complex, photorealistic environments remains difficult, as agents can become trapped in local loops and receive fresh rewards for revisiting forgotten states. In this work, we demonstrate that this failure stems from a lack of spatial persistence and episodic context. We show that effective curiosity requires a model of the world that is persistent and continuously updated, paired with an agent that maintains an episodic trajectory history to navigate toward novel regions. We achieve this using an online 3D reconstruction as a persistent model of the world, while the agent policy is parameterized as a sequence model over RGB observations to maintain episodic context. This design enables effective exploration during training while allowing the agent to navigate using solely RGB frames at deployment. Trained purely via curiosity on HM3D, our agent outperforms RL-based active mapping baselines and generalizes zero-shot to Gibson and AI-generated worlds. Our end-to-end policy enables efficient adaptation to downstream tasks, such as apple picking and image-goal navigation, outperforming from-scratch baselines. Please see video results at https://recuriosity.github.io/.
arXiv PDF
2026-05-20
85 篇
Robotics
67
默认显示 5 篇
Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
Albert Wu, Riccardo Bonalli, Thomas Lew, C. Karen Liu
arXiv:2605.21811v1 • 2026-05-20
Robotic dexterous manipulation requires continuously reconciling objectives and constraints defined on heterogeneous geometric spaces: a robot controlled on a $\mathbb{R}^7$ configuration manifold may need to track end effector poses on $\mathrm{SE}(3)$ while satisfying obstacle avoidance margins in $\mathbb{R}$. We present Safe Pullback Bundle Dynamical Systems (SafePBDS), a geometrically consistent framework that computes optimal, certifiably safe configuration manifold accelerations from objectives and safety requirements on arbitrary task manifolds. SafePBDS builds on prior work that combines predefined task manifold dynamical systems to produce autonomous motion. Its first innovation is a pullback control barrier function construction, which converts task manifold safety conditions into linear constraints on configuration manifold accelerations. The second innovation is a task manifold action interface that allows a high-level policy to inject low dimensional residual motions; zero input recovers the autonomous behavior, while safety is preserved under arbitrary inputs. This lets high-level policies efficiently steer exploration while leaving precise motion to the autonomous behavior. We validate SafePBDS in simulation and on a 23-DOF Franka Panda-Allegro Hand platform. On dexterous grasping, SafePBDS achieves a $92.5\%$ success rate across 20 household objects and 120 trials. Using the action interface, the method can exclude any one of the four fingers during grasping via a one-dimensional action, achieving $94.4\%$ 3-finger grasp success across 3 objects and 36 trials. The efficient planning and safety guarantee of SafePBDS also enables the first model-based, fully actuated palm-down in-hand reorientation, exceeding $360^\circ$ of yaw rotation in both directions under varying object weight and wrist motion. Demo video and details: https://tml.stanford.edu/safe-pbds
Comment: 24 pages, 10 figures, 5 tables. Project page and demo video: https://tml.stanford.edu/safe-pbds
arXiv PDF
stable-worldmodel: A Platform for Reproducible World Modeling Research and Evaluation
Lucas Maes, Quentin Le Lidec, Luiz Facury, Nassim Massaudi, Ayush Chaurasia, Francesco Capuano, Richard Gao, Taj Gillin, Dan Haramati, Damien Scieur, Yann LeCun, Randall Balestriero
arXiv:2605.21800v1 • 2026-05-20
World models are central to building agents that can reason, plan, and generalize beyond their training data. However, research on world models is currently fragmented, with disparate codebases, data pipelines, and evaluation protocols hindering reproducibility and fair comparison. Current practice is further limited by three key bottlenecks: fragile one-off codebases, slow video data loading, and the lack of standardized generalization benchmarks. We present stable-worldmodel (swm), an open-source platform for standardized and reproducible world modeling research and evaluation. It delivers (1) a high-performance Lance-based data layer with native support and conversion tools for MP4, HDF5, and LeRobot datasets, (2) clean, well-tested implementations of modern world model baselines and planning solvers, and (3) a broad suite of environments and tasks extended with controllable visual, geometric, and physical factors of variation for systematic in-silico evaluation of dynamics understanding, control performance, representation quality, and out-of-distribution generalization. By unifying the full pipeline under a single, scalable framework, \texttt{swm} dramatically reduces research overhead and accelerates trustworthy progress toward reliable world models.
arXiv PDF
Parallel OctoMapping: A Scalable Framework for Enhanced Path Planning in Autonomous Navigation
Yihui Mao, Tian Tan, Xuehui Shen, Warren E. Dixon, Rushikesh Kamalapurkar
arXiv:2603.22508v2 •updated • 2026-03-23
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time to complex environments. Fixed-resolution mapping methods often produce overly conservative obstacle representations that lead to suboptimal paths or planning failures in cluttered scenes. To address this issue, we introduce Parallel OctoMapping (POMP), an efficient OctoMap-based mapping technique that maximizes available free space and supports multi-threaded computation. To the best of our knowledge, POMP is the first method that, at a fixed occupancy-grid resolution, refines the representation of free space while preserving map fidelity and compatibility with existing search-based planners. It can therefore be integrated into existing planning pipelines, yielding higher pathfinding success rates and shorter path lengths, especially in cluttered environments, while substantially improving computational efficiency.
arXiv PDF
SceneGraphGrounder: Zero-Shot 3D Visual Grounding via Structured Scene Graph Matching
Xuefei Sun, Xujia Zhang, Brendan Crowe, Doncey Albin, Christoffer Heckman
arXiv:2605.21788v1 • 2026-05-20
Zero-shot 3D visual grounding requires localizing objects in unstructured environments from free-form natural language. Recent vision-language model (VLM) approaches achieve promising results but rely on view-dependent reasoning or implicit representations, limiting spatial consistency and interpretability for compositional queries. We propose SceneGraphGrounder, a framework that reformulates 3D grounding as structured graph matching over a reconstructed 3D scene graph. To enable this formulation, we introduce a visual marker prompting strategy that enables a VLM to infer object-object relationships from 2D views, which are subsequently lifted into a persistent 3D scene graph encoding both spatial and semantic relations. Given a query, we construct a query graph and perform constrained alignment with the scene graph, ensuring multi-view consistency and interpretable reasoning. Experiments on the ScanRefer benchmark demonstrate that our method achieves competitive performance among zero-shot approaches, using only RGB-D inputs. We further validate our framework through real-world deployment on a mobile robot, demonstrating robust spatial reasoning in long-horizon physical environments. We will make our code publicly available upon acceptance.
arXiv PDF
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
Kaichen Zhou, Yuzhen Chen, Fangneng Zhan, Hang Hua, Grace Chen, Xinhai Chang, Ao Qu, Yilun Du, Zhuang Liu, Paul Pu Liang, Mengyu Wang
arXiv:2605.22882v1 • 2026-05-20
Video world models can generate realistic futures from a single instruction, but they often fail to preserve consistent point-level motion over time. As a result, the generated videos appear plausible, yet lack the physical grounding required for reliable action execution, such as robot manipulation. We present GEM-4D, a geometry-grounded video world model that resolves this limitation by injecting dense 4D correspondence supervision, distilled from a pretrained geometry foundation model, into the video generative backbone during training. This supervision enables the model to jointly capture appearance and geometric structure while retaining a single-stream architecture with no additional inference cost. We further introduce an inverse dynamics module that converts correspondence-consistent video rollouts into executable robot trajectories, enabling direct deployment in both real-world and simulated manipulation. GEM-4D achieves state-of-the-art performance on both video prediction and geometric consistency across simulation and realistic scenarios and improves real-world manipulation success from 61% to 81%. Additional results are available at the project page: https://anonymous-submission-20.github.io/gem.github.io/.
Comment: Robotic World Model, Video Generative Model
arXiv PDF
Video World Models
18
默认显示 5 篇
stable-worldmodel: A Platform for Reproducible World Modeling Research and Evaluation
Lucas Maes, Quentin Le Lidec, Luiz Facury, Nassim Massaudi, Ayush Chaurasia, Francesco Capuano, Richard Gao, Taj Gillin, Dan Haramati, Damien Scieur, Yann LeCun, Randall Balestriero
arXiv:2605.21800v1 • 2026-05-20
World models are central to building agents that can reason, plan, and generalize beyond their training data. However, research on world models is currently fragmented, with disparate codebases, data pipelines, and evaluation protocols hindering reproducibility and fair comparison. Current practice is further limited by three key bottlenecks: fragile one-off codebases, slow video data loading, and the lack of standardized generalization benchmarks. We present stable-worldmodel (swm), an open-source platform for standardized and reproducible world modeling research and evaluation. It delivers (1) a high-performance Lance-based data layer with native support and conversion tools for MP4, HDF5, and LeRobot datasets, (2) clean, well-tested implementations of modern world model baselines and planning solvers, and (3) a broad suite of environments and tasks extended with controllable visual, geometric, and physical factors of variation for systematic in-silico evaluation of dynamics understanding, control performance, representation quality, and out-of-distribution generalization. By unifying the full pipeline under a single, scalable framework, \texttt{swm} dramatically reduces research overhead and accelerates trustworthy progress toward reliable world models.
arXiv PDF
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
Kaichen Zhou, Yuzhen Chen, Fangneng Zhan, Hang Hua, Grace Chen, Xinhai Chang, Ao Qu, Yilun Du, Zhuang Liu, Paul Pu Liang, Mengyu Wang
arXiv:2605.22882v1 • 2026-05-20
Video world models can generate realistic futures from a single instruction, but they often fail to preserve consistent point-level motion over time. As a result, the generated videos appear plausible, yet lack the physical grounding required for reliable action execution, such as robot manipulation. We present GEM-4D, a geometry-grounded video world model that resolves this limitation by injecting dense 4D correspondence supervision, distilled from a pretrained geometry foundation model, into the video generative backbone during training. This supervision enables the model to jointly capture appearance and geometric structure while retaining a single-stream architecture with no additional inference cost. We further introduce an inverse dynamics module that converts correspondence-consistent video rollouts into executable robot trajectories, enabling direct deployment in both real-world and simulated manipulation. GEM-4D achieves state-of-the-art performance on both video prediction and geometric consistency across simulation and realistic scenarios and improves real-world manipulation success from 61% to 81%. Additional results are available at the project page: https://anonymous-submission-20.github.io/gem.github.io/.
Comment: Robotic World Model, Video Generative Model
arXiv PDF
iTryOn: Mastering Interactive Video Virtual Try-On with Spatial-Semantic Guidance
Jun Zheng, Zhengze Xu, Mengting Chen, Jing Wang, Jinsong Lan, Xiaoyong Zhu, Kaifu Zhang, Bo Zheng, Xiaodan Liang
arXiv:2605.21431v1 • 2026-05-20
Video Virtual Try-On (VVT) aims to seamlessly replace a garment on a person in a video with a new one. While existing methods have made significant strides in maintaining temporal consistency, they are predominantly confined to non-interactive scenarios where models merely showcase garments. This limitation overlooks a crucial aspect of real-world apparel presentation: active human-garment interaction. To bridge this gap, we introduce and formalize a new challenging task: Interactive Video Virtual Try-On (Interactive VVT), where subjects in the video actively engage with their clothing. This task introduces unique challenges beyond simple texture preservation, including: (1) resolving the semantic ambiguity of interactions from standard pose information, and (2) learning complex garment deformations from video where interactive moments are sparse and brief. To address these challenges, we propose iTryOn, a novel framework built upon a large-scale video diffusion Transformer. iTryOn pioneers a multi-level interaction injection mechanism to guide the generation of complex dynamics. At the spatial level, we introduce a garment-agnostic 3D hand prior to provide fine-grained guidance for precise hand-garment contact, effectively resolving spatial ambiguity. At the semantic level, iTryOn leverages global captions for overall context and time-stamped action captions for localized interactions, synchronized via our novel Action-aware Rotational Position Embedding (A-RoPE). Extensive experiments demonstrate that iTryOn not only achieves state-of-the-art performance on traditional VVT benchmarks but also establishes a commanding lead in the new interactive setting, marking a significant step towards more dynamic and controllable virtual try-on experiences.
Comment: Project Page: https://zhengjun-ai.github.io/itryon-page. Accepted by ICML 2026
arXiv PDF
AIGaitor: Privacy-preserving and cloud-free motion analysis for everyone, using edge computing
Lauhitya Reddy, Trisha M. Kesar, Hyeokhyen Kwon
arXiv:2605.21421v1 • 2026-05-20
Motion capture is the gold standard for measuring human movement, but clinical use remains limited by cost, technical complexity, and privacy concerns. AIGaitor is a privacy-preserving, cloud-free motion analysis system that runs markerless monocular motion-capture pipelines and downstream deep-learning analysis entirely on a consumer smartphone using on-device neural accelerators. To motivate its design, we surveyed 74 rehabilitation clinicians: 92 percent said they would adopt an accurate, cost-effective, easy-to-use AI gait analysis tool, while 79.7 percent cited operating cost, 68.9 percent insufficient training, and 64.9 percent privacy concerns as leading barriers. We then optimized and benchmarked mobile iOS implementations of current monocular pipeline components, including 2D and 3D pose estimation, pose optimization, skeleton-based deep-learning analysis, and a vision-language model. A Time-Priority end-to-end on-device pipeline processes a 10 s 4K 60 fps video clip in 77 s on an iPhone 14, matching or beating the same pipeline on a high-end NVIDIA H200 cloud server when network transfer is included: 94 s at global mobile-average uplink and 66 s at developed-world Wi-Fi. Lightweight models such as ViTPose-s achieve real-time keypoint extraction, and skeleton-based action-recognition models provide sub-millisecond gait classification on the same clip. To our knowledge, AIGaitor is the first monocular system to demonstrate end-to-end on-device motion capture and downstream deep-learning analysis, supporting clinically applicable movement analysis that is low-cost, private, and accessible to smartphone users.
Comment: 18 pages 3 figures, 2 tables
arXiv PDF
DeCoR: Design and Control Co-Optimization for Urban Streets Using Reinforcement Learning
Bibek Poudel, Lei Zhu, Kevin Heaslip, Sai Swaminathan, Weizi Li
arXiv:2605.21311v1 • 2026-05-20
Modern vision systems can detect, track, and forecast urban actors at scale, yet translating perception outputs to urban design remains limited. We introduce DeCoR, a two-stage reinforcement learning framework that leverages flow observations to co-optimize crosswalk layout and network-level signal control. The design stage encodes the pedestrian network as a graph and learns a generative policy that parameterizes a Gaussian mixture model over crosswalk location and width, from which new crosswalks are sampled. For each layout, a shared control policy learns adaptive signal timings to minimize joint pedestrian and vehicle delay. On a 750 m real-world urban corridor with demand sensed from video and Wi-Fi logs, DeCoR learns a layout that reduces pedestrian arrival time to their nearest crosswalk by 23% while using fewer crosswalks than existing configurations. On the control side, DeCoR reduces pedestrian and vehicle wait time by 79% and 65%, respectively, relative to fixed-time signalization. Further, the control policy generalizes to demands outside of training and is robust to layout changes without retraining.
Comment: 22 pages, 8 figures
arXiv PDF
2026-05-19
17 篇
Video World Models
16
默认显示 5 篇
MSAVBench: Towards Comprehensive and Reliable Evaluation of Multi-Shot Audio-Video Generation
Yujie Wei, Yujin Han, Zhekai Chen, Yongming Li, Kaixun Jiang, Zhihang Liu, Quanhao Li, Zhiwu Qing, Xiang Wang, Zhen Xing, Ruihang Chu, Lingyi Hong, Yefei He, Junjie Zhou, Junqiu Yu, Yang Shi, Difan Zou, Kai Zhu, Shiwei Zhang, Yingya Zhang, Yu Liu, Xihui Liu, Hongming Shan
arXiv:2605.20183v1 • 2026-05-19
Video generation is rapidly evolving from single-shot synthesis to complex multi-shot audio-video (MSAV) narratives to meet real-world demands. However, evaluating such frontier models remains a fundamental challenge. Existing benchmarks are limited in scope and data diversity, and rely on rigid evaluation pipelines, preventing systematic and reliable assessment of modern MSAV models. To bridge these gaps, we introduce MSAVBench, the first comprehensive benchmark and adaptive hybrid evaluation framework for multi-shot audio-video generation. Our benchmark spans four key dimensions, video, audio, shot, and reference, covering diverse task settings, varying shot counts of up to 15, and challenging non-realistic scenarios. Our evaluation framework improves robustness through an adaptive self-correction mechanism for shot segmentation, instance-wise rubrics for subjective metrics, and tool-grounded evidence extraction for complex judgments. Furthermore, MSAVBench achieves high alignment with human judgments, reaching a Spearman rank correlation of 91.5%. Our systematic evaluation of 19 state-of-the-art closed- and open-source models shows that current systems still struggle with director-level control and fine-grained audio-visual synchronization, while modular or agentic generation pipelines offer a promising path toward narrowing the gap between open- and closed-source models. We will release the benchmark data and evaluation code to facilitate future research.
arXiv PDF
World-Ego Modeling for Long-Horizon Evolution in Hybrid Embodied Tasks
Zuyao Lin, Jianhui Zhang, Peidong Jia, Xiaoguang Zhao, Shanghang Zhang, Xingyu Chen
arXiv:2605.19957v1 • 2026-05-19
World models are widely explored in embodied intelligence, yet they typically predict distinct evolutions of the world and the ego within a single stream, where the world captures persistent instruction-agnostic scene regularities and the ego captures robot-centric instruction-conditioned dynamics. This world-ego entanglement leads to a degradation in long-horizon embodied scenarios, particularly in hybrid tasks with interleaved navigation and manipulation behaviors. In this paper, we introduce \emph{World-Ego Modeling}, a new conceptual paradigm that decomposes future evolution into world and ego components. We define the world-ego boundary from three perspectives, i.e., motion-, semantic-, and intention-based views, and analyze three disentanglement strategies with post-, pre-, and full disentanglement. Further, we instantiate this paradigm as the World-Ego Model (WEM), a unified embodied world model that couples an implicit separate world-ego planner with a cascade-parallel mixture-of-experts (CP-MoE) diffusion generator. To enable rigorous evaluation, we further construct HTEWorld, the first benchmark for long-horizon world modeling with hybrid navigation-manipulation tasks, providing 125K video clips (over 4.5M frames) with fine-grained action annotations and 300 multi-turn evaluation trajectories (over 2K instructions). Extensive experiments show that WEM achieves state-of-the-art performance on HTEWorld while remaining competitive on existing manipulation-only benchmarks.
arXiv PDF
AffectVerse: Emotional World Models for Multimodal Affective Computing
Bo Zhao, Fanghua Ye, Yixin Ji, Sicheng Zhao, Xiaojiang Peng, Zitong YU
arXiv:2605.19950v1 • 2026-05-19
Humans infer emotions by integrating observed multimodal cues with expectations about how affective states may unfold. Existing multimodal large language models (MLLMs), however, often treat emotion recognition as static fusion over complete audiovisual-text inputs, leaving affective dynamics implicit. We propose AffectVerse, a Qwen2.5-Omni-based model equipped with an Emotion World Module (EWM), an action-free representation-level module for short-horizon latent affective prediction. \rev{EWM contains three modules: 1) Cross-Modal Temporal Imagination predicts future video/audio representations from past tokens with multi-step rollout. 2) MAMA(Modality-Aware Multi-step Attention) Belief Aggregation compresses imagined tokens into modality-aware belief tokens. 3) Belief Injection inserts these belief tokens into the LLM for affective reasoning.} AffectVerse uses future prediction as a past-conditioned self-supervised signal: it does not replace modeling observed history or require unseen signals at inference, but forces the current belief state to encode transition cues that are predictive of subsequent affective change. Across nine benchmarks, AffectVerse improves at least 2.57\% over other models, while controlled ablations show additive gains from temporal imagination, cross-modal rollout, and belief aggregation. These results suggest predictive belief-state modeling is a practical alternative for affective computing.
arXiv PDF
Aero-World: Action-Conditioned Aerial Video Generation from Inertial Controls
Abdul Mohaimen Al Radi, Kunyang Li, Yuzhang Shang, Mubarak Shah, Yu Tian
arXiv:2605.19728v1 • 2026-05-19
Foundation video models produce visually impressive results, but their use in embodied AI remains limited because they are primarily trained on natural language rather than low-level control signals. This limitation is especially pronounced for aerial flight, where motion occurs in unconstrained 6-DoF space and small errors in ego-motion can produce large trajectory drift. Generating aerial videos that follow fine-grained inertial actions can support scalable training and evaluation of aerial agents by providing a controllable proxy for real-world or expensive simulation data. To address this problem, we propose \textbf{Aero-World}, a method for converting a pretrained image-to-video diffusion model into a controllable aerial video generator. Aero-World injects sequences of translational acceleration and angular velocity into a pretrained latent diffusion transformer through an action-token stream. A frozen latent-space Physics Probe, trained independently on real video--IMU pairs, provides differentiable inertial-consistency supervision during LoRA finetuning while avoiding computationally expensive video decoding. We further propose \textbf{AeroBench}, a benchmark for evaluating whether generated drone videos adhere to low-level action signals. AeroBench uses Action Alignment Score (AAS) to measure agreement with commanded inertial actions and Physical Consistency Rate (PCR) to measure temporal motion stability. On AeroBench, Aero-World improves mean AAS from 57.7 to 63.6 over action-only finetuning and gives a stronger quality-control trade-off than AirScape, with lower FVD (596.5 vs. 1058.6), higher SSIM (0.595 vs. 0.505), and higher Flow-IMU correlation (0.44 vs. 0.20). These results suggest that frozen Physics Probe supervision is a practical mechanism for adapting pretrained video generators toward more action-aligned aerial motion.
arXiv PDF
Quantifying the Climate Risk of Generative AI: Region-Aware Carbon Accounting with G-TRACE and the AI Sustainability Pyramid
Zahida Kausar, Seemab Latif, Raja Khurram Shahzad, Mehwish Fatima
arXiv:2511.04776v3 •updated • 2025-11-06
Generative Artificial Intelligence (GenAI) represents a rapidly expanding digital infrastructure whose energy demand and associated CO2 emissions are emerging as a new category of climate risk. This study introduces G-TRACE (GenAI Transformative Carbon Estimator), a cross-modal, region-aware framework that quantifies training- and inference-related emissions across modalities and deployment geographies. Using real-world analytics and microscopic simulation, G-TRACE measures energy use and carbon intensity per output type (text, image, video) and reveals how decentralized inference amplifies small per-query energy costs into system-level impacts. Through the Ghibli-style image generation trend (2024-2025), we estimate 4,309 MWh of energy consumption and 2,068 tCO2 emissions, illustrating how viral participation inflates individual digital actions into tonne-scale consequences. Building on these findings, we propose the AI Sustainability Pyramid, a seven-level governance model linking carbon accounting metrics (L1-L7) with operational readiness, optimization, and stewardship. This framework translates quantitative emission metrics into actionable policy guidance for sustainable AI deployment. The study contributes to the quantitative assessment of emerging digital infrastructures as a novel category of climate risk, supporting adaptive governance for sustainable technology deployment. By situating GenAI within climate-risk frameworks, the work advances data-driven methods for aligning technological innovation with global decarbonization and resilience objectives.
Comment: 27 page, 4 figures
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
Beyond Binary Success: A Diagnostic Meta-Evaluation Framework for Fine-Grained Manipulation
He-Yang Xu, Pengyuan Zhang, Zongyuan Ge, Xiaoshuai Hao, Serge Belongie, Xin Geng, Yuxin Peng, Xiu-Shen Wei
arXiv:2605.19986v1 • 2026-05-19
Fine-grained manipulation marks a regime where global scene context no longer suffices, and success hinges on the tight coupling of local attribute grounding, high-fidelity spatial perception, and constraint-respecting motor execution. However, current embodied AI benchmarks collapse these capacities into binary success rates, systematically inflating reported capabilities by up to 70% and masking the architectural bottlenecks that impede real-world deployment. We introduce MetaFine, a diagnostic meta-evaluation framework that disentangles manipulation competency along three axes: understanding, perception, and controlled behavior. Built on a compositional task graph, MetaFine absorbs heterogeneous external benchmarks and reconstructs them into diagnostic scenarios of varying complexity under a unified protocol. Evaluating state-of-the-art vision-language-action (VLA) models through this lens exposes severe dimension-specific failures invisible to conventional metrics. Through targeted causal intervention, we identify the visual encoder's ability to preserve local spatial structure as a key bottleneck for fine-grained precision: improving it directly unlocks previously inaccessible manipulation capabilities without modifying downstream policies. MetaFine further supports hybrid real-sim validation, using limited paired real-world rollouts to calibrate scalable simulation-based estimates for more stable physical benchmarking. By shifting evaluation from ranking to diagnosis, MetaFine turns benchmarking into an actionable compass for repairing the layered capacities underlying genuine physical dexterity. The MetaFine framework, benchmarks, and supporting resources will be publicly released at our project page: https://metafine.github.io/.
Comment: Project page: https://metafine.github.io/
arXiv PDF
2026-05-18
3 篇
Video World Models
2
默认显示 2 篇
Phantom: Physics-Infused Video Generation via Joint Modeling of Visual and Latent Physical Dynamics
Ying Shen, Jerry Xiong, Tianjiao Yu, Ismini Lourentzou
arXiv:2604.08503v3 •updated • 2026-04-09
Recent advances in generative video modeling, driven by large-scale datasets and powerful architectures, have yielded remarkable visual realism. However, emerging evidence suggests that simply scaling data and model size does not endow these systems with an understanding of the underlying physical laws that govern real-world dynamics. Existing approaches often fail to capture or enforce such physical consistency, resulting in unrealistic motion and dynamics. In his work, we investigate whether integrating the inference of latent physical properties directly into the video generation process can equip models with the ability to produce physically plausible videos. To this end, we propose Phantom, a Physics-Infused Video Generation model that jointly models the visual content and latent physical dynamics. Conditioned on observed video frames and inferred physical states, Phantom jointly predicts latent physical dynamics and generates future video frames. Phantom leverages a physics-aware video representation that serves as an abstract yet informaive embedding of the underlying physics, facilitating the joint prediction of physical dynamics alongside video content without requiring an explicit specification of a complex set of physical dynamics and properties. By integrating the inference of physical-aware video representation directly into the video generation process, Phantom produces video sequences that are both visually realistic and physically consistent. Quantitative and qualitative results on both standard video generation and physics-aware benchmarks demonstrate that Phantom not only outperforms existing methods in terms of adherence to physical dynamics but also delivers competitive perceptual fidelity.
Comment: 15 pages, 6 figures, CVPR 2026
arXiv PDF
Are Multimodal LLMs Ready for Surveillance? A Reality Check on Zero-Shot Anomaly Detection in the Wild
Shanle Yao, Armin Danesh Pazho, Narges Rashvand, Hamed Tabkhi
arXiv:2603.04727v2 •updated • 2026-03-05
Multimodal large language models (MLLMs) have demonstrated impressive general competence in video understanding, yet their reliability for real-world Video Anomaly Detection (VAD) remains largely unexplored. Unlike conventional pipelines relying on reconstruction or pose-based cues, MLLMs enable a paradigm shift: treating anomaly detection as a language-guided reasoning task. In this work, we systematically evaluate state-of-the-art MLLMs on the ShanghaiTech and CHAD benchmarks by reformulating VAD as a binary classification task under weak temporal supervision. We investigate how prompt specificity and temporal window lengths (1s--3s) influence performance, focusing on the precision--recall trade-off. Our findings reveal a pronounced conservative bias in zero-shot settings; while models exhibit high confidence, they disproportionately favor the 'normal' class, resulting in high precision but a recall collapse that limits practical utility. We demonstrate that class-specific instructions can significantly shift this decision boundary, improving the peak F1-score on ShanghaiTech from 0.09 to 0.64, yet recall remains a critical bottleneck. These results highlight a significant performance gap for MLLMs in noisy environments and provide a foundation for future work in recall-oriented prompting and model calibration for open-world surveillance, which demands complex video understanding and reasoning.
arXiv PDF
Embodied Intelligence
1
默认显示 1 篇
Dexora: Open-source VLA for High-DoF Bimanual Dexterity
Zongzheng Zhang, Jingrui Pang, Zhuo Yang, Kun Li, Minwen Liao, Saining Zhang, Guoxuan Chi, Jinbang Guo, Huan-ang Gao, Modi Shi, Dongyun Ge, Yao Mu, Jiayuan Gu, Rui Chen, Hao Dong, Huazhe Xu, Li Yi, Yixin Zhu, Hang Zhao, Pengwei Wang, Shanghang Zhang, Guocai Yao, Jianyu Chen, Hongyang Li, Hao Zhao
arXiv:2605.18722v1 • 2026-05-18
Vision-Language-Action (VLA) models have recently become a central direction in embodied AI, but current systems are restricted to either dual-gripper control or single-arm dexterous hand manipulation. While low-dimensional gripper control can often be handled with simpler methods, high-dimensional dexterous hand control benefits greatly from full end-to-end VLA learning. In this work, we introduce Dexora, the first open-source VLA system that natively targets dual-arm, dual-hand high-DoF manipulation. We design a hybrid teleoperation pipeline that decouples gross arm kinematics (captured with a custom exoskeleton backpack) from fine finger motion (markerless hand tracking via Apple Vision Pro), and that drives both a physical dual-arm dual-hand platform and an identical MuJoCo digital twin. Using that interface, we assemble a large training corpus: an embodiment-matched synthetic corpus (100K simulated trajectories, 6.5M frames) and a real-world dataset of 10K teleoperated episodes (2.92M frames). To mitigate noisy teleoperation demonstrations, we propose a data-quality-aware training recipe: an offline discriminator provides clip-level weights for diffusion-transformer policy training, down-weighting low-quality demonstrations. Empirically, Dexora outperforms competitive VLA baselines on both basic and dexterous benchmarks (e.g., average dexterous success 66.7% vs. 51.7%), attains 90% success on basic tasks, and shows robust out-of-distribution and cross-embodiment generalization. Ablations confirm the importance of real data and the discriminator for dexterity.
Comment: Accpeted by ICRA 2026
arXiv PDF
2026-05-10
1 篇
Embodied Intelligence
1
默认显示 1 篇
Language Conditioned Multi-Finger Dexterous Manipulation Enabled by Physical Compliance and Switching of Controllers
Cheng Pan, Kai Junge, Benhui Dai, Qinghua Guan, Josie Hughes
arXiv:2410.14022v2 •updated • 2024-10-17
Human dexterity arises from combining high-level task reasoning with finger-level dexterity control and physical compliance at the muscle and skin layers. In robotics, large Vision-Language-Action (VLA) models demonstrate text-conditioned high-level planning across diverse manipulation tasks, typically using pincher grippers. Smaller imitation-learning policies, conversely, show success in dexterous tasks using higher degree-of-freedom (DoF) grippers, but only for limited-scope tasks. However, few approaches combine high-level reasoning with dexterous, robust low-level control, which requires both intelligent control and compliant robot design. We propose a method inspired by the two-channel hypothesis of human motor control that combines these capabilities using a switching controller integrating high-level VLAs and smaller control models. Coordination between the two channels is managed through an event-driven switching mechanism that monitors subtask progression and completion, requiring minimal demonstration data by fine-tuning the VLA to predict event signals and training lightweight subtask-level dexterous policies. This approach is applied to our custom compliant 13-DoF anthropomorphic robotic hand, where compliance can be modulated to evaluate its impact on dexterity and robustness when combined with an autonomous policy. We show that hardware-level compliance in robotic fingers enables passive adaptation to disturbances and improves contact stability. The methodology is validated across a range of language-conditioned dexterous tasks. To demonstrate modularity, we show that adaptation to additional dexterous skills and different compliant hands can be achieved without retraining the VLA model. This provides an efficient, scalable, cross-embodiment approach to dexterity that leverages compliance while retaining the advantages of large AI models.
arXiv PDF
2026-05-07
208 篇
Robotics
54
默认显示 5 篇
Multi-Robot Coordination in V2X Environments
John Pravin Arockiasamy, Alexey Vinel
arXiv:2605.06662v1 • 2026-05-07
This paper presents a Vehicle-to-Everything (V2X) communication framework that enables decentralized cooperation among social robots operating in complex urban traffic environments. Building on ETSI Cooperative Awareness and Maneuver Coordination services, the framework introduces two robot-centric facility-layer services: the Robot Awareness Service (RAS) and the Robot Maneuver Coordination Service (RMCS), realized through the Robot Awareness Message (RAM) and the Robot Maneuver Coordination Message (RMCM), respectively. RAS enables role-aware, task-oriented robot awareness while integrating externally detected Vulnerable Road Users (VRUs), including non-V2X pedestrians, into cooperative awareness. RMCS supports event-driven, low-latency coordination of robot maneuvers under explicitly established roles, without centralized infrastructure or prior pairing. A real-world proof of concept demonstrates deterministic multi-robot coordination between a humanoid robot and a quadrupedal robot assisting a pedestrian during a road-crossing scenario, governed by a formally specified finite-state coordination model. Complementary simulations evaluate robot-mediated VRU clustering in mixed V2X environments, showing that RAS-based clustering integrates non-V2X VRUs in safety-critical areas while reducing redundant transmissions from V2X-enabled VRUs, thereby lowering channel load. Together, the proposed services provide a scalable and standards-aligned foundation for integrating cooperative robots into future Connected, Cooperative, and Automated Mobility ecosystems.
Comment: Accepted for publication at the IEEE Intelligent Transportation Systems Conference (ITSC), 2026
arXiv PDF
Flexible Agent Alignment with Goal Inference from Open-Ended Dialog
Rachel Ma, Jingyi Qu, Andreea Bobu, Dylan Hadfield-Menell
arXiv:2508.15119v2 •updated • 2025-08-20
We introduce Open-Universe Assistance Games (OU-AGs), a formal framework extending assistance games to LLM-based agents. Effective assistance requires reasoning over human preferences that are unbounded, underspecified, and evolving. Current LLM agents struggle in multi-turn interactions and with maintaining accurate models of user intent in collaborative settings. Existing assistance game formulations assume fixed, predefined preferences, an assumption that breaks down in open-ended dialogue where goals are revised incrementally and expressed in natural language. Grounded in cognitive science accounts of preference construction, we represent human preferences as a dynamically updated distribution over discrete natural-language goals. To operationalize OU-AGs, we introduce GOOD (GOals from Open-ended Dialogue), a data-efficient online method that extracts and ranks candidate goals during interaction, using LLM-simulated users to perform probabilistic inference over goal hypotheses. This allows for interpretable, uncertainty-aware preference representations without large offline datasets. We evaluate GOOD across three text-based domains: grocery shopping, household robotics (AI2-THOR), and coding. Compared to baselines without explicit goal tracking, GOOD produces semantically coherent goal representations and improves alignment with user intent across domains.
Comment: Previous version of the paper was titled: Open-Universe Assistance Games
arXiv PDF
Cross-Modal Navigation with Multi-Agent Reinforcement Learning
Shuo Liu, Xinzichen Li, Christopher Amato
arXiv:2605.06595v1 • 2026-05-07
Robust embodied navigation relies on complementary sensory cues. However, high-quality and well-aligned multi-modal data is often difficult to obtain in practice. Training a monolithic model is also challenging as rich multi-modal inputs induce complex representations and substantially enlarge the policy space. Cross-modal collaboration among lightweight modality-specialized agents offers a scalable paradigm. It enables flexible deployment and parallel execution, while preserving the strength of each modality. In this paper, we propose \textbf{CRONA}, a Multi-Agent Reinforcement Learning (MARL) framework for \textbf{Cro}ss-Modal \textbf{Na}vigation. CRONA improves collaboration by leveraging control-relevant auxiliary beliefs and a centralized multi-modal critic with global state. Experiments on visual-acoustic navigation tasks show that multi-agent methods significantly improve performance and efficiency over single-agent baselines. We find that homogeneous collaboration with limited modalities is sufficient for short-range navigation under salient cues; heterogeneous collaboration among agents with complementary modalities is generally efficient and effective; and navigation in large, complex environments requires both richer multi-modal perception and increased model capacity.
arXiv PDF
ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting
David Müller, Agon Serifi, Sammy Christen, Ruben Grandia, Espen Knoop, Moritz Bächer
arXiv:2605.06593v1 • 2026-05-07
Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which hinder downstream imitation learning. We propose a bilevel optimization framework that jointly adapts reference motions to a robot's morphology while training a tracking policy using reinforcement learning. To make the optimization tractable, we derive an approximate gradient for the upper-level loss. Our framework requires only a sparse set of semantic rigid-body correspondences and eliminates the need for manual tuning by identifying optimal values for a parameterization expressive enough to preserve characteristic motion across different embodiments. Moreover, by integrating retargeting directly with physics simulation, we produce physically plausible motions that facilitate robust imitation learning. We validate our method in simulation and on hardware, demonstrating challenging motions for morphologies that differ significantly from a human, including retargeting onto a quadruped.
Comment: SIGGRAPH 2026
arXiv PDF
Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
arXiv:2605.06498v1 • 2026-05-07
In this paper, we describe procedures for computing higher-order time derivatives of the Lie-group Newton-Euler, Articulated-Body Inertia, and hybrid dynamics algorithms for floating-base trees, where the base configuration evolves on SE(3) and the attached mechanism is an open kinematic tree with configuration on the (n1+n2)-dimensional manifold T^{n1} \times R^{n2}, using spatial representation of twists. After presenting the algorithms, we collect the resulting recursions into closed-form equations of motion, identifying an admissible Coriolis matrix satisfying the passivity property, and showing that the articulated inertia tensor remains unchanged across all time derivatives. We then apply the developed methods to a 12-DoF aerial manipulator to derive analytical expressions for its geometric forward and inverse dynamics along with their first time derivatives whereas the numerical simulations successfully evaluate these dynamics up to fifth order. Finally, to demonstrate their practical utility, we benchmark the proposed extensions and show that, in the considered tests, their computational cost scales quadratically with the derivative order, whereas the automatic-differentiation baseline exhibits exponential scaling.
arXiv PDF
Video World Models
18
默认显示 5 篇
Relit-LiVE: Relight Video by Jointly Learning Environment Video
Weiqing Xiao, Hong Li, Xiuyu Yang, Houyuan Chen, Wenyi Li, Tianqi Liu, Shaocong Xu, Chongjie Ye, Hao Zhao, Beibei Wang
arXiv:2605.06658v1 • 2026-05-07
Recent advances have shown that large-scale video diffusion models can be repurposed as neural renderers by first decomposing videos into intrinsic scene representations and then performing forward rendering under novel illumination. While promising, this paradigm fundamentally relies on accurate intrinsic decomposition, which remains highly unreliable for real-world videos and often leads to distorted appearances, broken materials, and accumulated temporal artifacts during relighting. In this work, we present Relit-LiVE, a novel video relighting framework that produces physically consistent, temporally stable results without requiring prior knowledge of camera pose. Our key insight is to explicitly introduce raw reference images into the rendering process, enabling the model to recover critical scene cues that are inevitably lost or corrupted in intrinsic representations. Furthermore, we propose a novel environment video prediction formulation that simultaneously generates relit videos and per-frame environment maps aligned with each camera viewpoint in a single diffusion process. This joint prediction enforces strong geometric-illumination alignment and naturally supports dynamic lighting and camera motion, significantly improving physical consistency in video relighting while easing the requirement of known per-frame camera pose. Extensive experiments demonstrate that Relit-LiVE consistently outperforms state-of-the-art video relighting and neural rendering methods across synthetic and real-world benchmarks. Beyond relighting, our framework naturally supports a wide range of downstream applications, including scene-level rendering, material editing, object insertion, and streaming video relighting. The Project is available at https://github.com/zhuxing0/Relit-LiVE.
Comment: Accepted at SIGGRAPH 2026. Project site: https://github.com/zhuxing0/Relit-LiVE
arXiv PDF
REMAP: Regularized Matching and Partial Alignment of Video Embeddings
Soumyadeep Chandra, Kaushik Roy
arXiv:2509.24382v2 •updated • 2025-09-29
Real-world instructional videos are long, noisy, and often contain extended background segments, repeated actions, and execution variability that do not correspond to meaningful procedural steps. We propose **REMAP**, an unsupervised framework for procedure learning based on *Regularized Fused Partial Gromov-Wasserstein Optimal Transport*. REMAP relaxes balanced transport constraints, allowing non-informative or redundant frames to remain unmatched through partial transport. The formulation jointly models semantic similarity and temporal structure, while incorporating Laplacian-based smoothness and structural regularization to prevent degenerate alignments and reduce background interference. We evaluate REMAP on large-scale egocentric and third-person benchmarks. The method consistently outperforms state-of-the-art approaches, achieving up to **11.6\% (+4.45pp)** F1 and **19.6\% (+4.73pp)** IoU improvements on EgoProceL, and an average **41\% (+17.15pp)** F1 gain on ProceL and CrossTask. These results highlight the importance of partial alignment in handling real-world procedural variability and demonstrate that REMAP provides a robust and scalable approach for instructional video understanding.
Comment: 9 pages, 4 figures, 6 tables
arXiv PDF
Multimodal Fact-Level Attribution for Verifiable Reasoning
David Wan, Han Wang, Ziyang Wang, Elias Stengel-Eskin, Hyunji Lee, Mohit Bansal
arXiv:2602.11509v2 •updated • 2026-02-12
Multimodal large language models (MLLMs) are increasingly used for real-world tasks involving multi-step reasoning and long-form generation, where reliability requires grounding model outputs in heterogeneous input sources and verifying individual factual claims. However, existing multimodal grounding benchmarks and evaluation methods focus on simplified, observation-based scenarios or limited modalities and fail to assess attribution in complex multimodal reasoning. We introduce MuRGAt (Multimodal Reasoning with Grounded Attribution), a benchmark for evaluating fact-level multimodal attribution in settings that require reasoning beyond direct observation. Given inputs spanning video, audio, and other modalities, MuRGAt requires models to generate answers with explicit reasoning and precise citations, where each citation specifies both modality and temporal segments. To enable reliable assessment, we introduce an automatic evaluation framework that strongly correlates with human judgments. Benchmarking with human and automated scores reveals that even strong MLLMs frequently hallucinate citations despite correct reasoning. Moreover, we observe a key trade-off: increasing reasoning depth or enforcing structured grounding often degrades accuracy, highlighting a significant gap between internal reasoning and verifiable attribution.
Comment: Accepted to ICML 2026. Code and data are available at https://github.com/meetdavidwan/murgat
arXiv PDF
DeEscalWild: A Real-World Benchmark for Automated De-Escalation Training with SLMs
Md Hasebul Hasan, Krity Haque Charu, Eshwara Prasad Sridhar, Shuchisnigdha Deb, Mohammad A. Islam
arXiv:2604.13075v2 •updated • 2026-03-20
Effective de-escalation is critical for law enforcement safety and community trust, yet traditional training methods lack scalability and realism. While Large Language Models (LLMs) enable dynamic, open-ended simulations, their substantial computational footprint renders them impractical for deployment on the lightweight, portable hardware required for immersive field training. Small Language Models (SLMs) offer a viable real-time alternative but suffer from a critical scarcity of high-quality, domain-specific training data. To bridge this gap, we present DeEscalWild, a novel benchmark dataset curated from a multi-stage pipeline of in-the-wild police-civilian interactions extracted from publicly available video repositories. Starting with 5,000 raw inputs, we employed a rigorous hybrid filtering process combining human-in-the-loop verification with LLM-as-a-Judge evaluation to distill 1,500 high-fidelity scenarios. The resulting corpus comprises 285,887 dialogue turns, totaling approximately 4.7 million tokens. Extensive experiments demonstrate that SLMs fine-tuned on this data significantly outperform their base counterparts across ROUGE-L, BLEU-4, METEOR, BERTScore, Realism Score, and human evaluation metrics. Notably, our fine-tuned Qwen 2.5 (3B-Instruct) surpasses the general-purpose Gemini 2.5 Flash model when evaluated under equivalent conditions, demonstrating that domain-optimized SLMs can achieve superior performance with a fraction of the computational cost. This work establishes the foundational infrastructure for accessible, low-latency, and privacy-preserving officer training systems at the edge. We publicly release our code(https://github.com/Hasebul/DeEscalWild-Benchmark-Framework) and dataset(https://doi.org/10.7910/DVN/CWMCZI).
Comment: 20 pages
arXiv PDF
OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
Yushan Liu, Peibo Sun, Shoujie Li, Yifan Xie, Lingfeng Zhang, Xintao Chao, Shiyuan Dong, Fang Chen, Xiao-Ping Zhang, Wenbo Ding
arXiv:2605.06481v1 • 2026-05-07
World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted world as holistic images, video tokens, or global latents. These representations are difficult for an action decoder to address when an instruction refers to a particular object, especially under scene shifts where object identity is entangled with context. We propose OA-WAM, an Object-Addressable World Action Model for robust robot manipulation. OA-WAM decomposes each frame into N+1 slot states, with one robot slot and N object slots. Each slot contains a persistent address vector and a time-varying content vector, and is fused with text, image, proprioception, and past-action tokens in a block-causal sequence. A world head predicts next-frame slot states, while a flow-matching action head decodes a 16-step continuous action chunk in the same forward pass. Addressability is enforced by routing cross-slot attention through address-only keys and resetting the address slice at every transformer layer, separating which object to act on from what that object currently is without adding extra tokens. OA-WAM matches strong VLA and WAM baselines on LIBERO (97.8%) and SimplerEnv (79.3%), reaches state-of-the-art performance on the most relevant LIBERO-Plus geometric axes, and remains competitive on the seven-axis aggregate. A causal slot-intervention test yields a swap-binding cosine of 0.87, versus at most 0.09 for holistic baselines. These results suggest that addressable object states provide an effective interface for robust world-action modeling under scene perturbations.
arXiv PDF
Embodied Intelligence
36
默认显示 5 篇
BAMI: Training-Free Bias Mitigation in GUI Grounding
Borui Zhang, Bo Zhang, Bo Wang, Wenzhao Zheng, Yuhao Cheng, Liang Tang, Yiqiang Yan, Jie Zhou, Jiwen Lu
arXiv:2605.06664v1 • 2026-05-07
GUI grounding is a critical capability for enabling GUI agents to execute tasks such as clicking and dragging. However, in complex scenarios like the ScreenSpot-Pro benchmark, existing models often suffer from suboptimal performance. Utilizing the proposed \textbf{Masked Prediction Distribution (MPD)} attribution method, we identify that the primary sources of errors are twofold: high image resolution (leading to precision bias) and intricate interface elements (resulting in ambiguity bias). To address these challenges, we introduce \textbf{Bias-Aware Manipulation Inference (BAMI)}, which incorporates two key manipulations, coarse-to-fine focus and candidate selection, to effectively mitigate these biases. Our extensive experimental results demonstrate that BAMI significantly enhances the accuracy of various GUI grounding models in a training-free setting. For instance, applying our method to the TianXi-Action-7B model boosts its accuracy on the ScreenSpot-Pro benchmark from 51.9\% to 57.8\%. Furthermore, ablation studies confirm the robustness of the BAMI approach across diverse parameter configurations, highlighting its stability and effectiveness. Code is available at https://github.com/Neur-IO/BAMI.
Comment: Accepted by CVPR 2026
arXiv PDF
Cross-Modal Navigation with Multi-Agent Reinforcement Learning
Shuo Liu, Xinzichen Li, Christopher Amato
arXiv:2605.06595v1 • 2026-05-07
Robust embodied navigation relies on complementary sensory cues. However, high-quality and well-aligned multi-modal data is often difficult to obtain in practice. Training a monolithic model is also challenging as rich multi-modal inputs induce complex representations and substantially enlarge the policy space. Cross-modal collaboration among lightweight modality-specialized agents offers a scalable paradigm. It enables flexible deployment and parallel execution, while preserving the strength of each modality. In this paper, we propose \textbf{CRONA}, a Multi-Agent Reinforcement Learning (MARL) framework for \textbf{Cro}ss-Modal \textbf{Na}vigation. CRONA improves collaboration by leveraging control-relevant auxiliary beliefs and a centralized multi-modal critic with global state. Experiments on visual-acoustic navigation tasks show that multi-agent methods significantly improve performance and efficiency over single-agent baselines. We find that homogeneous collaboration with limited modalities is sufficient for short-range navigation under salient cues; heterogeneous collaboration among agents with complementary modalities is generally efficient and effective; and navigation in large, complex environments requires both richer multi-modal perception and increased model capacity.
arXiv PDF
ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting
David Müller, Agon Serifi, Sammy Christen, Ruben Grandia, Espen Knoop, Moritz Bächer
arXiv:2605.06593v1 • 2026-05-07
Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which hinder downstream imitation learning. We propose a bilevel optimization framework that jointly adapts reference motions to a robot's morphology while training a tracking policy using reinforcement learning. To make the optimization tractable, we derive an approximate gradient for the upper-level loss. Our framework requires only a sparse set of semantic rigid-body correspondences and eliminates the need for manual tuning by identifying optimal values for a parameterization expressive enough to preserve characteristic motion across different embodiments. Moreover, by integrating retargeting directly with physics simulation, we produce physically plausible motions that facilitate robust imitation learning. We validate our method in simulation and on hardware, demonstrating challenging motions for morphologies that differ significantly from a human, including retargeting onto a quadruped.
Comment: SIGGRAPH 2026
arXiv PDF
Refining Gelfond Rationality Principle: Towards More Comprehensive Foundational Principles for Answer Set Semantics
Yi-Dong Shen, Thomas Eiter
arXiv:2507.01833v2 •updated • 2025-07-02
Non-monotonic logic programming is the basis for a declarative problem solving paradigm known as answer set programming (ASP). Departing from the seminal definition by Gelfond and Lifschitz in 1988 for simple normal logic programs, various answer set semantics have been proposed for extensions. We consider two important questions: (1) Should the minimal model property, constraint monotonicity and foundedness as defined in the literature be mandatory conditions for an answer set semantics in general? (2) If not, what other properties could be considered as general principles for answer set semantics? We address the two questions. First, it seems that the three aforementioned conditions may sometimes be too strong, and we illustrate with examples that enforcing them may exclude expected answer sets. Second, we evolve the Gelfond answer set (GAS) principles for answer set construction by refining the Gelfond's rationality principle to well-supportedness, minimality w.r.t. negation by default and minimality w.r.t. epistemic negation. The principle of well-supportedness guarantees that every answer set is constructible from if-then rules obeying a level mapping and is thus free of circular justification, while the two minimality principles ensure that the formalism minimizes knowledge both at the level of answer sets and of world views. Third, to embody the refined GAS principles, we extend the notion of well-supportedness substantially to answer sets and world views, respectively. Fourth, we define new answer set semantics in terms of the refined GAS principles. Fifth, we use the refined GAS principles as an alternative baseline to intuitively assess the existing answer set semantics. Finally, we analyze the computational complexity.
Comment: 76 pages. This article is a significantly extended version of a paper presented by the authors at IJCAI-2022
arXiv PDF
MineEvolve: Self-Evolution with Accumulated Knowledge for Long-Horizon Embodied Minecraft Agents
Zhengwei Xie, Zhisheng Chen, Ziyan Weng, Jinhan Li, Chenglong Li, Zikai Xiao, Jingwei Song, Jinhao Jing, Vireo Zhang, Kun Wang
arXiv:2603.13131v2 •updated • 2026-03-13
Long-horizon embodied intelligence requires agents to improve through interaction, not merely to execute plans generated from static goals. A central challenge is therefore to transform past executions into knowledge that can shape future decisions. Minecraft provides a representative testbed for this problem, where tasks such as crafting tools, building redstone components, and obtaining diamond equipment involve long prerequisite chains and are frequently disrupted by missing tools, blocked paths, GUI failures, or stagnant execution. To this end, we propose \textbf{MineEvolve}, a knowledge-driven self-evolution framework that converts execution feedback into actionable behavioral knowledge. MineEvolve first uses \underline{\emph{\textbf{\ding{182}Monitor}}} to convert each subgoal execution into typed feedback, including state changes, inventory changes, failure types, progress signals, and stagnation indicators. \underline{\emph{\textbf{\ding{183}Inducer}}} then derives reusable skills from successful executions and remedies from failed or stagnant executions. \underline{\emph{\textbf{\ding{184}Curator}}} validates, merges, filters, and retrieves these knowledge entries, while \underline{\emph{\textbf{\ding{185}Adaptor}}} uses them to repair the unfinished part of the plan under repeated failures or stagnation. Experiments on the Minecraft MCU long-horizon task suite show that MineEvolve consistently improves performance across multiple language-model planners, with larger gains on high-dependency task groups. Ablation and knowledge-accumulation studies further demonstrate that converting execution signals into structured behavioral knowledge is an effective path toward self-evolving embodied agents in long-horizon environments. Our code is available at https://github.com/xzw-ustc/MC-MineEvolve.
arXiv PDF
End-to-End AD
50
默认显示 5 篇
Multi-Robot Coordination in V2X Environments
John Pravin Arockiasamy, Alexey Vinel
arXiv:2605.06662v1 • 2026-05-07
This paper presents a Vehicle-to-Everything (V2X) communication framework that enables decentralized cooperation among social robots operating in complex urban traffic environments. Building on ETSI Cooperative Awareness and Maneuver Coordination services, the framework introduces two robot-centric facility-layer services: the Robot Awareness Service (RAS) and the Robot Maneuver Coordination Service (RMCS), realized through the Robot Awareness Message (RAM) and the Robot Maneuver Coordination Message (RMCM), respectively. RAS enables role-aware, task-oriented robot awareness while integrating externally detected Vulnerable Road Users (VRUs), including non-V2X pedestrians, into cooperative awareness. RMCS supports event-driven, low-latency coordination of robot maneuvers under explicitly established roles, without centralized infrastructure or prior pairing. A real-world proof of concept demonstrates deterministic multi-robot coordination between a humanoid robot and a quadrupedal robot assisting a pedestrian during a road-crossing scenario, governed by a formally specified finite-state coordination model. Complementary simulations evaluate robot-mediated VRU clustering in mixed V2X environments, showing that RAS-based clustering integrates non-V2X VRUs in safety-critical areas while reducing redundant transmissions from V2X-enabled VRUs, thereby lowering channel load. Together, the proposed services provide a scalable and standards-aligned foundation for integrating cooperative robots into future Connected, Cooperative, and Automated Mobility ecosystems.
Comment: Accepted for publication at the IEEE Intelligent Transportation Systems Conference (ITSC), 2026
arXiv PDF
Flexible Agent Alignment with Goal Inference from Open-Ended Dialog
Rachel Ma, Jingyi Qu, Andreea Bobu, Dylan Hadfield-Menell
arXiv:2508.15119v2 •updated • 2025-08-20
We introduce Open-Universe Assistance Games (OU-AGs), a formal framework extending assistance games to LLM-based agents. Effective assistance requires reasoning over human preferences that are unbounded, underspecified, and evolving. Current LLM agents struggle in multi-turn interactions and with maintaining accurate models of user intent in collaborative settings. Existing assistance game formulations assume fixed, predefined preferences, an assumption that breaks down in open-ended dialogue where goals are revised incrementally and expressed in natural language. Grounded in cognitive science accounts of preference construction, we represent human preferences as a dynamically updated distribution over discrete natural-language goals. To operationalize OU-AGs, we introduce GOOD (GOals from Open-ended Dialogue), a data-efficient online method that extracts and ranks candidate goals during interaction, using LLM-simulated users to perform probabilistic inference over goal hypotheses. This allows for interpretable, uncertainty-aware preference representations without large offline datasets. We evaluate GOOD across three text-based domains: grocery shopping, household robotics (AI2-THOR), and coding. Compared to baselines without explicit goal tracking, GOOD produces semantically coherent goal representations and improves alignment with user intent across domains.
Comment: Previous version of the paper was titled: Open-Universe Assistance Games
arXiv PDF
DC-DiT: Adaptive Compute and Elastic Inference for Visual Generation via Dynamic Chunking
Akash Haridas, Utkarsh Saxena, Parsa Ashrafi Fashi, Mehdi Rezagholizadeh, Vikram Appia, Emad Barsoum
arXiv:2603.06351v2 •updated • 2026-03-06
Diffusion Transformers rely on static patchify tokenization, assigning the same token budget to smooth backgrounds, detailed object regions, noisy early timesteps, and late-stage refinements. We introduce the Dynamic Chunking Diffusion Transformer (DC-DiT), which replaces fixed patchification with a learned encoder-router-decoder scaffold that adaptively compresses the 2D input into a shorter token sequence through a chunking mechanism learned end-to-end with diffusion training. DC-DiT allocates fewer tokens to predictable regions and noisy timesteps, and more tokens to detailed regions and later refinement stages, yielding meaningful spatial segmentations and timestep-adaptive compression schedules without supervision. Furthermore, the router provides an importance ordering over retained tokens, enabling elastic inference: a single checkpoint can be evaluated at flexible compute budgets with a smooth quality-compute tradeoff. Additionally, DC-DiT can be upcycled from pretrained DiT checkpoints and is also compatible with orthogonal dynamic computation approaches. On class-conditional ImageNet generation, DC-DiT reduces inference FLOPs by up to 36.8% and improves FID by up to 37.8% over DiT baselines, yielding a stronger quality--compute Pareto frontier across model scales, resolutions, and guidance settings. More broadly, these results suggest that adaptive tokenization is a general mechanism for making visual generation both more efficient and more flexible at inference time.
arXiv PDF
Agentic AIs Are the Missing Paradigm for Out-of-Distribution Generalization in Foundation Models
Xin Wang, Haibo Chen, Wenxuan Liu, Wenwu Zhu
arXiv:2605.06522v1 • 2026-05-07
Foundation models (FMs) are increasingly deployed in open-world settings where distribution shift is the rule rather than the exception. The out-of-distribution (OOD) phenomena they face -- knowledge boundaries, capability ceilings, compositional shifts, and open-ended task variation -- differ in kind from the settings that have shaped prior OOD research, and are further complicated because the pretraining and post-training distributions of modern FMs are often only partially observed. Our position is that OOD for foundation models is a structurally distinct problem that cannot be solved within the prevailing model-centric paradigm, and that agentic systems constitute the missing paradigm required to address it. We defend this claim through four steps. First, we give a stage-aware formalization of OOD that accommodates partially observed multi-stage training distributions. Second, we prove a parameter coverage ceiling: there exist practically relevant inputs that no model-centric method (training-time or test-time) can handle within tolerance $\varepsilon$, for reasons intrinsic to parameter-based representation. Third, we characterize agentic OOD systems by four structural properties -- perception, strategy selection, external action, and closed-loop verification -- and show that they strictly extend the reachable set beyond the ceiling. Fourth, we respond to seven counterarguments, conceding two, and outline a research agenda. We do not claim that agentic methods subsume model-centric ones; we argue that the two are complementary, and that progress on FM-OOD requires explicit recognition of the agentic paradigm as a first-class research direction.
Comment: 13 pages, 2 figures
arXiv PDF
GeoStack: A Framework for Quasi-Abelian Knowledge Composition in VLMs
Pranav Mantini, Shishir K. Shah
arXiv:2605.06477v1 • 2026-05-07
We address the challenge of knowledge composition in Vision-Language Models (VLMs), where accumulating expertise across multiple domains or tasks typically leads to catastrophic forgetting. We introduce GeoStack (Geometric Stacking), a modular framework that allows independently trained domain experts to be composed into a unified model. By imposing geometric and structural constraints on the adapter manifold, GeoStack ensures the foundational knowledge of the base model is preserved. Furthermore, we mathematically demonstrate a weight-folding property that achieves constant-time inference complexity ($O(1)$), regardless of the number of integrated experts. Experimental results across multi-domain adaptation and class-incremental learning show that GeoStack provides an efficient mechanism for long-term knowledge composition while significantly mitigating catastrophic forgetting. Code is available at https://github.com/QuantitativeImagingLaboratory/GeoStack.
arXiv PDF
Foundation Models
50
默认显示 5 篇
ActCam: Zero-Shot Joint Camera and 3D Motion Control for Video Generation
Omar El Khalifi, Thomas Rossi, Oscar Fossey, Thibault Fouque, Ulysse Mizrahi, Philip Torr, Ivan Laptev, Fabio Pizzati, Baptiste Bellot-Gurlet
arXiv:2605.06667v1 • 2026-05-07
For artistic applications, video generation requires fine-grained control over both performance and cinematography, i.e., the actor's motion and the camera trajectory. We present ActCam, a zero-shot method for video generation that jointly transfers character motion from a driving video into a new scene and enables per-frame control of intrinsic and extrinsic camera parameters. ActCam builds on any pretrained image-to-video diffusion model that accepts conditioning in terms of scene depth and character pose. Given a source video with a moving character and a target camera motion, ActCam generates pose and depth conditions that remain geometrically consistent across frames. We then run a single sampling process with a two-phase conditioning schedule: early denoising steps condition on both pose and sparse depth to enforce scene structure, after which depth is dropped and pose-only guidance refines high-frequency details without over-constraining the generation. We evaluate ActCam on multiple benchmarks spanning diverse character motions and challenging viewpoint changes. We find that, compared to pose-only control and other pose and camera methods, ActCam improves camera adherence and motion fidelity, and is preferred in human evaluations, especially under large viewpoint changes. Our results highlight that careful camera-consistent conditioning and staged guidance can enable strong joint camera and motion control without training. Project page: https://elkhomar.github.io/actcam/.
Comment: SIGGRAPH 2026
arXiv PDF
UniPool: A Globally Shared Expert Pool for Mixture-of-Experts
Minbin Huang, Han Shi, Chuanyang Zheng, Yimeng Wu, Guoxuan Chen, Xintong Yu, Yichun Yin, Hong Cheng
arXiv:2605.06665v1 • 2026-05-07
Modern Mixture-of-Experts (MoE) architectures allocate expert capacity through a rigid per-layer rule: each transformer layer owns a separate expert set. This convention couples depth scaling with linear expert-parameter growth and assumes that every layer needs isolated expert capacity. However, recent analyses and our routing probe challenge this allocation rule: replacing a deeper layer's learned top-k router with uniform random routing drops downstream accuracy by only 1.0-1.6 points across multiple production MoE models. Motivated by this redundancy, we propose UniPool, an MoE architecture that treats expert capacity as a global architectural budget by replacing per-layer expert ownership with a single shared pool accessed by independent per-layer routers. To enable stable and balanced training under sharing, we introduce a pool-level auxiliary loss that balances expert utilization across the entire pool, and adopt NormRouter to provide sparse and scale-stable routing into the shared expert pool. Across five LLaMA-architecture model scales (182M, 469M, 650M, 830M, and 978M parameters) trained on 30B tokens from the Pile, UniPool consistently improves validation loss and perplexity over the matched vanilla MoE baselines. Across these scales, UniPool reduces validation loss by up to 0.0386 relative to vanilla MoE. Beyond raw loss improvement, our results identify pool size as an explicit depth-scaling hyperparameter: reduced-pool UniPool variants using only 41.6%-66.7% of the vanilla expert-parameter budget match or outperform layer-wise MoE at the tested scales. This shows that, under a shared-pool design, expert parameters need not grow linearly with depth; they can grow sublinearly while remaining more efficient and effective than vanilla MoE. Further analysis shows that UniPool's benefits compose with finer-grained expert decomposition.
arXiv PDF
BAMI: Training-Free Bias Mitigation in GUI Grounding
Borui Zhang, Bo Zhang, Bo Wang, Wenzhao Zheng, Yuhao Cheng, Liang Tang, Yiqiang Yan, Jie Zhou, Jiwen Lu
arXiv:2605.06664v1 • 2026-05-07
GUI grounding is a critical capability for enabling GUI agents to execute tasks such as clicking and dragging. However, in complex scenarios like the ScreenSpot-Pro benchmark, existing models often suffer from suboptimal performance. Utilizing the proposed \textbf{Masked Prediction Distribution (MPD)} attribution method, we identify that the primary sources of errors are twofold: high image resolution (leading to precision bias) and intricate interface elements (resulting in ambiguity bias). To address these challenges, we introduce \textbf{Bias-Aware Manipulation Inference (BAMI)}, which incorporates two key manipulations, coarse-to-fine focus and candidate selection, to effectively mitigate these biases. Our extensive experimental results demonstrate that BAMI significantly enhances the accuracy of various GUI grounding models in a training-free setting. For instance, applying our method to the TianXi-Action-7B model boosts its accuracy on the ScreenSpot-Pro benchmark from 51.9\% to 57.8\%. Furthermore, ablation studies confirm the robustness of the BAMI approach across diverse parameter configurations, highlighting its stability and effectiveness. Code is available at https://github.com/Neur-IO/BAMI.
Comment: Accepted by CVPR 2026
arXiv PDF
Multi-Robot Coordination in V2X Environments
John Pravin Arockiasamy, Alexey Vinel
arXiv:2605.06662v1 • 2026-05-07
This paper presents a Vehicle-to-Everything (V2X) communication framework that enables decentralized cooperation among social robots operating in complex urban traffic environments. Building on ETSI Cooperative Awareness and Maneuver Coordination services, the framework introduces two robot-centric facility-layer services: the Robot Awareness Service (RAS) and the Robot Maneuver Coordination Service (RMCS), realized through the Robot Awareness Message (RAM) and the Robot Maneuver Coordination Message (RMCM), respectively. RAS enables role-aware, task-oriented robot awareness while integrating externally detected Vulnerable Road Users (VRUs), including non-V2X pedestrians, into cooperative awareness. RMCS supports event-driven, low-latency coordination of robot maneuvers under explicitly established roles, without centralized infrastructure or prior pairing. A real-world proof of concept demonstrates deterministic multi-robot coordination between a humanoid robot and a quadrupedal robot assisting a pedestrian during a road-crossing scenario, governed by a formally specified finite-state coordination model. Complementary simulations evaluate robot-mediated VRU clustering in mixed V2X environments, showing that RAS-based clustering integrates non-V2X VRUs in safety-critical areas while reducing redundant transmissions from V2X-enabled VRUs, thereby lowering channel load. Together, the proposed services provide a scalable and standards-aligned foundation for integrating cooperative robots into future Connected, Cooperative, and Automated Mobility ecosystems.
Comment: Accepted for publication at the IEEE Intelligent Transportation Systems Conference (ITSC), 2026
arXiv PDF
Verifier-Backed Hard Problem Generation for Mathematical Reasoning
Yuhang Lai, Jiazhan Feng, Yee Whye Teh, Ning Miao
arXiv:2605.06660v1 • 2026-05-07
Large Language Models (LLMs) demonstrate strong capabilities for solving scientific and mathematical problems, yet they struggle to produce valid, challenging, and novel problems - an essential component for advancing LLM training and enabling autonomous scientific research. Existing problem generation approaches either depend on expensive human expert involvement or adopt naive self-play paradigms, which frequently yield invalid problems due to reward hacking. This work introduces VHG, a verifier-enhanced hard problem generation framework built upon three-party self-play. By integrating an independent verifier into the conventional setter-solver duality, our design constrains the setter's reward to be jointly determined by problem validity (evaluated by the verifier) and difficulty (assessed by the solver). We instantiate two verifier variants: a Hard symbolic verifier and a Soft LLM-based verifier, with evaluations conducted on indefinite integral tasks and general mathematical reasoning tasks. Experimental results show that VHG substantially outperforms all baseline methods by a clear margin.
arXiv PDF
2026-05-06
192 篇
Robotics
65
默认显示 5 篇
VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
Zichao Hu, Zifan Xu, Dongsik Chang, He Yin, Linh Tran, Roberto Martín-Martín, Peter Stone, Jingyu Qiao, Joydeep Biswas
arXiv:2605.01518v3 •updated • 2026-05-02
The ability to push large objects in a goal-directed manner using onboard egocentric perception is an essential skill for humanoid robots to perform complex tasks such as material handling in warehouses. To robustly manipulate heavy objects to arbitrary goal configurations, the robot must cope with unknown object mass and ground friction, noisy onboard perception, and actuation errors; all in a real-time feedback loop. Existing solutions either rely on privileged object-state information without onboard perception or lack robustness to variations in goal configurations and object physical properties. In this work, we present VOFA, a visual goal-conditioned humanoid loco-manipulation system capable of pushing objects with unknown physical properties to arbitrary goal positions. VOFA consists of a two-level hierarchical architecture with a high-level visuomotor policy and a low-level force-adaptive whole-body controller. The high-level policy processes noisy onboard observations and generates goal-conditioned commands to operate in closed loop across diverse object-goal configurations, while the low-level whole-body controller provides robustness to variations in object physical properties. VOFA is extensively evaluated in both simulation and real-world experiments on the Booster T1 humanoid robot. Our results demonstrate strong performance, achieving over 90% success in simulation and over 80% success in real-world trials. Moreover, VOFA successfully pushes objects weighing up to 17kg, exceeding half of the Booster T1's body weight.
arXiv PDF
Robust $\mathcal{H}_\infty$ Controller Design For INDI-Controlled Quadrotor Using Online Parameter Identification
Tom Aantjes, Till M. Blaha, Spilios Theodoulis, Ewoud J. J. Smeur
arXiv:2605.05483v1 • 2026-05-06
It has recently been shown that all physical parameters of an Incremental Nonlinear Dynamic Inversion (INDI) controller can be estimated onboard a multirotor within half a second, which is fast enough to do the full identification during a throw in the air. However, a robust method to tune outer loop gains for this feedback-linearizing INDI controller depending on the model parameters is still missing. This work presents the design of a robust gain-scheduled controller for attitude control of quadrotor, using an INDI-based inner loop with online identification of its system parameters. A gain-scheduled cascaded attitude controller with a feedforward filter is synthesized for a symmetric quadrotor using signal-based $\mathcal{H}_\infty$ closed-loop shaping. The resulting controller exhibits good stability margins, with nonlinear simulations confirming effective tracking performance under uncertainty. Experimental evaluation is also conducted through flight tests with full online parameter identification. Even though the identified parameters during these tests are far outside the defined uncertainty range, acceptable flight performance comparable to simulation results is maintained for actuator time constants below 40 ms.
Comment: 8 pages, 11 figures, Accepted to the ICUAS 2026 conference
arXiv PDF
A Position Statement on Endovascular Models and Effectiveness Metrics for Mechanical Thrombectomy Navigation, on behalf of the Stakeholder Taskforce for AI-assisted Robotic Thrombectomy (START)
Harry Robertshaw, Anna Barnes, Phil Blakelock, Raphael Blanc, Robert Crossley, Rebecca Fahrig, Ameer E. Hassan, Benjamin Jackson, Lennart Karstensen, Neelam Kaur, Markus Kowarschik, Jeremy Lynch, Franziska Mathis-Ullrich, Dwight Meglan, Vitor Mendes Pereira, Mouloud Ourak, Matteo Pantano, S. M. Hadi Sadati, Alice Taylor-Gee, Tom Vercauteren, Phil White, Alejandro Granados, Thomas C. Booth
arXiv:2603.28129v2 •updated • 2026-03-30
While we are making progress in overcoming infectious diseases and cancer; one of the major medical challenges of the mid-21st century will be the rising prevalence of stroke. Large vessels occlusions are especially debilitating, yet effective treatment (needed within hours to achieve best outcomes) remains limited due to geography. One solution for improving timely access to mechanical thrombectomy in geographically diverse populations is the deployment of robotic surgical systems. Artificial intelligence (AI) assistance may enable the upskilling of operators in this emerging therapeutic delivery approach. Our aim was to establish consensus frameworks for developing and validating AI-assisted robots for thrombectomy. Objectives included standardizing effectiveness metrics and defining reference testbeds across in silico, in vitro, ex vivo, and in vivo environments. To achieve this, we convened experts in neurointervention, robotics, data science, health economics, policy, statistics, and patient advocacy. Consensus was built through an incubator day, a Delphi process, and a final Position Statement. We identified that the four essential testbed environments each had distinct validation roles. Realism requirements vary: simpler testbeds should include realistic vessel anatomy compatible with guidewire and catheter use, while standard testbeds should incorporate deformable vessels. More advanced testbeds should include blood flow, pulsatility, and disease features. There are two macro-classes of effectiveness metrics: one for in silico, in vitro, and ex vivo stages focusing on technical navigation, and another for in vivo stages, focused on clinical outcomes. Patient safety is central to this technology's development. One requisite patient safety task needed now is to correlate in vitro measurements to in vivo complications.
Comment: Published in Journal of the American Heart Association
arXiv PDF
Contact-Free Grasp Stability Prediction with In-Hand Time-of-Flight Sensors
Kyle DuFrene, Cindy Grimm
arXiv:2605.05461v1 • 2026-05-06
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these approaches rely on making contact and grasping the object to do so. We propose a contact-free grasp stability predictor using multi-zone time-of-flight sensors mounted in the distal links of a gripper. Our method, as it does not require grasping the object to make a prediction, significantly speeds up the stability classification process, cycling at 15 Hz. We collected over 2,500 real-world grasps across 15 objects to train a classifier. Additionally, we conducted grasp attempts over six additional unseen objects, three for validation and model selection, and three for model testing. Our approach demonstrated strong classification performance, with an accuracy of 85.5% on validation and 86.0% on test objects.
arXiv PDF
BOIL: Learning Environment Personalized Information
Rohan Patil, Henrik I. Christensen
arXiv:2604.17137v2 •updated • 2026-04-18
Navigating complex environments poses challenges for multi-agent systems, requiring efficient extraction of insights from limited information. In this paper, we introduce the Blackbox Oracle Information Learning (BOIL) process, a scalable solution for extracting valuable insights from the environment structure. Leveraging the Pagerank algorithm and common information maximization, BOIL facilitates the extraction of information to guide long-term agent behavior applicable to problems such as coverage, patrolling, and stochastic reachability. Through experiments, we demonstrate the efficacy of BOIL in generating strategy distributions conducive to improved performance over extended time horizons, surpassing heuristic approaches in complex environments.
arXiv PDF
Video World Models
7
默认显示 5 篇
LoViF 2026 The First Challenge on Holistic Quality Assessment for 4D World Model (PhyScore)
Wei Luo, Yiting Lu, Xin Li, Haoran Li, Fengbin Guan, Chen Gao, Xin Jin, Yong Li, Zhibo Chen, Sijing Wu, Kang Fu, Yunhao Li, Ziang Xiao, Huiyu Duan, Jing Liu, Qiang Hu, Xiongkuo Min, Guangtao Zhai, Manxi Sun, Zixuan Guo, Yun Li, Ziyang Chen, Manabu Tsukada, Zhengyang Li, Zhenglin Du, Yi Wen, Licheng Jiao, Fang Liu, Lingling Li, Yiwen Ren, Zhilong Song, Dubing Chen, Yucheng Zhou, Tianyi Yan, Huan Zheng
arXiv:2605.05187v1 • 2026-05-06
This paper reports on the LoViF 2026 PhyScore challenge, a competition on holistic quality assessment of world-model-generated videos across both 2D and 4D generation settings. The challenge is motivated by a central gap in current evaluation practice: perceptual quality alone is insufficient to judge whether generated dynamics are physically plausible, temporally coherent, and consistent with input conditions. Participants are required to build a metric that jointly predicts four dimensions, i.e., Video Quality, Physical Realism, Condition-Video Alignment, and Temporal Consistency. Depart from that, participants also need to localize physical anomaly timestamps for fine-grained diagnosis. The benchmark dataset contains 1,554 videos generated by seven representative world generative models, organized into three tracks (text-2D, image-to-4D, and video-to-4D) and spanning 26 categories. These categories explicitly cover physics-relevant scenarios, including dynamics, optics, and thermodynamics, together with diverse real-world and creative content. To ensure label reliability, scores and anomaly timestamps are produced through trained human annotation with an additional automated quality-control pass. Evaluation is based on both score prediction and anomaly localization, with a composite protocol that combines TimeStamp_IOU and SRCC/PLCC. This report summarizes the challenge design and provides method-level insights from submitted solutions.
arXiv PDF
Manifold Steering Reveals the Shared Geometry of Neural Network Representation and Behavior
Daniel Wurgaft, Can Rager, Matthew Kowal, Vasudev Shyam, Sheridan Feucht, Usha Bhalla, Tal Haklay, Eric Bigelow, Raphael Sarfati, Thomas McGrath, Owen Lewis, Jack Merullo, Noah Goodman, Thomas Fel, Atticus Geiger, Ekdeep Singh Lubana
arXiv:2605.05115v1 • 2026-05-06
Neural representations carry rich geometric structure; but does that structure causally shape behavior? To address this question, we intervene along paths through activation space defined by different geometries, and measure the behavioral trajectories they induce. In particular, we test whether interventions that respect the geometry of activation space will yield behaviors close to those the model exhibits naturally. Concretely, we first fit an activation manifold $M_h$ to representations and a behavior manifold $M_y$ to output probability distributions. We then test the link $M_h \leftrightarrow M_y$ via interventions: we find that steering along $M_h$, which we term manifold steering, yields behavioral trajectories that follow $M_y$, while linear steering -- which assumes a Euclidean geometry -- cuts through off-manifold regions and hence produces unnatural outputs. Moreover, optimizing interventions in activation space to produce paths along $M_y$ recovers activation trajectories that trace the curvature of $M_h$. We demonstrate this bidirectional relationship between the geometry of representation and behavior across tasks and modalities. In language models, we use reasoning tasks with cyclic and sequential geometries as well as in-context learning tasks with more complex graph geometries. In a video world model, we use a task with geometry corresponding to physical dynamics. Overall, our work shows that geometry in neural representation is not merely incidental, but is in fact the proper object for enabling principled control via intervention on internals. This recasts the core problem of steering from finding the right direction to finding the right geometry.
arXiv PDF
SignVerse-2M: A Two-Million-Clip Pose-Native Universe of 55+ Sign Languages
Sen Fang, Hongbin Zhong, Yanxin Zhang, Dimitris N. Metaxas
arXiv:2605.01720v2 •updated • 2026-05-03
Existing large-scale sign language resources typically provide supervision only at the level of raw video-text alignment and are often produced in laboratory settings. While such resources are important for semantic understanding, they do not directly provide a unified interface for open-world recognition and translation, or for modern pose-driven sign language video generation frameworks: 1. RGB-based pretrained recognition models depend heavily on fixed backgrounds or clothing conditions during recording, and are less robust in open-world settings than style-agnostic pose-processing models. 2. Recent pose-guided image/video generation models mostly use a unified keypoint representation such as DWPose as their control interface. At present, the sign language field still lacks a data resource that can directly interface with this modern pose-native paradigm while also targeting real-world open scenarios. We present SignVerse-2M, a large-scale multilingual pose-native dataset for sign language pose modeling and evaluation. Built from publicly available multilingual sign language video resources, it applies DWPose in a unified preprocessing pipeline to convert raw videos into 2D pose sequences that can be used directly for modeling, resulting in a consolidated corpus of about two million clips covering more than 55 sign languages. Unlike many laboratory datasets, this resource preserves the recording conditions and speaker diversity of real-world videos while reducing appearance variation through a unified pose representation. Toward this goal, we further provide the data construction pipeline, task definitions, and a simple SignDW Transformer baseline, demonstrating the feasibility of this resource for multilingual pose-space modeling and its compatibility with modern pose-driven pipelines, while discussing the evaluation claims it can support as well as its current limitations.
Comment: The included languages actually amount to 55+, and the 25 types refer to those that exceed 15 hours. 13 pages. Project Page at: https://signerx.github.io/SignVerse-2M/
arXiv PDF
InSpatio-WorldFM: An Open-Source Real-Time Generative Frame Model
InSpatio Team, Donghui Shen, Guofeng Zhang, Haomin Liu, Haoyu Ji, Jialin Liu, Jing Guo, Nan Wang, Siji Pan, Weihong Pan, Weijian Xie, Xiaojun Xiang, Xiaoyu Zhang, Xianbin Liu, Yifu Wang, Yipeng Chen, Zhewen Le, Zhichao Ye, Ziqiang Zhao
arXiv:2603.11911v3 •updated • 2026-03-12
We present InSpatio-WorldFM, an open-source real-time frame model for spatial intelligence. Unlike video-based world models that rely on sequential frame generation and incur substantial latency due to window-level processing, InSpatio-WorldFM adopts a frame-based paradigm that generates each frame independently, enabling low-latency real-time spatial inference. By enforcing multi-view spatial consistency through explicit 3D anchors and implicit spatial memory, the model preserves global scene geometry while maintaining fine-grained visual details across viewpoint changes. We further introduce a progressive three-stage training pipeline that transforms a pretrained image diffusion model into a controllable frame model and finally into a real-time generator through few-step distillation. Experimental results show that InSpatio-WorldFM achieves strong multi-view consistency while supporting interactive exploration on consumer-grade GPUs, providing an efficient alternative to traditional video-based world models for real-time world simulation.
Comment: Project page: https://inspatio.github.io/worldfm/ Code: https://github.com/inspatio/worldfm
arXiv PDF
FairEnc: A Fair Vision-Language Model with Fair Vision and Text Encoders for Glaucoma Detection
Mohamed Elhabebe, Ayman El-Baz, Qing Liu
arXiv:2605.04882v1 • 2026-05-06
Automated glaucoma detection is critical for preventing irreversible vision loss and reducing the burden on healthcare systems. However, ensuring fairness across diverse patient populations remains a significant challenge. In this paper, we propose FairEnc, a fair pretraining method for vision-language models (VLMs) that enables simultaneous debiasing across multiple sensitive attributes. FairEnc jointly mitigates biases in both textual and visual modalities with respect to multiple sensitive attributes, including race, gender, ethnicity, and language. Specifically, for the textual encoder, we leverage a large language model to generate synthetic clinical descriptions with varied sensitive attributes while preserving disease semantics, and employ a contrastive alignment objective to encourage demographic-invariant representations. For the visual encoder, we propose a dual-level fairness strategy that combines mutual information regularization to reduce statistical dependence between learned features and demographic groups, with multi-discriminator adversarial debiasing. Comprehensive experiments on the publicly available Harvard-FairVLMed dataset demonstrate that FairEnc effectively reduces demographic disparity as measured by DPD and DEOdds while achieving strong diagnostic performance under both zero-shot and linear probing evaluations. Additional experiments on the private FairFundus dataset show that FairEnc consistently preserves fairness advantages under cross-domain and cross-modality settings and maintains diagnostic performance within a competitive range. These results highlight FairEnc's ability to generalize fairness under distribution shifts, supporting its potential for more equitable deployment in real-world clinical settings. Our codebase and synthetic clinical notes are available at https://github.com/Mohamed-Elhabebe/FairEnc
arXiv PDF
Embodied Intelligence
25
默认显示 5 篇
VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
Zichao Hu, Zifan Xu, Dongsik Chang, He Yin, Linh Tran, Roberto Martín-Martín, Peter Stone, Jingyu Qiao, Joydeep Biswas
arXiv:2605.01518v3 •updated • 2026-05-02
The ability to push large objects in a goal-directed manner using onboard egocentric perception is an essential skill for humanoid robots to perform complex tasks such as material handling in warehouses. To robustly manipulate heavy objects to arbitrary goal configurations, the robot must cope with unknown object mass and ground friction, noisy onboard perception, and actuation errors; all in a real-time feedback loop. Existing solutions either rely on privileged object-state information without onboard perception or lack robustness to variations in goal configurations and object physical properties. In this work, we present VOFA, a visual goal-conditioned humanoid loco-manipulation system capable of pushing objects with unknown physical properties to arbitrary goal positions. VOFA consists of a two-level hierarchical architecture with a high-level visuomotor policy and a low-level force-adaptive whole-body controller. The high-level policy processes noisy onboard observations and generates goal-conditioned commands to operate in closed loop across diverse object-goal configurations, while the low-level whole-body controller provides robustness to variations in object physical properties. VOFA is extensively evaluated in both simulation and real-world experiments on the Booster T1 humanoid robot. Our results demonstrate strong performance, achieving over 90% success in simulation and over 80% success in real-world trials. Moreover, VOFA successfully pushes objects weighing up to 17kg, exceeding half of the Booster T1's body weight.
arXiv PDF
PRISM: Perception Reasoning Interleaved for Sequential Decision Making
Mohamed Salim Aissi, Clemence Grislain, Clement Romac, Laure Soulier, Mohamed Chetouani, Olivier Sigaud, Nicolas Thome
arXiv:2605.05407v1 • 2026-05-06
Scaling LLM-based embodied agents from text-only environments to complex multimodal settings remains a major challenge. Recent work identifies a perception-reasoning-decision gap in standalone Vision-Language Models (VLMs), which often overlook task-critical information. In this paper, we introduce PRISM, a framework that tightly couples perception (VLM) and decision (LLM) through a dynamic question-answer (DQA) pipeline. Instead of passively accepting the VLM's description, the LLM critiques it, probes the VLM with goal-oriented questions, and synthesizes a compact image description. This closed-loop interaction yields a sharp, task-driven understanding of the scene. We evaluate PRISM on the ALFWorld and Room-to-Room (R2R) benchmarks. We show that: (1) PRISM significantly outperforms state-of-the-art image-based models, (2) our Interactive goal-oriented perception pipeline yields systematic and substantial gains, and (3) PRISM is fully automatic, eliminating the need for handcrafted questions or answers.
arXiv PDF
How Far Are VLMs from Privacy Awareness in the Physical World? An Empirical Study
Junran Wang, Xinjie Shen, Zehao Jin, Pan Li
arXiv:2605.05340v1 • 2026-05-06
As Vision-Language Models (VLMs) are increasingly deployed as autonomous cognitive cores for embodied assistants, evaluating their privacy awareness in physical environments becomes critical. Unlike digital chatbots, these agents operate in intimate spaces, such as homes and hospitals, where they possess the physical agency to observe and manipulate privacy-sensitive information and artifacts. However, current benchmarks remain limited to unimodal, text-based representations that cannot capture the demands of real-world settings. To bridge this gap, we present ImmersedPrivacy, an interactive audio-visual evaluation framework that simulates realistic physical environments using a Unity-based simulator. ImmersedPrivacy evaluates physically grounded privacy awareness across three progressive tiers that test a model's ability to identify sensitive items in cluttered scenes, adapt to shifting social contexts, and resolve conflicts between explicit commands and inferred privacy constraints. Our evaluation of 12 state-of-the-art models reveals consistent deficits. In cluttered scenes, all models exhibit monotonic performance decay as scene complexity grows due to perceptual deficit. When social context shifts, no model exceed 65% selection accuracy. Under conflicting commands, the best model gemini-3.1-pro perfectly balances task completion and privacy preservation in only 51% of cases. These findings reveal that current VLMs in the physical world suffer from perceptual fragility and fail to let their knowledge of privacy cues govern their situated behavior. Our code and data is available at https://github.com/immersed-privacy/immersed-privacy .
arXiv PDF
When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learning
Lakshita Dodeja, Ondrej Biza, Shivam Vats, Stephen Hart, Stefanie Tellex, Robin Walters, Karl Schmeckpeper, Thomas Weng
arXiv:2605.05172v1 • 2026-05-06
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 baselines on success rate and time to convergence. Q2RL is efficient enough to be applied in an on-robot RL setting, learning robust policies for contact-rich and high precision manipulation tasks such as pipe assembly and kitting, in 1-2 hours of online interaction, achieving success rates of up to 100% and up to 3.75x improvement against the original BC policy. Code and video are available at https://pages.rai-inst.com/q2rl_website/
arXiv PDF
ConsisVLA-4D: Advancing Spatiotemporal Consistency in Efficient 3D-Perception and 4D-Reasoning for Robotic Manipulation
Wei Li, Jizhihui Liu, Li Yixing, Junwen Tong, Rui Shao, Liqiang Nie
arXiv:2605.05126v1 • 2026-05-06
Current Vision-Language-Action (VLA) models primarily focus on mapping 2D observations to actions, but exhibit notable limitations in spatiotemporal perception and reasoning: 1) spatial representations often rely on additional sensors, introducing substantial computational overhead; 2) visual reasoning is typically limited to future-frame prediction, lacking alignment with the instruction-grounded scene and thus compromising spatiotemporal consistency. To address these challenges, we propose ConsisVLA-4D, a unified and efficient framework that enhances spatiotemporal consistency in 3D perception and 4D reasoning. Specifically, we design: 1) CV-Aligner, which ensures cross-view object semantic consistency by filtering instruction-relevant regions and aligning object identities across multiple viewpoints; 2) CO-Fuser, which guarantees cross-object spatial geometric consistency by eliminating spatial relation ambiguities between objects across views using compact latent representations. Building upon these, we introduce 3) CS-Thinker to achieve cross-scene spatiotemporal consistency as actions unfold. It learns implicit knowledge of local dynamics from object-semantic tokens of CV-Aligner and global depth from geometric tokens of CO-Fuser, thereby enhancing efficient visual reasoning under scene variations. Extensive experiments demonstrate that, benefiting from its efficient spatiotemporal consistency design, ConsisVLA-4D achieves 21.6% and 41.5% performance improvements, along with 2.3-fold and 2.4-fold inference speedups compared to OpenVLA on the LIBERO benchmark and real-world platforms, respectively.ConsisVLA-4D is open-sourced and publicly available at
Comment: Accepted to CVPR 2026, Project Page: https://github.com/iLearn-Lab/CVPR26-ConsisVLA-4D
arXiv PDF
End-to-End AD
45
默认显示 5 篇
A unified Benchmark for Multi-Frame Image Restoration under Severe Refractive Warping
Maxim V. Shugaev, Md Reshad Ul Hoque, Bridget Kennedy, Joseph T. Riley, Fiona Hwang, Justin Hagen, Harvir Ghuman, Ethan Garcia-O'Donnell, Syed Noor Qadri, Freddie Santiago, Mun Wai Lee
arXiv:2605.05079v1 • 2026-05-06
Video sequence capturing through refractive dynamic media, such as a turbulent air or water surface, often suffer from severe geometric distortions and temporal instability. While recent advances address mild atmospheric turbulence, no existing benchmarks systematically evaluate restoration methods under strong and highly nonuniform refractive conditions. We present a comprehensive benchmark for geometric distortion removal in video, covering a range from turbulence-like mild warping to strong discontinuous refractive deformations. The benchmark includes both laboratory-captured real data and synthetic sequences generated for static scenes via physics-based light refraction modeling across four distortion levels and multiple surface wave types. We evaluate a spectrum of methods from simple baselines and classical registration algorithms to advanced learning-based approaches including DATUM and our proposed diffusion based V-cache for high and extreme distortions regimes. Evaluation uses both pixel-level (PSNR, SSIM), and perceptual (LPIPS, DINO, CLIP) metrics providing the first large scale analysis of geometric distortion removal. Our benchmark establishes a new foundation for developing and evaluating algorithms capable of reconstructing video from highly distorted optical environments. Our code and datasets are available at https://github.com/iafoss/refractive-mfir-benchmark.
Comment: 15 pages, 6 figures
arXiv PDF
Scalable Object Detection in the Car Interior With Vision Foundation Models
Bálint Mészáros, Ahmet Firintepe, Sebastian Schmidt, Stephan Günnemann
arXiv:2508.19651v2 •updated • 2025-08-27
AI tasks in the car interior like identifying and localizing externally introduced objects is crucial for response quality of personal assistants. However, computational resources of on-board systems remain highly constrained, restricting the deployment of such solutions directly within the vehicle. To address this limitation, we propose the novel Object Detection and Localization (ODAL) framework for interior scene understanding. Our approach leverages vision foundation models through a distributed architecture, splitting computational tasks between on-board and cloud. This design overcomes the resource constraints of running foundation models directly in the car. To benchmark model performance, we introduce ODALbench, a new metric for comprehensive assessment of detection and localization.Our analysis demonstrates the framework's potential to establish new standards in this domain. We compare the state-of-the-art GPT-4o vision foundation model with the lightweight LLaVA 1.5 7B model and explore how fine-tuning enhances the lightweight models performance. Remarkably, our fine-tuned ODAL-LLaVA model achieves an ODAL$_{score}$ of 89%, representing a 71% improvement over its baseline performance and outperforming GPT-4o by nearly 20%. Furthermore, the fine-tuned model maintains high detection accuracy while significantly reducing hallucinations, achieving an ODAL$_{SNR}$ three times higher than GPT-4o.
arXiv PDF
Height-Guided Projection Reparameterization for Camera-LiDAR Occupancy
Yuan Wu, Zhiqiang Yan, Jiawei Lian, Zhengxue Wang, Jian Yang
arXiv:2605.05072v1 • 2026-05-06
3D occupancy prediction aims to infer dense, voxel-wise scene semantics from sensor observations, where the 2D-to-3D view transformation serves as a crucial step in bridging image features and volumetric representations. Most previous methods rely on a fixed projection space, where 3D reference points are uniformly sampled along pillars. However, such sampling struggles to capture the sparsity and height variations of real-world scenes, leading to ambiguous correspondences and unreliable feature aggregation. To address these challenges, we propose HiPR, a camera-LiDAR occupancy framework with Height-Guided Projection Reparameterization. HiPR first encodes LiDAR into a BEV height map to capture the maximum height of the point cloud. HiPR then adjusts the sampling range of each pillar using the height prior, enabling adaptive reparameterization of the projection space. As a result, the projected points are redistributed into geometrically meaningful regions rather than fixed ranges. Meanwhile, we mask out the invalid parts of the height map to avoid misleading the feature aggregation. In addition, to alleviate the training instability caused by noisy LiDAR-derived heights, we introduce a training-time Progressive Height Conditioning strategy, which gradually transitions the conditioning signal from ground-truth heights to LiDAR heights. Extensive experiments demonstrate that HiPR consistently outperforms existing state-of-the-art methods while maintaining real-time inference. The code and pretrained models can be found at https://github.com/Rayn-Wu/HiPR.
arXiv PDF
LaST-R1: Reinforcing Robotic Manipulation via Adaptive Physical Latent Reasoning
Hao Chen, Jiaming Liu, Zhonghao Yan, Nuowei Han, Renrui Zhang, Chenyang Gu, Jialin Gao, Ziyu Guo, Siyuan Qian, Yinxi Wang, Peng Jia, Shanghang Zhang, Pheng-Ann Heng
arXiv:2604.28192v2 •updated • 2026-04-30
Robotic foundation models require reasoning over complex visual scenes to execute adaptive actions in dynamic environments. While recent studies on latent-reasoning Vision-Language-Action (VLA) models have demonstrated the capability to capture fine-grained physical dynamics, they remain predominantly confined to static imitation learning, severely limiting their adaptability and generalization. In this paper, we present LaST-R1, a novel reinforcement learning (RL) post-training framework designed to effectively harness "latent reasoning-before-acting" policies. Specifically, we propose Latent-to-Action Policy Optimization (LAPO), a core RL algorithm that jointly optimizes the latent reasoning process and the action generation. By explicitly embedding latent Chain-of-Thought (CoT) reasoning directly within the RL optimization loop, LAPO stimulates profound physical world modeling, which in turn drives robust execution in interactive environments. Furthermore, an adaptive latent CoT mechanism is introduced, allowing the policy to dynamically modulate its reasoning horizon based on diverse environment states. Experiments show that LaST-R1 achieves a near-perfect 99.9% average success rate on the LIBERO benchmark with only one-shot supervised warm-up, significantly improving convergence speed and performance over prior state-of-the-art (SOTA) methods. In real-world deployments, LaST-R1 yields up to a 22.5% average improvement over SOTA supervised fine-tuning approach across four complex tasks, including both single-arm and dual-arm settings. Finally, LaST-R1 demonstrates strong generalization across simulated and real-world environments.
Comment: LaST-R1 Technical Report
arXiv PDF
Look Once, Beam Twice: Camera-Primed Real-Time Double-Directional mmWave Beam Management for Vehicular Connectivity
Avhishek Biswas, Apala Pramanik, Eylem Ekici, Mehmet C. Vuran
arXiv:2605.05071v1 • 2026-05-06
Millimeter-wave (mmWave) frequencies promise multi-gigabit connectivity for vehicle-to-everything (V2X) networks, but face challenges in terms of severe path loss and mobility-related beam misalignment. Reliable V2X connectivity requires fast, double-directional beam alignment. However, existing methods suffer from high training overhead and limited generalization to unseen scenarios. This paper presents VIsion-based BEamforming(VIBE), a hybrid model-based, closed-loop, learning architecture for real-time double-directional mmWave beam management primed by camera sensing. VIBE fuses machine learning, model-based reasoning, and closed-loop RF feedback to balance beam-pair establishment latency with link quality. VIBE bypasses exhaustive training overhead and accelerates link establishment by leveraging camera observations to reduce the beam-search space. Lightweight beam refinement and offset tracking mechanisms adaptively refine beams in response to dynamic application requirements. VIBE is implemented and evaluated across online indoor/outdoor testbeds, public datasets, and real-time vehicular experiments, demonstrating strong generalization capabilities, making it suitable for real-time V2X communication. Comparisons with 5G NR hierarchical beamforming show that VIBE consistently maintains lower outage rates. Furthermore, VIBE outperforms state-of-the-art end-to-end ML models for beam selection when evaluated on public datasets and achieves outage rates as low as 1.1-1.4 %. The results show that a hybrid model-based, closed-loop learning architecture is better suited for real-world mmWave vehicular connectivity than end-to-end trained ML models. For reproducibility, we publish our code to https://github.com/UNL-CPN-Lab/Look-Once-Beam-Twice.
Comment: Accepted to the 2026 IEEE International Conference on Sensing, Communication, and Networking (IEEE SECON 2026). Code and models available at: https://github.com/UNL-CPN-Lab/Look-Once-Beam-Twice
arXiv PDF
Foundation Models
50
默认显示 5 篇
Continual Knowledge Updating in LLM Systems: Learning Through Multi-Timescale Memory Dynamics
Andreas Pattichis, Constantine Dovrolis
arXiv:2605.05097v1 • 2026-05-06
LLMs are trained once, then deployed into a world that never stops changing. External memory compensates for this, but most systems manage it explicitly rather than letting it adapt on its own. Biological memory works differently: coupled multi-timescale dynamics make new associations immediately usable, strengthen what repetition confirms, and let the rest fade. We argue that external memory should follow a similar principle. In Memini, this view takes the form of an associative memory that organizes knowledge as a directed graph. Each edge carries two coupled internal variables, one fast and one slow, following the Benna-Fusi model of synaptic consolidation. From this coupling, episodic sensitivity, gradual consolidation, and selective forgetting emerge as facets of a single mechanism, reframing external memory as a learning substrate that reorganizes through its own dynamics.
Comment: Preprint. 9 pages, 2 figures
arXiv PDF
Human-computer interactions predict mental health
Veith Weilnhammer, Jefferson Ortega, David Whitney
arXiv:2511.20179v5 •updated • 2025-11-25
Scalable assessments of mental illness remain a critical roadblock toward accessible and equitable care. Here, we show that everyday human-computer interactions encode mental health with biomarker accuracy. We introduce MAILA, a MAchine-learning framework for Inferring Latent mental states from digital Activity. We trained MAILA on 18,200 cursor and touchscreen recordings labeled with 1.3 million mental-health self-reports collected from 9,500 participants. MAILA tracks dynamic mental states along 13 clinically relevant dimensions, resolves circadian fluctuations and experimental manipulations of arousal and valence, achieves near-ceiling accuracy at the group level, captures information that is only partially reflected in verbal self-report, and improves the ability of large language models to infer user mental health. By extracting signatures of psychological function that have so far remained untapped, MAILA establishes human-computer interactions as a new modality for scalable digital phenotyping and a foundation for context-aware artificial intelligence.
arXiv PDF
Proximal Projection for Doubly Sparse Regularized Models
Jia Wei He, R. Ayesha Ali, Gerarda Darlington
arXiv:2605.05093v1 • 2026-05-06
Regularization is often used in high-dimensional regression settings to generate a sparse model, which can save tremendous computing resources and identify predictors that are most strongly associated with the response. When the predictors can be represented by a Gaussian graphical model, the structure of the predictor graph can be exploited during regularization. Our proposed model exploits this underlying predictor graph structure by decomposing the estimated coefficient vector into a sum of latent variables that correspond to the sum of each node contribution to the coefficient vector. Regularization is then performed on the latent variables rather than on the coefficient vector directly. We use a penalty function that permits a clear user-defined trade-off between the L1 and L2 penalties and propose a novel proximal projection during optimization. Further, our implementation computes the projection operator for the intersection of selected groups, which conserves more computing resources compared to predictor duplication methods, especially for high-dimensional data. Through simulation, we evaluate the performance of our approach under different graph structures and node counts, and present results on real-world data. Results suggest that our method exhibits stable performance relative to other singly or doubly sparse graphical regression models.
arXiv PDF
Personalized Spiking Neural Networks with Ferroelectric Synapses for EEG Signal Processing
Nikhil Garg, Anxiong Song, Niklas Plessnig, Nathan Savoia, Laura Bégon-Lours
arXiv:2601.00020v3 •updated • 2025-12-22
Electroencephalography (EEG)-based brain-computer interfaces (BCIs) are strongly affected by non-stationary neural signals that vary across sessions and individuals, limiting the generalization of subject-agnostic models and motivating adaptive and personalized learning on resource-constrained platforms. Programmable memristive hardware offers a promising substrate for such post-deployment adaptation; however, practical realization is challenged by limited weight resolution, device variability, nonlinear programming dynamics, and finite device endurance. In this work, we show that spiking neural networks (SNNs) can be deployed on ferroelectric memristive synaptic devices for adaptive EEG-based motor imagery decoding under realistic device constraints, achieving classification performance comparable to software-based SNNs. We fabricate, characterize, and model the weight update in ferroelectric synapses. We then evaluate the deployment of convolutional-recurrent SNN architecture using two strategies. First, we adapt to SNNs a mixed precision strategy in which gradient-based updates are accumulated digitally and converted into discrete programming events only when a threshold is exceeded. Additionally, the weight update is device-aware and accounts for the nonlinear, state-dependent programming dynamics. During learning and adaptation, this scheme mitigates possible endurance and energy constraints. Second, we evaluate the transfer of software-trained weights followed by low-overhead on-device re-tuning. We show that, subject-specific transfer learning achieved by retraining only the final network layers improves classification accuracy. These results demonstrate that programmable ferroelectric hardware can support robust, low-overhead adaptation in spiking neural networks, opening a practical path toward personalized neuromorphic processing of neural signals.
arXiv PDF
Driver-WM: A Driver-Centric Traffic-Conditioned Latent World Model for In-Cabin Dynamics Rollout
Haozhuang Chi, Daosheng Qiu, Hao Su, Haochen Liu, Zirui Li, Haoruo Zhang, Chen Lv
arXiv:2605.05092v1 • 2026-05-06
Safe L2/L3 driving automation requires anticipating human-in-the-loop reactions during shared-control transitions. While most driving world models forecast the external environment, in-cabin intelligence remains strictly recognition-oriented and lacks multi-step rollout capabilities for driver dynamics. We introduce Driver-WM, a driver-centric latent world model that rolls out in-cabin dynamics causally conditioned on out-cabin traffic context. This formulation unifies physical kinematics forecasting with auxiliary behavioral and emotional semantic recognition. Operating in a compact latent space constructed from frozen vision-language features, Driver-WM adopts a dual-stream architecture to separately encode external traffic and internal driver states. These streams are directionally coupled via a gated causal injection mechanism, which uses a learned vector gate to modulate external contextual perturbations while strictly enforcing temporal causality. Evaluations on a multi-task assistive driving benchmark demonstrate that Driver-WM yields robust long-horizon geometric forecasting for reactive high-motion maneuvers and improves semantic alignment for both driver and traffic states. Finally, the explicit external-to-internal conditioning allows for controlled test-time interventions to systematically analyze mechanism responses.
arXiv PDF
2026-05-05
170 篇
Robotics
48
默认显示 5 篇
When Engineering Outruns Intelligence: Rethinking Instruction-Guided Navigation
Matin Aghaei, Lingfeng Zhang, Mohammad Ali Alomrani, Mahdi Biparva, Yingxue Zhang
arXiv:2507.20021v3 •updated • 2025-07-26
Recent ObjectNav systems credit large language models (LLMs) for sizable zero-shot gains, yet it remains unclear how much comes from language versus geometry. We revisit this question by re-evaluating an instruction-guided pipeline, InstructNav, under a detector-controlled setting and introducing two training-free variants that only alter the action value map: a geometry-only Frontier Proximity Explorer (FPE) and a lightweight Semantic-Heuristic Frontier (SHF) that polls the LLM with simple frontier votes. Across HM3D and MP3D, FPE matches or exceeds the detector-controlled instruction follower while using no API calls and running faster; SHF attains comparable accuracy with a smaller, localized language prior. These results suggest that carefully engineered frontier geometry accounts for much of the reported progress, and that language is most reliable as a light heuristic rather than an end-to-end planner. Code available at: https://github.com/matinaghaei/instructnav-scrutinized
Comment: Updated version with additional ablations, clarifications, and code release
arXiv PDF
From Language to Logic: A Theoretical Architecture for VLM-Grounded Safe Navigation
Kristy Sakano, Kalonji Harrington, Mumu Xu
arXiv:2605.04327v1 • 2026-05-05
We propose an architecture for integrating high-level, human-provided safety rules and operator-aligned semantic preferences into autonomous robot navigation in unstructured outdoor environments. In our approach, natural-language rules are translated into Signal Temporal Logic (STL) specifications that guide planning and navigation during runtime. Persistent, environment-centric rules and terrain preferences are grounded into a 2D cost map, while temporally dynamic requirements are expressed as STL specifications to be monitored during runtime. We hypothesize the use of Vision-Language Models (VLMs) for zero-shot scene understanding, enabling mapping between human instructions, semantic features, and environmental constraints. Within this framework, we construct an illustrative navigation model that is designed to satisfy a set of STL-encoded specifications and soft operator preferences through formal satisfaction metrics embedded into environmental properties and runtime monitoring.
Comment: 8 pages, 3 figures, to be published in ICUAS 2026 conference proceedings
arXiv PDF
Beyond Fixed Thresholds and Domain-Specific Benchmarks for Explainable Multi-Task Classification in Autonomous Vehicles
Maryam Sadat Hosseini Azad, Shahriar Baradaran Shokouhi
arXiv:2605.04299v1 • 2026-05-05
Scene understanding is a vital part of autonomous driving systems, which requires the use of deep learning models. Deep learning methods are intrinsically black box models, which lack transparency and safety in autonomous driving. To make these systems transparent, multi-task visual understanding has become crucial for explainable autonomous driving perception systems, where simultaneous prediction of multiple driving behaviors and their underlying explanations is essential for safe navigation and human trust in autonomous vehicles. In order to design an accurate and cross-cultural explainable autonomous driving system, we introduce a comprehensive confidence threshold sensitivity analysis that evaluates various threshold values to identify optimal decision boundaries for different tasks. Our analysis demonstrates that traditional fixed threshold approaches are suboptimal for multi-task scenarios. Through extensive evaluation, we demonstrate that our adaptive threshold selection methodology improves F1-scores across different tasks. In addition, we introduce IUST-XAI-AD, a novel dataset consisting of 958 images with human annotations for driving decisions and corresponding reasoning. This dataset addresses the critical gap in domain-specific evaluation benchmarks for distinct driving contexts and provides a more challenging test environment compared to existing datasets. Experimental results demonstrate that confidence threshold sensitivity analysis can significantly improve model performance, while the introduction of the IUST-XAI-AD dataset reveals important insights about cross-cultural driving behavior patterns. The combined contributions of this work provide both methodological advances and practical evaluation tools that can accelerate the development of more reliable, explainable, and culturally-adaptive autonomous driving systems for global deployment.
arXiv PDF
OPENJ: A Conceptual Framework for Open-Source Digital Human Modeling and Ergonomic Assessment in a CAD Environment
Sinan Bank, Casey E. Eaton
arXiv:2605.04270v1 • 2026-05-05
Industrial workplace challenges range from musculoskeletal disorders -- a leading cause of occupational injury -- to suboptimal workstation layouts, inefficient task sequences, and poor human-equipment fit. Digital human modeling (DHM) tools address several of these challenges by placing a scalable virtual mannequin in a computer-aided design (CAD) environment, enabling engineers to evaluate ergonomic risk through standardized assessment methods (RULA, REBA, NIOSH Lifting Equation, OWAS), optimize workstation layouts for reach and visibility, predict task postures through inverse kinematics, and simulate operations before physical implementation. Despite four decades of development since the Jack system originated at the University of Pennsylvania in the 1980s, the integrated DHM capability set -- anthropometric mannequin, posture prediction, ergonomic assessment, and CAD integration -- remains exclusive to commercial platforms such as Siemens Tecnomatix Jack (Process Simulate), Dassault DELMIA, Humanetics RAMSIS, and the University of Iowa's Santos system. These platforms operate under proprietary, vendor-quoted pricing models, and their acquisition and operating costs, together with closed-source implementations, have been repeatedly identified as practical adoption barriers for individual researchers, small-to-medium enterprises, and educational institutions. Organizations without access resort to manual observational methods -- paper-based worksheets applied to photographs or video -- sacrificing the predictive power and reproducibility that computational analysis provides. The paper serves as a design blueprint for (OpenJane/Joe), positioning the project for subsequent open-source implementation and community adoption.
Comment: 11 pages, 2 figures, submitted to ASME IMECE 2026
arXiv PDF
Globally Solving Unbalanced Optimal Transport and Density Control for Gaussian Distributions
Haruto Nakashima, Siddhartha Ganguly, Kenji Kashima
arXiv:2605.04246v1 • 2026-05-05
In this article, we study unbalanced optimal transport (UOT) and establish a control-theoretic dynamical extension, which we call the unbalanced density control (UDC), for a class of Gaussian reference measures. In the static setting, we consider UOT with quadratic transport cost and Kullback--Leibler penalties on the marginals relative to prescribed Gaussian measures. We show that the infinite-dimensional variational problem admits an exact Gaussian reduction, yielding a finite-dimensional optimization over masses, means, and covariances, together with a closed-form expression for the optimal transported mass. We then formulate UDC for discrete-time linear systems, where the initial and terminal state measures are imposed softly through KL penalties and the intermediate evolution is governed by controlled linear dynamics with quadratic control cost. For this problem, we prove that any feasible solution can be replaced, without loss of optimality, by a Gaussian initial measure and an affine-Gaussian control policy. This leads to an exact finite-dimensional reformulation and, after a standard covariance-steering lifting, to an SDP-based optimization for fixed mass, again coupled with a closed-form mass update. We further establish existence of optimal solutions and identify a sufficient condition under which the affine-Gaussian UDC policy is deterministic. These results provide globally optimal solution methods for both Gaussian UOT and Gaussian UDC. Finally, we illustrate our results with several numerical examples.
Comment: 28 pages; submitted to a journal
arXiv PDF
Video World Models
11
默认显示 5 篇
TurboTalk: Progressive Distillation for One-Step Audio-Driven Talking Avatar Generation
Xiangyu Liu, Feng Gao, Xiaomei Zhang, Yong Zhang, Xiaoming Wei, Zhen Lei, Xiangyu Zhu
arXiv:2604.14580v2 •updated • 2026-04-16
Existing audio-driven video digital human generation models rely on multi-step denoising, resulting in substantial computational overhead that severely limits their deployment in real-world settings. While one-step distillation approaches can significantly accelerate inference, they often suffer from training instability. To address this challenge, we propose TurboTalk, a two-stage progressive distillation framework that effectively compresses a multi-step audio-driven video diffusion model into a single-step generator. We first adopt Distribution Matching Distillation to obtain a strong and stable 4-step student, and then progressively reduce the denoising steps from 4 to 1 through adversarial distillation. To ensure stable training under extreme step reduction, we introduce a progressive timestep sampling strategy and a self-compare adversarial objective that provides an intermediate adversarial reference that stabilizes progressive distillation. Our method achieve single-step generation of video talking avatar, boosting inference speed by 120 times while maintaining high generation quality.
arXiv PDF
X-Cache: Cross-Chunk Block Caching for Few-Step Autoregressive World Models Inference
Yixiao Zeng, Jianlei Zheng, Chaoda Zheng, Shijia Chen, Mingdian Liu, Tongping Liu, Tengwei Luo, Yu Zhang, Boyang Wang, Linkun Xu, Siyuan Lu, Bo Tian, Xianming Liu
arXiv:2604.20289v2 •updated • 2026-04-22
Real-time world simulation is becoming a key infrastructure for scalable evaluation and online reinforcement learning of autonomous driving systems. Recent driving world models built on autoregressive video diffusion achieve high-fidelity, controllable multi-camera generation, but their inference cost remains a bottleneck for interactive deployment. However, existing diffusion caching methods are designed for offline video generation with multiple denoising steps, and do not transfer to this scenario. Few-step distilled models have no inter-step redundancy left for these methods to reuse, and sequence-level parallelization techniques require future conditioning that closed-loop interactive generation does not provide. We present X-Cache, a training-free acceleration method that caches along a different axis: across consecutive generation chunks rather than across denoising steps. X-Cache maintains per-block residual caches that persist across chunks, and applies a dual-metric gating mechanism over a structure- and action-aware block-input fingerprint to independently decide whether each block should recompute or reuse its cached residual. To prevent approximation errors from permanently contaminating the autoregressive KV cache, X-Cache identifies KV update chunks (the forward passes that write clean keys and values into the persistent cache) and unconditionally forces full computation on these chunks, cutting off error propagation. We implement X-Cache on X-world, a production multi-camera action-conditioned driving world model built on multi-block causal DiT with few-step denoising and rolling KV cache. X-Cache achieves 71% block skip rate with 2.6x wall-clock speedup while maintaining minimum degradation.
Comment: Technical Report, update demonstration website
arXiv PDF
Audio-Visual Intelligence in Large Foundation Models
You Qin, Kai Liu, Shengqiong Wu, Kai Wang, Shijian Deng, Yapeng Tian, Junbin Xiao, Yazhou Xing, Yinghao Ma, Bobo Li, Roger Zimmermann, Lei Cui, Furu Wei, Jiebo Luo, Hao Fei
arXiv:2605.04045v1 • 2026-05-05
Audio-Visual Intelligence (AVI) has emerged as a central frontier in artificial intelligence, bridging auditory and visual modalities to enable machines that can perceive, generate, and interact in the multimodal real world. In the era of large foundation models, joint modeling of audio and vision has become increasingly crucial, i.e., not only for understanding but also for controllable generation and reasoning across dynamic, temporally grounded signals. Recent advances, such as Meta MovieGen and Google Veo-3, highlight the growing industrial and academic focus on unified audio-vision architectures that learn from massive multimodal data. However, despite rapid progress, the literature remains fragmented, spanning diverse tasks, inconsistent taxonomies, and heterogeneous evaluation practices that impede systematic comparison and knowledge integration. This survey provides the first comprehensive review of AVI through the lens of large foundation models. We establish a unified taxonomy covering the broad landscape of AVI tasks, ranging from understanding (e.g., speech recognition, sound localization) to generation (e.g., audio-driven video synthesis, video-to-audio) and interaction (e.g., dialogue, embodied, or agentic interfaces). We synthesize methodological foundations, including modality tokenization, cross-modal fusion, autoregressive and diffusion-based generation, large-scale pretraining, instruction alignment, and preference optimization. Furthermore, we curate representative datasets, benchmarks, and evaluation metrics, offering a structured comparison across task families and identifying open challenges in synchronization, spatial reasoning, controllability, and safety. By consolidating this rapidly expanding field into a coherent framework, this survey aims to serve as a foundational reference for future research on large-scale AVI.
Comment: 56 pages, 16 figures, 24 tables, https://github.com/JavisVerse/Awesome-AVI
arXiv PDF
A Benchmark for Interactive World Models with a Unified Action Generation Framework
Jianjie Fang, Yingshan Lei, Qin Wan, Ziyou Wang, Yuchao Huang, Yongyan Xu, Baining Zhao, Weichen Zhang, Chen Gao, Xinlei Chen, Yong Li
arXiv:2605.03941v1 • 2026-05-05
Achieving Artificial General Intelligence (AGI) requires agents that learn and interact adaptively, with interactive world models providing scalable environments for perception, reasoning, and action. Yet current research still lacks large-scale datasets and unified benchmarks to evaluate their physical interaction capabilities. To address this, we propose iWorld-Bench, a comprehensive benchmark for training and testing world models on interaction-related abilities such as distance perception and memory. We construct a diverse dataset with 330k video clips and select 2.1k high-quality samples covering varied perspectives, weather, and scenes. As existing world models differ in interaction modalities, we introduce an Action Generation Framework to unify evaluation and design six task types, generating 4.9k test samples. These tasks jointly assess model performance across visual generation, trajectory following, and memory. Evaluating 14 representative world models, we identify key limitations and provide insights for future research. The iWorld-Bench model leaderboard is publicly available at iWorld-Bench.com.
Comment: Accepted at ICML 2026
arXiv PDF
ClawMark: A Living-World Benchmark for Multi-Turn, Multi-Day, Multimodal Coworker Agents
Fanqing Meng, Lingxiao Du, Zijian Wu, Guanzheng Chen, Xiangyan Liu, Jiaqi Liao, Chonghe Jiang, Zhenglin Wan, Jiawei Gu, Pengfei Zhou, Rui Huang, Ziqi Zhao, Shengyuan Ding, Ailing Yu, Bo Peng, Bowei Xia, Hao Sun, Haotian Liang, Ji Xie, Jiajun Chen, Jiajun Song, Liu Yang, Ming Xu, Qionglin Qiu, Runhao Fu, Shengfang Zhai, Shijian Wang, Tengfei Ma, Tianyi Wu, Weiyang Jin, Yan Wang, Yang Dai, Yao Lai, Youwei Shu, Yue Liu, Yunzhuo Hao, Yuwei Niu, Jinkai Huang, Jiayuan Zhuo, Zhennan Shen, Linyu Wu, Hannah Yao, Charles Chen, Cihang Xie, Yuyin Zhou, Jiaheng Zhang, Zeyu Zheng, Mengkang Hu, Michael Qizhe Shieh
arXiv:2604.23781v2 •updated • 2026-04-26
Language-model agents are increasingly used as persistent coworkers that assist users across multiple working days. During such workflows, the surrounding environment may change independently of the agent: new emails arrive, calendar entries shift, knowledge-base records are updated, and evidence appears across images, scanned PDFs, audio, video, and spreadsheets. Existing benchmarks do not adequately evaluate this setting because they typically run within a single static episode and remain largely text-centric. We introduce \bench{}, a benchmark for coworker agents built around multi-turn multi-day tasks, a stateful sandboxed service environment whose state evolves between turns, and rule-based verification. The current release contains 100 tasks across 13 professional scenarios, executed against five stateful sandboxed services (filesystem, email, calendar, knowledge base, spreadsheet) and scored by 1537 deterministic Python checkers over post-execution service state; no LLM-as-judge is invoked during scoring. We benchmark seven frontier agent systems. The strongest model reaches 75.8 weighted score, but the best strict Task Success is only 20.0\%, indicating that partial progress is common while complete end-to-end workflow completion remains rare. Turn-level analysis shows that performance drops after the first exogenous environment update, highlighting adaptation to changing state as a key open challenge. We release the benchmark, evaluation harness, and construction pipeline to support reproducible coworker-agent evaluation.
Comment: github repo: https://github.com/evolvent-ai/ClawMark
arXiv PDF
Embodied Intelligence
24
默认显示 5 篇
When Context Hurts: The Crossover Effect of Knowledge Transfer on Multi-Agent Design Exploration
Saranyan Vigraham
arXiv:2605.04361v1 • 2026-05-05
The prevailing assumption in agent orchestration is that more context is better. We test this on multi-agent software design across 10 tasks, 7 context-injection conditions, and over 2,700 runs, and find a crossover effect: the same artifact type improves design exploration on some tasks (up to 20$\times$ tradeoff coverage) and actively degrades it on others (up to 46% reduction). On several tasks, an irrelevant document performs as well as or better than every relevant artifact. The direction is predicted by a single measurable variable--baseline exploration without context--with Pearson $r = -0.82$ ($p < 0.001$). Probing the mechanism by manipulating convergence pressure through prompt design reveals two distinct regimes: convergence driven by training data priors (natural) responds to artifact disruption, while convergence driven by explicit instructions (induced) does not. The implication is that context injection should be conditional, not universal: one no-context trial is a cheap diagnostic that predicts whether knowledge artifacts will help or hurt a given task.
Comment: 16 pages, 14 tables. 2,700 multi-agent experiments across 10 software design tasks, 7 artifact conditions, and 4 convergence pressure levels
arXiv PDF
ipc_shared_ptr: A Publish/Subscribe-Aware Smart Pointer for Cross-Process Object Lifetime Management
Takahiro Ishikawa-Aso, Atsushi Yano, Koichi Imai, Takuya Azumi, Shinpei Kato
arXiv:2605.04226v1 • 2026-05-05
True zero-copy Inter-Process Communication (IPC) in publish/subscribe (pub/sub) middleware such as Robot Operating System 2 (ROS 2) requires subscribers to reference message objects in publisher-owned shared memory. Objects must not be reclaimed while referenced, yet must eventually be reclaimed, with correct handling of crash recovery and Transient Local QoS retention requirements. We propose ipc_shared_ptr, a pub/sub-aware smart pointer for cross-process message lifetime management. ipc_shared_ptr exploits pub/sub structural properties to specialize Birrell's reference listing, limiting global metadata updates to per-subscriber 0<->1 transitions and achieving an order-of-magnitude reduction in global communication over general-purpose distributed reference counting. We analyze the key metadata management tradeoff: scalability versus implementation simplicity. Owner-driven reclaim offers greater scalability, but concurrent membership changes and reclamation decisions produce races that widen the correctness-verification state space. Single-writer achieves structural atomicity, eliminating this complexity at the cost of a centralized bottleneck. iceoryx2 (owner-driven reclaim) and Agnocast -- a true zero-copy ROS 2 IPC middleware sharing the publisher's heap with subscribers and adopting ipc_shared_ptr with single-writer -- embody each architecture. Comparative evaluation at the scale of Autoware -- the largest open-source ROS 2 application -- confirms that single-writer achieves sufficient scalability: at 200 topics, two subscribers per topic and 100 Hz, Agnocast's E2E p99.9 is 2.9x lower than iceoryx2's, justifying implementation simplicity over owner-driven reclaim.
Comment: Accepted for publication in the 2026 IEEE 29th International Symposium on Real-Time Distributed Computing (ISORC); 10 pages, 8 figures
arXiv PDF
VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
Zichao Hu, Zifan Xu, Dongsik Chang, He Yin, Linh Tran, Roberto Martín-Martín, Peter Stone, Jingyu Qiao, Joydeep Biswas
arXiv:2605.01518v2 •updated • 2026-05-02
The ability to push large objects in a goal-directed manner using onboard egocentric perception is an essential skill for humanoid robots to perform complex tasks such as material handling in warehouses. To robustly manipulate heavy objects to arbitrary goal configurations, the robot must cope with unknown object mass and ground friction, noisy onboard perception, and actuation errors; all in a real-time feedback loop. Existing solutions either rely on privileged object-state information without onboard perception or lack robustness to variations in goal configurations and object physical properties. In this work, we present VOFA, a visual goal-conditioned humanoid loco-manipulation system capable of pushing objects with unknown physical properties to arbitrary goal positions. VOFA consists of a two-level hierarchical architecture with a high-level visuomotor policy and a low-level force-adaptive whole-body controller. The high-level policy processes noisy onboard observations and generates goal-conditioned commands to operate in closed loop across diverse object-goal configurations, while the low-level whole-body controller provides robustness to variations in object physical properties. VOFA is extensively evaluated in both simulation and real-world experiments on the Booster T1 humanoid robot. Our results demonstrate strong performance, achieving over 90% success in simulation and over 80% success in real-world trials. Moreover, VOFA successfully pushes objects weighing up to 17kg, exceeding half of the Booster T1's body weight.
arXiv PDF
Hi-WM: Human-in-the-World-Model for Scalable Robot Post-Training
Yaxuan Li, Zhongyi Zhou, Yefei Chen, Yanjiang Guo, Jiaming Liu, Shanghang Zhang, Jianyu Chen, Yichen Zhu
arXiv:2604.21741v2 •updated • 2026-04-23
Post-training is essential for turning pretrained generalist robot policies into reliable task-specific controllers, but existing human-in-the-loop pipelines remain tied to physical execution: each correction requires robot time, scene setup, resets, and operator supervision in the real world. Meanwhile, action-conditioned world models have been studied mainly for imagination, synthetic data generation, and policy evaluation. We propose \textbf{Human-in-the-World-Model (Hi-WM)}, a post-training framework that uses a learned world model as a reusable corrective substrate for failure-targeted policy improvement. A policy is first rolled out in closed loop inside the world model; when the rollout becomes incorrect or failure-prone, a human intervenes directly in the model to provide short corrective actions. Hi-WM caches intermediate states and supports rollback and branching, allowing a single failure state to be reused for multiple corrective continuations and yielding dense supervision around behaviors that the base policy handles poorly. The resulting corrective trajectories are then added back to the training set for post-training. We evaluate Hi-WM on three real-world manipulation tasks spanning both rigid and deformable object interaction, and on two policy backbones. Hi-WM improves real-world success by 37.9 points on average over the base policy and by 19.0 points over a world-model closed-loop baseline, while world-model evaluation correlates strongly with real-world performance (r = 0.953). These results suggest that world models can serve not only as generators or evaluators, but also as effective corrective substrates for scalable robot post-training.
Comment: Project Page: https://hi-wm.github.io/
arXiv PDF
Contextual Multi-Objective Optimization: Rethinking Objectives in Frontier AI Systems
Jie Zhou, Qin Chen, Liang He
arXiv:2605.03900v1 • 2026-05-05
Frontier AI systems perform best in settings with clear, stable, and verifiable objectives, such as code generation, mathematical reasoning, games, and unit-test-driven tasks. They remain less reliable in open-ended settings, including scientific assistance, long-horizon agents, high-stakes advice, personalization, and tool use, where the relevant objective is ambiguous, context-dependent, delayed, or only partially observable. We argue that many such failures are not merely failures of scale or capability, but failures of objective selection: the system optimizes a locally visible signal while missing which objectives should govern the interaction. We formulate this problem as \emph{contextual multi-objective optimization}. In this setting, systems must consider multiple, context-dependent objectives, such as helpfulness, truthfulness, safety, privacy, calibration, non-manipulation, user preference, reversibility, and stakeholder impact, while determining which objectives are active, which are soft preferences, and which must function as hard or quasi-hard constraints. These examples are not intended as an exhaustive taxonomy: different domains and deployment settings may activate different objective dimensions and different conflict-resolution procedures. Our framework models AI behavior as a context-dependent choice rule over candidate actions, objective estimates, active constraints, stakeholders, uncertainty, and conflict-resolution procedures. We outline an implementation pathway based on decomposed objective representations, context-to-objective routing, hierarchical constraints, deliberative policy reasoning, controlled personalization, tool-use control, diagnostic evaluation, auditing, and post-deployment revision.
arXiv PDF
End-to-End AD
37
默认显示 5 篇
ReVSI: Rebuilding Visual Spatial Intelligence Evaluation for Accurate Assessment of VLM 3D Reasoning
Yiming Zhang, Jiacheng Chen, Jiaqi Tan, Yongsen Mao, Wenhu Chen, Angel X. Chang
arXiv:2604.24300v2 •updated • 2026-04-27
Current evaluations of spatial intelligence can be systematically invalid under modern vision-language model (VLM) settings. First, many benchmarks derive question-answer (QA) pairs from point-cloud-based 3D annotations originally curated for traditional 3D perception. When such annotations are treated as ground truth for video-based evaluation, reconstruction and annotation artifacts can miss objects that are clearly visible in the video, mislabel object identities, or corrupt geometry-dependent answers (e.g., size), yielding incorrect or ambiguous QA pairs. Second, evaluations often assume full-scene access, while many VLMs operate on sparsely sampled frames (e.g., 16-64), making many questions effectively unanswerable under the actual model inputs. We improve evaluation validity by introducing ReVSI, a benchmark and protocol that ensures each QA pair is answerable and correct under the model's actual inputs. To this end, we re-annotate objects and geometry across 381 scenes from 5 datasets to improve data quality, and regenerate all QA pairs with rigorous bias mitigation and human verification using professional 3D annotation tools. We further enhance evaluation controllability by providing variants across multiple frame budgets (16/32/64/all) and fine-grained object visibility metadata, enabling controlled diagnostic analyses. Evaluations of general and domain-specific VLMs on ReVSI reveal systematic failure modes that are obscured by prior benchmarks, yielding a more reliable and diagnostic assessment of spatial intelligence.
Comment: ICML 2026, Project Page: https://3dlg-hcvc.github.io/revsi/
arXiv PDF
When Engineering Outruns Intelligence: Rethinking Instruction-Guided Navigation
Matin Aghaei, Lingfeng Zhang, Mohammad Ali Alomrani, Mahdi Biparva, Yingxue Zhang
arXiv:2507.20021v3 •updated • 2025-07-26
Recent ObjectNav systems credit large language models (LLMs) for sizable zero-shot gains, yet it remains unclear how much comes from language versus geometry. We revisit this question by re-evaluating an instruction-guided pipeline, InstructNav, under a detector-controlled setting and introducing two training-free variants that only alter the action value map: a geometry-only Frontier Proximity Explorer (FPE) and a lightweight Semantic-Heuristic Frontier (SHF) that polls the LLM with simple frontier votes. Across HM3D and MP3D, FPE matches or exceeds the detector-controlled instruction follower while using no API calls and running faster; SHF attains comparable accuracy with a smaller, localized language prior. These results suggest that carefully engineered frontier geometry accounts for much of the reported progress, and that language is most reliable as a light heuristic rather than an end-to-end planner. Code available at: https://github.com/matinaghaei/instructnav-scrutinized
Comment: Updated version with additional ablations, clarifications, and code release
arXiv PDF
From Language to Logic: A Theoretical Architecture for VLM-Grounded Safe Navigation
Kristy Sakano, Kalonji Harrington, Mumu Xu
arXiv:2605.04327v1 • 2026-05-05
We propose an architecture for integrating high-level, human-provided safety rules and operator-aligned semantic preferences into autonomous robot navigation in unstructured outdoor environments. In our approach, natural-language rules are translated into Signal Temporal Logic (STL) specifications that guide planning and navigation during runtime. Persistent, environment-centric rules and terrain preferences are grounded into a 2D cost map, while temporally dynamic requirements are expressed as STL specifications to be monitored during runtime. We hypothesize the use of Vision-Language Models (VLMs) for zero-shot scene understanding, enabling mapping between human instructions, semantic features, and environmental constraints. Within this framework, we construct an illustrative navigation model that is designed to satisfy a set of STL-encoded specifications and soft operator preferences through formal satisfaction metrics embedded into environmental properties and runtime monitoring.
Comment: 8 pages, 3 figures, to be published in ICUAS 2026 conference proceedings
arXiv PDF
Hierarchical Visual Agent: Managing Contexts in Joint Image-Text Space for Advanced Chart Reasoning
Qihua Dong, Ruozhen He, Junwen Chen, Yizhou Wang, Xu Ma, Songyao Jiang, Yun Fu
arXiv:2605.04304v1 • 2026-05-05
Advanced chart question answering requires both precise perception of small visual elements and multi-step reasoning across several subplots. While existing MLLMs are strong at understanding single plots, they often struggle with multi-step reasoning across multiple subplots. We propose HierVA, a hierarchical visual agent framework for chart reasoning that iteratively constructs and updates a working context in a joint image--text space. A high-level manager generates plans and maintains a compact context containing only key information, while specialized workers perform reasoning, gather evidence, and return results. In particular, the agent maintains separate visual and textual contexts, using a zoom-in tool to restrict the visual context. Experiments on the CharXiv reasoning subset demonstrate consistent improvements over strong multimodal baselines, and ablation studies verify that hierarchical architecture, scoped visual context, and distilled context contribute complementary gains.
Comment: Accepted to ACL 2026
arXiv PDF
OPENJ: A Conceptual Framework for Open-Source Digital Human Modeling and Ergonomic Assessment in a CAD Environment
Sinan Bank, Casey E. Eaton
arXiv:2605.04270v1 • 2026-05-05
Industrial workplace challenges range from musculoskeletal disorders -- a leading cause of occupational injury -- to suboptimal workstation layouts, inefficient task sequences, and poor human-equipment fit. Digital human modeling (DHM) tools address several of these challenges by placing a scalable virtual mannequin in a computer-aided design (CAD) environment, enabling engineers to evaluate ergonomic risk through standardized assessment methods (RULA, REBA, NIOSH Lifting Equation, OWAS), optimize workstation layouts for reach and visibility, predict task postures through inverse kinematics, and simulate operations before physical implementation. Despite four decades of development since the Jack system originated at the University of Pennsylvania in the 1980s, the integrated DHM capability set -- anthropometric mannequin, posture prediction, ergonomic assessment, and CAD integration -- remains exclusive to commercial platforms such as Siemens Tecnomatix Jack (Process Simulate), Dassault DELMIA, Humanetics RAMSIS, and the University of Iowa's Santos system. These platforms operate under proprietary, vendor-quoted pricing models, and their acquisition and operating costs, together with closed-source implementations, have been repeatedly identified as practical adoption barriers for individual researchers, small-to-medium enterprises, and educational institutions. Organizations without access resort to manual observational methods -- paper-based worksheets applied to photographs or video -- sacrificing the predictive power and reproducibility that computational analysis provides. The paper serves as a design blueprint for (OpenJane/Joe), positioning the project for subsequent open-source implementation and community adoption.
Comment: 11 pages, 2 figures, submitted to ASME IMECE 2026
arXiv PDF
Foundation Models
50
默认显示 5 篇
Feature-Augmented Transformers for Robust AI-Text Detection Across Domains and Generators
Mohamed Mady, Johannes Reschke, Björn Schuller
arXiv:2605.03969v1 • 2026-05-05
AI-generated text is nowadays produced at scale across domains and heterogeneous generation pipelines, making robustness to distribution shift a central requirement for supervised binary detectors. We train transformer-based detectors on HC3 PLUS and calibrate a single decision threshold by maximising balanced accuracy on held-out validation; this threshold is then kept fixed for all downstream test distributions, revealing domain- and generator-dependent error asymmetries under shift. We evaluate in-domain on HC3 PLUS, under cross-dataset transfer to the multi-domain, multi-generator M4 benchmark, and on the external AI-Text-Detection-Pile. Although base models achieve near-ceiling in-domain performance (up to 99.5% balanced accuracy), performance under shift is brittle and strongly model-dependent. Feature augmentation via attention-based linguistic feature fusion improves transfer, with our best model (DeBERTa-v3-base+FeatAttn) achieving 85.9% balanced accuracy on M4. Multi-seed experiments confirm high stability. Under the same fixed-threshold protocol, our model outperforms strong zero-shot baselines by up to +7.22 points. Category-level ablations further show that readability and vocabulary features contribute most to robustness under shift. Overall, these results demonstrate that feature augmentation and a modern DeBERTa backbone significantly outperform earlier BERT/RoBERTa models, while the fixed-threshold protocol provides a more realistic and informative assessment of practical detector robustness.
Comment: 8 pages, 4 figures, 5 tables. Submitted to ICML 2026
arXiv PDF
Label-Efficient School Detection from Aerial Imagery via Weakly Supervised Pretraining and Fine-Tuning
Zakarya Elmimouni, Fares Fourati, Mohamed-Slim Alouini
arXiv:2605.03968v1 • 2026-05-05
Accurate school detection is essential for supporting education initiatives, including infrastructure planning and expanding internet connectivity to underserved areas. However, many regions around the world face challenges due to outdated, incomplete, or unavailable official records. Manual mapping efforts, while valuable, are labor-intensive and lack scalability across large geographic areas. To address this, we propose a weakly supervised framework for school detection from aerial imagery that minimizes the need for human annotations while supporting global mapping efforts. Our method is specifically designed for low-data regimes, where manual annotations are extremely scarce. We introduce an automatic labeling pipeline that leverages sparse location points and semantic segmentation to generate infrastructure masks from which we generate bounding boxes. Using these automatically labeled images, we train our detectors on a first training stage to learn a representation of what schools look like, then using a small set of manually labeled images, we fine-tune the previously trained models on this clean dataset. This two stage training pipeline enables large-scale and strong detection in low-data setting of school infrastructure with minimal supervision. Our results demonstrate strong object detection performance, particularly in the low-data regime, where the models achieve promising results using only 50 manually labeled images, significantly reducing the need for costly annotations. This framework supports education and connectivity initiatives worldwide by providing an efficient and extensible approach to mapping schools from space. All models, training code and auto-labeled data will be publicly released to foster future research and real-world impact.
arXiv PDF
Pretrained Model Representations as Acquisition Signals for Active Learning of MLIPs
Eszter Varga-Umbrich, Shikha Surana, Paul Duckworth, Jules Tilly, Olivier Peltre, Zachary Weller-Davies
arXiv:2605.03964v1 • 2026-05-05
Training machine learning interatomic potentials (MLIPs) for reactive chemistry is often bottlenecked by the high cost of quantum chemical labels and the scarcity of transition state configurations in candidate pools. Active learning (AL) can mitigate these costs, but its effectiveness hinges on the acquisition rule. We investigate whether the latent space of a pretrained MLIP already contains the information necessary for effective acquisition, eliminating the need for auxiliary uncertainty heads, Bayesian training and fine-tuning, or committee ensembles. We introduce two acquisition signals derived directly from a pretrained MACE potential: a finite-width neural tangent kernel (NTK) and an activation kernel built from hidden latent space features. On reactive-chemistry benchmarks, both kernels consistently outperform fixed-descriptor baselines, committee disagreement, and random acquisition, reducing the data required to reach performance targets by an average of 38% for energy error and 28% for force error. We further show that the pretrained model induces similarity spaces that preserve chemically meaningful structure and provide more reliable residual uncertainty estimates than randomly initialised or fixed-descriptor-based kernels. Our results suggest that pretraining aligns latent-space geometry with model error, yielding a practical and sufficient acquisition signal for reactive MLIP fine-tuning.
Comment: 8 main pages, 28 total pages
arXiv PDF
Physically Guided Visual Mass Estimation from a Single RGB Image
Sungjae Lee, Junhan Jeong, Yeonjoo Hong, Kwang In Kim
arXiv:2601.20303v2 •updated • 2026-01-28
Estimating object mass from visual input is challenging because mass depends jointly on geometric volume and material-dependent density, neither of which is directly observable from RGB appearance. Consequently, mass prediction from pixels is ill-posed and therefore benefits from physically meaningful representations to constrain the space of plausible solutions. We propose a physically structured framework for single-image mass estimation that addresses this ambiguity by aligning visual cues with the physical factors governing mass. From a single RGB image, we recover object-centric three-dimensional geometry via monocular depth estimation to inform volume and extract coarse material semantics using a vision-language model to guide density-related reasoning. These geometry, semantic, and appearance representations are fused through an instance-adaptive gating mechanism, and two physically guided latent factors (volume- and density-related) are predicted through separate regression heads under mass-only supervision. Experiments on image2mass and ABO-500 show that the proposed method consistently outperforms state-of-the-art methods.
Comment: Accepted to IJCAI 2026 (Main Track)
arXiv PDF
Transformers with Selective Access to Early Representations
Skye Gunasekaran, Téa Wright, Rui-Jie Zhu, Jason Eshraghian
arXiv:2605.03953v1 • 2026-05-05
Several recent Transformer architectures expose later layers to representations computed in the earliest layers, motivated by the observation that low-level features can become harder to recover as the residual stream is repeatedly transformed through depth. The cheapest among these methods add static value residuals: learned mixing coefficients that expose the first-layer value projection V_1 uniformly across tokens and heads. More expressive dense or dynamic alternatives recover finer-grained access, but at higher memory cost and lower throughput. The usefulness of V_1 is unlikely to be constant across tokens, heads, and contexts; different positions plausibly require different amounts of access to early lexical or semantic information. We therefore treat early-representation reuse as a retrieval problem rather than a connectivity problem, and introduce Selective Access Transformer (SATFormer), which preserves the first-layer value pathway while controlling access with a context-dependent gate. Across models from 130M to 1.3B parameters, SATFormer consistently improves validation loss and zero-shot accuracy over the static value-residual and Transformer baselines. Its strongest gains appear on retrieval-intensive benchmarks, where it improves over static value residuals by approximately 1.5 average points, while maintaining throughput and memory usage close to the baseline Transformer. Gate analyses suggest sparse, depth-dependent, head-specific, and category-sensitive access patterns, supporting the interpretation that SATFormer learns selective reuse of early representations rather than uniform residual copying. Our code is available at https://github.com/SkyeGunasekaran/SATFormer.
arXiv PDF
2026-05-04
117 篇
Robotics
63
默认显示 5 篇
BEVCALIB: LiDAR-Camera Calibration via Geometry-Guided Bird's-Eye View Representations
Weiduo Yuan, Jerry Li, Justin Yue, Divyank Shah, Konstantinos Karydis, Hang Qiu
arXiv:2506.02587v2 •updated • 2025-06-03
Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate for the transformation changes during the vehicle/robot movement. In this paper, we propose the first model that uses bird's-eye view (BEV) features to perform LiDAR camera calibration from raw data, termed BEVCALIB. To achieve this, we extract camera BEV features and LiDAR BEV features separately and fuse them into a shared BEV feature space. To fully utilize the geometric information from the BEV feature, we introduce a novel feature selector to filter the most important features in the transformation decoder, which reduces memory consumption and enables efficient training. Extensive evaluations on KITTI, NuScenes, and our own dataset demonstrate that BEVCALIB establishes a new state of the art. Under various noise conditions, BEVCALIB outperforms the best baseline in the literature by an average of (47.08%, 82.32%) on KITTI dataset, and (78.17%, 68.29%) on NuScenes dataset, in terms of (translation, rotation), respectively. In the open-source domain, it improves the best reproducible baseline by one order of magnitude. Our code and demo results are available at https://cisl.ucr.edu/BEVCalib.
Comment: Published in CoRL 2025
arXiv PDF
A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
Emmett Wise, Pushyami Kaveti, Qilong Chen, Wenhao Wang, Hanumant Singh, Jonathan Kelly, David M. Rosen, Matthew Giamou
arXiv:2507.23045v2 •updated • 2025-07-30
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment, and demand little effort from human operators. In this work, we introduce a fast and certifiably globally optimal algorithm for solving a generalized formulation of the robot-world and hand-eye calibration (RWHEC) problem. The formulation of RWHEC presented is "generalized" in that it supports the simultaneous estimation of multiple sensor and target poses, and permits the use of monocular cameras that, alone, are unable to measure the scale of their environments. In addition to demonstrating our method's superior performance over existing solutions through extensive simulated and real experiments, we derive novel identifiability criteria and establish a priori guarantees of global optimality for problem instances with bounded measurement errors. As part of our analysis, we propose a new constraint qualification for nonlinear programs with redundant constraints; this constraint qualification is of independent interest for establishing the exactness of SDP relaxations of QCQPs that have been tightened through the addition of redundant constraints. Finally, we provide a free and open-source implementation of our algorithms and experiments.
Comment: 28 pages, 10 figures, accepted for publication in the International Journal of Robotics Research
arXiv PDF
RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
Yi Ru Wang, Carter Ung, Christopher Tan, Grant Tannert, Jiafei Duan, Josephine Li, Anh Le, Rishabh Oswal, Markus Grotz, Wilbert Pumacay, Yuquan Deng, Ranjay Krishna, Dieter Fox, Siddhartha Srinivasa
arXiv:2507.00435v2 •updated • 2025-07-01
We introduce RoboEval, a structured evaluation framework and benchmark for robotic manipulation that augments binary success with principled behavioral and outcome metrics. Existing evaluations often collapse performance into outcome counts, masking differences in execution quality and obscuring failure structure. RoboEval provides eight bimanual tasks with systematically controlled variations, more than three thousand expert demonstrations, and a modular simulation platform for reproducible experimentation. All tasks are instrumented with standardized metrics that quantify efficiency, coordination, and safety/stability, as well as outcome measures that trace stagewise progress and localize failure modes. Through extensive experiments with state-of-the-art visuomotor policies, we validate these metrics by analyzing their stability under variation, discriminative power across policies with similar success rates, and correlation with task success. Project Page: https://robo-eval.github.io
Comment: Project page: https://robo-eval.github.io
arXiv PDF
FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance
Qintong Xie, Weishu Zhan, Peter Chin
arXiv:2604.04409v2 •updated • 2026-04-06
Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in cluttered and dynamic environments remains a major challenge. Existing model predictive control (MPC) approaches suffer from limitations in scalability and provable safety, while control barrier functions (CBFs), though principled for safety enforcement, are difficult to handcraft for large-scale nonlinear systems. This paper presents FORMULA, a safe distributed, learning-enhanced predictive control framework that integrates MPC with Control Lyapunov Functions (CLFs) for stability and neural network-based CBFs for decentralized safety, eliminating manual safety constraint design. This scheme maintains formation integrity during obstacle avoidance, resolves deadlocks in dense configurations, and reduces online computational load. Simulation results demonstrate that FORMULA enables scalable, safety-aware, formation-preserving navigation for multi-robot teams in complex environments.
Comment: Accepted to IEEE Intelligent Vehicles Symposium (IV) 2026
arXiv PDF
Optimizing Grasping in Legged Robots: A Deep Learning Approach to Loco-Manipulation
Dilermando Almeida, Guilherme Lazzarini, Juliano Negri, Thiago H. Segreto, Ricardo V. Godoy, Marcelo Becker
arXiv:2508.17466v3 •updated • 2025-08-24
This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that minimizes reliance on physical data collection. We developed a pipeline within the Genesis simulation environment to generate a synthetic dataset of grasp attempts on common objects. By simulating thousands of interactions from various perspectives, we created pixel-wise annotated grasp-quality maps to serve as the ground truth for our model. This dataset was used to train a custom CNN with a U-Net-like architecture that processes multi-modal input from an onboard RGB and depth cameras, including RGB images, depth maps, segmentation masks, and surface normal maps. The trained model outputs a grasp-quality heatmap to identify the optimal grasp point. We validated the complete framework on a four-legged robot. The system successfully executed a full loco-manipulation task: autonomously navigating to a target object, perceiving it with its sensors, predicting the optimal grasp pose using our model, and performing a precise grasp. This work proves that leveraging simulated training with advanced sensing offers a scalable and effective solution for object handling.
arXiv PDF
Video World Models
9
默认显示 5 篇
Seeing Realism from Simulation: Efficient Video Transfer for Vision-Language-Action Data Augmentation
Chenyu Hui, Xiaodi Huang, Siyu Xu, Yunke Wang, Shan You, Fei Wang, Tao Huang, Chang Xu
arXiv:2605.02757v1 • 2026-05-04
Vision-language-action (VLA) models typically rely on large-scale real-world videos, whereas simulated data, despite being inexpensive and highly parallelizable to collect, often suffers from a substantial visual domain gap and limited environmental diversity, resulting in weak real-world generalization. We present an efficient video augmentation framework that converts simulated VLA videos into realistic training videos while preserving task semantics and action trajectories. Our pipeline extracts structured conditions from simulation via video semantic segmentation and video captioning, rewrites captions to diversify environments, and uses a conditional video transfer model to synthesize realistic videos. To make augmentation practical at scale, we introduce a diffusion feature-reuse mechanism that reuses video tokens across adjacent timesteps to accelerate generation, and a coreset sampling strategy that identifies a compact, non-redundant subset for augmentation under limited computation. Extensive experiments on Robotwin 2.0, LIBERO, LIBERO-Plus, and a real robotic platform demonstrate consistent improvements. For example, our method improves RDT-1B by 8% on Robotwin 2.0, and boosts $π_0$ by 5.1% on the more challenging LIBERO-Plus benchmark. Code is available at: https://github.com/nanfangxiansheng/Seeing-Realism-from-Simulation.
Comment: ICML 2026
arXiv PDF
Mamoda2.5: Enhancing Unified Multimodal Model with DiT-MoE
Yangming Shi, Shixiang Zhu, Tao Shen, Zhimiao Yu, Dengsheng Chen, Taicai Chen, Yunfei Yang, Juan Zhou, Chen Cheng, Liang Ma, Xibin Wu, Benxuan Yan, Ge Li, Tuoyu Zhang, Dan Li, Chang Liu, Zhenbang Sun
arXiv:2605.02641v1 • 2026-05-04
We present Mamoda2.5, a unified AR-Diffusion framework that seamlessly integrates multimodal understanding and generation within a single architecture. To efficiently enhance the model's generation capability, we equip the Diffusion Transformer backbone with a fine-grained Mixture-of-Experts (MoE) design (128 experts, Top-8 routing), yielding a 25B-parameter model that activates only 3B parameters, significantly reducing training costs while scaling up the model capacity. Mamoda2.5 achieves top-tier generation performance on VBench 2.0 and sets a new record in video editing quality, surpassing evaluated open-source models and matching the performance of current top-tier proprietary models, including the Kling O1 on OpenVE-Bench. Furthermore, we introduce a joint few-step distillation and reinforcement learning framework that compresses the 30-step editing model into a 4-step model and greatly accelerates model inference. Compared to open-source baselines, Mamoda2.5 achieves up to $95.9\times$ faster video editing inference. In real-world applications, Mamoda2.5 has been successfully deployed for content moderation and creative restoration tasks in advertising scenarios, achieving a 98% success rate in internal advertising video editing scenario.
arXiv PDF
Retrieving Any Relevant Moments: Benchmark and Models for Generalized Moment Retrieval
Yiming Ding, Siyu Cao, Luyuan Jiao, Yixuan Li, Zitong Wang, Zhiyong Liu, Lu Zhang
arXiv:2605.02623v1 • 2026-05-04
Video Moment Retrieval (VMR) aims to localize temporal segments in videos that correspond to a natural language query, but typically assumes only a single matching moment for each query. This assumption does not always hold in real-world scenarios, where queries may correspond to multiple or no moments. Thus, we formulate Generalized Moment Retrieval (GMR), a unified setting that requires retrieving the complete set of relevant moments or predicting an empty set. To enable systematic study of GMR, we introduce Soccer-GMR, a large-scale benchmark built on challenging soccer videos that reflect general GMR scenarios, with realistic negative and positive queries. The benchmark is constructed via a duration-flexible semi-automated pipeline with human verification, enabling scalable data generation while maintaining high annotation quality. We further design a unified evaluation protocol with complementary metrics tailored for null-set rejection, positive-query localization, and end-to-end GMR performance. Finally, we establish strong baselines across two modeling paradigms: a lightweight plug-and-play GMR adapter for discriminative VMR models, and a GMR-tailored GRPO reward for fine-tuning multimodal large language models (MLLMs). Extensive experiments show consistent gains across all metrics and expose key limitations of current methods, positioning GMR as a more realistic and challenging benchmark for video-language understanding.
Comment: Code and dataset: https://github.com/dymm9977/generalized-moment-retrieval. Keywords: video moment retrieval, temporal grounding, benchmark, multi-modal learning
arXiv PDF
Robust Adaptive Predictive Control for Hook-Based Aerial Transportation Between Moving Platforms
Péter Antal, Andrea Carron, Melanie Zeilinger, Roland Tóth, Tamás Péni
arXiv:2605.02370v1 • 2026-05-04
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital twin model of the quadcopter equipped with a hook-based gripper, implemented in MuJoCo, is constructed and used as the predictive model for the MPC. To handle uncertainties of the predictive model (e.g. due to aerodynamics and uncertain payloads), a robust adaptive MPC approach is proposed. By systematic integration of zero-order robust optimization (zoRO) based uncertainty propagation and an extended Kalman filter (EKF) for parameter estimation, the MPC algorithm ensures robust constraint satisfaction, high performance, and computational efficiency. The effectiveness of the proposed method is evaluated in complex simulated scenarios and in real-world flight experiments.
Comment: Supplementary video: https://youtu.be/l_L7mpUYJqU
arXiv PDF
BridgeACT: Bridging Human Demonstrations to Robot Actions via Unified Tool-Target Affordances
Yifan Han, Jianxiang Liu, Haoyu Zhang, Yuqi Gu, Yunhan Guo, Wenzhao Lian
arXiv:2604.23249v2 •updated • 2026-04-25
Learning robot manipulation from human videos is appealing due to the scale and diversity of human demonstrations, but transferring such demonstrations to executable robot behavior remains challenging. Prior work either relies on robot data for downstream adaptation or learns affordance representations that remain at the perception level and do not directly support real-world execution. We present BridgeACT, an affordance-driven framework that learns robotic manipulation directly from human videos without requiring any robot demonstration data. Our key idea is to model affordance as an embodiment-agnostic intermediate representation that bridges human demonstrations and robot actions. BridgeACT decomposes manipulation into two complementary problems: where to grasp and how to move. To this end, BridgeACT first grounds task-relevant affordance regions in the current scene, and then predicts task-conditioned 3D motion affordances from human demonstrations. The resulting affordances are mapped to robot actions through a grasping module and a lightweight closed-loop motion controller, enabling direct deployment on real robots. In addition, we represent complex manipulation tasks as compositions of affordance operations, which allows a unified treatment of diverse tasks and object-to-object interactions. Experiments on real-world manipulation tasks show that BridgeACT outperforms prior baselines and generalizes to unseen objects, scenes, and viewpoints.
arXiv PDF
Embodied Intelligence
27
默认显示 5 篇
RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
Yi Ru Wang, Carter Ung, Christopher Tan, Grant Tannert, Jiafei Duan, Josephine Li, Anh Le, Rishabh Oswal, Markus Grotz, Wilbert Pumacay, Yuquan Deng, Ranjay Krishna, Dieter Fox, Siddhartha Srinivasa
arXiv:2507.00435v2 •updated • 2025-07-01
We introduce RoboEval, a structured evaluation framework and benchmark for robotic manipulation that augments binary success with principled behavioral and outcome metrics. Existing evaluations often collapse performance into outcome counts, masking differences in execution quality and obscuring failure structure. RoboEval provides eight bimanual tasks with systematically controlled variations, more than three thousand expert demonstrations, and a modular simulation platform for reproducible experimentation. All tasks are instrumented with standardized metrics that quantify efficiency, coordination, and safety/stability, as well as outcome measures that trace stagewise progress and localize failure modes. Through extensive experiments with state-of-the-art visuomotor policies, we validate these metrics by analyzing their stability under variation, discriminative power across policies with similar success rates, and correlation with task success. Project Page: https://robo-eval.github.io
Comment: Project page: https://robo-eval.github.io
arXiv PDF
Optimizing Grasping in Legged Robots: A Deep Learning Approach to Loco-Manipulation
Dilermando Almeida, Guilherme Lazzarini, Juliano Negri, Thiago H. Segreto, Ricardo V. Godoy, Marcelo Becker
arXiv:2508.17466v3 •updated • 2025-08-24
This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that minimizes reliance on physical data collection. We developed a pipeline within the Genesis simulation environment to generate a synthetic dataset of grasp attempts on common objects. By simulating thousands of interactions from various perspectives, we created pixel-wise annotated grasp-quality maps to serve as the ground truth for our model. This dataset was used to train a custom CNN with a U-Net-like architecture that processes multi-modal input from an onboard RGB and depth cameras, including RGB images, depth maps, segmentation masks, and surface normal maps. The trained model outputs a grasp-quality heatmap to identify the optimal grasp point. We validated the complete framework on a four-legged robot. The system successfully executed a full loco-manipulation task: autonomously navigating to a target object, perceiving it with its sensors, predicting the optimal grasp pose using our model, and performing a precise grasp. This work proves that leveraging simulated training with advanced sensing offers a scalable and effective solution for object handling.
arXiv PDF
A Vision-Based Shared-Control Teleoperation Scheme for Controlling the Robotic Arm of a Four-Legged Robot
Murilo Vinicius da Silva, Matheus Hipolito Carvalho, Juliano Negri, Thiago Segreto, Gustavo J. G. Lahr, Ricardo V. Godoy, Marcelo Becker
arXiv:2508.14994v3 •updated • 2025-08-20
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However, teleoperating quadruped robots is challenging due to the lack of integrated obstacle detection and intuitive control methods for the robotic arm, increasing collision risks in confined or dynamically changing workspaces. Teleoperation via joysticks or pads can be non-intuitive and demands a high level of expertise due to its complexity, culminating in a high cognitive load on the operator. To address this challenge, a teleoperation approach that directly maps human arm movements to the robotic manipulator offers a simpler and more accessible solution. This work proposes an intuitive remote control by leveraging a vision-based pose estimation pipeline that utilizes an external camera with a machine learning-based model to detect the operator's wrist position. The system maps these wrist movements into robotic arm commands to control the robot's arm in real-time. A trajectory planner ensures safe teleoperation by detecting and preventing collisions with both obstacles and the robotic arm itself. The system was validated on the real robot, demonstrating robust performance in real-time control. This teleoperation approach provides a cost-effective solution for industrial applications where safety, precision, and ease of use are paramount, ensuring reliable and intuitive robotic control in high-risk environments.
arXiv PDF
Viewpoint-Agnostic Grasp Pipeline using VLM and Partial Observations
Dilermando Almeida, Juliano Negri, Guilherme Lazzarini, Thiago H. Segreto, Ranulfo Bezerra, Ricardo V. Godoy, Marcelo Becker
arXiv:2603.07866v2 •updated • 2026-03-09
Robust grasping in cluttered, unstructured environments remains challenging for mobile legged manipulators due to occlusions that lead to partial observations, unreliable depth estimates, and the need for collision-free, execution-feasible approaches. In this paper we present an end-to-end pipeline for language-guided grasping that bridges open-vocabulary target selection to safe grasp execution on a real robot. Given a natural-language command, the system grounds the target in RGB using open-vocabulary detection and promptable instance segmentation, extracts an object-centric point cloud from RGB-D, and improves geometric reliability under occlusion via back-projected depth compensation and two-stage point cloud completion. We then generate and collision-filter 6-DoF grasp candidates and select an executable grasp using safety-oriented heuristics that account for reachability, approach feasibility, and clearance. We evaluate the method on a quadruped robot with an arm in two cluttered tabletop scenarios, using paired trials against a view-dependent baseline. The proposed approach achieves a 90% overall success rate (9/10) against 30% (3/10) for the baseline, demonstrating substantially improved robustness to occlusions and partial observations in clutter.
arXiv PDF
Refining Compositional Diffusion for Reliable Long-Horizon Planning
Kyowoon Lee, Yunhao Luo, Anh Tong, Jaesik Choi
arXiv:2605.03075v1 • 2026-05-04
Compositional diffusion planning generates long-horizon trajectories by stitching together overlapping short-horizon segments through score composition. However, when local plan distributions are multimodal, existing compositional methods suffer from mode-averaging, where averaging incompatible local modes leads to plans that are neither locally feasible nor globally coherent. We propose Refining Compositional Diffusion (RCD), a training-free guidance method that steers compositional sampling toward high-density, globally coherent plans. RCD leverages the self-reconstruction error of a pretrained diffusion model as a proxy for the log-density of composed plans, combined with an overlap consistency term that enforces consistency at segment boundaries. We show that the combined guidance concentrates sampling on high-density plans that mitigate mode-averaging. Experiments on challenging long-horizon tasks from OGBench, including locomotion, object manipulation, and pixel-based observations, demonstrate that RCD consistently outperforms existing methods.
arXiv PDF
End-to-End AD
18
默认显示 5 篇
BEVCALIB: LiDAR-Camera Calibration via Geometry-Guided Bird's-Eye View Representations
Weiduo Yuan, Jerry Li, Justin Yue, Divyank Shah, Konstantinos Karydis, Hang Qiu
arXiv:2506.02587v2 •updated • 2025-06-03
Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate for the transformation changes during the vehicle/robot movement. In this paper, we propose the first model that uses bird's-eye view (BEV) features to perform LiDAR camera calibration from raw data, termed BEVCALIB. To achieve this, we extract camera BEV features and LiDAR BEV features separately and fuse them into a shared BEV feature space. To fully utilize the geometric information from the BEV feature, we introduce a novel feature selector to filter the most important features in the transformation decoder, which reduces memory consumption and enables efficient training. Extensive evaluations on KITTI, NuScenes, and our own dataset demonstrate that BEVCALIB establishes a new state of the art. Under various noise conditions, BEVCALIB outperforms the best baseline in the literature by an average of (47.08%, 82.32%) on KITTI dataset, and (78.17%, 68.29%) on NuScenes dataset, in terms of (translation, rotation), respectively. In the open-source domain, it improves the best reproducible baseline by one order of magnitude. Our code and demo results are available at https://cisl.ucr.edu/BEVCalib.
Comment: Published in CoRL 2025
arXiv PDF
DINO Soars: DINOv3 for Open-Vocabulary Semantic Segmentation of Remote Sensing Imagery
Ryan Faulkenberry, Saurabh Prasad
arXiv:2605.03175v1 • 2026-05-04
The remote sensing (RS) domain suffers from a lack of densely labeled datasets, which are costly to obtain. Thus, models that can segment RS imagery well without supervised fine-tuning are valuable, but existing solutions fall behind supervised methods. Recently, DINOv3 surpassed SOTA RS foundation models on the GEO-bench segmentation benchmark without pre-training on RS data. Additionally, DINO.txt has enabled open vocabulary semantic segmentation (OVSS) with the DINOv3 backbone. We leverage these developments to form an OVSS model for RS imagery, free of RS-domain fine-tuning. Our model, CAFe-DINO (Cost Aggregation + Feature Upsampling with DINO) exploits the strong OVSS performance of DINOv3 for RS imagery via cost aggregation and training-free upsampling of text-image similarity scores. The robust latent of the DINOv3 backbone eliminates the need for fine-tuning on RS imagery; we instead fine-tune our model on a RS-targeted subset of COCO-Stuff. CAFe-DINO achieves state-of-the-art performance on key RS segmentation datasets, outperforming OVSS methods fine-tuned on RS data. Our code and data are publicly available at https://github.com/rfaulk/DINO_Soars.
Comment: Accepted at 2026 CVPR MORSE Workshop
arXiv PDF
Quaternion Wavelet-Conditioned Diffusion Models for Image Super-Resolution
Luigi Sigillo, Christian Bianchi, Aurelio Uncini, Danilo Comminiello
arXiv:2505.00334v3 •updated • 2025-05-01
Image Super-Resolution is a fundamental problem in computer vision with broad applications spacing from medical imaging to satellite analysis. The ability to reconstruct high-resolution images from low-resolution inputs is crucial for enhancing downstream tasks such as object detection and segmentation. While deep learning has significantly advanced SR, achieving high-quality reconstructions with fine-grained details and realistic textures remains challenging, particularly at high upscaling factors. Recent approaches leveraging diffusion models have demonstrated promising results, yet they often struggle to balance perceptual quality with structural fidelity. In this work, we introduce ResQu a novel SR framework that integrates a quaternion wavelet preprocessing framework with latent diffusion models, incorporating a new quaternion wavelet- and time-aware encoder. Unlike prior methods that simply apply wavelet transforms within diffusion models, our approach enhances the conditioning process by exploiting quaternion wavelet embeddings, which are dynamically integrated at different stages of denoising. Furthermore, we also leverage the generative priors of foundation models such as Stable Diffusion. Extensive experiments on domain-specific datasets demonstrate that our method achieves outstanding SR results, outperforming in many cases existing approaches in perceptual quality and standard evaluation metrics. The code is available at https://www.github.com/Fascetta/ResQu
Comment: Accepted for presentation at IJCNN 2025
arXiv PDF
Chorus: Multi-Teacher Pretraining for Holistic 3D Gaussian Scene Encoding
Yue Li, Qi Ma, Runyi Yang, Mengjiao Ma, Bin Ren, Nikola Popovic, Nicu Sebe, Theo Gevers, Luc Van Gool, Danda Pani Paudel, Martin R. Oswald
arXiv:2512.17817v3 •updated • 2025-12-19
While 3DGS has emerged as a high-fidelity scene representation, encoding rich, general-purpose features directly from its primitives remains under-explored. We address this gap by introducing Chorus, a multi-teacher pretraining framework that learns a holistic feed-forward 3D Gaussian Splatting (3DGS) scene encoder by distilling complementary signals from 2D foundation models. Chorus employs a shared 3D encoder and teacher-specific projectors to learn from language-aligned, generalist, and object-aware teachers, encouraging a shared embedding space that captures signals from high-level semantics to fine-grained structure. We evaluate Chorus on a wide range of tasks: open-vocabulary semantic and instance segmentation, linear and decoder probing, data-efficient supervision, as well as LLM-based Q&A. Besides 3DGS, we also test Chorus on several benchmarks that only support point clouds by pretraining a variant using only Gaussian centers, colors, and estimated normals. Surprisingly, this encoder shows strong transfer and outperforms the point-cloud baseline while using 39.9 times fewer training scenes. Finally, we propose a render-and-distill adaptation that facilitates out-of-domain finetuning.
Comment: Project page at https://gaussianworld.github.io/Chorus
arXiv PDF
Boundary-Aware Uncertainty Quantification for Wildfire Spread Prediction
Jonas V. Funk
arXiv:2605.03148v1 • 2026-05-04
Reliable wildfire spread prediction is vital for risk-aware emergency planning, yet most deep learning models lack principled uncertainty quantification (UQ). Further, for boundary-sensitive cases like wildfire spread, evaluating models with global metrics alone is often insufficient. To shift the focus of UQ evaluation toward a more operationally relevant approach, the Fire-Centered Evaluation Region (FCER) framework is introduced as a spatially conditioned protocol to characterize UQ within critical fire zones. Using FCER, an Ensemble is compared against an distilled single-pass student model on the WildfireSpreadTS dataset. The student model demonstrates comparable calibration and complementary uncertainty ranking in boundary-relevant regimes. Code is available at https://github. com/jonasvilhofunk/WildfireUQ-FCER
Comment: 10 pages, 7 figures
arXiv PDF
2026-05-03
123 篇
Robotics
32
默认显示 5 篇
HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies
Amber Xie, Haozhi Qi, Dorsa Sadigh
arXiv:2603.12243v3 •updated • 2026-03-12
Mastering dexterous manipulation with multi-fingered hands has been a grand challenge in robotics for decades. Despite its potential, the difficulty of collecting high-quality data remains a primary bottleneck for high-precision tasks. While reinforcement learning and simulation-to-real-world transfer offer a promising alternative, the transferred policies often fail for tasks demanding millimeter-scale precision, such as bimanual piano playing. In this work, we introduce HandelBot, a framework that combines a simulation policy and rapid adaptation through a two-stage pipeline. Starting from a simulation-trained policy, we first apply a structured refinement stage to correct spatial alignments by adjusting lateral finger joints based on physical rollouts. Next, we use residual reinforcement learning to autonomously learn fine-grained corrective actions. Through extensive hardware experiments across five recognized songs, we demonstrate that HandelBot can successfully perform precise bimanual piano playing. Our system outperforms direct simulation deployment by a factor of 1.8x and requires only 30 minutes of physical interaction data.
Comment: Website: https://amberxie88.github.io/handelbot
arXiv PDF
Edge Case Detection in Automated Driving: Methods, Challenges and Future Directions
Saeed Rahmani, Sabine Rieder, Erwin de Gelder, Marcel Sonntag, Jorge Lorente Mallada, Sytze Kalisvaart, Vahid Hashemi, Bart van Arem, Simeon C. Calvert
arXiv:2410.08491v2 •updated • 2024-10-11
Automated vehicles promise to enhance transportation safety and efficiency. However, ensuring their reliability in real-world conditions remains challenging, particularly due to rare and unexpected situations known as edge cases. While numerous approaches exist for detecting edge cases, a comprehensive survey reviewing these techniques is lacking. This paper bridges this gap by presenting a hierarchical review and systematic classification of edge case detection and assessment methodologies. Our classification is structured on two levels: first, by AV modules, including perception and trajectory-related (encompassing prediction, planning, and control) sub-systems; and second, by underlying methodologies and theories guiding these techniques. Furthermore, we introduce "knowledge-driven" approaches, which complement data-driven methods by leveraging expert insights and domain knowledge to identify cases absent in training datasets. We then examine techniques and metrics for evaluating edge case detection methods, including detection performance (e.g., precision, recall, false positive rates), practical deployment (e.g., computational overhead, detection delay), and domain-specific measures (e.g., crash rates, severity analysis). We conclude by highlighting key challenges for edge case detection, including data availability and quality issues, validation and interpretability limitations, the sim2real gap, and computational constraints. The hierarchical classification and review of methods and assessment techniques in this survey enable modular and targeted testing frameworks by guiding the selection of detection methods for specific AV subsystems while considering methodological principles. It also supports practical testing by facilitating scenario generation in simulation and focused subsystem validation in the real world.
Comment: Preprint submitted to IEEE Transactions on Intelligent Transportation Systems
arXiv PDF
Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions
Nicholas B. Andrews, Kristi A. Morgansen
arXiv:2605.02054v1 • 2026-05-03
This paper presents a dual quaternion framework for 6-DOF visual target tracking that addresses key limitations of perspective-n-point (P$n$P) solvers: sensitivity to noise and outliers, and inability to propagate estimates through measurement dropouts. A nonlinear observability analysis is performed using a Lie algebraic approach, deriving sufficient conditions for local observability under two sensing modalities: relative position vector and unit vector measurements. For the unit vector case, the classical collinear feature point degeneracy of the perspective-three-point problem is recovered through rank analysis of the observability codistribution matrix, providing a control-theoretic interpretation of a previously geometric result. A dual quaternion Lie group unscented Kalman filter is then developed, directly modeling relative dynamics without assumptions about cooperative measurements or slowly-varying motion. Simulations demonstrate improved pose estimation accuracy and robustness to occlusions compared to an off-the-shelf P$n$P solver. Results are broadly applicable to visual-inertial navigation, simultaneous localization and mapping, and P$n$P solver development.
Comment: 3 tables, 5 figures
arXiv PDF
VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulation
Zijian An, Hadi Khezam, Bill Cai, Ran Yang, Shijie Geng, Yiming Feng, Yue, Zheng, Lifeng Zhou
arXiv:2605.02037v1 • 2026-05-03
We present VILAS, a fully low-cost, modular robotic manipulation platform designed to support end-to-end vision-language-action (VLA) policy learning and deployment on accessible hardware. The system integrates a Fairino FR5 collaborative arm, a Jodell RG52-50 electric gripper, and a dual-camera perception module, unified through a ZMQ-based communication architecture that seamlessly coordinates teleoperation, data collection, and policy deployment within a single framework. To enable safe manipulation of fragile objects without relying on explicit force sensing, we design a kirigami-based soft compliant gripper extension that induces predictable deformation under compressive loading, providing gentle and repeatable contact with delicate targets. We deploy and evaluate three state-of-the-art VLA models on the VILAS platform: pi_0, pi_0.5, and GR00T N1.6. All models are fine-tuned from publicly released pretrained checkpoints using an identical demonstration dataset collected via our teleoperation pipeline. Experiments on a grape grasping task validate the effectiveness of the proposed system, confirming that capable manipulation policies can be successfully trained and deployed on low-cost modular hardware. Our results further provide practical insights into the deployment characteristics of current VLA models in real-world settings.
arXiv PDF
Neural Backward Reach-Avoid Tubes with MPC Supervision for High-Dimensional Systems: An Application to Safe Spacecraft Docking
Santiago Thorup, Luca Castelletto, Zeyuan Feng, Somil Bansal
arXiv:2605.02021v1 • 2026-05-03
Autonomous spacecraft docking requires control policies that simultaneously ensure collision avoidance and target reachability under coupled, high-dimensional translational-rotational dynamics. Hamilton-Jacobi (HJ) reachability provides formal reach-avoid guarantees, but classical solvers are limited to low-dimensional systems. Learning-based approaches have begun to scale HJ analysis, yet they struggle in reach-avoid settings, especially where goal and failure sets are tightly coupled, as in docking. We propose a learning-based Backward Reach-Avoid Tube (BRAT) framework that addresses this challenge by tightly integrating HJ structure with MPC-based supervision. In the offline phase, we train a neural approximation of the HJ value function using PDE-based losses augmented with curriculum-driven MPC supervision, which provides informative value targets and stabilizes training in regions where purely PDE-based methods fail. In the online phase, the learned value function is deployed through two real-time controllers: (i) a value gradient-driven controller, and (ii) a value-function-augmented terminal MPC that explicitly enforces reachability at the horizon. We evaluate the proposed method on a 6D planar docking problem against grid-based ground truth and then scale to the full 13D system. Across both settings, our approach outperforms existing methods in success rate and computational efficiency.
Comment: 8 pages, 7 Figures
arXiv PDF
Video World Models
9
默认显示 5 篇
Pixel-to-4D: Camera-Controlled Image-to-Video Generation with Dynamic 3D Gaussians
Melonie de Almeida, Daniela Ivanova, Tong Shi, John H. Williamson, Paul Henderson
arXiv:2601.00678v2 •updated • 2026-01-02
Humans excel at forecasting the future dynamics of a scene given just a single image. Video generation models that can mimic this ability are an essential component for intelligent systems. Recent approaches have improved temporal coherence and 3D consistency in single-image-conditioned video generation. However, these methods often lack robust user controllability, such as modifying the camera path, limiting their applicability in real-world applications. Most existing camera-controlled image-to-video models struggle with accurately modeling camera motion, maintaining temporal consistency, and preserving geometric integrity. Leveraging explicit intermediate 3D representations offers a promising solution by enabling coherent video generation aligned with a given camera trajectory. Although these methods often use 3D point clouds to render scenes and introduce object motion in a later stage, this two-step process still falls short in achieving full temporal consistency, despite allowing precise control over camera movement. We propose a novel framework that constructs a 3D Gaussian scene representation and samples plausible object motion, given a single image in a single forward pass. This enables fast, camera-guided video generation without the need for iterative denoising to inject object motion into render frames. Extensive experiments on the KITTI, Waymo, RealEstate10K and DL3DV-10K datasets demonstrate that our method achieves state-of-the-art video quality and inference efficiency. The project page is available at https://melonienimasha.github.io/Pixel-to-4D-Website.
arXiv PDF
Combining Facial Videos and Biosignals for Stress Estimation During Driving
Paraskevi Valergaki, Vassilis C. Nicodemou, Iason Oikonomidis, Antonis Argyros, Anastasios Roussos
arXiv:2601.04376v3 •updated • 2026-01-07
Reliable stress recognition is critical in applications such as medical monitoring and safety-critical systems, including real-world driving. While stress is commonly detected using physiological signals such as perinasal perspiration and heart rate, facial activity provides complementary cues that can be captured unobtrusively from video. We propose a multimodal stress estimation framework that combines facial videos and physiological signals, remaining effective even when biosignal acquisition is challenging. Facial behavior is represented using a dense 3D Morphable Model, yielding a 56-dimensional descriptor that captures subtle expression and head-pose dynamics over time. To study how stress modulates facial motion, we perform extensive experiments alongside established physiological markers. Paired hypothesis tests between baseline and stressor phases show that 38 of 56 facial components exhibit consistent, phase-specific stress responses comparable to physiological markers. Building on these findings, we introduce a Transformer-based temporal modeling framework and evaluate unimodal, early-fusion, and cross-modal attention strategies. Cross-modal attention fusion of 3D-derived facial features with physiological signals substantially improves performance over physiological signals alone, increasing AUROC from 52.7% and accuracy from 51.0% to 92.0% and 86.7%, respectively. Although evaluated on driving data, the proposed framework and protocol may generalize to other stress estimation settings.
Comment: Accepted to ICPR 2026
arXiv PDF
Divide and Conquer: Decoupled Representation Alignment for Multimodal World Models
Junyuan Xiao, Dingkang Liang, Xin Zhou, Yixuan Ye, Tongtong Su, Guangmo Yi, Bin Xia, Qiang Lyu, Shurui Shi, Jun Huang, Jianlou Si, Wenming Yang
arXiv:2605.01896v1 • 2026-05-03
Emerging multi-modal world models attempt to jointly generate videos across diverse modalities (e.g., RGB, depth, and mask), yet they fail to fully exploit the rich priors of existing foundation models. We propose $M^2$-REPA, the first representation alignment method tailored for multi-modal video generation. Our key insight is that foundation models trained on different modality spaces naturally capture distinct domain-specific priors, acting as complementary "experts." Specifically, we first decouple modality-specific features from the diffusion model's intermediate representations, then align each with its corresponding expert foundation model. To this end, we design two synergistic objectives: a multi-modal representation alignment loss that enforces feature-to-expert matching, and a modality-specific decoupling regularization that encourages complementarity across different modalities. This design enables joint optimization, fully exploiting priors from multiple foundation models. Extensive experiments demonstrate that our method significantly outperforms baselines in visual quality and long-term consistency.
Comment: Preprint. 26 pages, 7 figures, with supplementary material
arXiv PDF
Pistachio: Towards Synthetic, Balanced, and Long-Form Video Anomaly Benchmarks
Jie Li, Hongyi Cai, Mingkang Dong, Muxin Pu, Shan You, Fei Wang, Tao Huang
arXiv:2511.19474v5 •updated • 2025-11-22
Automatically detecting abnormal events in videos is crucial for modern autonomous systems, yet existing Video Anomaly Detection (VAD) benchmarks lack the scene diversity, balanced anomaly coverage, and temporal complexity needed to reliably assess real-world performance. Meanwhile, the community is increasingly moving toward Video Anomaly Understanding (VAU), which requires deeper semantic and causal reasoning but remains difficult to benchmark due to the heavy manual annotation effort it demands. In this paper, we introduce Pistachio, a new VAD/VAU benchmark constructed entirely through a controlled, generation-based pipeline. By leveraging recent advances in video generation models, Pistachio provides precise control over scenes, anomaly types, and temporal narratives, effectively eliminating the biases and limitations of Internet-collected datasets. Our pipeline integrates scene-conditioned anomaly assignment, multi-step storyline generation, and a temporally consistent long-form synthesis strategy that produces coherent 41-second videos with minimal human intervention. Extensive experiments demonstrate the scale, diversity, and complexity of Pistachio, revealing new challenges for existing methods and motivating future research on dynamic and multi-event anomaly understanding.
Comment: https://pistachio-video.github.io
arXiv PDF
Embody4D: A Generalist 4D World Model for Embodied AI
Peiyan Tu, Hanxin Zhu, Jingwen Sun, Shaojie Ren, Cong Wang, Jiayi Luo, Xiaoqian Cheng, Zhibo Chen
arXiv:2605.01799v1 • 2026-05-03
World models have made significant progress in modeling dynamic environments; however, most embodied world models are still restricted to 2D representations, lacking the comprehensive multi-view information essential for embodied spatial reasoning. Bridging this gap is non-trivial, primarily due to challenges from severe scarcity of paired multi-view data, the difficulty of maintaining spatiotemporal consistency in generated 3D geometries, and the tendency to hallucinate manipulation details. To address these challenges, we propose Embody4D, a dedicated video-to-video world model for embodied scenarios, capable of synthesizing arbitrary novel views from a monocular video. First, to tackle data scarcity, we introduce a 3D-aware compositional synthesis pipeline to curate a heterogeneous dataset compositing cross-embodiment robotic arms with diverse backgrounds, guaranteeing broad generalization. Second, to enforce geometric stability, we devise an adaptive noise injection strategy; by leveraging confidence disparities across image regions, this method selectively regularizes the diffusion process to ensure strict spatiotemporal consistency. Finally, to guarantee manipulation fidelity, we incorporate an interaction-aware attention mechanism that explicitly attends to the robotic interaction regions. Extensive experiments demonstrate that Embody4D achieves state-of-the-art performance, serving as a robust world model that synthesizes high-fidelity, view-consistent videos to empower downstream robotic planning and learning.
arXiv PDF
Embodied Intelligence
9
默认显示 5 篇
HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies
Amber Xie, Haozhi Qi, Dorsa Sadigh
arXiv:2603.12243v3 •updated • 2026-03-12
Mastering dexterous manipulation with multi-fingered hands has been a grand challenge in robotics for decades. Despite its potential, the difficulty of collecting high-quality data remains a primary bottleneck for high-precision tasks. While reinforcement learning and simulation-to-real-world transfer offer a promising alternative, the transferred policies often fail for tasks demanding millimeter-scale precision, such as bimanual piano playing. In this work, we introduce HandelBot, a framework that combines a simulation policy and rapid adaptation through a two-stage pipeline. Starting from a simulation-trained policy, we first apply a structured refinement stage to correct spatial alignments by adjusting lateral finger joints based on physical rollouts. Next, we use residual reinforcement learning to autonomously learn fine-grained corrective actions. Through extensive hardware experiments across five recognized songs, we demonstrate that HandelBot can successfully perform precise bimanual piano playing. Our system outperforms direct simulation deployment by a factor of 1.8x and requires only 30 minutes of physical interaction data.
Comment: Website: https://amberxie88.github.io/handelbot
arXiv PDF
VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulation
Zijian An, Hadi Khezam, Bill Cai, Ran Yang, Shijie Geng, Yiming Feng, Yue, Zheng, Lifeng Zhou
arXiv:2605.02037v1 • 2026-05-03
We present VILAS, a fully low-cost, modular robotic manipulation platform designed to support end-to-end vision-language-action (VLA) policy learning and deployment on accessible hardware. The system integrates a Fairino FR5 collaborative arm, a Jodell RG52-50 electric gripper, and a dual-camera perception module, unified through a ZMQ-based communication architecture that seamlessly coordinates teleoperation, data collection, and policy deployment within a single framework. To enable safe manipulation of fragile objects without relying on explicit force sensing, we design a kirigami-based soft compliant gripper extension that induces predictable deformation under compressive loading, providing gentle and repeatable contact with delicate targets. We deploy and evaluate three state-of-the-art VLA models on the VILAS platform: pi_0, pi_0.5, and GR00T N1.6. All models are fine-tuned from publicly released pretrained checkpoints using an identical demonstration dataset collected via our teleoperation pipeline. Experiments on a grape grasping task validate the effectiveness of the proposed system, confirming that capable manipulation policies can be successfully trained and deployed on low-cost modular hardware. Our results further provide practical insights into the deployment characteristics of current VLA models in real-world settings.
arXiv PDF
Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation
Kevin Yuchen Ma, Heng Zhang, Weisi Lin, Mike Zheng Shou, Yan Wu
arXiv:2602.13833v2 •updated • 2026-02-14
Generalizing tool manipulation requires both semantic planning and precise physical control. Modern generalist robot policies, such as Vision-Language-Action (VLA) models, often lack the physical grounding required for contact-rich tool manipulation. Conversely, existing contact-aware policies that leverage tactile or haptic sensing are typically instance-specific and fail to generalize across diverse tool geometries. Bridging this gap requires learning representations that are both semantically transferable and physically grounded, yet a fundamental barrier remains: diverse real-world tactile data are prohibitive to collect at scale, while direct zero-shot sim-to-real transfer is challenging due to the complex nonlinear deformation of soft tactile sensors. To address this, we propose Semantic-Contact Fields (SCFields), a unified 3D representation that fuses visual semantics with dense extrinsic contact estimates, including contact probability and force. SCFields is learned through a two-stage Sim-to-Real Contact Learning Pipeline: we first pre-train on large-scale simulation to learn geometry-aware contact priors, then fine-tune on a small set of real data pseudo-labeled via geometric heuristics and force optimization to align real tactile signals. The resulting force-aware representation serves as the dense observation input to a diffusion policy, enabling physical generalization to unseen tool instances. Experiments on scraping, crayon drawing, and peeling demonstrate robust category-level generalization, significantly outperforming vision-only and raw-tactile baselines. Project page: https://kevinskwk.github.io/SCFields/.
Comment: Accepted to RSS 2026
arXiv PDF
Anticipation-VLA: Solving Long-Horizon Embodied Tasks via Anticipation-based Subgoal Generation
Zhilong Zhang, Wenyu Luo, Haonan Wang, Yifei Sheng, Yidi Wang, Hanyuan Guo, Haoxiang Ren, Xinghao Du, Yuhan Che, Tongtong Cao, Lei Yuan, Yang Yu
arXiv:2605.01772v1 • 2026-05-03
Vision-Language-Action (VLA) models have emerged as a powerful paradigm for embodied intelligence, enabling robots to perform tasks based on natural language instructions and current visual input. However, existing VLA models struggle with long-horizon tasks due to compounding errors. Prior methods decompose tasks into subtasks of fixed granularity, which cannot adapt to the varying complexity of execution states, limiting their robustness in long-horizon tasks. To overcome this, we introduce Anticipation Model, which adaptively and recursively generates future subgoals. This model continuously adapts as the task unfolds, adjusting future subgoals in response to evolving dynamics, facilitating more reliable planning paths. Building on this concept, we propose Anticipation-VLA, a hierarchical VLA model that leverages the anticipation model to generate actionable subgoals that guide VLA policy execution. We implement Anticipation-VLA with finetuning a Unified Multimodal Model (UMM) for high-level subgoal generation and a goal-conditioned VLA policy for low-level action execution. Experiments in both simulated and real-world robotic tasks demonstrate the effectiveness of Anticipation-VLA, highlighting the importance of adaptive and recursive subgoal generation for robust policy execution.
arXiv PDF
PuppetAI: A Customizable Platform for Designing Tactile-Rich Affective Robot Interaction
Jiaye Li, Tongshun Chen, Siyi Ma, Elizabeth Churchill, Ke Wu
arXiv:2602.04787v2 •updated • 2026-02-04
We introduce PuppetAI, a modular soft robot interaction platform. This platform offers a scalable cable-driven actuation system and a customizable, puppet-inspired robot gesture framework, supporting a multitude of interaction gesture robot design formats. The platform comprises a four-layer decoupled software architecture that includes perceptual processing, affective modeling, motion scheduling, and low-level actuation. We also implemented an affective expression loop that connects human input to the robot platform by producing real-time emotional gestural responses to human vocal input. For our own designs, we have worked with nuanced gestures enacted by "soft robots" with enhanced dexterity and "pleasant-to-touch" plush exteriors. By reducing operational complexity and production costs while enhancing customizability, our work creates an adaptable and accessible foundation for future tactile-based expressive robot research. Our goal is to provide a platform that allows researchers to independently construct or refine highly specific gestures and movements performed by social robots.
arXiv PDF
End-to-End AD
23
默认显示 5 篇
DynFlowDrive: Flow-Based Dynamic World Modeling for Autonomous Driving
Xiaolu Liu, Yicong Li, Song Wang, Junbo Chen, Angela Yao, Jianke Zhu
arXiv:2603.19675v2 •updated • 2026-03-20
Recently, world models have been incorporated into the autonomous driving systems to improve the planning reliability. Existing approaches typically predict future states through appearance generation or deterministic regression, which limits their ability to capture trajectory-conditioned scene evolution and leads to unreliable action planning. To address this, we propose DynFlowDrive, a latent world model that leverages flow-based dynamics to model the transition of world states under different driving actions. By adopting the rectifiedflow formulation, the model learns a velocity field that describes how the scene state changes under different driving actions, enabling progressive prediction of future latent states. Building upon this, we further introduce a stability-aware multi-mode trajectory selection strategy that evaluates candidate trajectories according to the stability of the induced scene transitions. Extensive experiments on the nuScenes and NavSim benchmarks demonstrate consistent improvements across diverse driving frameworks without introducing additional inference overhead. Source code will be abaliable at https://github.com/xiaolul2/DynFlowDrive.
Comment: 18 pages, 6 figs
arXiv PDF
GeoSAE: Geometric Prior-Guided Layer-Wise Sparse Autoencoder Annotation of Brain MRI Foundation Models
Favour Nerrise, Lucy Yin, Mohammad H. Abbasi, Kilian M. Pohl, Ehsan Adeli
arXiv:2605.01829v1 • 2026-05-03
Brain MRI foundation models learn rich representations of anatomy, but interpreting what clinical information they encode remains an open problem. Standard sparse autoencoders (SAEs) suffer from severe feature collapse in deep transformer layers, and in Alzheimer's disease (AD) research, aging confounds nearly every clinical variable, making naive annotation unreliable. We propose GeoSAE, a geometry-guided SAE framework that uses the foundation model's learned manifold structure to prevent feature collapse and annotates each surviving feature via age-deconfounded partial correlations. Applied to ~14k T1-weighted MRI scans from the Alzheimer's Disease Neuroimaging Initiative (ADNI) and the Australian Imaging biomarkers and Lifestyle (AIBL) datasets, GeoSAE identifies a compact, fully interpretable feature set that predicts mild cognitive impairment (MCI)-to-AD conversion (AUC 0.746) using only 2% of the embedding dimensions, while comorbidity-annotated features achieve only chance-level performance. The identified features replicate across cohorts without retraining (r=0.97) and localize to neuroanatomically distinct regions consistent with Braak staging. This shows that geometry-guided SAEs can extract interpretable, biomarkers from frozen brain MRI foundation models.
Comment: CVPR Workshop on Computer Vision for Clinical Applications (CV4Clinical) 2026, 9 pages, 5 figures, 2 tables, for associated code, see https://github.com/favour-nerrise/GeoSAE
arXiv PDF
Hybrid Visual Telemetry for Bandwidth-Constrained Robotic Vision: A Pilot Study with HEVC Base Video and JPEG ROI Stills
Natalia Trukhina, Vadim Vashkelis
arXiv:2605.01826v1 • 2026-05-03
Bandwidth-constrained robotic and surveillance systems often rely on a single compressed video stream to support both continuous scene awareness and downstream machine perception. In practice, this creates a mismatch: low-bitrate video can preserve motion and coarse context, but often loses the fine local detail needed for reliable object recognition and decision-making. Motivated by a hybrid architecture in which low-resolution video supports dynamic scene understanding while eventdriven high-detail regions of interest (ROIs) support close-up identification and analytics, this paper formalizes a two-channel visual telemetry scheme in which a continuous low-bitrate video stream is augmented by selectively transmitted high-detail still ROIs. This first paper does not attempt to prove the superiority of a new still-image codec. Instead, it establishes the hybrid transmission paradigm itself using a practical and reproducible codec stack: x265/HEVC for the base video stream and JPEG stills for ROI refinement. We formulate the problem as bitrate-constrained information selection for robotic vision and define an experimental protocol in which video-only and hybrid schemes are compared under matched total communication budgets. The study is designed around UAV-oriented datasets, two practical bitrate regimes, several ROI triggering policies, and object-level classification refinement on selectively transmitted ROI stills. The resulting paper lays the methodological foundation for a second-stage investigation of JPEG AI as the semantic still-image channel within the same hybrid architecture.
Comment: 7 pages, 2 figures, 4 tables
arXiv PDF
LeapAlign: Post-Training Flow Matching Models at Any Generation Step by Building Two-Step Trajectories
Zhanhao Liang, Tao Yang, Jie Wu, Chengjian Feng, Liang Zheng
arXiv:2604.15311v2 •updated • 2026-04-16
This paper focuses on the alignment of flow matching models with human preferences. A promising way is fine-tuning by directly backpropagating reward gradients through the differentiable generation process of flow matching. However, backpropagating through long trajectories results in prohibitive memory costs and gradient explosion. Therefore, direct-gradient methods struggle to update early generation steps, which are crucial for determining the global structure of the final image. To address this issue, we introduce LeapAlign, a fine-tuning method that reduces computational cost and enables direct gradient propagation from reward to early generation steps. Specifically, we shorten the long trajectory into only two steps by designing two consecutive leaps, each skipping multiple ODE sampling steps and predicting future latents in a single step. By randomizing the start and end timesteps of the leaps, LeapAlign leads to efficient and stable model updates at any generation step. To better use such shortened trajectories, we assign higher training weights to those that are more consistent with the long generation path. To further enhance gradient stability, we reduce the weights of gradient terms with large magnitude, instead of completely removing them as done in previous works. When fine-tuning the Flux model, LeapAlign consistently outperforms state-of-the-art GRPO-based and direct-gradient methods across various metrics, achieving superior image quality and image-text alignment.
Comment: Accepted by CVPR 2026. Project page: https://rockeycoss.github.io/leapalign/
arXiv PDF
Embody4D: A Generalist 4D World Model for Embodied AI
Peiyan Tu, Hanxin Zhu, Jingwen Sun, Shaojie Ren, Cong Wang, Jiayi Luo, Xiaoqian Cheng, Zhibo Chen
arXiv:2605.01799v1 • 2026-05-03
World models have made significant progress in modeling dynamic environments; however, most embodied world models are still restricted to 2D representations, lacking the comprehensive multi-view information essential for embodied spatial reasoning. Bridging this gap is non-trivial, primarily due to challenges from severe scarcity of paired multi-view data, the difficulty of maintaining spatiotemporal consistency in generated 3D geometries, and the tendency to hallucinate manipulation details. To address these challenges, we propose Embody4D, a dedicated video-to-video world model for embodied scenarios, capable of synthesizing arbitrary novel views from a monocular video. First, to tackle data scarcity, we introduce a 3D-aware compositional synthesis pipeline to curate a heterogeneous dataset compositing cross-embodiment robotic arms with diverse backgrounds, guaranteeing broad generalization. Second, to enforce geometric stability, we devise an adaptive noise injection strategy; by leveraging confidence disparities across image regions, this method selectively regularizes the diffusion process to ensure strict spatiotemporal consistency. Finally, to guarantee manipulation fidelity, we incorporate an interaction-aware attention mechanism that explicitly attends to the robotic interaction regions. Extensive experiments demonstrate that Embody4D achieves state-of-the-art performance, serving as a robust world model that synthesizes high-fidelity, view-consistent videos to empower downstream robotic planning and learning.
arXiv PDF
Foundation Models
50
默认显示 5 篇
GISclaw: A Comprehensive Open-Source LLM Agent System for Realistic Multi-Step Geospatial Analysis
Jinzhen Han, JinByeong Lee, Yuri Shim, Jisung Kim, Jae-Joon Lee
arXiv:2603.26845v2 •updated • 2026-03-27
Most LLM-driven GIS assistants solve narrow single-step tasks tightly coupled to proprietary platforms such as ArcGIS or QGIS, limiting their use for the multi-step, cross-format pipelines that define professional geospatial analysis. We present GISclaw, a comprehensive open-source agent system that performs realistic GIS analysis end to end - spatial joins, raster algebra, kriging interpolation, machine-learning classification, network analysis, choropleth cartography - directly through Python with no commercial GIS dependency. GISclaw couples an LLM reasoning core with a persistent Python sandbox pre-loaded with the open-source geospatial stack, three engineered prompt rules (Schema Analysis, Package Constraint, Domain Knowledge Injection), and an Error-Memory module for self-correction. A single backend-agnostic architecture supports both cloud-API and locally deployed open-weight LLM backends, enabling air-gapped deployment without loss of capability. On GeoAnalystBench - 50 expert-curated multi-step tasks averaging 5.8 analytical steps across vector, raster, and tabular data - GISclaw reaches up to 100% task success and 97% mean success over three independent runs. We further conduct 1,800 controlled experiments (50 tasks x 6 backends x 2 architectures x 3 repeats) with bootstrap 95% CIs, paired Wilcoxon tests, and a composite-score sensitivity analysis (Kendall's tau median = 0.94), and introduce a three-layer evaluation protocol combining code structure, reasoning process, and type-specific output verification. The Single-Agent ReAct loop reliably outperforms the Dual-Agent Plan-Execute-Replan pipeline on every cloud backend (Cliff's delta = 0.15-0.41); only the locally deployed 14B model gains from multi-agent orchestration, suggesting architectural complexity should match model capability rather than be added by default.
arXiv PDF
Attention Sink Forges Native MoE in Attention Layers: Sink-Aware Training to Address Head Collapse
Zizhuo Fu, Wenxuan Zeng, Runsheng Wang, Meng Li
arXiv:2602.01203v2 •updated • 2026-02-01
Large Language Models (LLMs) often assign disproportionate attention to the first token, a phenomenon known as the attention sink. Several recent approaches aim to address this issue, including Sink Attention in GPT-OSS and Gated Attention in Qwen3-Next. However, a comprehensive analysis of the relationship among these attention mechanisms is lacking. In this work, we provide both theoretical and empirical evidence demonstrating that the sink in Vanilla Attention and Sink Attention naturally construct a Mixture-of-Experts (MoE) mechanism within attention layers. This insight explains the head collapse phenomenon observed in prior work, where only a fixed subset of attention heads contributes to generation. To mitigate head collapse, we propose a sink-aware training algorithm with an auxiliary load balancing loss designed for attention layers. Extensive experiments show that our method achieves effective head load balancing and improves model performance across Vanilla Attention, Sink Attention, and Gated Attention. We hope this study offers a new perspective on attention mechanisms and encourages further exploration of the inherent MoE structure within attention layers.
Comment: 2026 International Conference on Machine Learning (ICML)
arXiv PDF
DynFlowDrive: Flow-Based Dynamic World Modeling for Autonomous Driving
Xiaolu Liu, Yicong Li, Song Wang, Junbo Chen, Angela Yao, Jianke Zhu
arXiv:2603.19675v2 •updated • 2026-03-20
Recently, world models have been incorporated into the autonomous driving systems to improve the planning reliability. Existing approaches typically predict future states through appearance generation or deterministic regression, which limits their ability to capture trajectory-conditioned scene evolution and leads to unreliable action planning. To address this, we propose DynFlowDrive, a latent world model that leverages flow-based dynamics to model the transition of world states under different driving actions. By adopting the rectifiedflow formulation, the model learns a velocity field that describes how the scene state changes under different driving actions, enabling progressive prediction of future latent states. Building upon this, we further introduce a stability-aware multi-mode trajectory selection strategy that evaluates candidate trajectories according to the stability of the induced scene transitions. Extensive experiments on the nuScenes and NavSim benchmarks demonstrate consistent improvements across diverse driving frameworks without introducing additional inference overhead. Source code will be abaliable at https://github.com/xiaolul2/DynFlowDrive.
Comment: 18 pages, 6 figs
arXiv PDF
Learning Koopman operators for coupled systems via information on governing equations of subsystems
Tatsuya Naoi, Jun Ohkubo
arXiv:2605.01835v1 • 2026-05-03
Nonlinear coupled systems are ubiquitous in science and engineering. The analysis and modeling of such systems is challenging due to their high dimensionality and complex interactions among subsystems. In recent years, operator-theoretic methods based on the Koopman operator have attracted attention as a powerful tool for analyzing and modeling nonlinear dynamical systems. Extended dynamic mode decomposition (EDMD) is one of the most popular methods to approximate the Koopman operator. However, EDMD is a purely data-driven method, and it could be unstable and inaccurate for coupled systems under limited data availability. In this paper, we propose a method to learn the Koopman operator for coupled systems using the differential equations governing each subsystem. We also demonstrate its effectiveness through numerical experiments on coupled oscillator systems.
Comment: 10 pages, 7 figures
arXiv PDF
Repurposing and Evaluating the (In)Feasibility of Dataset Poisoning enabled Watermarking for Contrastive Learning
Zhiyang Dai, Yansong Gao, Boyu Kuang, Haodong Li, Qi Chang, Gaurav Varshney, Derek Abbott, Anmin Fu
arXiv:2605.01834v1 • 2026-05-03
Contrastive learning (CL) reduces annotation cost via auto-derived supervisory signals. Since large-scale in-house CL datasets are infeasible, reliance on third-party or internet data is common. Recent studies show CL models are vulnerable to data-poisoning backdoor attacks, but their generalization and robustness are underexplored. We systematically evaluate existing data-poisoning backdoor attacks on CL, revealing limitations: poor dataset adaptability, low success rates, limited portability, and restrictive assumptions (e.g., downstream task knowledge). Interestingly, trigger samples exhibit distinguishable statistical divergence from clean samples, which inspires repurposing it as a watermark for dataset IP protection. Direct repurposing is challenging due to low success rates; we overcome this by statistical verification using a unified density metric. We further propose a multi-level watermarking scheme adapting to feature-level, soft-label, or hard-label outputs in CL. Experiments show some backdoor attacks can be repurposed as effective watermarks with trade-offs among fidelity, verifiability, and robustness. This work demonstrates weak backdoor effects become reliable signals for dataset IP protection in challenging CL settings.
arXiv PDF
2026-05-02
95 篇
Robotics
40
默认显示 5 篇
SaLF: Sparse Local Fields for Multi-Sensor Rendering in Real-Time
Yun Chen, Matthew Haines, Jingkang Wang, Sahil Jain, Krzysztof Baron-Lis, Sivabalan Manivasagam, Ze Yang, Raquel Urtasun
arXiv:2507.18713v2 •updated • 2025-07-24
High-fidelity sensor simulation of light-based sensors such as cameras and LiDARs is critical for safe and accurate autonomy testing. Neural radiance field (NeRF)-based methods that reconstruct sensor observations via ray-casting of implicit representations have demonstrated accurate simulation of driving scenes, but are slow to train and render, hampering scalability. 3D Gaussian Splatting (3DGS) has demonstrated faster training and rendering times through rasterization, but is primarily restricted to pinhole camera sensors, preventing usage for realistic multi-sensor autonomy evaluation. Moreover, both NeRF and 3DGS couple the representation with the rendering procedure (implicit networks for ray-based evaluation, particles for rasterization), preventing interoperability, which is key for general usage. In this work, we present Sparse Local Fields (SaLF), a novel volumetric representation that supports rasterization and raytracing for unified multi-sensor simulation. SaLF represents volumes as a sparse set of 3D voxel primitives, where each voxel is a local implicit field. SaLF has fast training ($<$30 min) and rendering capabilities (50+ FPS for camera and 600+ FPS for LiDAR), has adaptive pruning and densification to easily handle large scenes, and can support non-pinhole cameras and spinning LiDARs. We demonstrate that SaLF has similar realism as existing self-driving sensor simulation methods while improving efficiency and enhancing capabilities, enabling more scalable simulation.
Comment: ICRA 2026. Project page: https://waabi.ai/salf/
arXiv PDF
Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models
Pengcheng Fang, Hongli Chen, Xiaohao Cai
arXiv:2604.25859v2 •updated • 2026-04-28
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this branch can be removed at inference with little to no loss on common manipulation benchmarks, suggesting that future information may act merely as a regularizer on the shared visual backbone. We propose instead that joint training induces an action-conditioned correction that privileged future observations impose on action denoising, and that current-only policies capture this correction only partially. Making the account precise, we formulate privileged foresight as a residual in the action-denoising direction -- the difference between what a model predicts given the true future and what it predicts given only the current frame -- and introduce \emph{Privileged Foresight Distillation (PFD)}, which transfers this residual from a training-time teacher into a small adapter on a current-only student. The teacher and student share the same backbone and differ only in the attention mask over video tokens; future video is never generated at inference. Controlled experiments verify that this gain reflects a genuine future-conditioned correction rather than a side effect of capacity or regularization. Empirically, PFD achieves consistent improvements on LIBERO and RoboTwin manipulation benchmarks while preserving the current-only inference interface at negligible added latency. This view reframes the role of future information in world action models: not as a target to predict, nor as a regularizer to absorb, but as a compressible correction to be distilled.
arXiv PDF
From Fold to Function: Simulation-Driven Design of Origami Mechanisms
Tianhui Han, Shashwat Singh, Sarvesh Patil, Zeynep Temel
arXiv:2511.10580v3 •updated • 2025-11-13
Origami-inspired mechanisms can transform flat sheets into functional three-dimensional dynamic structures that are lightweight, compact, and capable of complex motion. These properties make origami increasingly valuable in robotic and deployable systems. However, accurately simulating their folding behavior and interactions with the environment remains challenging. To address this, we present a design framework for origami mechanism simulation that utilizes MuJoCo's deformable-body capabilities. In our approach, origami sheets are represented as graphs of interconnected deformable elements with user-specified constraints such as creases and actuation, defined through an intuitive graphical user interface (GUI). This framework allows users to generate physically consistent simulations that capture both the geometric structure of origami mechanisms and their interactions with external objects and surfaces. We demonstrate our method's utility through a case study on an origami catapult, where design parameters are optimized in simulation using the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) and validated experimentally on physical prototypes. The optimized structure achieves improved throwing performance, illustrating how our system enables rapid, simulation-driven origami design, optimization, and analysis.
Comment: IEEE RoboSoft 2026 (8 Pages, 9 Figures)
arXiv PDF
Hydra-DP3: Frequency-Aware Right-Sizing of 3D Diffusion Policies for Visuomotor Control
Jinhao Zhang, Zhexuan Zhou, Huizhe Li, Yichen Lai, Wenlong Xia, Haoming Song, Youmin Gong, Jie Mei
arXiv:2605.01581v1 • 2026-05-02
Diffusion-based visuomotor policies perform well in robotic manipulation, yet current methods still inherit image-generation-style decoders and multi-step sampling. We revisit this design from a frequency-domain perspective. Robot action trajectories are highly smooth, with most energy concentrated in a few low-frequency discrete cosine transform modes. Under this structure, we show that the error of the optimal denoiser is bounded by the low-frequency subspace dimension and residual high-frequency energy, implying that denoising error saturates after very few reverse steps. This further suggests that action denoising requires a much simpler denoising model than image generation. Motivated by this insight, we propose Hydra-DP3(HDP3), a pocket-scale 3D diffusion policy with a lightweight Diffusion Mixer decoder that supports two-step DDIM inference. Our synthetic experiments validate the theory and support the sufficiency of two-step denoising. Futhermore, across RoboTwin2.0, Adroit, MetaWorld, and real-world tasks, HDP3 achieves state-of-the-art performance with fewer than 1% of the parameters of prior 3D diffusion-based policies and substantially lower inference latency.
arXiv PDF
Separation is Optimal for LQR under Intermittent Feedback
Abdullah Y. Etcibasi, C. Emre Koksal, Eylem Ekici
arXiv:2603.27833v3 •updated • 2026-03-29
In this work, we first prove that the separation principle holds for communication-constrained LQR problems under i.i.d. zero-mean disturbances with a symmetric distribution. We then solve the dynamic programming problem and show that the optimal scheduling policy is a symmetric threshold rule on the accumulated disturbance since the most recent update, while the optimal controller is a discounted linear feedback law independent of the scheduling policy.
arXiv PDF
Video World Models
5
默认显示 5 篇
Adaptive Differential Privacy for Federated Medical Image Segmentation Across Diverse Modalities
Puja Saha, Eranga Ukwatta
arXiv:2604.06518v2 •updated • 2026-04-07
Large volumes of medical data remain underutilized because centralizing distributed data is often infeasible due to strict privacy regulations and institutional constraints. In addition, models trained in centralized settings frequently fail to generalize across clinical sites because of heterogeneity in imaging protocols and continuously evolving data distributions arising from differences in scanners, acquisition parameters, and patient populations. Federated learning offers a promising solution by enabling collaborative model training without sharing raw data. However, incorporating differential privacy into federated learning, while essential for privacy guarantees, often leads to degraded accuracy, unstable convergence, and reduced generalization. In this work, we propose an adaptive differentially private federated learning (ADP-FL) framework for medical image segmentation that dynamically adjusts privacy mechanisms to better balance the privacy-utility trade-off. The proposed approach stabilizes training, significantly improves Dice scores and segmentation boundary quality, and maintains rigorous privacy guarantees. We evaluated ADP-FL across diverse imaging modalities and segmentation tasks, including skin lesion segmentation in dermoscopic images, kidney tumor segmentation in 3D CT scans, and brain tumor segmentation in multi-parametric MRI. Compared with conventional federated learning and standard differentially private federated learning, ADP-FL consistently achieves higher accuracy, improved boundary delineation, faster convergence, and greater training stability, with performance approaching that of non-private federated learning under the same privacy budgets. These results demonstrate the practical viability of ADP-FL for high-performance, privacy-preserving medical image segmentation in real-world federated settings.
Comment: 10 pages, 8 figures. Accepted in SPIE Medical Imaging 2026. Recipient of CAD Best Paper Award: 1st Place, and Robert F. Wagner All-Conference Best Paper Award: Finalist
arXiv PDF
Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models
Pengcheng Fang, Hongli Chen, Xiaohao Cai
arXiv:2604.25859v2 •updated • 2026-04-28
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this branch can be removed at inference with little to no loss on common manipulation benchmarks, suggesting that future information may act merely as a regularizer on the shared visual backbone. We propose instead that joint training induces an action-conditioned correction that privileged future observations impose on action denoising, and that current-only policies capture this correction only partially. Making the account precise, we formulate privileged foresight as a residual in the action-denoising direction -- the difference between what a model predicts given the true future and what it predicts given only the current frame -- and introduce \emph{Privileged Foresight Distillation (PFD)}, which transfers this residual from a training-time teacher into a small adapter on a current-only student. The teacher and student share the same backbone and differ only in the attention mask over video tokens; future video is never generated at inference. Controlled experiments verify that this gain reflects a genuine future-conditioned correction rather than a side effect of capacity or regularization. Empirically, PFD achieves consistent improvements on LIBERO and RoboTwin manipulation benchmarks while preserving the current-only inference interface at negligible added latency. This view reframes the role of future information in world action models: not as a target to predict, nor as a regularizer to absorb, but as a compressible correction to be distilled.
arXiv PDF
Towards Visual Query Localization in the 3D World
Liang Peng, Bohan Tan, Zhipeng Zhang, Haobo Li, Yifan Jiao, Xingping Dong, Libo Zhang
arXiv:2605.01498v1 • 2026-05-02
Visual query localization (VQL) aims to predict the spatio-temporal response of the most recent occurrence in a sequence given a query. Currently, most research focuses on visual query localization in 2D videos, while its counterpart in 3D space has received little attention. In this paper, we make the first attempt to address visual query localization in the 3D world by introducing a novel benchmark, dubbed 3DVQL. Specifically, 3DVQL contains 2,002 sequences with around 170,000 frames and 6.4K response track segments from 38 object categories. Each sequence in 3DVQL is provided with multiple modalities, including point clouds, RGB images, and depth images, to support flexible research. To ensure high-quality annotations, each sequence is manually annotated with multiple rounds of verification and refinement. To the best of our knowledge, 3DVQL is the first benchmark for 3D multimodal visual query localization. To facilitate comparison in subsequent research, we implement a series of representative 3D multimodal VQL baselines using point clouds and RGB images. The experimental results show that existing methods exhibit significant performance variations across different fusion modules. To encourage future research, we propose a lift-and-attention fusion algorithm named LaF, which significantly outperforms existing baseline models. Our benchmark and model will be publicly released at https://github.com/wuhengliangliang/3DVQL.
Comment: Accepted to CVPR 2026. 8 pages
arXiv PDF
VISTA: Video Interaction Spatio-Temporal Analysis Benchmark
Alejandro Aparcedo, Akash Kumar, Aaryan Garg, Dalton Pham, Wen-Kai Chen, Anirudh Bharadwaj, Aman Chadha, Yogesh Rawat
arXiv:2605.01391v1 • 2026-05-02
Existing benchmarks for Vision-Language Models (VLMs) primarily evaluate spatio-temporal understanding on simple single-action videos, closed attribute sets and restricted entity types, failing to capture the freeform, multi-action interactions between diverse entities which characterize real-world video understanding. Furthermore, the lack of a systematic framework for analyzing model failures across complementary spatio-temporal axes hinders comprehensive evaluation. To address these gaps, we introduce VISTA, a Video Interaction Spatio-Temporal Analysis benchmark designed for open-set, multi-entity and multi-action spatio-temporal understanding in VLMs. VISTA decomposes videos into interpretable entities, their associated actions, and relational dynamics, enabling multi-axis diagnostics and unified assessment of relational, spatial, and temporal understanding. Our benchmark integrates multiple datasets into a single interaction-aware taxonomy and comprises ~12K curated video-query pairs spanning diverse scenes and complexities. We systematically evaluate 11 state-of-the-art VLMs on VISTA, and break down aggregate performance across our taxonomy to reveal shortcomings and pronounced spatio-temporal biases obscured by traditional metrics. By providing detailed, taxonomy-driven diagnostics on a challenging dataset, VISTA offers a nuanced framework to guide advances in model design, pretraining strategies, and evaluation protocols. Overall, VISTA is the first, large-scale, interaction-aware diagnostic benchmark for spatio-temporal understanding in VLMs.
Comment: Accepted to CVPR 2026 Workshop on Pixel-level Video Understanding in the Wild (PVUW)
arXiv PDF
Multimodal Confidence Modeling in Audio-Visual Quality Assessment
Mayesha Maliha R. Mithila, Mylene C. Q. Farias
arXiv:2605.01219v1 • 2026-05-02
Audio-visual quality assessment (AVQA) is essential for streaming, teleconferencing, and immersive media. In realistic streaming scenarios, distortions are often asymmetric, where one modality may be severely degraded while the other remains clean. Still, most contemporary AVQA metrics treat audio and video as equally reliable, causing confidence-unaware fusion to emphasize unreliable signals. This paper proposes MCM-AVQA, a multimodal confidence-aware AVQA framework that explicitly estimates modality-specific confidence and injects it into a dedicated audio-visual mixer for cross-modal attention. The Audio-Visual Mixer utilizes frame-level, confidence-guided channel attention to gate fusion, modulating feature interaction between modalities so that high-confidence streams dominate while unreliable inputs are suppressed, preserving temporal degradation patterns. A multi-head visual confidence estimator turns frame-level artifact probabilities into temporally smoothed, clip-level visual confidence scores, while an audio confidence module derives confidence from speech-quality cues without requiring a clean reference. Experiments on multiple AVQA benchmarks show that MCM-AVQA, and specifically its confidence-guided Audio-Visual Mixer, improve correlation with human mean opinion scores and yield more interpretable behavior under real-world asymmetric audio-visual distortions.
Comment: Accepted at ICIP 2026, 6 pages, 4 figures, no supplementary material
arXiv PDF
Embodied Intelligence
23
默认显示 5 篇
Concepts Whisper While Syntax Shouts: Spectral Anti-Concentration and the Dual Geometry of Transformer Representations
Pratyush Acharya, Nuraj Rimal, Habish Dhakal
arXiv:2605.01609v1 • 2026-05-02
We test whether the causal inner product of \citet{park2024linear} -- defined by the unembedding covariance $Σ$ -- enables cross-lingual concept transport. Across 17 models and 4 language pairs, a matched-spectrum randomization test finds that Whitened Causal Alignment is indistinguishable from spectral regularization alone ($p = 0.95$). However, this failure reveals a broader phenomenon: anti-concentration is observed in residual-stream difference-of-means vectors across five architecture families ($p < 10^{-33}$) and supported by SAE features (e.g., $p = 4.5 \times 10^{-19}$) and linear probes on Gemma and Llama. We discover a \emph{dual geometry}: activation-space concept directions anti-concentrate in the spectral tail, while static unembedding-row contrasts \emph{concentrate} in high-variance directions ($p < 10^{-4}$). Split-injection causal interventions support the functional basis on Gemma and Llama (Cohen's $d$ up to $1.80$), and POS-tag probing across 8 models shows syntax preferentially encodes in the high-variance subspace in 6 of 8 architectures ($p < 0.013$), with the Qwen~2.5 family showing a significant reversal consistent with architecture-specific spectral structure. These results suggest transformers may rotate semantic content into spectrally quiet regions during contextualized processing, encoding concepts where they can be manipulated with reduced grammatical disruption.
Comment: 25 pages, 16 figures, 13 tables
arXiv PDF
Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models
Pengcheng Fang, Hongli Chen, Xiaohao Cai
arXiv:2604.25859v2 •updated • 2026-04-28
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this branch can be removed at inference with little to no loss on common manipulation benchmarks, suggesting that future information may act merely as a regularizer on the shared visual backbone. We propose instead that joint training induces an action-conditioned correction that privileged future observations impose on action denoising, and that current-only policies capture this correction only partially. Making the account precise, we formulate privileged foresight as a residual in the action-denoising direction -- the difference between what a model predicts given the true future and what it predicts given only the current frame -- and introduce \emph{Privileged Foresight Distillation (PFD)}, which transfers this residual from a training-time teacher into a small adapter on a current-only student. The teacher and student share the same backbone and differ only in the attention mask over video tokens; future video is never generated at inference. Controlled experiments verify that this gain reflects a genuine future-conditioned correction rather than a side effect of capacity or regularization. Empirically, PFD achieves consistent improvements on LIBERO and RoboTwin manipulation benchmarks while preserving the current-only inference interface at negligible added latency. This view reframes the role of future information in world action models: not as a target to predict, nor as a regularizer to absorb, but as a compressible correction to be distilled.
arXiv PDF
Hydra-DP3: Frequency-Aware Right-Sizing of 3D Diffusion Policies for Visuomotor Control
Jinhao Zhang, Zhexuan Zhou, Huizhe Li, Yichen Lai, Wenlong Xia, Haoming Song, Youmin Gong, Jie Mei
arXiv:2605.01581v1 • 2026-05-02
Diffusion-based visuomotor policies perform well in robotic manipulation, yet current methods still inherit image-generation-style decoders and multi-step sampling. We revisit this design from a frequency-domain perspective. Robot action trajectories are highly smooth, with most energy concentrated in a few low-frequency discrete cosine transform modes. Under this structure, we show that the error of the optimal denoiser is bounded by the low-frequency subspace dimension and residual high-frequency energy, implying that denoising error saturates after very few reverse steps. This further suggests that action denoising requires a much simpler denoising model than image generation. Motivated by this insight, we propose Hydra-DP3(HDP3), a pocket-scale 3D diffusion policy with a lightweight Diffusion Mixer decoder that supports two-step DDIM inference. Our synthetic experiments validate the theory and support the sufficiency of two-step denoising. Futhermore, across RoboTwin2.0, Adroit, MetaWorld, and real-world tasks, HDP3 achieves state-of-the-art performance with fewer than 1% of the parameters of prior 3D diffusion-based policies and substantially lower inference latency.
arXiv PDF
TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
Zhemeng Zhang, Jiahua Ma, Xincheng Yang, Xin Wen, Yuzhi Zhang, Boyan Li, Yiran Qin, Jin Liu, Can Zhao, Li Kang, Haoqin Hong, Zhenfei Yin, Philip Torr, Hao Su, Ruimao Zhang, Daolin Ma
arXiv:2601.20239v5 •updated • 2026-01-28
Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel cross-policy visuo-tactile fusion paradigm that fuses modalities within a low-dimensional action space. Specifically, TouchGuide operates in two stages to guide a pre-trained diffusion or flow-matching visuomotor policy at inference time. First, the policy produces a coarse, visually-plausible action using only visual inputs during early sampling. Second, a task-specific Contact Physical Model (CPM) provides tactile guidance to steer and refine the action, ensuring it aligns with realistic physical contact conditions. Trained through contrastive learning on limited expert demonstrations, the CPM provides a tactile-informed feasibility score to steer the sampling process toward refined actions that satisfy physical contact constraints. Furthermore, to facilitate TouchGuide training with high-quality and cost-effective data, we introduce TacUMI, a data collection system. TacUMI achieves a favorable trade-off between precision and affordability; by leveraging rigid fingertips, it obtains direct tactile feedback, thereby enabling the collection of reliable tactile data. Extensive experiments on five challenging contact-rich tasks, such as shoe lacing and chip handover, show that TouchGuide consistently and significantly outperforms state-of-the-art visuo-tactile policies.
arXiv PDF
Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
Shafeef Omar, Majid Khadiv
arXiv:2510.03599v2 •updated • 2025-10-04
We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a task through a sequence of contact goals--desired contact positions, timings, and active end-effectors. This enables leveraging the shared structure across diverse contact-rich tasks, leading to a single policy that can perform a wide range of tasks. In particular, we train a goal-conditioned reinforcement learning (RL) policy to realise given contact plans. We validate our framework on multiple robotic embodiments and tasks: a quadruped performing multiple gaits, a humanoid performing multiple biped and quadrupedal gaits, and a humanoid executing different bimanual object manipulation tasks. Each of these scenarios is controlled by a single policy trained to execute different tasks grounded in contacts, demonstrating versatile and robust behaviours across morphologically distinct systems. Our results show that explicit contact reasoning significantly improves generalisation to unseen scenarios, positioning contact-explicit policy learning as a promising foundation for scalable loco-manipulation. Video available at: https://youtu.be/idHx67oHHU0?si=qZJ7C0ujemXNWgA5
arXiv PDF
End-to-End AD
27
默认显示 5 篇
Gen-Searcher: Reinforcing Agentic Search for Image Generation
Kaituo Feng, Manyuan Zhang, Shuang Chen, Yunlong Lin, Kaixuan Fan, Yilei Jiang, Hongyu Li, Dian Zheng, Chenyang Wang, Xiangyu Yue
arXiv:2603.28767v2 •updated • 2026-03-30
Recent image generation models have shown strong capabilities in generating high-fidelity and photorealistic images. However, they are fundamentally constrained by frozen internal knowledge, thus often failing on real-world scenarios that are knowledge-intensive or require up-to-date information. In this paper, we present Gen-Searcher, as the first attempt to train a search-augmented image generation agent, which performs multi-hop reasoning and search to collect the textual knowledge and reference images needed for grounded generation. To achieve this, we construct a tailored data pipeline and curate two high-quality datasets, Gen-Searcher-SFT-10k and Gen-Searcher-RL-6k, containing diverse search-intensive prompts and corresponding ground-truth synthesis images. We further introduce KnowGen, a comprehensive benchmark that explicitly requires search-grounded external knowledge for image generation and evaluates models from multiple dimensions. Based on these resources, we train Gen-Searcher with SFT followed by agentic reinforcement learning with dual reward feedback, which combines text-based and image-based rewards to provide more stable and informative learning signals for GRPO training. Experiments show that Gen-Searcher brings substantial gains, improving Qwen-Image by around 16 points on KnowGen and 15 points on WISE. We hope this work can serve as an open foundation for search agents in image generation, and we fully open-source our data, models, and code.
Comment: Project page: https://gen-searcher.vercel.app Code: https://github.com/tulerfeng/Gen-Searcher
arXiv PDF
An Efficient Metric for Data Quality Measurement in Imitation Learning
Noushad Sojib, Momotaz Begum
arXiv:2605.01544v1 • 2026-05-02
Imitation learning (IL) has seen remarkable progress, yet field deployment of IL-powered robots remains hindered by the challenge of out-of-distribution (OOD) scenarios. Fine-tuning pre-trained policies with end-user demonstrations collected in deployment environments is a promising strategy to address this challenge. However, end-user demonstrations are frequently of poor quality, characterized by excessive corrective motions, oscillations, and abrupt adjustments that degrade both learned and fine-tuned policy performance. Existing automated approaches for curating demonstration data require policy rollouts in the environment, making them computationally expensive and impractical for real-world deployment. In this paper, we propose a fast, efficient, and fully automated demonstration ranking metric based on the power spectral density (PSD) of demonstration trajectories. The PSD metric requires no policy learning, environment interaction, or expert labeling, making it well-suited for scalable, in-the-field data curation. Lower PSD values correspond to smoother, higher-quality demonstrations, while higher PSD values indicate erratic, artifact-laden trajectories. We evaluate the proposed metric on two benchmark imitation learning datasets comprising expert and lay-user demonstrations, and through a user study with older adults at a retirement facility, where collected demonstrations are used to fine-tune $\pi0.5$ \cite{intelligence2025pi_} for a daily living task. Results demonstrate that PSD-curated data yields policies with higher task success rates and smoother execution trajectories compared to uncurated baselines and two competitive data-ranking methods.
arXiv PDF
Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
Shafeef Omar, Majid Khadiv
arXiv:2510.03599v2 •updated • 2025-10-04
We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a task through a sequence of contact goals--desired contact positions, timings, and active end-effectors. This enables leveraging the shared structure across diverse contact-rich tasks, leading to a single policy that can perform a wide range of tasks. In particular, we train a goal-conditioned reinforcement learning (RL) policy to realise given contact plans. We validate our framework on multiple robotic embodiments and tasks: a quadruped performing multiple gaits, a humanoid performing multiple biped and quadrupedal gaits, and a humanoid executing different bimanual object manipulation tasks. Each of these scenarios is controlled by a single policy trained to execute different tasks grounded in contacts, demonstrating versatile and robust behaviours across morphologically distinct systems. Our results show that explicit contact reasoning significantly improves generalisation to unseen scenarios, positioning contact-explicit policy learning as a promising foundation for scalable loco-manipulation. Video available at: https://youtu.be/idHx67oHHU0?si=qZJ7C0ujemXNWgA5
arXiv PDF
Good in Bad (GiB): Sifting Through End-user Demonstrations for Learning a Better Policy
Noushad Sojib, Momotaz Begum
arXiv:2605.01529v1 • 2026-05-02
Imitation learning offers a promising framework for enabling robots to acquire diverse skills from human users. However, most imitation learning algorithms assume access to high-quality demonstrations an unrealistic expectation when collecting data from non-expert users, whose demonstrations often contain inadvertent errors. Naively learning from such demonstrations can result in unsafe policy behavior, while discarding entire demonstrations due to occasional mistakes wastes valuable data, especially in low-data settings. In this work, we introduce GiB (Good-in-Bad), an algorithm that automatically identifies and discards erroneous subtasks within demonstrations while preserving high-quality subtasks. The filtered data can then be used by any policy learning algorithm to train more robust policies. GiB first trains a self-supervised model to learn latent features and assigns binary weights to label each demonstration as good or bad. It then models the latent feature distribution of high-quality segments and uses the Mahalanobis distance to detect and evaluate poor-quality subtasks. We validate GiB on the Franka robot in both simulated and real-world multi-step tasks, demonstrating improved policy performance when learning from mixed-quality human demonstrations.
arXiv PDF
VAnim: Rendering-Aware Sparse State Modeling for Structure-Preserving Vector Animation
Guotao Liang, Zhangcheng Wang, Chuang Wang, Juncheng Hu, Haitao Zhou, Junhua Liu, Jing Zhang, Dong Xu, Qian Yu
arXiv:2605.01517v1 • 2026-05-02
Scalable Vector Graphics (SVG) animation generation is pivotal for professional design due to their structural editability and resolution independence. However, this task remains challenging as it requires bridging discrete code representations with continuous visual dynamics. Existing optimization-based methods often destroy topological consistency, while general-purpose LLMs rely on rigid CSS/SMIL transformations, failing to model geometry-level non-rigid deformations. To address these limitations, we present VAnim, the first LLM-based framework for open-domain text-to-SVG animation. We reconceptualize animation not as sequence generation, but as Sparse State Updates (SSU) on a persistent SVG DOM tree. This paradigm compresses sequence length by over 9.8x while preserving the SVG DOM structure and non-participating elements by construction. To enable precise control, we propose an Identification-First Motion Planning mechanism that grounds textual instructions in explicit visual entities. Furthermore, to overcome the non-differentiable nature of SVG rendering, we employ Rendering-Aware Reinforcement Learning via Group Relative Policy Optimization (GRPO). By leveraging a hybrid reward from a state-of-the-art video perception encoder, we align discrete code updates with high-fidelity visual feedback. We also introduce SVGAnim-134k, the first benchmark for vector animation. Extensive experiments demonstrate that VAnim significantly outperforms state-of-the-art baselines in semantic alignment and structural validity, with additional appendix metrics further validating motion quality and identity preservation.
Comment: Accepted to ICML 2026. Project page: https://yukinonooo.github.io/VAnimProject
arXiv PDF
2026-05-01
141 篇
Robotics
33
默认显示 5 篇
Kinematic Kitbashing
Minghao Guo, Victor Zordan, Sheldon Andrews, Wojciech Matusik, Maneesh Agrawala, Hsueh-Ti Derek Liu
arXiv:2510.13048v2 •updated • 2025-10-14
We introduce Kinematic Kitbashing, an optimization framework that synthesizes articulated 3D objects by assembling reusable parts conditioned on an abstract kinematic graph. Given the graph and a library of articulated parts, our method optimizes per-part similarity transformations that place, orient, and scale each component into a coherent articulated object; optional graph edits further enable novel assemblies beyond the prescribed connectivity. Central to our method is an exemplar-based analogy for part placement: each reused component is paired with a single source asset that exemplifies how it attaches to its parent. We capture this attachment context using vector distance fields and measure consistency by integrating the matching error over the joint's full motion range. This yields a kinematics-aware attachment energy that favors placements that preserve the exemplar's local attachment neighborhood throughout articulation. To incorporate task-level functionality, we use this attachment energy as a prior in an annealed Langevin sampling framework, enabling gradient-free optimization of black-box functionality objectives. We demonstrate the versatility of kinematic kitbashing across diverse applications, including instantiating kinematic graphs from user-selected or automatically retrieved parts, synthesizing assemblies with user-defined functionality, and re-targeting articulations via graph edits.
arXiv PDF
Training-Free Adaptive 360-degree Video Streaming via Semantic Potential Fields
Aizierjiang Aiersilan, Zhangfei Yang
arXiv:2603.20999v2 •updated • 2026-03-22
Adaptive 360° video streaming for teleoperation faces two coupled challenges: viewport prediction under uncertain gaze patterns and bitrate adaptation over fluctuating wireless channels. While Deep Reinforcement Learning (DRL) methods achieve high Quality of Experience (QoE), their lack of interpretability and dependence on offline training limit deployment in safety-critical systems. We propose OrbitStream, a training-free framework that formulates viewport prediction as a Gravitational Viewport Prediction (GVP) problem, where semantic objects generate potential fields that attract operator gaze, and employs a Saturation-Based Proportional-Derivative (PD) Controller for buffer regulation. On object-rich teleoperation traces, OrbitStream achieves 94.7% zero-shot viewport prediction accuracy without user-specific profiling, approaching trajectory-extrapolation baselines (~98.5%). Across 3,600 Monte Carlo simulations, it ranks second among 12 algorithms (QoE 2.71 vs. BOLA-E's 2.80), outperforming FastMPC (1.84), with 1.01 ms decision latency and minimal rebuffering.
Comment: We are pleased to announce that this paper has been accepted by the 35th International Conference on Computer Communications and Networks (ICCCN 2026). We appreciate the valuable feedback from the reviewers and look forward to sharing our findings with the community
arXiv PDF
Learning to Race in Minutes: Infoprop Dyna on the Mini Wheelbot
Devdutt Subhasish, Henrik Hose, Sebastian Trimpe
arXiv:2605.01096v1 • 2026-05-01
Reinforcement Learning (RL) has the potential to enable robots with fast, nonlinear, and unstable dynamics to reach the limits of their performance. However, most recent advances rely on carefully designed physics-based simulators and domain randomization to achieve successful sim-to-real transfer within reasonable wall-clock time. In this work, we bypass the need for such simulators and demonstrate that Infoprop Dyna, a state-of-the-art uncertainty-aware model-based reinforcement learning (MBRL) framework, can enable robots to learn directly from real-world interactions. Using Infoprop Dyna, the Mini Wheelbot, an underactuated unicycle robot, learns to race around a track within 11 minutes of real-world experience.
Comment: Originally submitted to the German Robotics Conference, 2026
arXiv PDF
Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators
Jiaxing Li, Hanjiang Hu, Zhuoyuan Wang, Yorie Nakahira, Changliu Liu
arXiv:2605.01069v1 • 2026-05-01
Safety critical control of robotic manipulation tasks involving deformable media such as fluids, cloth, and soft objects remains challenging because existing learning based approaches encode safety indirectly through reward shaping, which provides no guarantee of constraint satisfaction at deployment. We present a constraint driven online safety filter for deformable object manipulation that enforces explicit task level safety constraints in real time by minimally modifying any nominal control policy. Our approach combines two key components: a horizon agnostic neural operator that learns the boundary input output mapping of the underlying PDE dynamics and generalizes across variable rollout lengths without retraining, and a boundary control barrier function that certifies safety at the task relevant output level via a lightweight quadratic program. The resulting safety constraint is affine in the boundary input rate, enabling real time online filtering. We evaluate the proposed method on fluid manipulation tasks in FluidLab, where the filter improves safe trajectory rates by up to 22% over unfiltered base policies while also reducing the number of steps required to reach the safe set, demonstrating that constraint driven safety enforcement is both more reliable and more efficient than reward shaping approaches.
arXiv PDF
Value Functions for Temporal Logic: Optimal Policies and Safety Filters
Oswin So, William Sharpless, Sylvia Herbert, Chuchu Fan
arXiv:2605.01051v1 • 2026-05-01
While Bellman equations for basic reach, avoid, and reach-avoid problems are well studied, the relationship between value optimality and policy optimality becomes subtle in the undiscounted infinite-horizon setting, particularly for more complicated tasks. Greedily maximizing the Q-function can produce policies that indefinitely defer task completion for reach-avoid problems, or equivalently, Until specifications, even when the value function is optimal. Building upon recent results decomposing the value function for temporal logic (TL) into a graph of constituent value functions, we construct non-Markovian policies based on state history that avoid this pathology and prove their optimality with respect to the quantitative robustness score for nested Until, Globally, and Globally-Until specifications. We further show how the Q function can serve as a safety filter for complex TL specifications, extending prior results beyond simple avoid or reach-avoid tasks.
arXiv PDF
Video World Models
6
默认显示 5 篇
EmoMM: Benchmarking and Steering MLLM for Multimodal Emotion Recognition under Conflict and Missingness
Yueru Sun, Yimeng Zhang, Haoyu Gu, Nuo Chen, Dong She, Xianrong Yao, Yang Gao, Zhanpeng Jin
arXiv:2605.01024v1 • 2026-05-01
Multimodal Emotion Recognition (MER) is critical for interpreting real-world interactions. While Multimodal Large Language Models (MLLM) have shown promise in MER, their internal decision-making mechanisms under modality conflict and missingness remain largely underexplored. In this paper, to systematically investigate these behaviors, we introduce EmoMM, a comprehensive benchmark featuring modality-aligned, conflict, and missing subsets. Through extensive evaluation, we uncover a Video Contribution Collapse (VCC) phenomenon, where MLLM marginalize video evidence due to high token redundancy and modality preferences. To address this, we propose Conflict-aware Head-level Attention Steering (CHASE), a lightweight mechanism that detects modality conflicts and performs inference-time attention steering, effectively mitigating decision bias without retraining the backbone. Experimental results demonstrate that CHASE consistently improves performance across various settings, significantly enhancing the reliability of MLLM in complex affective scenarios.
arXiv PDF
Stepper: Stepwise Immersive Scene Generation with Multiview Panoramas
Felix Wimbauer, Fabian Manhardt, Michael Oechsle, Nikolai Kalischek, Christian Rupprecht, Daniel Cremers, Federico Tombari
arXiv:2603.28980v2 •updated • 2026-03-30
The synthesis of immersive 3D scenes from text is rapidly maturing, driven by novel video generative models and feed-forward 3D reconstruction, with vast potential in AR/VR and world modeling. While panoramic images have proven effective for scene initialization, existing approaches suffer from a trade-off between visual fidelity and explorability: autoregressive expansion suffers from context drift, while panoramic video generation is limited to low resolution. We present Stepper, a unified framework for text-driven immersive 3D scene synthesis that circumvents these limitations via stepwise panoramic scene expansion. Stepper leverages a novel multi-view 360° diffusion model that enables consistent, high-resolution expansion, coupled with a geometry reconstruction pipeline that enforces geometric coherence. Trained on a new large-scale, multi-view panorama dataset, Stepper achieves state-of-the-art fidelity and structural consistency, outperforming prior approaches, thereby setting a new standard for immersive scene generation.
Comment: Accepted at CVPR 2026 Findings; Find our project page under https://fwmb.github.io/stepper/
arXiv PDF
MotuBrain: An Advanced World Action Model for Robot Control
MotuBrain Team, Chendong Xiang, Fan Bao, Haitian Liu, Hengkai Tan, Hongzhe Bi, James Li, Jiabao Liu, Jingrui Pang, Kiro Jing, Louis Liu, Mengchen Cai, Rongxu Cui, Ruowen Zhao, Runqing Wang, Shuhe Huang, Yao Feng, Yinze Rong, Zeyuan Wang, Jun Zhu
arXiv:2604.27792v2 •updated • 2026-04-30
Vision-Language-Action (VLA) models generalize semantically well but often lack fine-grained modeling of world dynamics. We present MotuBrain, a unified World Action Model that jointly models video and action under a UniDiffuser formulation with a three-stream Mixture-of-Transformers architecture. A single model supports policy learning, world modeling, video generation, inverse dynamics, and joint video-action prediction, while scaling to heterogeneous multimodal data such as video-only, task-agnostic, and cross-embodiment robot data. Building on Motus, MotuBrain further introduces unified multiview modeling, an independent text stream for stronger language-action coupling, a shared cross-embodiment action representation, and an efficient post-training and deployment recipe for long-horizon real-world control. Our inference stack combines step reduction, compilation, FP8 quantization, DiT caching, V2A-style action-only inference, and real-time chunked closed-loop execution, achieving over 50x speedup over a naive baseline and up to 11 Hz inference. Experimentally, MotuBrain achieves 95.8% and 96.1% average success on RoboTwin 2.0 under clean and randomized settings, respectively, attains the strongest reported EWMScore in our WorldArena comparison, and adapts to new humanoid embodiments with only 50--100 trajectories. These results show that unified world action models can scale in generality, predictive accuracy, and real-world deployability.
arXiv PDF
From Static Analysis to Audience Dissemination: A Training-Free Multimodal Controversy Detection Multi-Agent Framework
Zihan Ding, Ziyuan Yang, Yi Zhang
arXiv:2605.02939v1 • 2026-05-01
Multimodal controversy detection (MCD) identifies controversial content in videos and their associated user comments, to support risk management for social video platforms.Prior research frames MCD as a static representation learning task, where features are directly extracted from videos and their accompanying comments. However, these methods fail to capture the diverse perspectives and evaluations from different audience groups. Inspired by the real-world process of content dissemination among audiences, we propose AuDisAgent, a training-free multi-agent framework that reformulates MCD as a dynamic propagation process.Our framework explicitly models audience dissemination through a structured multi-agent system. First, three specialized Screening Agents (Video Agent, Comment Agent, and Interaction Agent) conduct initial assessments from visual, textual, and cross-modal perspectives, respectively. For samples where the three agents cannot reach a consensus, a Viewing Panel Agent is activated to simulate post-screening discussions among audiences with diverse backgrounds and stances. This mechanism models how different audience groups interpret and react to the same content, uncovering latent controversial content that may emerge during the dissemination process. Finally, an Arbitration Agent renders the final judgment based on the complete reasoning chain from the preceding steps.In addition, to address the "cold-start" scenario where newly released videos have few or no comments, we design a Comment Bootstrapping Strategy that leverages historical public comments from semantically similar videos as the initial comment context. Extensive experiments on a public dataset demonstrate that our framework significantly outperforms existing state-of-the-art (SOTA) methods in both rich-comment and limited-comment scenarios.
arXiv PDF
InfantAgent-Next: A Multimodal Generalist Agent for Automated Computer Interaction
Bin Lei, Weitai Kang, Zijian Zhang, Winson Chen, Xi Xie, Shan Zuo, Mimi Xie, Ali Payani, Mingyi Hong, Yan Yan, Caiwen Ding
arXiv:2505.10887v3 •updated • 2025-05-16
This paper introduces \textsc{InfantAgent-Next}, a generalist agent capable of interacting with computers in a multimodal manner, encompassing text, images, audio, and video. Unlike existing approaches that either build intricate workflows around a single large model or only provide workflow modularity, our agent integrates tool-based and pure vision agents within a highly modular architecture, enabling different models to collaboratively solve decoupled tasks in a step-by-step manner. Our generality is demonstrated by our ability to evaluate not only pure vision-based real-world benchmarks (i.e., OSWorld), but also more general or tool-intensive benchmarks (e.g., GAIA and SWE-Bench). Specifically, we achieve $\mathbf{7.27\%}$ accuracy on OSWorld, higher than Claude-Computer-Use. Codes and evaluation scripts are open-sourced at https://github.com/bin123apple/InfantAgent.
arXiv PDF
Embodied Intelligence
18
默认显示 5 篇
A Low-Latency Fraud Detection Layer for Detecting Adversarial Interaction Patterns in LLM-Powered Agents
Sheldon Yu, Yingcheng Sun, Hanqing Guo, Julian McAuley, Qianqian Tong
arXiv:2605.01143v1 • 2026-05-01
Large Language Model (LLM)-powered agents demonstrate strong capabilities in autonomous task execution, tool use, and multi-step reasoning. However, their increasing autonomy also introduces a new attack surface: adversarial interactions can manipulate agent behavior through direct prompt injection, indirect content attacks, and multi-turn escalation strategies. Existing defense strategies focus on prompt-level filtering and rule-based guardrails, which are often insufficient when risk emerges gradually across interaction sequences. In this work, we propose a complementary defense mechanism: a low-latency fraud detection layer for detecting adversarial interaction patterns in LLM-powered agents. Instead of determining whether a single prompt is malicious, our approach models risk over interaction trajectories using structured runtime features derived from prompt characteristics, session dynamics, tool usage, execution context, and fraud-inspired signals. The detection layer can be implemented using lightweight models leading to low-latency real-time deployments. To evaluate the framework, we construct a synthetic corpus of 12,000 multi-turn agent interactions generated from parameterized templates that simulate realistic agentic workflows. Using 42 structured features and an XGBoost classifier, our detector achieves over 9 times faster than LLM-based detectors. Through the experiment and ablation studies, our work suggests that interaction-level behavioral detection should become a core component of deployment-time defense for LLM-powered agents.
arXiv PDF
Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators
Jiaxing Li, Hanjiang Hu, Zhuoyuan Wang, Yorie Nakahira, Changliu Liu
arXiv:2605.01069v1 • 2026-05-01
Safety critical control of robotic manipulation tasks involving deformable media such as fluids, cloth, and soft objects remains challenging because existing learning based approaches encode safety indirectly through reward shaping, which provides no guarantee of constraint satisfaction at deployment. We present a constraint driven online safety filter for deformable object manipulation that enforces explicit task level safety constraints in real time by minimally modifying any nominal control policy. Our approach combines two key components: a horizon agnostic neural operator that learns the boundary input output mapping of the underlying PDE dynamics and generalizes across variable rollout lengths without retraining, and a boundary control barrier function that certifies safety at the task relevant output level via a lightweight quadratic program. The resulting safety constraint is affine in the boundary input rate, enabling real time online filtering. We evaluate the proposed method on fluid manipulation tasks in FluidLab, where the filter improves safe trajectory rates by up to 22% over unfiltered base policies while also reducing the number of steps required to reach the safe set, demonstrating that constraint driven safety enforcement is both more reliable and more efficient than reward shaping approaches.
arXiv PDF
InpaintSLat: Inpainting Structured 3D Latents via Initial Noise Optimization
Jaeyoung Chung, Suyoung Lee, Kyoung Mu Lee
arXiv:2605.00664v1 • 2026-05-01
We present a training-free approach for controllable 3D inpainting based on initial noise optimization. In the structured 3D latent diffusion framework, we observe that the underlying geometric structure is established during the early stages of the diffusion process and exhibits high sensitivity to the initial noise. Such characteristics compromise stability in tasks like inpainting and editing, where the model must ensure strict alignment with the existing context while synthesizing a new structure. In this paper, we introduce a strategy to optimize the initial noise within the structured 3D latent diffusion framework, ensuring high-fidelity 3D inpainting. Specifically, we update the initial noise by leveraging a backpropagation approximation grounded in the rectified flow model, with the spectral parameterization specially designed for robust and efficient structured 3D latent optimization. Experiments demonstrate consistent improvements in contextual consistency and prompt alignment over representative training-free inpainting baselines, establishing initial noise control as an independent dimension for 3D inpainting, orthogonal to conventional sampling trajectory manipulation.
Comment: project page: https://robot0321.github.io/InpaintSLat/index.html
arXiv PDF
Recovering Hidden Reward in Diffusion-Based Policies
Yanbiao Ji, Qiuchang Li, Yuting Hu, Shaokai Wu, Wenyuan Xie, Guodong Zhang, Qicheng He, Deyi Ji, Yue Ding, Hongtao Lu
arXiv:2605.00623v1 • 2026-05-01
This paper introduces EnergyFlow, a framework that unifies generative action modeling with inverse reinforcement learning by parameterizing a scalar energy function whose gradient is the denoising field. We establish that under maximum-entropy optimality, the score function learned via denoising score matching recovers the gradient of the expert's soft Q-function, enabling reward extraction without adversarial training. Formally, we prove that constraining the learned field to be conservative reduces hypothesis complexity and tightens out-of-distribution generalization bounds. We further characterize the identifiability of recovered rewards and bound how score estimation errors propagate to action preferences. Empirically, EnergyFlow achieves state-of-the-art imitation performance on various manipulation tasks while providing an effective reward signal for downstream reinforcement learning that outperforms both adversarial IRL methods and likelihood-based alternatives. These results show that the structural constraints required for valid reward extraction simultaneously serve as beneficial inductive biases for policy generalization. The code is available at https://github.com/sotaagi/EnergyFlow.
Comment: Accepted by ICML 2026
arXiv PDF
STARRY: Spatial-Temporal Action-Centric World Modeling for Robotic Manipulation
Yuxuan Tian, Yurun Jin, Bin Yu, Yukun Shi, Hao Wu, Chi Harold Liu, Kai Chen, Cong Huang
arXiv:2604.26848v2 •updated • 2026-04-29
Robotic manipulation requires reasoning about future spatial-temporal interactions and geometric constraints, yet existing Vision-Language-Action (VLA) policies often leave predictive representation weakly coupled with action execution, causing failures in tasks requiring precise spatial-temporal coordination. We propose STARRY, a world-model-enhanced action-generation policy that aligns spatial-temporal prediction and action generation by jointly denoising future spatial-temporal latents and actions through a unified diffusion process. To bridge 2D visual tokens and 3D metric control, STARRY introduces Geometry-Aware Selective Attention Modulation (GASAM), which converts predicted depth and end-effector geometry into token-aligned weights for selective action-attention modulation. On RoboTwin 2.0, STARRY achieves 93.82% / 93.30% average success under Clean and Randomized settings across 50 bimanual tasks. Real-world experiments show that STARRY improves average success from 42.5% to 70.8% compared with $π_{0.5}$. These results demonstrate the effectiveness of action-centric spatial-temporal world modeling for spatially and temporally demanding robotic manipulation.
Comment: 19 pages
arXiv PDF
End-to-End AD
34
默认显示 5 篇
Let ViT Speak: Generative Language-Image Pre-training
Yan Fang, Mengcheng Lan, Zilong Huang, Weixian Lei, Yunqing Zhao, Yujie Zhong, Yingchen Yu, Qi She, Yao Zhao, Yunchao Wei
arXiv:2605.00809v1 • 2026-05-01
In this paper, we present \textbf{Gen}erative \textbf{L}anguage-\textbf{I}mage \textbf{P}re-training (GenLIP), a minimalist generative pretraining framework for Vision Transformers (ViTs) designed for multimodal large language models (MLLMs). To better align vision encoders with the autoregressive nature of LLMs, GenLIP trains a ViT to predict language tokens directly from visual tokens using a standard language modeling objective, without contrastive batch construction or an additional text decoder. This design offers three key advantages: (1) \textbf{Simplicity}: a single transformer jointly models visual and textual tokens; (2) \textbf{Scalability}: it scales effectively with both data and model size; and (3) \textbf{Performance}: it achieves competitive or superior results across diverse multimodal benchmarks. Trained on 8B samples from Recap-DataComp-1B, GenLIP matches or surpasses strong baselines despite using substantially less pretraining data. After continued pretraining on multi-resolution images at native aspect ratios, GenLIP further improves on detail-sensitive tasks such as OCR and chart understanding, making it a strong foundation for vision encoders in MLLMs.
Comment: 24 pages, 9 figures
arXiv PDF
ScreenParse: Moving Beyond Sparse Grounding with Complete Screen Parsing Supervision
A. Said Gurbuz, Sunghwan Hong, Ahmed Nassar, Marc Pollefeys, Peter Staar
arXiv:2602.14276v2 •updated • 2026-02-15
Modern computer-use agents (CUA) must perceive a screen as a structured state, what elements are visible, where they are, and what text they contain, before they can reliably ground instructions and act. Yet, most available grounding datasets provide sparse supervision, with insufficient and low-diversity labels that annotate only a small subset of task-relevant elements per screen, which limits both coverage and generalization; moreover, practical deployment requires efficiency to enable low-latency, on-device use. We introduce ScreenParse, a large-scale dataset for complete screen parsing, with dense annotations of all visible UI elements (boxes, 55-class types, and text) across 771K web screenshots (21M elements). ScreenParse is generated by Webshot, an automated, scalable pipeline that renders diverse urls, extracts annotations and applies VLM-based relabeling and quality filtering. Using ScreenParse, we train ScreenVLM, a compact, 316M-parameter vision language model (VLM) that decodes a compact ScreenTag markup representation with a structure-aware loss that upweights structure-critical tokens. ScreenVLM substantially outperforms much larger foundation VLMs on dense parsing (e.g., 0.592 vs. 0.294 PageIoU on ScreenParse) and shows strong transfer to public benchmarks. Moreover, finetuning foundation VLMs on ScreenParse consistently improves their grounding performance, suggesting that dense screen supervision provides transferable structural priors for UI understanding. Project page: https://saidgurbuz.github.io/screenparse/.
Comment: Accepted at ICML 2026. 28 pages, 15 figures
arXiv PDF
Unsupervised Denoising of Real Clinical Low Dose Liver CT with Perceptual Attention Networks
Jingxi Pu, Tonghua Liu, Zhilin Guan, Siqiao Li, Yang Ming, Zheng Cong, Wei Zhang, Fangwei Li
arXiv:2605.00793v1 • 2026-05-01
With the development of deep learning, medical image processing has been widely used to assist clinical research. This paper focuses on the denoising problem of low-dose computed tomography using deep learning. Although low-dose computed tomography reduces radiation exposure to patients, it also introduces more noise, which may interfere with visual interpretation by physicians and affect diagnostic results. To address this problem, inspired by Cycle-GAN for unsupervised learning, this paper proposes an end-to-end unsupervised low-dose computed tomography denoising framework. The proposed framework combines a U-Net structure for multi-scale feature extraction, an attention mechanism for feature fusion, and a residual network for feature transformation. It also introduces perceptual loss to improve the network for the characteristics of medical images. In addition, we construct a real low-dose computed tomography dataset and design a large number of comparative experiments to validate the proposed method, using both image-based evaluation metrics and medical evaluation criteria. Compared with classical methods, the main advantage of this paper is that it addresses the limitation that real clinical data cannot be directly used for supervised learning, while still achieving excellent performance. The experimental results are also professionally evaluated by imaging physicians and meet clinical needs.
Comment: 8 pages, 10 figures, 5 tables
arXiv PDF
Quantum Gradient-Based Approach for Edge and Corner Detection Using Sobel Kernels
Mohammad Aamir Sohail, Gabriela Pinheiro, Yasemin Poyraz Kocak, Batuhan Hangun, Emre Camkerten, Simge Yigit, Hafize Asude Ertan
arXiv:2605.00744v1 • 2026-05-01
Edge detection refers to identifying points in a digital image where intensity changes sharply, indicating object boundaries or structural features. Corners are locations where gray-level intensity changes abruptly in multiple directions and are widely used in feature extraction, object tracking, and 3D modeling. In this study, we present a quantum implementation of Sobel-based edge detection and Harris-style corner detection. Two quantum image encoding methods - Flexible Representation of Quantum Images (FRQI) and Quantum Probability Image Encoding (QPIE) - are used to encode the input data and are comparatively analyzed. The proposed approach introduces a quantum gradient computation scheme based on lag-2 differences, enabling the evaluation of gradient-like features in superposition. To improve detection quality and reduce false positives, a classical post-processing step is applied to candidate corner points identified by the quantum circuit. Results show that the proposed quantum circuits produce outputs consistent with classical Sobel and Harris operators. Furthermore, the QPIE-based configuration yields more stable and coherent results than FRQI, especially under limited measurement shots. While gradient computation can be performed efficiently at the circuit level, the overall cost remains dominated by state preparation, measurement, and classical post-processing. All experiments are conducted under noiseless simulation, and performance on NISQ hardware may be affected by noise and measurement limitations. Therefore, this work demonstrates a functional and scalable quantum realization of classical edge and corner detection methods rather than an end-to-end speedup.
arXiv PDF
Exploring the Limits of End-to-End Feature-Affinity Propagation for Single-Point Supervised Infrared Small Target Detection
Qiancheng Zhou, Wenhua Zhang
arXiv:2605.00722v1 • 2026-05-01
Single-point supervised infrared small target detection (IRSTD) drastically reduces dense annotation costs. Current state-of-the-art (SOTA) methods achieve high precision by recovering mask supervision through explicit, offline pseudo-label construction, such as multi-stage active learning and physics-driven mask generation. In this paper, we study a minimalist alternative: generating point-to-mask supervision online through in-batch, point-anchored feature-affinity propagation. We instantiate this paradigm as GSACP, an end-to-end testbed that directly supervises the detector using hard-margin feature affinity gated by local image priors, entirely eliminating external label-evolution loops. This compact design, however, exposes an optimization bottleneck. Because the affinity target is generated from the same feature representation being optimized, training forms a self-referential loop. We theoretically formalize this as \emph{Self-Referential Propagation Drift}, a representation-supervision entanglement that can sharpen true boundaries or distort the feature space to satisfy its own targets. To systematically isolate these failure modes, we apply a protocolized single-variable ablation procedure spanning local EMA teacher decoupling, hard-background contrastive separation, and adaptive support geometry. On the SIRST3 dataset, GSACP-Final establishes a new ultra-low false-alarm operating regime, achieving a highly competitive $0.6674$ mIoU while demonstrating a $38\% relative reduction in false-positive artifacts ($\mathrm{Fa}$) compared with PAL. By systematically deconstructing the end-to-end paradigm, we map its performance boundaries and show that in-batch feature propagation provides a compact alternative for deployment scenarios where false-alarm suppression is paramount.
arXiv PDF
Foundation Models
50
默认显示 5 篇
Sentra-Guard: A Real-Time Multilingual Defense Against Adversarial LLM Prompts
Md. Mehedi Hasan, Sk Tanzir Mehedi, Ziaur Rahman, Rafid Mostafiz, Md. Abir Hossain
arXiv:2510.22628v2 •updated • 2025-10-26
This paper presents a real-time modular defense system named Sentra-Guard. The system detects and mitigates jailbreak and prompt injection attacks targeting large language models (LLMs). The framework uses a hybrid architecture with FAISS-indexed SBERT embedding representations that capture the semantic meaning of prompts, combined with fine-tuned transformer classifiers, which are machine learning models specialized for distinguishing between benign and adversarial language inputs. It identifies adversarial prompts in both direct and obfuscated attack vectors. A core innovation is the classifier-retriever fusion module, which dynamically computes context-aware risk scores that estimate how likely a prompt is to be adversarial based on its content and context. The framework ensures multilingual resilience with a language-agnostic preprocessing layer. This component automatically translates non-English prompts into English for semantic evaluation, enabling consistent detection across over 100 languages. The system includes a HITL feedback loop, where decisions made by the automated system are reviewed by human experts for continual learning and rapid adaptation under adversarial pressure. Sentra-Guard maintains an evolving dual-labeled knowledge base of benign and malicious prompts, enhancing detection reliability and reducing false positives. Evaluation results show a 99.96% detection rate (AUC = 1.00, F1 = 1.00) and an attack success rate (ASR) of only 0.004%. This outperforms leading baselines such as LlamaGuard-2 (1.3%) and OpenAI Moderation (3.7%). Unlike black-box approaches, Sentra-Guard is transparent, fine-tunable, and compatible with diverse LLM backends. Its modular design supports scalable deployment in both commercial and open-source environments. The system establishes a new state-of-the-art in adversarial LLM defense.
Comment: 11 pages, 5 figures. Preprint version under review in the area of Artificial Intelligence (cs.AI)
arXiv PDF
ATLAS: Adaptive Trading with LLM AgentS Through Dynamic Prompt Optimization and Multi-Agent Coordination
Charidimos Papadakis, Angeliki Dimitriou, Giorgos Filandrianos, Maria Lymperaiou, Konstantinos Thomas, Giorgos Stamou
arXiv:2510.15949v4 •updated • 2025-10-10
Large language models show promise for financial decision-making, yet deploying them as autonomous trading agents raises fundamental challenges: how to adapt instructions when rewards arrive late and obscured by market noise, how to synthesize heterogeneous information streams into coherent decisions, and how to bridge the gap between model outputs and executable market actions. We present ATLAS (Adaptive Trading with LLM AgentS), a unified multi-agent framework that integrates structured information from markets, news, and corporate fundamentals to support robust trading decisions. Within ATLAS, the central trading agent operates in an order-aware action space, ensuring that outputs correspond to executable market orders rather than abstract signals. The agent can incorporate feedback while trading using Adaptive-OPRO, a novel prompt-optimization technique that dynamically adapts the prompt by incorporating real-time, stochastic feedback, leading to increasing performance over time. Across regime-specific equity studies and multiple LLM families, Adaptive-OPRO consistently outperforms fixed prompts, while reflection-based feedback fails to provide systematic gains.
arXiv PDF
Persistent Visual Memory: Sustaining Perception for Deep Generation in LVLMs
Siyuan Huang, Xiaoye Qu, Yafu Li, Tong Zhu, Zefeng He, Muxin Fu, Daizong Liu, Wei-Long Zheng, Yu Cheng
arXiv:2605.00814v1 • 2026-05-01
While autoregressive Large Vision-Language Models (LVLMs) demonstrate remarkable proficiency in multimodal tasks, they face a "Visual Signal Dilution" phenomenon, where the accumulation of textual history expands the attention partition function, causing visual attention to decay inversely with generated sequence length. To counteract this, we propose Persistent Visual Memory (PVM), a lightweight learnable module designed to ensure sustained, on-demand visual perception. Integrated as a parallel branch alongside the Feed-Forward Network (FFN) in LVLMs, PVM establishes a distance-agnostic retrieval pathway that directly provides visual embeddings for precise visual perception, thereby structurally mitigating the signal suppression inherent to deep generation. Extensive experiments on Qwen3-VL models demonstrate that PVM brings notable improvements with negligible parameter overhead, delivering consistent average accuracy gains across both 4B and 8B scales, particularly in complex reasoning tasks that demand persistent visual perception. Furthermore, in-depth analysis reveals that PVM can resist length-induced signal decay and accelerate internal prediction convergence.
arXiv PDF
Comparing Exploration-Exploitation Strategies of LLMs and Humans: Insights from Standard Multi-armed Bandit Experiments
Ziyuan Zhang, Darcy Wang, Ningyuan Chen, Rodrigo Mansur, Vahid Sarhangian
arXiv:2505.09901v3 •updated • 2025-05-15
Large language models (LLMs) are increasingly used to simulate or automate human behavior in complex sequential decision-making settings. A natural question is then whether LLMs exhibit similar decision-making behavior to humans, and can achieve comparable (or superior) performance. In this work, we focus on the exploration-exploitation (E&E) tradeoff, a fundamental aspect of dynamic decision-making under uncertainty. We employ canonical multi-armed bandit (MAB) experiments introduced in the cognitive science and psychiatry literature to conduct a comparative study of the E&E strategies of LLMs, humans, and MAB algorithms. We use interpretable choice models to capture the E&E strategies of the agents and investigate how enabling thinking traces, through both prompting strategies and thinking models, shapes LLM decision-making. We find that enabling thinking in LLMs shifts their behavior toward more human-like behavior, characterized by a mix of random and directed exploration. In a simple stationary setting, thinking-enabled LLMs exhibit similar levels of random and directed exploration compared to humans. However, in more complex, non-stationary environments, LLMs struggle to match human adaptability, particularly in effective directed exploration, despite achieving similar regret in certain scenarios. Our findings highlight both the promise and limits of LLMs as simulators of human behavior and tools for automated decision-making and point to potential areas for improvement.
arXiv PDF
Discrete Cosine Transform Based Decorrelated Attention for Vision Transformers
Hongyi Pan, Emadeldeen Hamdan, Xin Zhu, Ahmet Enis Cetin, Ulas Bagci
arXiv:2405.13901v4 •updated • 2024-05-22
Self-attention is central to the success of Transformer architectures; however, learning the query, key, and value projections from random initialization remains challenging and computationally expensive. In this paper, we propose two complementary methods that leverage the Discrete Cosine Transform (DCT) to enhance the efficiency and performance of Vision Transformers. First, we address the initialization problem by introducing a simple yet effective DCT-based initialization strategy for self-attention, where projection weights are initialized using DCT coefficients. This structure-preserving approach consistently improves classification accuracy on the CIFAR-10 and ImageNet-1K benchmarks. Second, we propose a DCT-based attention compression technique that exploits the decorrelation properties of the frequency domain. By observing that high-frequency DCT coefficients typically correspond to noise, we truncate high-frequency components of the input patches, thereby reducing the dimensionality of the query, key, and value projections without sacrificing accuracy. Experiments on Swin Transformer models demonstrate that the proposed compression method achieves a substantial reduction in computational overhead while maintaining comparable performance.
Comment: This work has been accepted to IJCAI-ECAI 2026
arXiv PDF
2026-04-30
211 篇
Robotics
54
默认显示 5 篇
An End-to-End Decision-Aware Multi-Scale Attention-Based Model for Explainable Autonomous Driving
Maryam Sadat Hosseini Azad, Shahriar Baradaran Shokouhi, Amir Abbas Hamidi Imani, Shahin Atakishiyev, Randy Goebel
arXiv:2605.00291v1 • 2026-04-30
The application of computer vision is gradually increasing across various domains. They employ deep learning models with a black-box nature. Without the ability to explain the behavior of neural networks, especially their decision-making processes, it is not possible to recognize their efficiency, predict system failures, or effectively implement them in real-world applications. Due to the inevitable use of deep learning in fully automated driving systems, many methods have been proposed to explain their behavior; however, they suffer from flawed reasoning and unreliable metrics, which have prevented a comprehensive understanding of complex models in autonomous vehicles and hindered the development of truly reliable systems. In this study, we propose a multi-scale attention-based model in which driving decisions are fed into the reasoning component to provide case-specific explanations for each decision simultaneously. For quantitative evaluation of our model's performance, we employ the F1-score metric, and also proposed a new metric called the Joint F1 score to demonstrate the accurate and reliable performance of the model in terms of Explainable Artificial Intelligence (XAI). In addition to the BDD-OIA dataset, the nu-AR dataset is utilized to further validate the generalization capability and robustness of the proposed network. The results demonstrate the superiority of our reasoning network over the classic and state-of-the-art models.
arXiv PDF
Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty
Giuseppe Silano, Quentin Sablé, Marco Tognon, Luigi Iannelli, Antonio Franchi
arXiv:2604.25766v2 •updated • 2026-04-28
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle chain connected by rigid links, modeled with input-rate actuation to enforce slew-rate and magnitude limits on thrust and torque. Robustness to uncertainty in link mass, length, and inertia is achieved by propagating first-order parametric state sensitivities along the horizon and using them to compute online constraint-tightening margins. We robustify an inter-link separation constraint, implemented via a smooth cosine embedding, and thrust-magnitude bounds. The method is implemented in MATLAB and evaluated with boundary-hugging maneuvers and Monte-Carlo uncertainty sampling. Results show improved constraint margins under uncertainty with tracking performance comparable to nominal NMPC.
Comment: Accepted to the 2026 International Conference on Unmanned Aircraft Systems, ICUAS 2026
arXiv PDF
REALM: An RGB and Event Aligned Latent Manifold for Cross-Modal Perception
Vincenzo Polizzi, David B. Lindell, Jonathan Kelly
arXiv:2605.00271v1 • 2026-04-30
Event cameras provide several unique advantages over standard frame-based sensors, including high temporal resolution, low latency, and robustness to extreme lighting. However, existing learning-based approaches for event processing are typically confined to narrow, task-specific silos and lack the ability to generalize across modalities. We address this gap with REALM, a cross-modal framework that learns an RGB and Event Aligned Latent Manifold by projecting event representations into the pretrained latent space of RGB foundation models. Instead of task-specific training, we leverage low-rank adaptation (LoRA) to bridge the modality gap, effectively unlocking the geometric and semantic priors of frozen RGB backbones for asynchronous event streams. We demonstrate that REALM effectively maps events into the ViT-based foundation latent space. Our method allows us to perform downstream tasks like depth estimation and semantic segmentation by simply transferring linear heads trained on the RGB teacher. Most significantly, REALM enables the direct, zero-shot application of complex, frozen image-trained decoders, such as MASt3R, to raw event data. We demonstrate state-of-the-art performance in wide-baseline feature matching, significantly outperforming specialized architectures. Code and models are available upon acceptance.
arXiv PDF
Task-Conditioned Uncertainty Costmaps for Legged Locomotion
Kartikeya Singh, Christo Aluckal, Romeo Orsolino, Karthik Dantu
arXiv:2605.00261v1 • 2026-04-30
Legged robots maintain dynamic feasibility through multicontact interactions with terrain. Learned foothold prediction can provide feasibility-aware costs for motion planning and path selection, but accurately predicting future contacts from perceptual inputs such as height scans remains challenging on highly unstructured terrain, even with a repetitive gait cycle. In this work, we show that modeling epistemic uncertainty in predicted footholds, conditioned on terrain observations and commanded motion, distinguishes in-distribution from out-of-distribution operating regimes in simulation and real-world settings. This allows a single learned model, trained on limited data distributions, to express uncertainty caused by missing training coverage. We use this learned uncertainty to detect OOD regions and incorporate them into a unified costmap-generation framework for uncertainty-aware path planning. Using these uncertainty-aware costmaps, we evaluate feasibility error across in-distribution and OOD terrains in simulation and real-world settings. The results show improved OOD detection, up to a 37% reduction in simulation feasibility error, and more reliable planning behavior than geometry-only baselines.
arXiv PDF
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Yajvan Ravan, Adam Rashid, Alan Yu, Kai McClennen, Gio Huh, Kevin Yang, Zhutian Yang, Qinxi Yu, Xiaolong Wang, Phillip Isola, Ge Yang
arXiv:2605.00244v1 • 2026-04-30
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a web-based physics simulation environment that runs directly on the XR headset, enabling internet-scale access to immersive, latency-free virtual interactions without requiring specialized equipment. The complete system integrates on-device physics simulation with human-to-robot pose retargeting. Data collected is further amplified by a physics-guided video generation pipeline steerable via natural language specifications. We demonstrate zero-shot transfer of robot visual policies to unseen, cluttered, and badly lit evaluation environments, after training entirely on Lucid-XR's synthetic data. We include examples across dexterous manipulation tasks that involve soft materials, loosely bound particles, and rigid body contact. Project website: https://lucidxr.github.io
Comment: Project website: https://lucidxr.github.io
arXiv PDF
Video World Models
13
默认显示 5 篇
AesRM: Improving Video Aesthetics with Expert-Level Feedback
Yujin Han, Yujie Wei, Yefei He, Xinyu Liu, Tianle Li, Zichao Yu, Andi Han, Shiwei Zhang, Tingyu Weng, Difan Zou
arXiv:2604.28078v1 • 2026-04-30
Despite rapid advances in photorealistic video generation, real-world applications such as filmmaking require video aesthetics, e.g., harmonious colors and cinematic lighting, beyond visual fidelity. Prior work on visual aesthetics largely focuses on images, often reducing aesthetics to coarse definitions, e.g., visual pleasure, without a rigorous and systematic evaluation. To improve video aesthetics, we propose a hierarchical rubric that decomposes video aesthetics into three core dimensions, Visual Aesthetics (VA), Visual Fidelity (VF), and Visual Plausibility (VP), with 15 fine-grained criteria, e.g., shot composition. This framework enables a large-scale expert-annotated preference dataset and an evaluation benchmark, AesVideo-Bench, containing about 2500 video pairs with expert annotations on VA, VF, and VP. We then build a family of Video Aesthetic Reward Models (AesRM): AesRM-Base, which directly predicts pairwise preferences on these dimensions to provide efficient post-training rewards, and AesRM-CoT, which additionally generates CoT aligned with all 15 criteria to improve assessment interpretability. Specifically, we train AesRM with a three-stage progressive scheme: (1) Atomic Aesthetic Capability Learning, which strengthens AesRM's recognition of fundamental aesthetic concepts, e.g., accurately identifying centered composition; (2) Cold-Start, aligning the model with structured reasoning protocols; and (3) GRPO, further improving evaluation accuracy. To enhance AesRM-CoT, we additionally propose self-consistency-based CoT synthesis to improve CoT quality and design CoT-based process rewards during GRPO. Extensive experiments show AesRM outperforms baselines on multiple aesthetics benchmarks and is more robust, with lower position bias. Finally, we align Wan2.2 with AesRM and observe clear aesthetic gains over existing aesthetic reward models.
Comment: 37 pages, 14 figures, 12 tables
arXiv PDF
TripVVT: A Large-Scale Triplet Dataset and a Coarse-Mask Baseline for In-the-Wild Video Virtual Try-On
Dingbao Shao, Song Wu, Shenyi Wang, Ye Wang, Ziheng Tang, Fei Liu, Jiang Lin, Xinyu Chen, Qian Wang, Ying Tai, Jian Yang, Zili Yi
arXiv:2604.27958v1 • 2026-04-30
Due to the scarcity of large-scale in-the-wild triplet data and the improper use of masks, the performance of video virtual try-on models remains limited. In this paper, we first introduce **TripVVT-10K**, the largest and most diverse in-the-wild triplet dataset to date, providing explicit video-level cross-garment supervision that existing video datasets lack. Built upon this resource, we develop **TripVVT**, a Diffusion Transformer-based framework that replaces fragile garment masks with a simple, stable human-mask prior, enabling reliable background preservation while remaining robust to real-world motion, occlusion, and cluttered scenes. To support comprehensive evaluation, we further establish **TripVVT-Bench**, a 100-case benchmark covering diverse garments, complex environments, and multi-person scenarios, with metrics spanning video quality, try-on fidelity, background consistency, and temporal coherence. Compared to state-of-the-art academic and commercial systems, TripVVT achieves superior video quality and garment fidelity while markedly improving generalization to challenging in-the-wild videos. We publicly release the dataset and benchmark, which we believe provide a solid foundation for advancing controllable, realistic, and temporally stable video virtual try-on.
arXiv PDF
World Model for Robot Learning: A Comprehensive Survey
Bohan Hou, Gen Li, Jindou Jia, Tuo An, Xinying Guo, Sicong Leng, Haoran Geng, Yanjie Ze, Tatsuya Harada, Philip Torr, Oier Mees, Marc Pollefeys, Zhuang Liu, Jiajun Wu, Pieter Abbeel, Jitendra Malik, Yilun Du, Jianfei Yang
arXiv:2605.00080v1 • 2026-04-30
World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have advanced rapidly with the rise of foundation models and large-scale video generation. However, the literature remains fragmented across architectures, functional roles, and embodied application domains. To address this gap, we present a comprehensive review of world models from a robot-learning perspective. We examine how world models are coupled with robot policies, how they serve as learned simulators for reinforcement learning and evaluation, and how robotic video world models have progressed from imagination-based generation to controllable, structured, and foundation-scale formulations. We further connect these ideas to navigation and autonomous driving, and summarize representative datasets, benchmarks, and evaluation protocols. Overall, this survey systematically reviews the rapidly growing literature on world models for robot learning, clarifies key paradigms and applications, and highlights major challenges and future directions for predictive modeling in embodied agents. To facilitate continued access to newly emerging works, benchmarks, and resources, we will maintain and regularly update the accompanying GitHub repository alongside this survey.
Comment: 43 pages, 6 figures
arXiv PDF
Being-H0.7: A Latent World-Action Model from Egocentric Videos
Hao Luo, Wanpeng Zhang, Yicheng Feng, Sipeng Zheng, Haiweng Xu, Chaoyi Xu, Ziheng Xi, Yuhui Fu, Zongqing Lu
arXiv:2605.00078v1 • 2026-04-30
Visual-Language-Action models (VLAs) have advanced generalist robot control by mapping multimodal observations and language instructions directly to actions, but sparse action supervision often encourages shortcut mappings rather than representations of dynamics, contact, and task progress. Recent world-action models introduce future prediction through video rollouts, yet pixel-space prediction is a costly and indirect substrate for control, as it may model visual details irrelevant to action generation and introduces substantial training or inference overhead. We present Being-H0.7, a latent world-action model that brings future-aware reasoning into VLA-style policies without generating future frames. Being-H0.7 inserts learnable latent queries between perception and action as a compact reasoning interface, and trains them with a future-informed dual-branch design: a deployable prior branch infers latent states from the current context, while a training-only posterior branch replaces the queries with embeddings from future observations. Jointly aligning the two branches at the latent reasoning space leads the prior branch to reason future-aware, action-useful structure from current observations alone. At inference, Being-H0.7 discards the posterior branch and performs no visual rollout. Experiments across six simulation benchmarks and diverse real-world tasks show that Being-H0.7 achieves state-of-the-art or comparable performance, combining the predictive benefits of world models with the efficiency and deployability of direct VLA policies.
arXiv PDF
Efficient Sparse Selective-Update RNNs for Long-Range Sequence Modeling
Bojian Yin, Shurong Wang, Haoyu Tan, Sander Bohte, Federico Corradi, Guoqi Li
arXiv:2603.02226v2 •updated • 2026-02-11
Real-world sequential signals, such as audio or video, contain critical information that is often embedded within long periods of silence or noise. While recurrent neural networks (RNNs) are designed to process such data efficiently, they often suffer from ``memory decay'' due to a rigid update schedule: they typically update their internal state at every time step, even when the input is static. This constant activity forces the model to overwrite its own memory and makes it hard for the learning signal to reach back to distant past events. Here we show that we can overcome this limitation using Selective-Update RNNs (suRNNs), a non-linear architecture that learns to preserve its memory when the input is redundant. By using a neuron-level binary switch that only opens for informative events, suRNNs decouple the recurrent updates from the raw sequence length. This mechanism allows the model to maintain an exact, unchanged memory of the past during low-information intervals, creating a direct path for gradients to flow across time. Our experiments on the Long Range Arena, WikiText, and other synthetic benchmarks show that suRNNs match or exceed the accuracy of much more complex models such as Transformers, while remaining significantly more efficient for long-term storage. By allowing each neuron to learn its own update timescale, our approach resolves the mismatch between how long a sequence is and how much information it actually contains. By providing a principled approach to managing temporal information density, this work establishes a new direction for achieving Transformer-level performance within the highly efficient framework of recurrent modeling.
arXiv PDF
Embodied Intelligence
33
默认显示 5 篇
CellxPert: Inference-Time MCMC Steering of a Multi-Omics Single-Cell Foundation Model for In-Silico Perturbation
Andac Demir, Erik W. Anderson, Jeremy L. Jenkins, Srayanta Mukherjee
arXiv:2605.00930v1 • 2026-04-30
In this work, we introduce CellxPert, a scalable multimodal foundation model that unifies single-cell and spatial multi-omics within a common representation space. CellxPert jointly encodes transcriptomic (scRNA-seq), chromatin-accessibility (ATAC-seq), and surface-proteomic (CITE-seq) measurements, while directly incorporating MERFISH and imaging mass-cytometry data as 2D or 3D spatial-visual layers. CellxPert facilitates four key downstream tasks out of the box: (i) cell-type annotation across a broad ontology of 154 largely overlapping identities -- the largest label space addressed to date and a stringent test of fine-grained discrimination, (ii) efficient fine-tuning using Low Rank Adaptation (LoRA), (iii) genome-wide transcriptomic response prediction to in-silico perturbations (ISP), and (iv) seamless multi-omic integration across various assays and platforms. Unlike current single-cell foundation models, which approximate gene perturbations by deleting or reordering tokenized gene expression ranks, CellxPert employs a Metropolis-Hastings sampler whose proposal kernel uses the model's masked conditional distributions to transition to new transcriptomic states conditioned on the perturbed genes. This Markov-chain procedure mitigates out-of-distribution artifacts introduced by abrupt token manipulation and produces trajectories that are biologically interpretable. Evaluations on PBMC68K, Replogle Perturb-seq, Systema, and BMMC benchmarks show that CellxPert surpasses classical and state-of-the-art baselines in cell-type annotation, perturbation response prediction, and multi-omic integration.
arXiv PDF
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Yajvan Ravan, Adam Rashid, Alan Yu, Kai McClennen, Gio Huh, Kevin Yang, Zhutian Yang, Qinxi Yu, Xiaolong Wang, Phillip Isola, Ge Yang
arXiv:2605.00244v1 • 2026-04-30
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a web-based physics simulation environment that runs directly on the XR headset, enabling internet-scale access to immersive, latency-free virtual interactions without requiring specialized equipment. The complete system integrates on-device physics simulation with human-to-robot pose retargeting. Data collected is further amplified by a physics-guided video generation pipeline steerable via natural language specifications. We demonstrate zero-shot transfer of robot visual policies to unseen, cluttered, and badly lit evaluation environments, after training entirely on Lucid-XR's synthetic data. We include examples across dexterous manipulation tasks that involve soft materials, loosely bound particles, and rigid body contact. Project website: https://lucidxr.github.io
Comment: Project website: https://lucidxr.github.io
arXiv PDF
RL Token: Bootstrapping Online RL with Vision-Language-Action Models
Charles Xu, Jost Tobias Springenberg, Michael Equi, Ali Amin, Adnan Esmail, Sergey Levine, Liyiming Ke
arXiv:2604.23073v2 •updated • 2026-04-24
Vision-language-action (VLA) models can learn to perform diverse manipulation skills "out of the box," but achieving the precision and speed that real-world tasks demand requires further fine-tuning -- for example, via reinforcement learning (RL). We introduce a lightweight method that enables sample-efficient online RL fine-tuning of pretrained VLAs using just a few hours of real-world practice. We (1) adapt the VLA to expose an "RL token," a compact readout representation that preserves task-relevant pretrained knowledge while serving as an efficient interface for online RL, and (2) train a small actor-critic head on this RL token to refine the actions, while anchoring the learned policy to the VLA. Online RL with the RL token (RLT) makes it possible to fine-tune even large VLAs with RL quickly and efficiently. Across four real-robot tasks (screw installation, zip tie fastening, charger insertion, and Ethernet insertion), RLT improves the speed on the hardest part of the task by up to 3x and raises success rates significantly within minutes to a few hours of practice. It can even surpass the speed of human teleoperation on some of the tasks.
arXiv PDF
E$^2$DT: Efficient and Effective Decision Transformer with Experience-Aware Sampling for Robotic Manipulation
Kaiyan Zhao, Borong Zhang, Yiming Wang, Xingyu Liu, Xuetao Li, Yuyang Chen, Xiaoguang Niu
arXiv:2605.00159v1 • 2026-04-30
In reinforcement learning (RL) for robotic manipulation, the Decision Transformer (DT) has emerged as an effective framework for addressing long-horizon tasks. However, DT's performance depends heavily on the coverage of collected experiences. Without an active exploration mechanism, standard DT relies on uniform replay, which leads to poor sample efficiency, limited exploration, and reduced overall effectiveness. At the same time, while excessive exploration can help avoid local optima, it often delays policy convergence and leads to degraded efficiency. To address these limitations, we propose E$^2$DT, a DT-guided k-Determinantal Point Process sampling framework that enables the model to actively shape its own experience selection. Our framework is experience-aware, allowing E$^2$DT to be both efficient, by prioritizing sampling quality, such as high-return, high-uncertainty, and underrepresented trajectories, and effective, by ensuring diversity across trajectory windows to preserve policy optimality. Specifically, DT's internal latent embeddings measure diversity across trajectory windows, while quality is quantified through a composite metric that integrates return-to-go (RTG) quantiles, predictive uncertainty, and stage coverage based on inverse frequency. These two dimensions are integrated into a novel quality-diversity joint kernel that prioritizes the most informative experiences, thereby enabling learning that is both efficient and effective. We evaluate E$^2$DT on challenging robotic manipulation benchmarks in both simulation and real-robot settings. Results show that it consistently outperforms prior methods. These findings demonstrate that coupling policy learning with experience-aware sampling provides a principled path toward robust long-horizon robotic learning.
Comment: ICRA2026 accepted
arXiv PDF
LaST-R1: Reinforcing Action via Adaptive Physical Latent Reasoning for VLA Models
Hao Chen, Jiaming Liu, Zhonghao Yan, Nuowei Han, Renrui Zhang, Chenyang Gu, Jialin Gao, Ziyu Guo, Siyuan Qian, Yinxi Wang, Peng Jia, Chi-Wing Fu, Shanghang Zhang, Pheng-Ann Heng
arXiv:2604.28192v1 • 2026-04-30
Vision-Language-Action (VLA) models have increasingly incorporated reasoning mechanisms for complex robotic manipulation. However, existing approaches share a critical limitation: whether employing explicit linguistic reasoning that suffers from latency and discretization, or utilizing more expressive continuous latent reasoning, they are predominantly confined to static imitation learning that limits adaptability and generalization. While online reinforcement learning (RL) has been introduced to VLAs to enable trial-and-error exploration, current methods exclusively optimize the vanilla action space, bypassing the underlying physical reasoning process. In this paper, we present \textbf{LaST-R1}, a unified VLA framework that integrates latent Chain-of-Thought (CoT) reasoning over physical dynamics prior to action execution, along with a tailored RL post-training paradigm. Specifically, we propose \textbf{Latent-to-Action Policy Optimization (LAPO)}, a novel RL algorithm that jointly optimizes the latent reasoning process and the action generation. By bridging reasoning and control, LAPO improves the representation of physical world modeling and enhances robustness in interactive environments. Furthermore, an \textbf{adaptive latent CoT mechanism} is introduced to allow the policy to dynamically adjust its reasoning horizon based on environment complexity. Extensive experiments show that LaST-R1 achieves a near-perfect 99.8\% average success rate on the LIBERO benchmark with only one-shot supervised warm-up, significantly improving convergence speed and performance over prior state-of-the-art methods. In real-world deployments, LAPO post-training yields up to a 44\% improvement over the initial warm-up policy across four complex tasks, including both single-arm and dual-arm settings. Finally, LaST-R1 demonstrates strong generalization across simulated and real-world environments.
arXiv PDF
End-to-End AD
61
默认显示 5 篇
An End-to-End Decision-Aware Multi-Scale Attention-Based Model for Explainable Autonomous Driving
Maryam Sadat Hosseini Azad, Shahriar Baradaran Shokouhi, Amir Abbas Hamidi Imani, Shahin Atakishiyev, Randy Goebel
arXiv:2605.00291v1 • 2026-04-30
The application of computer vision is gradually increasing across various domains. They employ deep learning models with a black-box nature. Without the ability to explain the behavior of neural networks, especially their decision-making processes, it is not possible to recognize their efficiency, predict system failures, or effectively implement them in real-world applications. Due to the inevitable use of deep learning in fully automated driving systems, many methods have been proposed to explain their behavior; however, they suffer from flawed reasoning and unreliable metrics, which have prevented a comprehensive understanding of complex models in autonomous vehicles and hindered the development of truly reliable systems. In this study, we propose a multi-scale attention-based model in which driving decisions are fed into the reasoning component to provide case-specific explanations for each decision simultaneously. For quantitative evaluation of our model's performance, we employ the F1-score metric, and also proposed a new metric called the Joint F1 score to demonstrate the accurate and reliable performance of the model in terms of Explainable Artificial Intelligence (XAI). In addition to the BDD-OIA dataset, the nu-AR dataset is utilized to further validate the generalization capability and robustness of the proposed network. The results demonstrate the superiority of our reasoning network over the classic and state-of-the-art models.
arXiv PDF
LandSegmenter: Towards a Flexible Foundation Model for Land Use and Land Cover Mapping
Chenying Liu, Wei Huang, Xiao Xiang Zhu
arXiv:2511.08156v2 •updated • 2025-11-11
Land Use and Land Cover (LULC) mapping is a fundamental task in Earth Observation (EO). However, current LULC models are typically developed for a specific modality and a fixed class taxonomy, limiting their generability and broader applicability. Recent advances in foundation models (FMs) offer promising opportunities for building universal models. Yet, task-agnostic FMs often require fine-tuning for downstream applications, whereas task-specific FMs rely on massive amounts of labeled data for training, which is costly and impractical in the remote sensing (RS) domain. To address these challenges, we propose LandSegmenter, an LULC FM framework that resolves three-stage challenges at the input, model, and output levels. From the input side, to alleviate the heavy demand on labeled data for FM training, we introduce LAnd Segment (LAS), a large-scale, multi-modal, multi-source dataset built primarily with globally sampled weak labels from existing LULC products. LAS provides a scalable, cost-effective alternative to manual annotation, enabling large-scale FM training across diverse LULC domains. For model architecture, LandSegmenter integrates an RS-specific adapter for cross-modal feature extraction and a text encoder for semantic awareness enhancement. At the output stage, we introduce a class-wise confidence-guided fusion strategy to mitigate semantic omissions and further improve LandSegmenter's zero-shot performance. We evaluate LandSegmenter on six precisely annotated LULC datasets spanning diverse modalities and class taxonomies. Extensive transfer learning and zero-shot experiments demonstrate that LandSegmenter achieves competitive or superior performance, particularly in zero-shot settings when transferred to unseen datasets. These results highlight the efficacy of our proposed framework and the utility of weak supervision for building task-specific FMs.
Comment: Accepted by ISPRS for publication
arXiv PDF
REALM: An RGB and Event Aligned Latent Manifold for Cross-Modal Perception
Vincenzo Polizzi, David B. Lindell, Jonathan Kelly
arXiv:2605.00271v1 • 2026-04-30
Event cameras provide several unique advantages over standard frame-based sensors, including high temporal resolution, low latency, and robustness to extreme lighting. However, existing learning-based approaches for event processing are typically confined to narrow, task-specific silos and lack the ability to generalize across modalities. We address this gap with REALM, a cross-modal framework that learns an RGB and Event Aligned Latent Manifold by projecting event representations into the pretrained latent space of RGB foundation models. Instead of task-specific training, we leverage low-rank adaptation (LoRA) to bridge the modality gap, effectively unlocking the geometric and semantic priors of frozen RGB backbones for asynchronous event streams. We demonstrate that REALM effectively maps events into the ViT-based foundation latent space. Our method allows us to perform downstream tasks like depth estimation and semantic segmentation by simply transferring linear heads trained on the RGB teacher. Most significantly, REALM enables the direct, zero-shot application of complex, frozen image-trained decoders, such as MASt3R, to raw event data. We demonstrate state-of-the-art performance in wide-baseline feature matching, significantly outperforming specialized architectures. Code and models are available upon acceptance.
arXiv PDF
At FullTilt: Real-Time Open-Set 3D Macromolecule Detection Directly from Tilted 2D Projections
Ming-Yang Ho, Alberto Bartesaghi
arXiv:2604.10766v4 •updated • 2026-04-12
Open-set 3D macromolecule detection in cryogenic electron tomography eliminates the need for target-specific model retraining. However, strict VRAM constraints prohibit processing an entire 3D tomogram, forcing current methods to rely on slow sliding-window inference over extracted subvolumes. To overcome this, we propose FullTilt, an end-to-end framework that redefines 3D detection by operating directly on aligned 2D tilt-series. Because a tilt-series contains significantly fewer images than slices in a reconstructed tomogram, FullTilt eliminates redundant volumetric computation, accelerating inference by orders of magnitude. To process the entire tilt-series simultaneously, we introduce a tilt-series encoder to efficiently fuse cross-view information. We further propose a multiclass visual prompt encoder for flexible prompting, a tilt-aware query initializer to effectively anchor 3D queries, and an auxiliary geometric primitives module to enhance the model's understanding of multi-view geometry while improving robustness to adverse imaging artifacts. Extensive evaluations on three real-world datasets demonstrate that FullTilt achieves state-of-the-art zero-shot performance while drastically reducing runtime and VRAM requirements, paving the way for rapid, large-scale visual proteomics analysis. All code and data will be publicly available upon publication.
arXiv PDF
Task-Conditioned Uncertainty Costmaps for Legged Locomotion
Kartikeya Singh, Christo Aluckal, Romeo Orsolino, Karthik Dantu
arXiv:2605.00261v1 • 2026-04-30
Legged robots maintain dynamic feasibility through multicontact interactions with terrain. Learned foothold prediction can provide feasibility-aware costs for motion planning and path selection, but accurately predicting future contacts from perceptual inputs such as height scans remains challenging on highly unstructured terrain, even with a repetitive gait cycle. In this work, we show that modeling epistemic uncertainty in predicted footholds, conditioned on terrain observations and commanded motion, distinguishes in-distribution from out-of-distribution operating regimes in simulation and real-world settings. This allows a single learned model, trained on limited data distributions, to express uncertainty caused by missing training coverage. We use this learned uncertainty to detect OOD regions and incorporate them into a unified costmap-generation framework for uncertainty-aware path planning. Using these uncertainty-aware costmaps, we evaluate feasibility error across in-distribution and OOD terrains in simulation and real-world settings. The results show improved OOD detection, up to a 37% reduction in simulation feasibility error, and more reliable planning behavior than geometry-only baselines.
arXiv PDF
Foundation Models
50
默认显示 5 篇
OmniRobotHome: A Multi-Camera Platform for Real-Time Multiadic Human-Robot Interaction
Junyoung Lee, Sookwan Han, Jeonghwan Kim, Inhee Lee, Mingi Choi, Jisoo Kim, Wonjung Woo, Hanbyul Joo
arXiv:2604.28197v1 • 2026-04-30
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting concurrently on interleaved subtasks with tight spatial and temporal coupling. This regime remains underexplored because close-proximity interaction between humans, robots, and objects creates persistent occlusion and rapid state changes, making reliable real-time 3D tracking the central bottleneck. No existing platform provides the real-time, occlusion-robust, room-scale perception needed to make this regime experimentally tractable. We present OmniRobotHome, the first room-scale residential platform that unifies wide-area real-time 3D human and object perception with coordinated multi-robot actuation in a shared world frame. The system instruments a natural home environment with 48 hardware-synchronized RGB cameras for markerless, occlusion-robust tracking of multiple humans and objects, temporally aligned with two Franka arms that act on live scene state. Continuous capture within this consistent frame further supports long-horizon human behavior modeling from accumulated trajectories. The platform makes the multiadic collaboration regime experimentally tractable. We focus on two central problems: safety in shared human-robot environments and human-anticipatory robotic assistance, and show that real-time perception and accumulated behavior memory each yield measurable gains in both.
Comment: Project Page: https://junc0ng.github.io/omnirobothome
arXiv PDF
LaST-R1: Reinforcing Action via Adaptive Physical Latent Reasoning for VLA Models
Hao Chen, Jiaming Liu, Zhonghao Yan, Nuowei Han, Renrui Zhang, Chenyang Gu, Jialin Gao, Ziyu Guo, Siyuan Qian, Yinxi Wang, Peng Jia, Chi-Wing Fu, Shanghang Zhang, Pheng-Ann Heng
arXiv:2604.28192v1 • 2026-04-30
Vision-Language-Action (VLA) models have increasingly incorporated reasoning mechanisms for complex robotic manipulation. However, existing approaches share a critical limitation: whether employing explicit linguistic reasoning that suffers from latency and discretization, or utilizing more expressive continuous latent reasoning, they are predominantly confined to static imitation learning that limits adaptability and generalization. While online reinforcement learning (RL) has been introduced to VLAs to enable trial-and-error exploration, current methods exclusively optimize the vanilla action space, bypassing the underlying physical reasoning process. In this paper, we present \textbf{LaST-R1}, a unified VLA framework that integrates latent Chain-of-Thought (CoT) reasoning over physical dynamics prior to action execution, along with a tailored RL post-training paradigm. Specifically, we propose \textbf{Latent-to-Action Policy Optimization (LAPO)}, a novel RL algorithm that jointly optimizes the latent reasoning process and the action generation. By bridging reasoning and control, LAPO improves the representation of physical world modeling and enhances robustness in interactive environments. Furthermore, an \textbf{adaptive latent CoT mechanism} is introduced to allow the policy to dynamically adjust its reasoning horizon based on environment complexity. Extensive experiments show that LaST-R1 achieves a near-perfect 99.8\% average success rate on the LIBERO benchmark with only one-shot supervised warm-up, significantly improving convergence speed and performance over prior state-of-the-art methods. In real-world deployments, LAPO post-training yields up to a 44\% improvement over the initial warm-up policy across four complex tasks, including both single-arm and dual-arm settings. Finally, LaST-R1 demonstrates strong generalization across simulated and real-world environments.
arXiv PDF
Mull-Tokens: Modality-Agnostic Latent Thinking
Arijit Ray, Ahmed Abdelkader, Chengzhi Mao, Bryan A. Plummer, Kate Saenko, Ranjay Krishna, Leonidas Guibas, Wen-Sheng Chu
arXiv:2512.10941v2 •updated • 2025-12-11
Reasoning goes beyond language; the real world requires reasoning about space, time, affordances, and much more that words alone cannot convey. Existing multimodal models exploring the potential of reasoning with images are brittle and do not scale. They rely on calling specialist tools, costly generation of images, or handcrafted reasoning data to switch between text and image thoughts. Instead, we offer a simpler alternative -- Mull-Tokens -- modality-agnostic latent tokens pre-trained to hold intermediate information in either image or text modalities to let the model think free-form towards the correct answer. We investigate best practices to train Mull-Tokens inspired by latent reasoning frameworks. We first train Mull-Tokens using supervision from interleaved text-image traces, and then fine-tune without any supervision by only using the final answers. Across four challenging spatial reasoning benchmarks involving tasks such as solving puzzles and taking different perspectives, we demonstrate that Mull-Tokens improve upon several baselines utilizing text-only reasoning or interleaved image-text reasoning, achieving a +3% average improvement and up to +16% on a puzzle solving reasoning-heavy split compared to our strongest baseline. Adding to conversations around challenges in grounding textual and visual reasoning, Mull-Tokens offers a simple solution to abstractly think in multiple modalities.
Comment: Project webpage: https://arijitray.com/multimodal_thinking/, Accepted to CVPR 2026 (Findings Track)
arXiv PDF
Exploration Hacking: Can LLMs Learn to Resist RL Training?
Eyon Jang, Damon Falck, Joschka Braun, Nathalie Kirch, Achu Menon, Perusha Moodley, Scott Emmons, Roland S. Zimmermann, David Lindner
arXiv:2604.28182v1 • 2026-04-30
Reinforcement learning (RL) has become essential to the post-training of large language models (LLMs) for reasoning, agentic capabilities and alignment. Successful RL relies on sufficient exploration of diverse actions by the model during training, which creates a potential failure mode: a model could strategically alter its exploration during training to influence the subsequent training outcome. In this paper we study this behavior, called exploration hacking. First, we create model organisms of selective RL resistance by fine-tuning LLMs to follow specific underperformance strategies; these models can successfully resist our RL-based capability elicitation in agentic biosecurity and AI R&D environments while maintaining performance on related tasks. We then use our model organisms to evaluate detection and mitigation strategies, including monitoring, weight noising, and SFT-based elicitation. Finally, we show that current frontier models can exhibit explicit reasoning about suppressing their exploration when provided with sufficient information about their training context, with higher rates when this information is acquired indirectly through the environment. Together, our results suggest exploration hacking is a possible failure mode of RL on sufficiently capable LLMs.
Comment: 81 pages, 37 figures
arXiv PDF
Synthetic Computers at Scale for Long-Horizon Productivity Simulation
Tao Ge, Baolin Peng, Hao Cheng, Jianfeng Gao
arXiv:2604.28181v1 • 2026-04-30
Realistic long-horizon productivity work is strongly conditioned on user-specific computer environments, where much of the work context is stored and organized through directory structures and content-rich artifacts. To scale synthetic data creation for such productivity scenarios, we introduce Synthetic Computers at Scale, a scalable methodology for creating such environments with realistic folder hierarchies and content-rich artifacts (e.g., documents, spreadsheets, and presentations). Conditioned on each synthetic computer, we run long-horizon simulations: one agent creates productivity objectives that are specific to the computer's user and require multiple professional deliverables and about a month of human work; another agent then acts as that user and keeps working across the computer -- for example, navigating the filesystem for grounding, coordinating with simulated collaborators, and producing professional artifacts -- until these objectives are completed. In preliminary experiments, we create 1,000 synthetic computers and run long-horizon simulations on them; each run requires over 8 hours of agent runtime and spans more than 2,000 turns on average. These simulations produce rich experiential learning signals, whose effectiveness is validated by significant improvements in agent performance on both in-domain and out-of-domain productivity evaluations. Given that personas are abundant at billion scale, this methodology can in principle scale to millions or even billions of synthetic user worlds with sufficient compute, enabling broader coverage of diverse professions, roles, contexts, environments, and productivity needs. We argue that scalable synthetic computer creation, together with at-scale simulations, is highly promising as a foundational substrate for agent self-improvement and agentic reinforcement learning in long-horizon productivity scenarios.
Comment: Preview version; work in progress
arXiv PDF
2026-04-29
184 篇
Robotics
58
默认显示 5 篇
From Prompt to Physical Actuation: Holistic Threat Modeling of LLM-Enabled Robotic Systems
Neha Nagaraja, Hayretdin Bahsi, Carlo R. da Cunha
arXiv:2604.27267v1 • 2026-04-29
As large language models are integrated into autonomous robotic systems for task planning and control, compromised inputs or unsafe model outputs can propagate through the planning pipeline to physical-world consequences. Although prior work has studied robotic cybersecurity, adversarial perception attacks, and LLM safety independently, no existing study traces how these threat categories interact and propagate across trust boundaries in a unified architectural model. We address this gap by modeling an LLM-enabled autonomous robot in an edge-cloud architecture as a hierarchical Data Flow Diagram and applying STRIDE-per-interaction analysis across six boundary-crossing interaction points using a three-category taxonomy of Conventional Cyber Threats, Adversarial Threats, and Conversational Threats. The analysis reveals that these categories converge at the same boundary crossings, and we trace three cross-boundary attack chains from external entry points to unsafe physical actuation, each exposing a distinct architectural property: the absence of independent semantic validation between user input and actuator dispatch, cross-modal translation from visual perception to language-model instruction, and unmediated boundary crossing through provider-side tool use. To our knowledge, this is the first DFD-based threat analysis integrating all three threat categories across the full perception-planning-actuation pipeline of an LLM-enabled robotic system.
Comment: Submitted to 23rd Annual International Conference on Privacy, Security, and Trust (PST2026)
arXiv PDF
Language-Conditioned Safe Trajectory Generation for Spacecraft Rendezvous
Yuji Takubo, Arpit Dwivedi, Sukeerth Ramkumar, Luis A. Pabon, Daniele Gammelli, Marco Pavone, Simone D'Amico
arXiv:2512.09111v4 •updated • 2025-12-09
Reliable real-time trajectory generation is essential for future autonomous spacecraft. While recent progress in nonconvex guidance and control is paving the way for onboard autonomous trajectory optimization, these methods still rely on extensive expert input (e.g., waypoints, constraints, mission timelines, etc.), which limits operational scalability in complex missions such as rendezvous and proximity operations. This paper introduces SAGES (Semantic Autonomous Guidance Engine for Space), a trajectory-generation framework that translates natural-language commands into spacecraft trajectories that reflect high-level intent while respecting nonconvex constraints. Experiments in two settings (fault-tolerant proximity operations with continuous-time constraint enforcement and a free-flying robotic platform) demonstrate that SAGES reliably produces trajectories aligned with human commands, achieving over 90% semantic-behavioral consistency across diverse behavior modes. Ultimately, this work marks an initial step toward language-conditioned, constraint-aware spacecraft trajectory generation, enabling operators to interactively guide both safety and behavior through intuitive natural-language commands with reduced expert burden. Project Website: https://semantic-guidance4space.github.io/
Comment: 42 pages, 12 figures. Submitted to AIAA Journal of Guidance, Control, and Dynamics
arXiv PDF
CLAMP: Contrastive Learning for 3D Multi-View Action-Conditioned Robotic Manipulation Pretraining
I-Chun Arthur Liu, Krzysztof Choromanski, Sandy Huang, Connor Schenck
arXiv:2602.00937v2 •updated • 2026-01-31
Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information about objects and scenes that is essential for precise manipulation. In this work, we introduce Contrastive Learning for 3D Multi-View Action-Conditioned Robotic Manipulation Pretraining (CLAMP), a novel 3D pre-training framework that utilizes point clouds and robot actions. From the merged point cloud computed from RGB-D images and camera extrinsics, we re-render multi-view four-channel image observations with depth and 3D coordinates, including dynamic wrist views, to provide clearer views of target objects for high-precision manipulation tasks. The pre-trained encoders learn to associate the 3D geometric and positional information of objects with robot action patterns via contrastive learning on large-scale simulated robot trajectories. During encoder pre-training, we pre-train a Diffusion Policy to initialize the policy weights for fine-tuning, which is essential for improving fine-tuning sample efficiency and performance. After pre-training, we fine-tune the policy on a limited amount of task demonstrations using the learned image and action representations. We demonstrate that this pre-training and fine-tuning design substantially improves learning efficiency and policy performance on unseen tasks. Furthermore, we show that CLAMP outperforms state-of-the-art baselines across six simulated tasks and five real-world tasks. The project website and videos can be found at https://clamp3d.github.io/CLAMP/.
Comment: Accepted to the Robotics: Science and Systems (RSS) 2026
arXiv PDF
Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
Pokuang Zhou, Yuhao Zhou, Quan Luu, Seungho Han, Heng Zhang, Binghao Huang, Yunzhu Li, Arash Ajoudani, Zhengtong Xu, Yu She
arXiv:2604.27224v1 • 2026-04-29
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the environment. Tactile sensing offers direct contact observability, but scalable tactile-aware learning framework for quadrupedal loco-manipulation is still underexplored. In this paper, we present a tactile-aware loco-manipulation policy learning pipeline with a hierarchical structure. Our approach has two key components. First, we leverage real-world human demonstrations to train a tactile-conditioned visuotactile high-level policy. This policy predicts not only end-effector trajectories for manipulation, but also the evolving tactile interaction cues that characterize how contact should develop over time. Second, we perform large-scale reinforcement learning in simulation to learn a tactile-aware whole-body control policy that tracks diverse commanded trajectories and tactile interaction cues, and transfers zero-shot to the real world. Together, these components enable coordinated locomotion and manipulation under contact-rich scenarios. We evaluate the system on real-world contact-rich tasks, including in-hand reorientation with insertion, valve tightening, and delicate object manipulation. Compared to vision-only and visuotactile baselines, our method improves performance by 28.54% on average across these tasks.
arXiv PDF
Real-Time GPU-Accelerated Monte Carlo Evaluation of Safety-Critical AEB Systems Under Uncertainty
Akshay Karjol, Shadi Alawneh
arXiv:2604.27193v1 • 2026-04-29
Automatic Emergency Braking (AEB) systems represent a safety-critical national interest, with the National Highway Traffic Safety Administration (NHTSA) Federal Motor Vehicle Safety Standard (FMVSS No. 127) requiring AEB in all new light vehicles sold in the United States by September 2029. However, production implementations frequently rely on deterministic stopping-distance or Time-to-Collision (TTC) thresholds that fail to capture uncertainty in sensing, road conditions, and vehicle dynamics. This paper presents a GPU-accelerated Monte Carlo framework for stochastic evaluation of emergency braking performance using a high-fidelity longitudinal vehicle model incorporating aerodynamic drag, road grade, brake actuator dynamics, and weight transfer effects. A one-thread-per-sample execution strategy exploits the independence of Monte Carlo rollouts, while deterministic CPU-generated sampling ensures bit-exact numerical consistency between CPU and GPU implementations. The framework is evaluated across four hardware platforms spanning development and deployment environments: two laptop GPUs (GTX 1650, RTX 5070) and two automotive-grade embedded platforms (Jetson Orin Nano, Jetson AGX Orin). Peak speedups of 54.57x are achieved while maintaining exact numerical agreement. Real-time feasibility analysis with a complete AEB timing budget (700 ms human reaction time minus 120 ms perception and 50 ms decision overhead) demonstrates that the Jetson AGX Orin can execute approximately 25,000 Monte Carlo samples within a 530 ms budget, enabling real-time probabilistic AEB evaluation as part of a complete embedded pipeline. These results establish Monte Carlo-based uncertainty evaluation as a deployable runtime component rather than an offline validation tool and provide quantitative guidance for risk-aware AEB threshold selection under the NHTSA final rule.
Comment: 10 pages, 6 figures. Submitted to IEEE journal for possible publication; under review
arXiv PDF
Video World Models
4
默认显示 4 篇
AttriBE: Quantifying Attribute Expressivity in Body Embeddings for Recognition and Identification
Basudha Pal, Siyuan Huang, Anirudh Nanduri, Zhaoyang Wang, Rama Chellappa
arXiv:2604.27218v1 • 2026-04-29
Person re-identification (ReID) systems that match individuals across images or video frames are essential in many real-world applications. However, existing methods are often influenced by attributes such as gender, pose, and body mass index (BMI), which vary in unconstrained settings and raise concerns related to fairness and generalization. To address this, we extend the notion of expressivity, defined as the mutual information between learned features and specific attributes, using a secondary neural network to quantify how strongly attributes are encoded. Applying this framework to three transformer-based ReID models on a large-scale visible-spectrum dataset, we find that BMI consistently shows the highest expressivity in deeper layers. Attributes in the final representation are ranked as BMI > Pitch > Gender > Yaw, and expressivity evolves across layers and training epochs, with pose peaking in intermediate layers and BMI strengthening with depth. We further extend the analysis to cross-spectral person identification across infrared modalities including short-wave, medium-wave, and long-wave infrared. In this setting, pitch becomes comparable to BMI and attribute trends increase monotonically across depth, suggesting increased reliance on structural cues when bridging modality gaps. Overall, the results show that transformer-based ReID embeddings encode a hierarchy of implicit attributes, with morphometric information persistently embedded and pose contributing more strongly under cross-spectral conditions.
arXiv PDF
Unified 4D World Action Modeling from Video Priors with Asynchronous Denoising
Jun Guo, Qiwei Li, Peiyan Li, Zilong Chen, Nan Sun, Yifei Su, Heyun Wang, Yuan Zhang, Xinghang Li, Huaping Liu
arXiv:2604.26694v1 • 2026-04-29
We propose X-WAM, a Unified 4D World Model that unifies real-time robotic action execution and high-fidelity 4D world synthesis (video + 3D reconstruction) in a single framework, addressing the critical limitations of prior unified world models (e.g., UWM) that only model 2D pixel-space and fail to balance action efficiency and world modeling quality. To leverage the strong visual priors of pretrained video diffusion models, X-WAM imagines the future world by predicting multi-view RGB-D videos, and obtains spatial information efficiently through a lightweight structural adaptation: replicating the final few blocks of the pretrained Diffusion Transformer into a dedicated depth prediction branch for the reconstruction of future spatial information. Moreover, we propose Asynchronous Noise Sampling (ANS) to jointly optimize generation quality and action decoding efficiency. ANS applies a specialized asynchronous denoising schedule during inference, which rapidly decodes actions with fewer steps to enable efficient real-time execution, while dedicating the full sequence of steps to generate high-fidelity video. Rather than entirely decoupling the timesteps during training, ANS samples from their joint distribution to align with the inference distribution. Pretrained on over 5,800 hours of robotic data, X-WAM achieves 79.2% and 90.7% average success rate on RoboCasa and RoboTwin 2.0 benchmarks, while producing high-fidelity 4D reconstruction and generation surpassing existing methods in both visual and geometric metrics.
Comment: Project website: https://sharinka0715.github.io/X-WAM/
arXiv PDF
DepthPilot: From Controllability to Interpretability in Colonoscopy Video Generation
Junhu Fu, Ke Chen, Weidong Guo, Shuyu Liang, Jie Xu, Chen Ma, Kehao Wang, Shengli Lin, Zeju Li, Yuanyuan Wang, Yi Guo, Shuo Li
arXiv:2604.26232v1 • 2026-04-29
Controllable medical video generation has achieved remarkable progress, but it still lacks interpretability, which requires the alignment of generated contents with physical priors and faithful clinical manifestations. To push the boundaries from mere controllability to interpretability, we propose DepthPilot, the first interpretable framework for colonoscopy video generation. This work takes a step toward trustworthy generation through two synergistic paradigms. To achieve explicit geometric grounding, DepthPilot devises a prior distribution alignment strategy, injecting depth constraints into the diffusion backbone via parameter-efficient fine-tuning to ensure anatomical fidelity. To enhance intrinsic nonlinear modeling under these geometric constraints, DepthPilot employs an adaptive spline denoising module, replacing fixed linear weights with learnable spline functions to capture complex spatio-temporal dynamics. Extensive evaluations across three public datasets and in-house clinical data confirm DepthPilot's robust ability to produce physically consistent videos. It achieves FID scores below 15 across all benchmarks and ranks first in clinician assessments, bridging the gap between "visually realistic" and "clinically interpretable". Moreover, DepthPilot-generated videos are expected to enable reliable 3D reconstruction, facilitating surgical navigation and blind region identification, and serve as a foundation toward the colorectal world model.
arXiv PDF
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson, Juo-Tung Chen, Jesse Haworth, Xinhao Chen, Lukas Zbinden, Dianye Huang, Alaa Eldin Abdelaal, Alberto Arezzo, Ayberk Acar, Farshid Alambeigi, Carlo Alberto Ammirati, Yunke Ao, Pablo David Aranda Rodriguez, Soofiyan Atar, Mattia Ballo, Noah Barnes, Federica Barontini, Filip Binkiewicz, Peter Black, Sebastian Bodenstedt, Leonardo Borgioli, Nikola Budjak, Benjamin Calmé, Fabio Carrillo, Nicola Cavalcanti, Changwei Chen, Haoxin Chen, Sihang Chen, Qihan Chen, Zhongyu Chen, Ziyang Chen, Shing Shin Cheng, Meiqing Cheng, Min Cheng, Zih-Yun Sarah Chiu, Xiangyu Chu, Camilo Correa-Gallego, Giulio Dagnino, Anton Deguet, Jacob Delgado, Jonathan C. DeLong, Kaizhong Deng, Alexander Dimitrakakis, Qingpeng Ding, Hao Ding, Giovanni Distefano, Daniel Donoho, Anqing Duan, Marco Esposito, Shane Farritor, Jad Fayad, Zahi Fayad, Mario Ferradosa, Filippo Filicori, Chelsea Finn, Philipp Fürnstahl, Jiawei Ge, Stamatia Giannarou, Xavier Giralt Ludevid, Frederic Giraud, Aditya Amit Godbole, Ken Goldberg, Antony Goldenberg, Diego Granero Marana, Xiaoqing Guo, Tamás Haidegger, Evan Hailey, Pascal Hansen, Ziyi Hao, Kush Hari, Kengo Hayashi, Jonathon Hawkins, Shelby Haworth, Ortrun Hellig, S. Duke Herrell, Zhouyang Hong, Andrew Howe, Junlei Hu, Zhaoyang Jacopo Hu, Ria Jain, Mohammad Rafiee Javazm, Howard Ji, Rui Ji, Jianmin Ji, Zhongliang Jiang, Dominic Jones, Jeffrey Jopling, Britton Jordan, Ran Ju, Michael Kam, Luoyao Kang, Fausto Kang, Siddhartha Kapuria, Peter Kazanzides, Sonika Kiehler, Ethan Kilmer, Ji Woong Kim, Przemysław Korzeniowski, Chandra Kuchi, Nithesh Kumar, Alan Kuntz, Federico Lavagno, Yu Chung Lee, Hao-Chih Lee, Hang Li, Zhen Li, Xiao Liang, Xinxin Lin, Jinsong Lin, Chang Liu, Fei Liu, Pei Liu, Yun-hui Liu, Wanli Liuchen, Eszter Lukács, Sareena Mann, Miles Mannas, Brett Marinelli, Sabina Martyniak, Francesco Marzola, Lorenzo Mazza, Xueyan Mei, Maria Clara Morais, Luigi Muratore, Chetan Reddy Narayanaswamy, Michał Naskręt, David Navarro-Alarcon, Cyrus Neary, Chi Kit Ng, Christopher Nguan, David Noonan, Ki Hwan Oh, Tom Christian Olesch, Allison M. Okamura, Justin Opfermann, Matteo Pescio, Doan Xuan Viet Pham, Tito Porras, Hongliang Ren, Ariel Rodriguez Jimenez, Ferdinando Rodriguez y Baena, Septimiu E. Salcudean, Asmitha Sathya, Preethi Satish, Lalithkumar Seenivasan, Jiaqi Shao, Yiqing Shen, Yu Sheng, Lucy XiaoYang Shi, Zoe Soulé, Stefanie Speidel, Mingwu Su, Jianhao Su, Idris Sunmola, Kristóf Takács, Yunxi Tang, Patrick Thornycroft, Yu Tian, Jordan Thompson, Mehmet K. Turkcan, Mathias Unberath, Pietro Valdastri, Carlos Vives, Quan Vuong, Martin Wagner, Farong Wang, Wei Wang, Lidian Wang, Chung-Pang Wang, Guankun Wang, Junyi Wang, Erqi Wang, Ziyi Wang, Tanner Watts, Wolfgang Wein, Yimeng Wu, Zijian Wu, Hongjun Wu, Luohong Wu, Jie Ying Wu, Junlin Wu, Victoria Wu, Kaixuan Wu, Mateusz Wójcikowski, Yunye Xiao, Nan Xiao, Wenxuan Xie, Hao Yang, Tianqi Yang, Yinuo Yang, Menglong Ye, Ryan S. Yeung, Nural Yilmaz, Chim Ho Yin, Michael Yip, Rayan Younis, Chenhao Yu, Sayem Nazmuz Zaman, Milos Zefran, Han Zhang, Yuelin Zhang, Yidong Zhang, Yanyong Zhang, Xuyang Zhang, Yameng Zhang, Joyce Zhang, Ning Zhong, Peng Zhou, Haoying Zhou, Xiuli Zuo, Nassir Navab, Mahdi Azizian, Sean D. Huver, Axel Krieger
arXiv:2604.21017v2 •updated • 2026-04-22
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been limited by a fundamental data problem: existing medical robotic datasets are small, single-embodiment, and rarely shared openly, restricting the development of foundation models that the field needs to advance. We introduce Open-H-Embodiment, the largest open dataset of medical robotic video with synchronized kinematics to date, spanning more than 49 institutions and multiple robotic platforms including the CMR Versius, Intuitive Surgical's da Vinci, da Vinci Research Kit (dVRK), Rob Surgical BiTrack, Virtual Incision's MIRA, Moon Surgical Maestro, and a variety of custom systems, spanning surgical manipulation, robotic ultrasound, and endoscopy procedures. We demonstrate the research enabled by this dataset through two foundation models. GR00T-H is the first open foundation vision-language-action model for medical robotics, which is the only evaluated model to achieve full end-to-end task completion on a structured suturing benchmark (25% of trials vs. 0% for all others) and achieves 64% average success across a 29-step ex vivo suturing sequence. We also train Cosmos-H-Surgical-Simulator, the first action-conditioned world model to enable multi-embodiment surgical simulation from a single checkpoint, spanning nine robotic platforms and supporting in silico policy evaluation and synthetic data generation for the medical domain. These results suggest that open, large-scale medical robot data collection can serve as critical infrastructure for the research community, enabling advances in robot learning, world modeling, and beyond.
Comment: Project website: https://open-h.github.io/open-h-embodiment/
arXiv PDF
Embodied Intelligence
25
默认显示 5 篇
CLAMP: Contrastive Learning for 3D Multi-View Action-Conditioned Robotic Manipulation Pretraining
I-Chun Arthur Liu, Krzysztof Choromanski, Sandy Huang, Connor Schenck
arXiv:2602.00937v2 •updated • 2026-01-31
Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information about objects and scenes that is essential for precise manipulation. In this work, we introduce Contrastive Learning for 3D Multi-View Action-Conditioned Robotic Manipulation Pretraining (CLAMP), a novel 3D pre-training framework that utilizes point clouds and robot actions. From the merged point cloud computed from RGB-D images and camera extrinsics, we re-render multi-view four-channel image observations with depth and 3D coordinates, including dynamic wrist views, to provide clearer views of target objects for high-precision manipulation tasks. The pre-trained encoders learn to associate the 3D geometric and positional information of objects with robot action patterns via contrastive learning on large-scale simulated robot trajectories. During encoder pre-training, we pre-train a Diffusion Policy to initialize the policy weights for fine-tuning, which is essential for improving fine-tuning sample efficiency and performance. After pre-training, we fine-tune the policy on a limited amount of task demonstrations using the learned image and action representations. We demonstrate that this pre-training and fine-tuning design substantially improves learning efficiency and policy performance on unseen tasks. Furthermore, we show that CLAMP outperforms state-of-the-art baselines across six simulated tasks and five real-world tasks. The project website and videos can be found at https://clamp3d.github.io/CLAMP/.
Comment: Accepted to the Robotics: Science and Systems (RSS) 2026
arXiv PDF
Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
Pokuang Zhou, Yuhao Zhou, Quan Luu, Seungho Han, Heng Zhang, Binghao Huang, Yunzhu Li, Arash Ajoudani, Zhengtong Xu, Yu She
arXiv:2604.27224v1 • 2026-04-29
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the environment. Tactile sensing offers direct contact observability, but scalable tactile-aware learning framework for quadrupedal loco-manipulation is still underexplored. In this paper, we present a tactile-aware loco-manipulation policy learning pipeline with a hierarchical structure. Our approach has two key components. First, we leverage real-world human demonstrations to train a tactile-conditioned visuotactile high-level policy. This policy predicts not only end-effector trajectories for manipulation, but also the evolving tactile interaction cues that characterize how contact should develop over time. Second, we perform large-scale reinforcement learning in simulation to learn a tactile-aware whole-body control policy that tracks diverse commanded trajectories and tactile interaction cues, and transfers zero-shot to the real world. Together, these components enable coordinated locomotion and manipulation under contact-rich scenarios. We evaluate the system on real-world contact-rich tasks, including in-hand reorientation with insertion, valve tightening, and delicate object manipulation. Compared to vision-only and visuotactile baselines, our method improves performance by 28.54% on average across these tasks.
arXiv PDF
Global Sampling-Based Trajectory Optimization for Contact-Rich Manipulation via KernelSOS
Zhongqi Wei, Frederike Dümbgen
arXiv:2604.27175v1 • 2026-04-29
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popular approach for this class of problems, but without explicit mechanisms for global exploration, they are susceptible to converging to poor local minima. In this paper, we introduce Global-MPPI, a unified trajectory optimization framework that integrates global exploration and local refinement. At the global level, we leverage kernel sum-of-squares optimization to identify globally promising regions of the solution space. To enable reliable performance for the non-smooth landscapes inherent to contact-rich manipulation, we introduce a graduated non-convexity strategy based on log-sum-exp smoothing, which transitions the optimization landscape from a smoothed surrogate to the original non-smooth objective. Finally, we employ the model-predictive path integral method to locally refine the solution. We evaluate Global-MPPI on high-dimensional, long-horizon contact-rich tasks, including the PushT task and dexterous in-hand manipulation. Experimental results demonstrate that our approach robustly uncovers high-quality solutions, achieving faster convergence and lower final costs compared to existing baseline methods.
Comment: 8 pages, 5 figures
arXiv PDF
Interaction Forces and Internal Loads in Parallel Manipulators with Actuation Redundancy
Joshua Flight, Clément Gosselin
arXiv:2604.27095v1 • 2026-04-29
This paper discusses null-space wrench components in parallel manipulators. We examine the adaptation of the two most common characterizations of these components in grasp-like systems, namely, interaction forces and internal loads, to parallel manipulators with actuation redundancy. We identify critical oversights in the existing literature on the subject, resolve ambiguities related to the definitions of interaction forces and internal loads, and provide explicit methods for synthesizing equilibrating and manipulating joint torque vectors. A case study is also provided to justify the validity of our novel methods and correct erroneous results reported in the literature.
Comment: 13 pages, 11 figures. Submitted to Mechanism and Machine Theory
arXiv PDF
Safe Navigation using Neural Radiance Fields via Reachable Sets
Omanshu Thapliyal, Malarvizhi Sankaranarayanasamy, Ravigopal Vennelakanti
arXiv:2604.26899v1 • 2026-04-29
Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely in the presence of obstacles, goals, and ego objects of varying geometries. In this work, reachable set representations of the robot's real-time capabilities in the state space can be utilized to capture safe navigation requirements. While neural radiance fields (NeRFs) are utilized to compute, store, and manipulate the volumetric representations of the obstacles, or ego vehicle, as needed. Constrained optimal control is employed to represent the resulting path planning problem, involving linear matrix inequality constraints. We present simulation results for path planning in the presence of numerous obstacles in two different scenarios. Safe navigation is demonstrated through using reachable sets in the corresponding constrained optimal control problems.
Comment: 5 pages, 8 figures, 2026 4th International Conference on Mechatronics, Control and Robotics (ICMCR)
arXiv PDF
End-to-End AD
47
默认显示 5 篇
KAYRA: A Microservice Architecture for AI-Assisted Karyotyping with Cloud and On-Premise Deployment
Attila Pintér, Javier Rico, Attila Répai, Jalal Al-Afandi, Adrienn Éva Borsy, András Kozma, Hajnalka Andrikovics, György Cserey
arXiv:2604.26869v1 • 2026-04-29
We present KAYRA, an end-to-end karyotyping system that operates inside the operational constraints of a clinical cytogenetic laboratory. KAYRA is architected as a containerized microservice pipeline whose ML stack combines an EfficientNet-B5 + U-Net semantic segmenter, a Mask R-CNN (ResNet-50 + FPN) instance detector, and a ResNet-18 classifier, orchestrated through a cascaded ROI-narrowing strategy that focuses each downstream model on the chromosome-bearing region. The same container images are deployed both as a cloud service and as an on-premise installation, supporting clinical environments where patient-data egress is not permitted as well as those where it is. A pilot clinical evaluation against two commercial reference karyotyping systems on 459 chromosomes from 10 metaphase spreads shows segmentation accuracy of 98.91 % (vs. 78.21 % / 40.52 %), classification accuracy of 89.1 % (vs. 86.9 % / 54.5 %), and rotation accuracy of 89.76 % (vs. 94.55 % / 78.43 %). KAYRA improves over the older density-thresholding reference on all three axes (p < 0.0001 for segmentation and classification by Fisher's exact test on chromosome-level counts), and on segmentation also against the modern AI- supported reference (p < 0.0001); on classification the difference vs. the modern AI reference is not statistically significant at the present test-set size (p = 0.34). The system reaches TRL 6 maturity and integrates the human-in-the-loop expert-review workflow that diagnostic cytogenetic practice requires. The thesis of this paper is that a multi-model cytogenetic AI service can be packaged as a microservice architecture supporting flexible deployment - cloud-hosted or on-premise - while delivering strong empirical performance on a pilot clinical evaluation.
arXiv PDF
STARRY: Spatial-Temporal Action-Centric World Modeling for Robotic Manipulation
Yuxuan Tian, Yurun Jin, Bin Yu, Yukun Shi, Hao Wu, Chi Harold Liu, Kai Chen, Cong Huang
arXiv:2604.26848v1 • 2026-04-29
Robotic manipulation critically requires reasoning about future spatial-temporal interactions, yet existing VLA policies and world-model-enhanced policies do not fully model action-relevant spatial-temporal interaction structure. We propose STARRY, a world-model-enhanced action-generation policy that aligns spatial-temporal prediction with action generation. STARRY jointly denoises future spatial-temporal latents and action sequences, and introduces Geometry-Aware Selective Attention Modulation to convert predicted depth and end-effector geometry into token-aligned weights for selective action-attention modulation. On RoboTwin 2.0, STARRY achieves 93.82% / 93.30% average success under Clean and Randomized settings. Real-world experiments further improve average success from 42.5% to 70.8% over $π_{0.5}$, demonstrating the effectiveness of action-centric spatial-temporal world modeling for spatial-temporally demanding robotic action generation.
Comment: 19 pages
arXiv PDF
Walk With Me: Long-Horizon Social Navigation for Human-Centric Outdoor Assistance
Lingfeng Zhang, Xiaoshuai Hao, Xizhou Bu, Yingbo Tang, Hongsheng Li, Jinghui Lu, Xiu-shen Wei, Jiayi Ma, Yu Liu, Jing Zhang, Hangjun Ye, Xiaojun Liang, Long Chen, Wenbo Ding
arXiv:2604.26839v1 • 2026-04-29
Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation behavior. Existing map-based methods rely on costly pre-built HD maps, while learning-based policies are mostly limited to indoor and short-horizon settings. To bridge this gap, we propose Walk with Me, a map-free framework for long-horizon social navigation from high-level human instructions. Walk with Me leverages GPS context and lightweight candidate points-of-interest from a public map API for semantic destination grounding and waypoint proposal. A High-Level Vision-Language Model grounds abstract instructions into concrete destinations and plans coarse waypoint sequences. During execution, an observation-aware routing mechanism determines whether the Low-Level Vision-Language-Action policy can handle the current situation or whether explicit safety reasoning from the High-Level VLM is needed. Routine segments are executed by the Low-Level VLA, while complex situations such as crowded crossings trigger high-level reasoning and stop-and-wait behavior when unsafe. By combining semantic intent grounding, map-free long-horizon planning, safety-aware reasoning, and low-level action generation, Walk with Me enables practical outdoor social navigation for human-centric assistance.
arXiv PDF
Bridge: Basis-Driven Causal Inference Marries VFMs for Domain Generalization
Mingbo Hong, Feng Liu, Caroline Gevaert, George Vosselman, Hao Cheng
arXiv:2604.26820v1 • 2026-04-29
Detectors often suffer from degraded performance, primarily due to the distributional gap between the source and target domains. This issue is especially evident in single-source domains with limited data, as models tend to rely on confounders (e.g., illumination, co-occurrence, and style) from the source domain, leading to spurious correlations that hinder generalization. To this end, this paper proposes a novel Basis-driven framework for domain generalization, namely \textbf{\textit{Bridge}}, that incorporates causal inference into object detection. By learning the low-rank bases for front-door adjustment, \textbf{\textit{Bridge}} blocks confounders' effects to mitigate spurious correlations, while simultaneously refining representations by filtering redundant and task-irrelevant components. \textbf{\textit{Bridge}} can be seamlessly integrated with both discriminative (e.g., DINOv2/3, SAM) and generative (e.g., Stable Diffusion) Vision Foundation Models (VFMs). Extensive experiments across multiple domain generalization object detection datasets, i.e., Cross-Camera, Adverse Weather, Real-to-Artistic, Diverse Weather Datasets, and Diverse Weather DroneVehicle (our newly augmented real-world UAV-based benchmark), underscore the superiority of our proposed method over previous state-of-the-art approaches. The project page is available at: https://mingbohong.github.io/Bridge/.
Comment: Accepted by CVPR 2026
arXiv PDF
Virtual-reality based patient-specific simulation of spine surgical procedures: A fast, highly automated and high-fidelity system for surgical education and planning
Raj Kumar Ranabhat, Tayler D Ross, Tony Jiao, Jeremie Larouche, Joel Finkelstein, Michael Hardisty
arXiv:2604.26781v1 • 2026-04-29
Surgical training involves didactic teaching, mentor-led learning, surgical skills laboratories, and direct exposure to surgery; however, increasing clinical pressures have limited operating room (OR) exposure. This work leverages virtual reality (VR) to provide a safe and immersive training environment. Existing VR training is often based on standardized scenarios not tailored to individual clinical cases. This study addresses this limitation using artificial intelligence (AI) based computer vision methods to generate patient-specific simulations from computed tomography (CT) and magnetic resonance imaging (MRI). This study focuses on patient-specific spinal decompression simulation for spinal stenosis in a virtual operating room. The objectives were (1) automatic creation of 3D anatomical models and (2) VR simulation of spinal decompression procedures including laminectomy, disc resection, and foraminotomy. Model construction required multimodal fusion (registration) of CT and MRI and segmentation of relevant structures. Segmentation was evaluated using the Dice Similarity Coefficient (DSC), and registration accuracy using Target Registration Error (TRE). Qualitative feedback was obtained from surgeons and trainees. High-fidelity patient-specific 3D models were generated efficiently (approximately 2.5 minutes per case, N = 15). Segmentation accuracy was high, with a DSC of 0.95 (+/- 0.03) for vertebral bone and 0.895 (+/- 0.02) for soft tissue structures. Registration accuracy showed a mean TRE of 1.73 (+/- 0.42) mm. Semi-structured interviews indicated improved spatial understanding, increased procedural confidence, and strong perceived educational value. This platform significantly reduced the time and costs of patient-specific modelling, thereby facilitating pre-operative planning, post-procedural assessments, and comprehensive surgical simulation.
arXiv PDF
Foundation Models
50
默认显示 5 篇
Obliviator Reveals the Cost of Nonlinear Guardedness in Concept Erasure
Ramin Akbari, Milad Afshari, Vishnu Naresh Boddeti
arXiv:2603.07529v2 •updated • 2026-03-08
Concept erasure aims to remove unwanted attributes, such as social or demographic factors, from learned representations, while preserving their task-relevant utility. While the goal of concept erasure is protection against all adversaries, existing methods remain vulnerable to nonlinear ones. This vulnerability arises from their failure to fully capture the complex, nonlinear statistical dependencies between learned representations and unwanted attributes. Moreover, although the existence of a trade-off between utility and erasure is expected, its progression during the erasure process, i.e., the cost of erasure, remains unstudied. In this work, we introduce Obliviator, a post-hoc erasure method designed to fully capture nonlinear statistical dependencies. We formulate erasure from a functional perspective, leading to an optimization problem involving a composition of kernels that lacks a closed-form solution. Instead of solving this problem in a single shot, we adopt an iterative approach that gradually morphs the feature space to achieve a more utility-preserving erasure. Unlike prior methods, Obliviator guards unwanted attribute against nonlinear adversaries. Our gradual approach quantifies the cost of nonlinear guardedness and reveals the dynamics between attribute protection and utility-preservation over the course of erasure. The utility-erasure trade-off curves obtained by Obliviator outperform the baselines and demonstrate its strong generalizability: its erasure becomes more utility-preserving when applied to the better-disentangled representations learned by more capable models.
Comment: Accepted to NeurIPS 2025 [Poster]. Code available at: https://github.com/ramin-akbari/Obliviator
arXiv PDF
KAYRA: A Microservice Architecture for AI-Assisted Karyotyping with Cloud and On-Premise Deployment
Attila Pintér, Javier Rico, Attila Répai, Jalal Al-Afandi, Adrienn Éva Borsy, András Kozma, Hajnalka Andrikovics, György Cserey
arXiv:2604.26869v1 • 2026-04-29
We present KAYRA, an end-to-end karyotyping system that operates inside the operational constraints of a clinical cytogenetic laboratory. KAYRA is architected as a containerized microservice pipeline whose ML stack combines an EfficientNet-B5 + U-Net semantic segmenter, a Mask R-CNN (ResNet-50 + FPN) instance detector, and a ResNet-18 classifier, orchestrated through a cascaded ROI-narrowing strategy that focuses each downstream model on the chromosome-bearing region. The same container images are deployed both as a cloud service and as an on-premise installation, supporting clinical environments where patient-data egress is not permitted as well as those where it is. A pilot clinical evaluation against two commercial reference karyotyping systems on 459 chromosomes from 10 metaphase spreads shows segmentation accuracy of 98.91 % (vs. 78.21 % / 40.52 %), classification accuracy of 89.1 % (vs. 86.9 % / 54.5 %), and rotation accuracy of 89.76 % (vs. 94.55 % / 78.43 %). KAYRA improves over the older density-thresholding reference on all three axes (p < 0.0001 for segmentation and classification by Fisher's exact test on chromosome-level counts), and on segmentation also against the modern AI- supported reference (p < 0.0001); on classification the difference vs. the modern AI reference is not statistically significant at the present test-set size (p = 0.34). The system reaches TRL 6 maturity and integrates the human-in-the-loop expert-review workflow that diagnostic cytogenetic practice requires. The thesis of this paper is that a multi-model cytogenetic AI service can be packaged as a microservice architecture supporting flexible deployment - cloud-hosted or on-premise - while delivering strong empirical performance on a pilot clinical evaluation.
arXiv PDF
Agentic Fusion of Large Atomic and Language Models to Accelerate Superconductors Discovery
Mingze Li, Yu Rong, Songyou Li, Lihong Wang, Jiacheng Cen, Liming Wu, Anyi Li, Zongzhao Li, Qiuliang Liu, Rui Jiao, Tian Bian, Pengju Wang, Hao Sun, Jianfeng Zhang, Ji-Rong Wen, Deli Zhao, Shifeng Jin, Tingyang Xu, Wenbing Huang
arXiv:2604.23758v2 •updated • 2026-04-26
The discovery of novel materials is critical for global energy and quantum technology transitions. While deep learning has fundamentally reshaped this landscape, existing predictive or generative models typically operate in isolation, lacking the autonomous orchestration required to execute the full discovery process. Here we present ElementsClaw, an agentic framework for materials discovery that synergizes Large Atomic Models (LAMs) with Large Language Models (LLMs). In response to varied human queries, ElementsClaw orchestrates a suite of LAM tools finetuned from our proposed 1-billion-parameter model Elements for atomic-scale numerical computation, while leveraging LLMs for high-level semantic reasoning. This shift moves AI-driven materials science from isolated processes toward integrated and human interactive discovery. Applied to superconductors, ElementsClaw screens 2.4 million crystals in just 28 GPU hours to identify 68,000 high-confidence candidates (The complete dataset of screened superconductors is available at https://developer.damo-academy.com/material), expanding known superconducting space by orders of magnitude compared to datasets curated over decades. Critically, ElementsClaw achieves a high success rate in identifying superconductors hidden in literature and discovers four novel experimentally verified superconductors, exemplified by Zr3ScRe8 with a transition temperature of 6.8 K and HfZrRe4 at 6.7 K. Together, our results establish a knowledge integrated, autonomously orchestrated, and experimentally grounded paradigm for materials discovery.
arXiv PDF
MoRFI: Monotonic Sparse Autoencoder Feature Identification
Dimitris Dimakopoulos, Shay B. Cohen, Ioannis Konstas
arXiv:2604.26866v1 • 2026-04-29
Large language models (LLMs) acquire most of their factual knowledge during the pre-training stage, through next token prediction. Subsequent stages of post-training often introduce new facts outwith the parametric knowledge, giving rise to hallucinations. While it has been demonstrated that supervised fine-tuning (SFT) on new knowledge may exacerbate the problem, the underlying mechanisms are still poorly understood. We conduct a controlled fine-tuning experiment, focusing on closed-book QA, and find latent directions that causally contribute to hallucinations. Specifically, we fine-tune Llama 3.1 8B, Gemma 2 9B and Mistral 7B v03 on seven distinct single QA datasets, controlling for the percentage of new knowledge and number of training epochs. By measuring performance on the test set, we validate that incrementally introducing new knowledge increases hallucinations, with the effect being more pronounced with prolonged training. We leverage pre-trained sparse autoencoders (SAEs) to analyze residual stream activations across various checkpoints for each model and propose Monotonic Relationship Feature Identification (MoRFI) for capturing causally relevant latents. MoRFI filters SAE features that respond monotonically to controlled fine-tuning data mixtures of a target property. Our findings show that exposure to unknown facts disrupts the model's ability to retrieve stored knowledge along a set of directions in the residual stream. Our pipeline reliably discovers them across distinct models, recovering knowledge through single-latent interventions.
arXiv PDF
Edge AI for Automotive Vulnerable Road User Safety: Deployable Detection via Knowledge Distillation
Akshay Karjol, Darrin M. Hanna
arXiv:2604.26857v1 • 2026-04-29
Deploying accurate object detection for Vulnerable Road User (VRU) safety on edge hardware requires balancing model capacity against computational constraints. Large models achieve high accuracy but fail under INT8 quantization required for edge deployment, while small models sacrifice detection performance. This paper presents a knowledge distillation (KD) framework that trains a compact YOLOv8-S student (11.2M parameters) to mimic a YOLOv8-L teacher (43.7M parameters), achieving 3.9x compression while preserving quantization robustness. We evaluate on full-scale BDD100K (70K training images) with Post-Training Quantization to INT8. The teacher suffers catastrophic degradation under INT8 (-23% mAP), while the KD student retains accuracy (-5.6% mAP). Analysis reveals that KD transfers precision calibration rather than raw detection capacity: the KD student achieves 0.748 precision versus 0.653 for direct training at INT8, a 14.5% gain at equivalent recall, reducing false alarms by 44% versus the collapsed teacher. At INT8, the KD student exceeds the teacher's FP32 precision (0.748 vs. 0.718) in a model 3.9x smaller. These findings establish knowledge distillation as a requirement for deploying accurate, safety-critical VRU detection on edge hardware.
Comment: 6 pages, 3 figures
arXiv PDF
2026-04-28
180 篇
Robotics
53
默认显示 5 篇
Why Domain Matters: A Preliminary Study of Domain Effects in Underwater Object Detection
Melanie Wille, Dimity Miller, Tobias Fischer, Scarlett Raine
arXiv:2604.26174v1 • 2026-04-28
Domain shift, where deviations between training and deployment data distributions degrade model performance, is a key challenge in underwater environments. Existing benchmarks testing performance for underwater domain shift simulate variability through synthetic style transfer. This fails to capture intrinsic scene factors such as visibility, illumination, scene composition, or acquisition factors, limiting analysis of real-world effects. We propose a labeling framework that defines underwater domains using measurable image, scene, and acquisition characteristics. Unlike prior benchmarks, it captures physically meaningful factors, enabling semantically consistent image grouping and supporting domain-specific evaluation of detection performance including failure analysis. We validate this on public datasets, showing systematic variations across domain factors and revealing hidden failure modes.
Comment: Poster Presentation at ICRA 2026 Workshop S2S
arXiv PDF
Variable Elimination in Hybrid Factor Graphs for Discrete-Continuous Inference & Estimation
Varun Agrawal, Frank Dellaert
arXiv:2601.00545v3 •updated • 2026-01-02
Many problems in robotics involve both continuous and discrete components, and modeling them together for estimation tasks has been a long standing and difficult problem. Hybrid Factor Graphs give us a mathematical framework to model these types of problems, however existing approaches for solving them are based on approximations. In this work, we propose a new framework for hybrid factor graphs along with a novel variable elimination algorithm to produce a hybrid Bayes network, which can be used for exact Maximum A Posteriori estimation and marginalization over both sets of variables. Our approach first develops a novel hybrid Gaussian factor which can connect to both discrete and continuous variables, and a hybrid conditional which can represent multiple continuous hypotheses conditioned on the discrete variables. Using these representations, we derive the process of hybrid variable elimination under the Conditional Linear Gaussian scheme, giving us exact posteriors as a hybrid Bayes network. To bound the number of discrete hypotheses, we use a tree-structured representation of the factors coupled with a simple pruning and probabilistic assignment scheme, which allows for tractable inference. We demonstrate the applicability of our framework on a large scale SLAM dataset and a real world pose graph optimization problem, both with ambiguous measurements which require discrete choices to be made for the most likely measurements. Our demonstrated results showcase the accuracy, generality, and simplicity of our hybrid factor graph framework.
arXiv PDF
Robot Planning and Situation Handling with Active Perception
Austine Oloo, Zainab Altaweel, Yohei Hayamizu, Peiqi Liu, Yan Ding, Saeid Amiri, Hao Yang, Andy Kaminski, Chad Esselink, Chris Paxton, Xiaohan Zhang, Shiqi Zhang
arXiv:2604.26988v1 • 2026-04-28
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen objects on the floor. These situations may result from the robot's own action failures or from external disturbances, such as human activities. Detecting and handling such execution - time situations remains a significant challenge, limiting those robots' ability to achieve long-term autonomy. In this paper, we develop a planning and situation-handling framework, called VAP-TAMP, that enables robots to actively perceive and address unforeseen situations during plan execution. VAP-TAMP leverages action knowledge to strategically prompt vision-language models for active view selection and situation assessment, while constructing and reasoning over scene graphs for integrated task and motion planning. We evaluated VAP-TAMP using service tasks in simulation and on a mobile manipulation platform.
arXiv PDF
FruitProM-V2: Robust Probabilistic Maturity Estimation and Detection of Fruits and Vegetables
Rahul Harsha Cheppally, Sidharth Rai, Sudan Baral, Benjamin Vail, Ajay Sharda
arXiv:2604.26084v1 • 2026-04-28
Accurate fruit maturity identification is essential for determining harvest timing, as incorrect assessment directly affects yield and post-harvest quality. Although ripening is a continuous biological process, vision-based maturity estimation is typically formulated as a multi-class classification task, which imposes sharp boundaries between visually similar stages. To examine this limitation, we perform an annotation reliability study with two independent annotators on a held-out tomato dataset and observe disagreement concentrated near adjacent maturity stages. Motivated by this observation, we model maturity as a latent continuous variable and predict it probabilistically using a distributional detection head, converting the distribution into class probabilities through the cumulative distribution function (CDF). The proposed formulation maintains comparable performance to a standard detector under clean labels while better representing uncertainty. Furthermore, when controlled label noise is introduced during training, the probabilistic model demonstrates improved robustness relative to the baseline, indicating that explicitly modeling maturity uncertainty leads to more reliable visual maturity estimation.
arXiv PDF
Hybrid Diffusion for Simultaneous Symbolic and Continuous Planning
Sigmund Hennum Høeg, Aksel Vaaler, Chaoqi Liu, Olav Egeland, Yilun Du
arXiv:2509.21983v2 •updated • 2025-09-26
Constructing robots to accomplish long-horizon tasks is a long-standing challenge within artificial intelligence. Approaches using generative methods, particularly Diffusion Models, have gained attention due to their ability to model continuous robotic trajectories for planning and control. However, we show that these models struggle with long-horizon tasks that involve complex decision-making and, in general, are prone to confusing different modes of behavior, leading to failure. To remedy this, we propose to augment continuous trajectory generation by simultaneously generating a high-level symbolic plan. We show that this requires a novel mix of discrete variable diffusion and continuous diffusion, which dramatically outperforms the baselines. In addition, we illustrate how this hybrid diffusion process enables flexible trajectory synthesis, allowing us to condition synthesized actions on partial and complete symbolic conditions.
Comment: 10 pages, 11 figures. This work has been submitted to the IEEE for possible publication. See https://sigmundhh.com/hybrid_diffusion/ for the project website
arXiv PDF
Video World Models
11
默认显示 5 篇
Inferix: A Block-Diffusion based Next-Generation Inference Engine for World Simulation
Inferix Team, Tianyu Feng, Yizeng Han, Jiahao He, Yuanyu He, Xi Lin, Teng Liu, Hanfeng Lu, Jiasheng Tang, Wei Wang, Zhiyuan Wang, Jichao Wu, Mingyang Yang, Yinghao Yu, Zeyu Zhang, Bohan Zhuang
arXiv:2511.20714v2 •updated • 2025-11-25
World models serve as core simulators for fields such as agentic AI, embodied AI, and gaming, capable of generating long, physically realistic, and interactive high-quality videos. Moreover, scaling these models could unlock emergent capabilities in visual perception, understanding, and reasoning, paving the way for a new paradigm that moves beyond current LLM-centric vision foundation models. A key breakthrough empowering them is the semi-autoregressive (block-diffusion) decoding paradigm, which merges the strengths of diffusion and autoregressive methods by generating video tokens in block-applying diffusion within each block while conditioning on previous ones, resulting in more coherent and stable video sequences. Crucially, it overcomes limitations of standard video diffusion by reintroducing LLM-style KV Cache management, enabling efficient, variable-length, and high-quality generation. Therefore, Inferix is specifically designed as a next-generation inference engine to enable immersive world synthesis through optimized semi-autoregressive decoding processes. This dedicated focus on world simulation distinctly sets it apart from systems engineered for high-concurrency scenarios (like vLLM or SGLang) and from classic video diffusion models (such as xDiTs). Inferix further enhances its offering with interactive video streaming and profiling, enabling real-time interaction and realistic simulation to accurately model world dynamics. Additionally, it supports efficient benchmarking through seamless integration of LV-Bench, a new fine-grained evaluation benchmark tailored for minute-long video generation scenarios. We hope the community will work together to advance Inferix and foster world model exploration.
arXiv PDF
RADIO-ViPE: Online Tightly Coupled Multi-Modal Fusion for Open-Vocabulary Semantic SLAM in Dynamic Environments
Zaid Nasser, Mikhail Iumanov, Tianhao Li, Maxim Popov, Jaafar Mahmoud, Sergey Kolyubin
arXiv:2604.26067v1 • 2026-04-28
We present RADIO-ViPE (Reduce All Domains Into One -- Video Pose Engine), an online semantic SLAM system that enables geometry-aware open-vocabulary grounding, associating arbitrary natural language queries with localized 3D regions and objects in dynamic environments. Unlike existing approaches that require calibrated, posed RGB-D input, RADIO-ViPE operates directly on raw monocular RGB video streams, requiring no prior camera intrinsics, depth sensors, or pose initialization. The system tightly couples multi-modal embeddings -- spanning vision and language -- derived from agglomerative foundation models (e.g., RADIO) with geometric scene information. This coupling takes place in initialization, optimization and factor graph connections to improve the consistency of the map from multiple modalities. The optimization is wrapped within adaptive robust kernels, designed to handle both actively moving objects and agent-displaced scene elements (e.g., furniture rearranged during ego-centric session). Experiments demonstrate that RADIO-ViPE achieves state-of-the-art results on the dynamic TUM-RGBD benchmark while maintaining competitive performance against offline open-vocabulary methods that rely on calibrated data and static scene assumptions. RADIO-ViPE bridges a critical gap in real-world deployment, enabling robust open-vocabulary semantic grounding for autonomous robotics and unconstrained in-the-wild video streams. Project page: https://be2rlab.github.io/radio_vipe
arXiv PDF
Towards Redundancy Reduction in Diffusion Models for Efficient Video Super-Resolution
Jinpei Guo, Yifei Ji, Shengwei Wang, Zheng Chen, Yufei Wang, Sizhuo Ma, Yong Guo, Baiang Li, Jusheng Zhang, Yulun Zhang, Jian Wang
arXiv:2509.23980v2 •updated • 2025-09-28
Diffusion models have recently shown promising results for video super-resolution (VSR). However, directly adapting generative diffusion models to VSR can result in redundancy, since low-quality videos already preserve substantial content information. Such redundancy leads to increased computational overhead and learning burden, as the model performs superfluous operations and must learn to filter out irrelevant information. To address this problem, we propose OASIS, an efficient $\textbf{o}$ne-step diffusion model with $\textbf{a}$ttention $\textbf{s}$pecialization for real-world v$\textbf{i}$deo $\textbf{s}$uper-resolution. OASIS incorporates an attention specialization routing that assigns attention heads to different patterns according to their intrinsic behaviors. This routing mitigates redundancy while effectively preserving pretrained knowledge, allowing diffusion models to better adapt to VSR and achieve stronger performance. Moreover, we propose a simple yet effective progressive training strategy, which starts with temporally consistent degradations and then shifts to inconsistent settings. This strategy facilitates learning under complex degradations. Extensive experiments demonstrate that OASIS achieves state-of-the-art performance on both synthetic and real-world datasets. OASIS also provides superior inference speed, offering a $\textbf{6.2$\times$}$ speedup over one-step diffusion baselines such as SeedVR2. The code will be available at \href{https://github.com/jp-guo/OASIS}{https://github.com/jp-guo/OASIS}.
arXiv PDF
Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models
Pengcheng Fang, Hongli Chen, Xiaohao Cai
arXiv:2604.25859v1 • 2026-04-28
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this branch can be removed at inference with little to no loss on common manipulation benchmarks, suggesting that future information may act merely as a regularizer on the shared visual backbone. We propose instead that joint training induces an action-conditioned correction that privileged future observations impose on action denoising, and that current-only policies capture this correction only partially. Making the account precise, we formulate privileged foresight as a residual in the action-denoising direction -- the difference between what a model predicts given the true future and what it predicts given only the current frame -- and introduce \emph{Privileged Foresight Distillation (PFD)}, which transfers this residual from a training-time teacher into a small adapter on a current-only student. The teacher and student share the same backbone and differ only in the attention mask over video tokens; future video is never generated at inference. Controlled experiments verify that this gain reflects a genuine future-conditioned correction rather than a side effect of capacity or regularization. Empirically, PFD achieves consistent improvements on LIBERO and RoboTwin manipulation benchmarks while preserving the current-only inference interface at negligible added latency. This view reframes the role of future information in world action models: not as a target to predict, nor as a regularizer to absorb, but as a compressible correction to be distilled.
arXiv PDF
Personalization Toolkit: Training Free Personalization of Large Vision Language Models
Soroush Seifi, Vaggelis Dorovatas, Matteo Cassinelli, Fabien Despinoy, Daniel Olmeda Reino, Rahaf Aljundi
arXiv:2502.02452v4 •updated • 2025-02-04
Personalization of Large Vision-Language Models (LVLMs) involves customizing models to recognize specific users or object instances and to generate contextually tailored responses. Existing approaches rely on time-consuming training for each item, making them impractical for real-world deployment, as reflected in current personalization benchmarks limited to object-centric single-concept evaluations. In this paper, we present a novel training-free approach to LVLM personalization called \ours. We introduce a comprehensive, real-world benchmark designed to rigorously evaluate various aspects of the personalization task. \ours leverages pre-trained vision foundation models to extract distinctive features, applies retrieval-augmented generation (RAG) techniques to identify instances within visual inputs, and employs visual prompting strategies to guide model outputs. Our model-agnostic vision toolkit enables efficient and flexible multi-concept personalization across both images and videos, without any additional training. We achieve state-of-the-art results, surpassing existing training-based methods.
Comment: Accepted at Transactions on Machine Learning Research (TMLR) 2026
arXiv PDF
Embodied Intelligence
28
默认显示 5 篇
Lifting Embodied World Models for Planning and Control
Alex N. Wang, Trevor Darrell, Pavel Izmailov, Yutong Bai, Amir Bar
arXiv:2604.26182v1 • 2026-04-28
World models of embodied agents predict future observations conditioned on an action taken by the agent. For complex embodiments, action spaces are high-dimensional and difficult to specify: for example, precisely controlling a human agent requires specifying the motion of each joint. This makes the world model hard to control and expensive to plan with as search-based methods like CEM scale poorly with action dimensionality. To address this issue, we train a lightweight policy that maps high-level actions to sequences of low-level joint actions. Composing this policy with the frozen world model produces a lifted world model that predicts a sequence of future observations from a single high-level action. We instantiate this framework for a human-like embodiment, defining the high-level action space as a small set of 2D waypoints annotated on the current observation frame, each specifying a near-term goal position for a leaf joint (pelvis, head, hands). Waypoints are low-dimensional, visually interpretable, and easy to specify manually or to search over. We show that the lifted world model substantially outperforms searching directly in low-level joint space ($3.8\times$ lower mean joint error to the goal pose), while remaining more compute-efficient and generalizing to environments unseen by the policy.
arXiv PDF
Inferix: A Block-Diffusion based Next-Generation Inference Engine for World Simulation
Inferix Team, Tianyu Feng, Yizeng Han, Jiahao He, Yuanyu He, Xi Lin, Teng Liu, Hanfeng Lu, Jiasheng Tang, Wei Wang, Zhiyuan Wang, Jichao Wu, Mingyang Yang, Yinghao Yu, Zeyu Zhang, Bohan Zhuang
arXiv:2511.20714v2 •updated • 2025-11-25
World models serve as core simulators for fields such as agentic AI, embodied AI, and gaming, capable of generating long, physically realistic, and interactive high-quality videos. Moreover, scaling these models could unlock emergent capabilities in visual perception, understanding, and reasoning, paving the way for a new paradigm that moves beyond current LLM-centric vision foundation models. A key breakthrough empowering them is the semi-autoregressive (block-diffusion) decoding paradigm, which merges the strengths of diffusion and autoregressive methods by generating video tokens in block-applying diffusion within each block while conditioning on previous ones, resulting in more coherent and stable video sequences. Crucially, it overcomes limitations of standard video diffusion by reintroducing LLM-style KV Cache management, enabling efficient, variable-length, and high-quality generation. Therefore, Inferix is specifically designed as a next-generation inference engine to enable immersive world synthesis through optimized semi-autoregressive decoding processes. This dedicated focus on world simulation distinctly sets it apart from systems engineered for high-concurrency scenarios (like vLLM or SGLang) and from classic video diffusion models (such as xDiTs). Inferix further enhances its offering with interactive video streaming and profiling, enabling real-time interaction and realistic simulation to accurately model world dynamics. Additionally, it supports efficient benchmarking through seamless integration of LV-Bench, a new fine-grained evaluation benchmark tailored for minute-long video generation scenarios. We hope the community will work together to advance Inferix and foster world model exploration.
arXiv PDF
TSN-Affinity: Similarity-Driven Parameter Reuse for Continual Offline Reinforcement Learning
Dominik Żurek, Kamil Faber, Marcin Pietron, Paweł Gajewski, Roberto Corizzo
arXiv:2604.25898v1 • 2026-04-28
Continual offline reinforcement learning (CORL) aims to learn a sequence of tasks from datasets collected over time while preserving performance on previously learned tasks. This setting corresponds to domains where new tasks arise over time, but adapting the model in live environment interactions is expensive, risky, or impossible. However, CORL inherits the dual difficulty of offline reinforcement learning and adapting while preventing catastrophic forgetting. Replay-based continual learning approaches remain a strong baseline but incur memory overhead and suffer from a distribution mismatch between replayed samples and newly learned policies. At the same time, architectural continual learning methods have shown strong potential in supervised learning but remain underexplored in CORL. In this work, we propose TSN-Affinity, a novel CORL method based on TinySubNetworks and Decision Transformer. The method enables task-specific parameterization and controlled knowledge sharing through a RL-aware reuse strategy that routes tasks according to action compatibility and latent similarity. We evaluate the approach on benchmarks based on Atari games and simulations of manipulation tasks with the Franka Emika Panda robotic arm, covering both discrete and continuous control. Results show strong retention from sparse SubNetworks, with routing further improving multi-task performance. Our findings suggest that similarity-guided architectural reuse is a strong and viable alternative to replay-based strategies in a CORL setting. Our code is available at: https://github.com/anonymized-for-submission123/tsn-affinity.
arXiv PDF
Variational Neural Belief Parameterizations for Robust Dexterous Grasping under Multimodal Uncertainty
Clinton Enwerem, Shreya Kalyanaraman, John S. Baras, Calin Belta
arXiv:2604.25897v1 • 2026-04-28
Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse contact realizations. Risk-sensitive POMDPs address this failure mode, but many use particle-filter beliefs that scale poorly, obstruct gradient-based optimization, and estimate Conditional Value-at-Risk (CVaR) with high-variance approximations. We instead formulate grasp acquisition as variational inference over latent contact parameters and object pose, representing the belief with a differentiable Gaussian mixture. We use Gumbel-Softmax component selection and location-scale reparameterization to express samples as smooth functions of the belief parameters, enabling pathwise gradients through a differentiable CVaR surrogate for direct optimization of tail robustness. In simulation, our variational neural belief improves robust grasp success under contact-parameter uncertainty and exogenous force perturbations while reducing planning time by roughly an order of magnitude relative to particle-filter model-predictive control. On a serial-chain robot arm with a multifingered hand, we validate grasp-and-lift success under object-pose uncertainty against a Gaussian baseline. Both methods succeed on the tested perturbations, but our controller terminates in fewer steps and less wall-clock time while achieving a higher tactile grasp-quality proxy. Our learned belief also calibrates risk more accurately, keeping mean absolute calibration error below 0.14 across tested simulation regimes, compared with 0.58 for a Cross-Entropy Method planner.
Comment: 11 pages, 10 figures
arXiv PDF
Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models
Pengcheng Fang, Hongli Chen, Xiaohao Cai
arXiv:2604.25859v1 • 2026-04-28
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this branch can be removed at inference with little to no loss on common manipulation benchmarks, suggesting that future information may act merely as a regularizer on the shared visual backbone. We propose instead that joint training induces an action-conditioned correction that privileged future observations impose on action denoising, and that current-only policies capture this correction only partially. Making the account precise, we formulate privileged foresight as a residual in the action-denoising direction -- the difference between what a model predicts given the true future and what it predicts given only the current frame -- and introduce \emph{Privileged Foresight Distillation (PFD)}, which transfers this residual from a training-time teacher into a small adapter on a current-only student. The teacher and student share the same backbone and differ only in the attention mask over video tokens; future video is never generated at inference. Controlled experiments verify that this gain reflects a genuine future-conditioned correction rather than a side effect of capacity or regularization. Empirically, PFD achieves consistent improvements on LIBERO and RoboTwin manipulation benchmarks while preserving the current-only inference interface at negligible added latency. This view reframes the role of future information in world action models: not as a target to predict, nor as a regularizer to absorb, but as a compressible correction to be distilled.
arXiv PDF
End-to-End AD
38
默认显示 5 篇
Lifting Embodied World Models for Planning and Control
Alex N. Wang, Trevor Darrell, Pavel Izmailov, Yutong Bai, Amir Bar
arXiv:2604.26182v1 • 2026-04-28
World models of embodied agents predict future observations conditioned on an action taken by the agent. For complex embodiments, action spaces are high-dimensional and difficult to specify: for example, precisely controlling a human agent requires specifying the motion of each joint. This makes the world model hard to control and expensive to plan with as search-based methods like CEM scale poorly with action dimensionality. To address this issue, we train a lightweight policy that maps high-level actions to sequences of low-level joint actions. Composing this policy with the frozen world model produces a lifted world model that predicts a sequence of future observations from a single high-level action. We instantiate this framework for a human-like embodiment, defining the high-level action space as a small set of 2D waypoints annotated on the current observation frame, each specifying a near-term goal position for a leaf joint (pelvis, head, hands). Waypoints are low-dimensional, visually interpretable, and easy to specify manually or to search over. We show that the lifted world model substantially outperforms searching directly in low-level joint space ($3.8\times$ lower mean joint error to the goal pose), while remaining more compute-efficient and generalizing to environments unseen by the policy.
arXiv PDF
Inferix: A Block-Diffusion based Next-Generation Inference Engine for World Simulation
Inferix Team, Tianyu Feng, Yizeng Han, Jiahao He, Yuanyu He, Xi Lin, Teng Liu, Hanfeng Lu, Jiasheng Tang, Wei Wang, Zhiyuan Wang, Jichao Wu, Mingyang Yang, Yinghao Yu, Zeyu Zhang, Bohan Zhuang
arXiv:2511.20714v2 •updated • 2025-11-25
World models serve as core simulators for fields such as agentic AI, embodied AI, and gaming, capable of generating long, physically realistic, and interactive high-quality videos. Moreover, scaling these models could unlock emergent capabilities in visual perception, understanding, and reasoning, paving the way for a new paradigm that moves beyond current LLM-centric vision foundation models. A key breakthrough empowering them is the semi-autoregressive (block-diffusion) decoding paradigm, which merges the strengths of diffusion and autoregressive methods by generating video tokens in block-applying diffusion within each block while conditioning on previous ones, resulting in more coherent and stable video sequences. Crucially, it overcomes limitations of standard video diffusion by reintroducing LLM-style KV Cache management, enabling efficient, variable-length, and high-quality generation. Therefore, Inferix is specifically designed as a next-generation inference engine to enable immersive world synthesis through optimized semi-autoregressive decoding processes. This dedicated focus on world simulation distinctly sets it apart from systems engineered for high-concurrency scenarios (like vLLM or SGLang) and from classic video diffusion models (such as xDiTs). Inferix further enhances its offering with interactive video streaming and profiling, enabling real-time interaction and realistic simulation to accurately model world dynamics. Additionally, it supports efficient benchmarking through seamless integration of LV-Bench, a new fine-grained evaluation benchmark tailored for minute-long video generation scenarios. We hope the community will work together to advance Inferix and foster world model exploration.
arXiv PDF
Video Compression Meets Video Generation: Latent Inter-Frame Pruning with Attention Recovery
Dennis Menn, Yuedong Yang, Bokun Wang, Xiwen Wei, Mustafa Munir, Feng Liang, Radu Marculescu, Chenfeng Xu, Diana Marculescu
arXiv:2603.05811v2 •updated • 2026-03-06
Current video generation models suffer from high computational latency, making real-time applications prohibitively costly. In this paper, we address this limitation by exploiting the temporal redundancy inherent in video latent patches. To this end, we propose the Latent Inter-frame Pruning with Attention Recovery (LIPAR) framework, which detects and skips recomputing duplicated latent patches. Additionally, we introduce a novel Attention Recovery mechanism that approximates the attention values of pruned tokens, thereby removing visual artifacts arising from naively applying the pruning method. Empirically, our method increases video editing throughput by $1.53\times$, achieving an average of 19.3 FPS on an NVIDIA RTX 4090 with the 1.3B Self-Forcing model (4-step denoising, FP16). The proposed method does not compromise generation quality and can be seamlessly integrated with the model without additional training. Our approach effectively bridges the gap between traditional compression algorithms and modern generative pipelines.
arXiv PDF
Detecting Dental Landmarks from Intraoral 3D Scans: the 3DTeethLand challenge
Achraf Ben-Hamadou, Nour Neifar, Ahmed Rekik, Oussama Smaoui, Firas Bouzguenda, Sergi Pujades, Niels van Nistelrooij, Shankeeth Vinayahalingam, Kaibo Shi, Hairong Jin, Youyi Zheng, Tibor Kubík, Oldřich Kodym, Petr Šilling, Kateřina Trávníčková, Tomáš Mojžiš, Jan Matula, Jeffry Hartanto, Xiaoying Zhu, Kim-Ngan Nguyen, Tudor Dascalu, Huikai Wu, and Weijie Liu, Shaojie Zhuang, Guangshun Wei, Yuanfeng Zhou
arXiv:2512.08323v2 •updated • 2025-12-09
Teeth landmark detection is a key task in modern orthodontics, supporting advanced diagnosis, personalized treatment planning, and effective monitoring of treatment progress. However, several significant challenges may arise due to the intricate geometry of individual teeth and the substantial variations observed across different individuals. To address these complexities, the development of advanced techniques, especially through the application of deep learning, is essential for the precise and reliable detection of 3D tooth landmarks. In this context, the 3DTeethLand challenge was held in conjunction with the International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI) in 2024, calling for algorithms focused on teeth landmark detection from intraoral 3D scans. This challenge introduced a publicly available dataset for 3D dental landmark detection from 340 intraoral scans, providing a standardized benchmark to evaluate state-of-the-art approaches and encouraging methodological advances toward addressing this clinically problem. A total of 49 teams participated, and 6 teams reached the final phase. The winning team achieved a rank score of 0.91, with a mean Average Precision of 0.78 and a mean Average Recall of 0.65, demonstrating a balance between precision and recall. Top teams achieved high precision with different strategies: the first-ranked team used a two-stage Stratified Transformer with segmentation and weighted DBSCAN, while the second-ranked team adopted a single-stage DGCNN with offset regression and class-specific non-maximum suppression.
Comment: MICCAI 2024, 3DTeethLand, Challenge report, under review
arXiv PDF
A Comparative Study in Surgical AI: Datasets, Foundation Models, and Barriers to Med-AGI
Kirill Skobelev, Eric Fithian, Yegor Baranovski, Jack Cook, Sandeep Angara, Shauna Otto, Zhuang-Fang Yi, John Zhu, Daniel A. Donoho, X. Y. Han, Neeraj Mainkar, Margaux Masson-Forsythe
arXiv:2603.27341v2 •updated • 2026-03-28
Recent Artificial Intelligence (AI) models have matched or exceeded human experts in several benchmarks of biomedical task performance, but surgical benchmarks in particular are often missing from prominent medical benchmark suites (specifically, those requiring visual recognition). Since surgery requires integrating disparate tasks, generally-capable AI models could be particularly attractive as a collaborative tool if performance could be improved. On the one hand, the canonical approach of scaling architecture size and training data is attractive, especially since there are millions of hours of surgical video data generated per year. On the other hand, preparing surgical data for AI training requires significantly higher levels of professional expertise, and training on that data requires expensive computational resources. These trade-offs paint an uncertain picture of whether and to-what-extent modern AI could aid surgical practice. In this paper, we explore this question through a case study of surgical tool detection using state-of-the-art AI methods available in 2026. We demonstrate that even with multi-billion parameter models and extensive training, current Vision Language Models fall short in the seemingly simple task of tool detection in neurosurgery. Additionally, we show scaling experiments indicating that increasing model size and training time only leads to diminishing improvements in relevant performance metrics. Thus, our experiments suggest that current models could still face significant obstacles in surgical use cases. Moreover, some obstacles cannot be simply ``scaled away'' with additional compute and persist across diverse model architectures, raising the question of whether data and label availability are the only limiting factors. We discuss the main contributors to these constraints and advance potential solutions.
arXiv PDF
Foundation Models
50
默认显示 5 篇
CGU-ILALab at FoodBench-QA 2026: Comparing Traditional and LLM-based Approaches for Recipe Nutrient Estimation
Wei-Chun Chen, Yu-Xuan Chen, I-Fang Chung, Ying-Jia Lin
arXiv:2604.25774v1 • 2026-04-28
Accurate nutrient estimation from unstructured recipe text is an important yet challenging problem in dietary monitoring, due to ambiguous ingredient terminology and highly variable quantity expressions. We systematically evaluate models spanning a wide range of representational capacity, from lexical matching methods (TF-IDF with Ridge Regression), to deep semantic encoders (DeBERTa-v3), to generative reasoning with large language models (LLMs). Under the strict tolerance criteria defined by EU Regulation 1169/2011, our empirical results reveal a clear trade-off between predictive accuracy and computational efficiency. The TF-IDF baseline achieves moderate nutrient estimation performance with near-instantaneous inference, whereas the DeBERTa-v3 encoder performs poorly under task-specific data scarcity. In contrast, few-shot LLM inference (e.g., Gemini 2.5 Flash) and a hybrid LLM refinement pipeline (TF-IDF combined with Gemini 2.5 Flash) deliver the highest validation accuracy across all nutrient categories. These improvements likely arise from the ability of LLMs to leverage pre-trained world knowledge to resolve ambiguous terminology and normalize non-standard units, which remain difficult for purely lexical approaches. However, these gains come at the cost of substantially higher inference latency, highlighting a practical deployment trade-off between real-time efficiency and nutritional precision in dietary monitoring systems.
Comment: Accepted by the Third Workshop on Patient-oriented Language Processing (CL4Health) at LREC 2026
arXiv PDF
Multi-layer Cross-Attention is Provably Optimal for Multi-modal In-context Learning
Nicholas Barnfield, Subhabrata Sen, Pragya Sur
arXiv:2602.04872v2 •updated • 2026-02-04
Recent progress has rapidly advanced our understanding of the mechanisms underlying in-context learning in modern attention-based neural networks. However, existing results focus exclusively on unimodal data; in contrast, the theoretical underpinnings of in-context learning for multi-modal data remain poorly understood. We introduce a mathematically tractable framework for studying multi-modal learning and explore when transformer-like architectures can recover Bayes-optimal performance in-context. To model multi-modal problems, we assume the observed data arises from a latent factor model. Our first result comprises a negative take on expressibility: we prove that single-layer, linear self-attention fails to recover the Bayes-optimal predictor uniformly over the task distribution. To address this limitation, we introduce a novel, linearized cross-attention mechanism, which we study in the regime where both the number of cross-attention layers and the context length are large. We show that this cross-attention mechanism is provably Bayes optimal when optimized using gradient flow. Our results underscore the benefits of depth for in-context learning and establish the provable utility of cross-attention for multi-modal distributions.
arXiv PDF
Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty
Giuseppe Silano, Quentin Sablé, Marco Tognon, Luigi Iannelli, Antonio Franchi
arXiv:2604.25766v1 • 2026-04-28
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle chain connected by rigid links, modeled with input-rate actuation to enforce slew-rate and magnitude limits on thrust and torque. Robustness to uncertainty in link mass, length, and inertia is achieved by propagating first-order parametric state sensitivities along the horizon and using them to compute online constraint-tightening margins. We robustify an inter-link separation constraint, implemented via a smooth cosine embedding, and thrust-magnitude bounds. The method is implemented in MATLAB and evaluated with boundary-hugging maneuvers and Monte-Carlo uncertainty sampling. Results show improved constraint margins under uncertainty with tracking performance comparable to nominal NMPC.
Comment: Accepted to the 2026 International Conference on Unmanned Aircraft Systems, ICUAS 2026
arXiv PDF
Measuring the Sensitivity of Classification Models with the Error Sensitivity Profile
Andrea Maurino
arXiv:2604.25765v1 • 2026-04-28
The quality of training data is critical to the performance of machine learning models. In this paper, the Error Sensitivity Profile (ESP) is proposed. It quantifies the sensitivity of model performance to errors in a single feature or in multiple features. By leveraging ESP, data-cleaning efforts can be prioritized based on error types and features most likely to affect model performance. To support the computation of this metric, an integrated suite of tools, called \dirty, is created. We conduct an extensive experimental study on two widely used datasets using 14 classification models, revealing that performance degradation is not always predictable from simple correlations with the target variable.
arXiv PDF
A Hybridizable Neural Time Integrator for Stable Autoregressive Forecasting
Brooks Kinch, Xiaozhe Hu, Yilong Huang, Martine Dyring Hansen, Sunniva Meltzer, Nathaniel Donald Hamlin, David Sirajuddin, Eric C. Cyr, Nathaniel Trask
arXiv:2604.21101v2 •updated • 2026-04-22
For autoregressive modeling of chaotic dynamical systems over long time horizons, the stability of both training and inference is a major challenge in building scientific foundation models. We present a hybrid technique in which an autoregressive transformer is embedded within a novel shooting-based mixed finite element scheme, exposing topological structure that enables provable stability. For forward problems, we prove preservation of discrete energies, while for training we prove uniform bounds on gradients, provably avoiding the exploding gradient problem. Combined with a vision transformer, this yields latent tokens admitting structure-preserving dynamics. We outperform modern foundation models with a $65\times$ reduction in model parameters and long-horizon forecasting of chaotic systems. A "mini-foundation" model of a fusion component shows that 12 simulations suffice to train a real-time surrogate, achieving a $9{,}000\times$ speedup over particle-in-cell simulation.
Comment: 29 pages, 6 figures
arXiv PDF
2026-04-27
101 篇
Robotics
51
默认显示 5 篇
DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors
Pengcheng Wang, Kaiwen Hong, Chensheng Peng, Katherine Driggs-Campbell, Masayoshi Tomizuka, Chenfeng Xu, Chen Tang
arXiv:2604.25050v1 • 2026-04-27
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast the inference is. Asynchronous execution -- thinking while acting -- is therefore a structural requirement, and real-time chunking (RTC) makes it viable by recasting chunk transitions as inpainting: freezing committed actions and consistently generating the remainder. However, RTC with flow-matching policy is structurally suboptimal: its inpainting comes from inference-time corrections rather than the base policy, yielding little pre-training benefit, specific fine-tuning, heuristic guidance, and extra computation that inflates the latency. In this work, we observe that discrete diffusion policies, which generate actions by iteratively unmasking, are natural asynchronous executors that resolve all limitations at once: they are fine-tuning free since inpainting is their native operation, while early stopping further provides adaptive guidance and reduces inference cost. We propose DiscreteRTC, which replaces external corrections with native unmasking, and show on dynamic simulated benchmarks and real-world dynamic manipulation tasks that it achieves higher success rates than continuous RTC and other baselines. In summary, DiscreteRTC is simpler to implement with 0 lines of code for async inpainting, faster at inference with only 0.7x computation compared with generating actions from scratch, and better at execution with 50% higher success rate in real-world dynamic pick task compared with flow-matching-based RTC. More visualizations are on https://outsider86.github.io/DiscreteRTCSite/.
arXiv PDF
TEACar: An Open-Source Autonomous Driving Platform
Zhongzheng Zhang, Maxwell Ruyle, Andrew Kappes, Tyler Ruble, William Shaoul, Dana Moreno, Jack Penn, Ivan Ruchkin
arXiv:2604.24934v1 • 2026-04-27
Intelligent Transportation Systems (ITS) increasingly rely on vision-based perception and learning-based control, necessitating experimental platforms that support realistic hardware-in-the-loop validation. Small-scale platforms for autonomous racing offer a practical path to hardware validation, but often suffer from limited modularity, high integration complexity, or restricted extensibility. This paper presents TEACAR, a 1/14- to 1/16-scale autonomous driving platform designed with modular mechanical architecture, hardware abstraction, and ROS 2-based software. The system adopts a four-layer deck structure that physically decouples sensing, computation, actuation, and power subsystems, improving structural rigidity while simplifying reconfiguration. We constructed and comprehensively evaluated the prototype of TEACAR. Its mechanical stability, structural characteristics, and software performance were quantified based on three CNN-based steering controllers. Inference latency, power consumption, and system operating time were measured to evaluate computational capability and robustness. Our experiments demonstrated that TEACAR offers a scalable, modular, and cost-effective testbed for ITS research, education, and development. Our project repository is available on GitHub.
arXiv PDF
Libra-VLA: Achieving Learning Equilibrium via Asynchronous Coarse-to-Fine Dual-System
Yifei Wei, Linqing Zhong, Yi Liu, Yuxiang Lu, Xindong He, Maoqing Yao, Guanghui Ren
arXiv:2604.24921v1 • 2026-04-27
Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing approaches typically adopt a monolithic generation paradigm, directly mapping visual-linguistic features to high-frequency motor commands in a flat, non-hierarchical fashion. This strategy overlooks the inherent hierarchy of robotic manipulation, where complex actions can be naturally modeled in a Hybrid Action Space, decomposing into discrete macro-directional reaching and continuous micro-pose alignment, severely widening the semantic-actuation gap and imposing a heavy representational burden on grounding high-level semantics to continuous actions. To address this, we introduce Libra-VLA, a novel Coarse-to-Fine Dual-System VLA architecture. We explicitly decouple the learning complexity into a coarse-to-fine hierarchy to strike a training equilibrium, while simultaneously leveraging this structural modularity to implement an asynchronous execution strategy. The Semantic Planner predicts discrete action tokens capturing macro-directional intent, while the Action Refiner conditions on coarse intent to generate high-frequency continuous actions for precise alignment. Crucially, our empirical analysis reveals that performance follows an inverted-U curve relative to action decomposition granularity, peaking exactly when the learning difficulty is balanced between the two sub-systems. With the asynchronous design, our approach offers a scalable, robust, and responsive solution for open-world manipulation.
Comment: Accepted to the Main Conference of ACL 2026. Project page: https://libra-vla.github.io/
arXiv PDF
asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics
Fang Wan, Guangyi Huang, Tianyu Wu, Zishang Zhang, Bangchao Huang, Haoran Sun, Mingdong Chen, Chaoyang Song
arXiv:2604.24916v1 • 2026-04-27
We introduce asRoBallet, to the best of our knowledge, the first successful deployment of reinforcement learning (RL) on a humanoid ballbot hardware. Historically, ballbots have served as a canonical benchmark for underactuated and nonholonomic control, which are characterized by a reality gap in complex friction models for wheel-sphere-ground interactions. While current literature demonstrates successful handling of 3D balancing with LQR and MPC, transitioning to actual hardware for a humanoid ballbot using RL is currently hindered by critical gaps in contact modeling, actuator latency & jitter, and safe hardware exploration, and safe hardware exploration. This study proposes a high-fidelity MuJoCo simulation that explicitly models the discrete roller mechanics of ETH-type omni-wheels, thereby capturing parasitic vibrations and contact discontinuities that are previously ignored. We also developed a Friction-Aware Reinforcement Learning framework that achieves zero-shot Sim2Real transfer by mastering the coupled rolling, lateral, and torsional friction channels at the wheel-sphere and sphere-ground interfaces. We designed asRoBallet through subtractive reconfiguration, repurposing key components from an overconstrained quadruped and integrating them into a newly designed structural frame to achieve a robust research platform at low cost. We also developed a generalized iOS ecosystem that transforms consumer electronics into a low-latency interface, enabling a single operator to orchestrate expressive humanoid maneuvers via intuitive natural motion.
Comment: 16 pages, 9 figure, accepted for RSS2026. For Supplementary Videos, see https://bionicdl.ancorasir.com/?p=2238
arXiv PDF
Logic of Fuzzy Paths
Kush Grover, Pratham Gupta, Jan Křetínský
arXiv:2604.24907v1 • 2026-04-27
We introduce a new family of temporal logics intended for specifications in motion planning (MP). It builds upon the signal temporal logic (STL), which is a linear-time logic over real-valued signals that possess quantitative semantics and thus became popular in the areas of cyber-physical systems, robotics, and specifically robot MP. However, in contrast to STL, the proposed logic works with paths as first-class citizens, separating the concerns of geometry and of logic. This in turn leads to simpler and more understandable formulae, and a more refined notion of satisfaction being able to reflect also preferences over behaviours. Technically, the logic is built on fuzzy, time-varying signal constraints. As a consequence of this expressivity, it is (i) more usable for human-given specifications in MP and (ii) more amenable to learning specifications from demonstrations than other logics. The former is important for the traditional style of verification in robot MP; the latter is becoming recognized as crucial for mining data-given tasks and controller synthesis in human-aware MP. We expose the advantages of our proposed logic on examples and show the versatility and flexibility of the framework on a number of scenarios. Finally, we give a learning algorithm with a prototype implementation and discuss the possibilities of model checking and monitoring.
arXiv PDF
Video World Models
6
默认显示 5 篇
Nemotron 3 Nano Omni: Efficient and Open Multimodal Intelligence
NVIDIA, :, Amala Sanjay Deshmukh, Kateryna Chumachenko, Tuomas Rintamaki, Matthieu Le, Tyler Poon, Danial Mohseni Taheri, Ilia Karmanov, Guilin Liu, Jarno Seppanen, Arushi Goel, Mike Ranzinger, Greg Heinrich, Guo Chen, Lukas Voegtle, Philipp Fischer, Timo Roman, Karan Sapra, Collin McCarthy, Shaokun Zhang, Fuxiao Liu, Hanrong Ye, Yi Dong, Mingjie Liu, Yifan Peng, Piotr Zelasko, Zhehuai Chen, Nithin Rao Koluguri, Nune Tadevosyan, Lilit Grigoryan, Ehsan Hosseini Asl, Pritam Biswas, Leili Tavabi, Yuanhang Su, Zhiding Yu, Peter Jin, Alexandre Milesi, Netanel Haber, Yao Xu, Sarah Amiraslani, Nabin Mulepati, Eric Tramel, Jaehun Jung, Ximing Lu, Brandon Cui, Jin Xu, Zhiqi Li, Shihao Wang, Yuanguo Kuang, Shaokun Zhang, Huck Yang, Boyi Li, Hongxu Yin, Song Han, Pavlo Molchanov, Adi Renduchintala, Charles Wang, David Mosallanezhad, Soumye Singhal, Luis Vega, Katherine Cheung, Sreyan Ghosh, Yian Zhang, Alexander Bukharin, Venkat Srinivasan, Johnny Greco, Andre Manoel, Maarten Van Segbroeck, Suseella Panguliri, Rohit Watve, Divyanshu Kakwani, Shubham Pachori, Jeffrey Glick, Radha Sri-Tharan, Aileen Zaman, Khanh Nguyen, Shi Chen, Jiaheng Fang, Qing Miao, Wenfei Zhou, Yu Wang, Zaid Pervaiz Bhat, Varun Praveen, Arihant Jain, Ramanathan Arunachalam, Tomasz Kornuta, Ashton Sharabiani, Amy Shen, Wei Huang, Yi-Fu Wu, Ali Roshan Ghias, Huiying Li, Brian Yu, Nima Tajbakhsh, Chen Cui, Wenwen Gao, Li Ding, Terry Kong, Manoj Kilaru, Anahita Bhiwandiwalla, Marek Wawrzos, Daniel Korzekwa, Pablo Ribalta, Grzegorz Chlebus, Besmira Nushi, Ewa Dobrowolska, Maciej Jakub Mikulski, Kunal Dhawan, Steve Huang, Jagadeesh Balam, Yongqiang Wang, Nikolay Karpov, Valentin Mendelev, George Zelenfroynd, Meline Mkrtchyan, Qing Miao, Omri Almog, Bhavesh Pawar, Rameshwar Shivbhakta, Sudeep Sabnis, Ashrton Sharabiani, Negar Habibi, Geethapriya Venkataramani, Pamela Peng, Prerit Rodney, Serge Panev, Richard Mazzarese, Nicky Liu, Michael Fukuyama, Andrii Skliar, Roger Waleffe, Duncan Riach, Yunheng Zou, Jian Hu, Hao Zhang, Binfeng Xu, Yuhao Yang, Zuhair Ahmed, Alexandre Milesi, Carlo del Mundo, Chad Voegele, Zhiyu Cheng, Nave Assaf, Andrii Skliar, Daniel Afrimi, Natan Bagrov, Ran Zilberstein, Ofri Masad, Eugene Khvedchenia, Natan Bagrov, Borys Tymchenko, Tomer Asida, Daniel Afrimi, Parth Mannan, Victor Cui, Michael Evans, Katherine Luna, Jie Lou, Pinky Xu, Guyue Huang, Negar Habibi, Michael Boone, Pradeep Thalasta, Adeola Adesoba, Dina Yared, Christopher Parisien, Leon Derczynski, Shaona Ghosh, Wes Feely, Micah Schaffer, Radha Sri-Tharan, Jeffrey Glick, Barnaby Simkin, George Zelenfroynd, Tomasz Grzegorzek, Rishabh Garg, Aastha Jhunjhunwala, Sergei Kolchenko, Farzan Memarian, Haran Kumar, Shiv Kumar, Isabel Hulseman, Anjali Shah, Kari Briski, Padmavathy Subramanian, Joey Conway, Udi Karpas, Jane Polak Scowcroft, Annie Surla, Shilpa Ammireddy, Ellie Evans, Jesse Oliver, Tom Balough, Chia-Chih Chen, Sandip Bhaskar, Alejandra Rico, Bardiya Sadeghi, Seph Mard, Katherine Cheung, Meredith Price, Laya Sleiman, Saori Kaji, Wesley Helmholz, Wendy Quan, Michael Lightstone, Jonathan Cohen, Jian Zhang, Oleksii Kuchaiev, Boris Ginsburg, Jan Kautz, Eileen Long, Mohammad Shoeybi, Mostofa Patwary, Oluwatobi Olabiyi, Andrew Tao, Bryan Catanzaro, Udi Karpas
arXiv:2604.24954v1 • 2026-04-27
We introduce Nemotron 3 Nano Omni, the latest model in the Nemotron multimodal series and the first to natively support audio inputs alongside text, images, and video. Nemotron 3 Nano Omni delivers consistent accuracy improvements over its predecessor, Nemotron Nano V2 VL, across all modalities, enabled by advances in architecture, training data and recipes. In particular, Nemotron 3 delivers leading results in real-world document understanding, long audio-video comprehension, and agentic computer use. Built on the highly efficient Nemotron 3 Nano 30B-A3B backbone, Nemotron 3 Nano Omni further incorporates innovative multimodal token-reduction techniques to deliver substantially lower inference latency and higher throughput than other models of similar size. We are releasing model checkpoints in BF16, FP8, and FP4 formats, along with portions of the training data and codebase to facilitate further research and development.
arXiv PDF
Interactive Episodic Memory with User Feedback
Nikesh Subedi, Loris Bazzani, Ziad Al-Halah
arXiv:2604.24893v1 • 2026-04-27
In episodic memory with natural language queries (EM-NLQ), a user may ask a question (e.g., "Where did I place the mug?") that requires searching a long egocentric video, captured from the user's perspective, to find the moment that answers it. However, queries can be ambiguous or incomplete, leading to incorrect responses. Current methods ignore this key aspect and address EM-NLQ in a one-shot setup, limiting their applicability in real-world scenarios. In this work, we address this gap and introduce the Episodic Memory with Questions and Feedback task (EM-QnF). Here, the user can provide feedback on the model's initial prediction or add more information (e.g., "Before this. I'm looking for the big blue mug not the white one"), helping the model refine its predictions interactively. To this end, we collect datasets for feedback-based interaction and propose a lightweight training scheme that avoids expensive sequential optimization. We also introduce a plug-and-play Feedback ALignment Module (FALM) that enables existing EM-NLQ models to incorporate user feedback effectively. Our approach significantly improves over the state of the art on three challenging benchmarks and is better than or competitive with commercial large vision-language models while remaining efficient. Evaluation with human-generated feedback shows that it generalizes well to real-world scenarios.
Comment: Accepted to CVPR 2026. Project Page: https://nsubedi11.github.io/refocus
arXiv PDF
World-R1: Reinforcing 3D Constraints for Text-to-Video Generation
Weijie Wang, Xiaoxuan He, Youping Gu, Yifan Yang, Zeyu Zhang, Yefei He, Yanbo Ding, Xirui Hu, Donny Y. Chen, Zhiyuan He, Yuqing Yang, Bohan Zhuang
arXiv:2604.24764v1 • 2026-04-27
Recent video foundation models demonstrate impressive visual synthesis but frequently suffer from geometric inconsistencies. While existing methods attempt to inject 3D priors via architectural modifications, they often incur high computational costs and limit scalability. We propose World-R1, a framework that aligns video generation with 3D constraints through reinforcement learning. To facilitate this alignment, we introduce a specialized pure text dataset tailored for world simulation. Utilizing Flow-GRPO, we optimize the model using feedback from pre-trained 3D foundation models and vision-language models to enforce structural coherence without altering the underlying architecture. We further employ a periodic decoupled training strategy to balance rigid geometric consistency with dynamic scene fluidity. Extensive evaluations reveal that our approach significantly enhances 3D consistency while preserving the original visual quality of the foundation model, effectively bridging the gap between video generation and scalable world simulation.
Comment: Project Page: https://aka.ms/world-r1, Code: https://github.com/microsoft/World-R1
arXiv PDF
Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation
Yifan Xie, YuAn Wang, Guangyu Chen, Jinkun Liu, Yu Sun, Wenbo Ding
arXiv:2604.24681v1 • 2026-04-27
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. We introduce MoT-HRA, a hierarchical vision-language-action framework that learns human-intention priors from large-scale human demonstrations. We first curate HA-2.2M, a 2.2M-episode action-language dataset reconstructed from heterogeneous human videos through hand-centric filtering, spatial reconstruction, temporal segmentation, and language alignment. On top of this dataset, MoT-HRA factorizes manipulation into three coupled experts: a vision-language expert predicts an embodiment-agnostic 3D trajectory, an intention expert models MANO-style hand motion as a latent human-motion prior, and a fine expert maps the intention-aware representation to robot action chunks. A shared-attention trunk and read-only key-value transfer allow downstream control to use human priors while limiting interference with upstream representations. Experiments on hand motion generation, simulated manipulation, and real-world robot tasks show that MoT-HRA improves motion plausibility and robust control under distribution shift.
Comment: 13 pages, 5 figures
arXiv PDF
Bridging Restoration and Generation Manifolds in One-Step Diffusion for Real-World Super-Resolution
Shyang-En Weng, Yi-Cheng Liao, Yu-Syuan Xu, Wei-Chen Chiu, Ching-Chun Huang
arXiv:2604.24136v1 • 2026-04-27
Pretrained diffusion models have revolutionized real-world image super-resolution (Real-ISR) but suffer from computational bottlenecks due to iterative sampling. Recent single-step distillation accelerates inference but faces a stark perception-distortion trade-off due to rigid timestep initialization, distributional trajectory mismatches, and fragile stochastic modulation. To address this, we present Adaptive Inversion and Degradation-aware Sampling for Real-ISR (IDaS-SR), a one-step framework bridging the deterministic restoration and stochastic generation manifolds. At its core, the Manifold Inversion Noise Estimator (MINE) resolves these initialization and trajectory mismatches by predicting a severity-aware timestep and inversion noise, precisely anchoring low-quality latents onto the diffusion trajectory. Furthermore, to mitigate fragile stochastic modulation, we propose CHARIOT, a continuous generative steering mechanism. By rescheduling trajectories and interpolating noise, it enables explicit navigation of the perception-distortion boundary without compromising structural priors. Extensive experiments demonstrate that IDaS-SR outperforms state-of-the-art methods, seamlessly transitioning from a rigorous structural restorer to a sophisticated texture hallucinator in a single inference step.
arXiv PDF
Embodied Intelligence
29
默认显示 5 篇
DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors
Pengcheng Wang, Kaiwen Hong, Chensheng Peng, Katherine Driggs-Campbell, Masayoshi Tomizuka, Chenfeng Xu, Chen Tang
arXiv:2604.25050v1 • 2026-04-27
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast the inference is. Asynchronous execution -- thinking while acting -- is therefore a structural requirement, and real-time chunking (RTC) makes it viable by recasting chunk transitions as inpainting: freezing committed actions and consistently generating the remainder. However, RTC with flow-matching policy is structurally suboptimal: its inpainting comes from inference-time corrections rather than the base policy, yielding little pre-training benefit, specific fine-tuning, heuristic guidance, and extra computation that inflates the latency. In this work, we observe that discrete diffusion policies, which generate actions by iteratively unmasking, are natural asynchronous executors that resolve all limitations at once: they are fine-tuning free since inpainting is their native operation, while early stopping further provides adaptive guidance and reduces inference cost. We propose DiscreteRTC, which replaces external corrections with native unmasking, and show on dynamic simulated benchmarks and real-world dynamic manipulation tasks that it achieves higher success rates than continuous RTC and other baselines. In summary, DiscreteRTC is simpler to implement with 0 lines of code for async inpainting, faster at inference with only 0.7x computation compared with generating actions from scratch, and better at execution with 50% higher success rate in real-world dynamic pick task compared with flow-matching-based RTC. More visualizations are on https://outsider86.github.io/DiscreteRTCSite/.
arXiv PDF
Libra-VLA: Achieving Learning Equilibrium via Asynchronous Coarse-to-Fine Dual-System
Yifei Wei, Linqing Zhong, Yi Liu, Yuxiang Lu, Xindong He, Maoqing Yao, Guanghui Ren
arXiv:2604.24921v1 • 2026-04-27
Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing approaches typically adopt a monolithic generation paradigm, directly mapping visual-linguistic features to high-frequency motor commands in a flat, non-hierarchical fashion. This strategy overlooks the inherent hierarchy of robotic manipulation, where complex actions can be naturally modeled in a Hybrid Action Space, decomposing into discrete macro-directional reaching and continuous micro-pose alignment, severely widening the semantic-actuation gap and imposing a heavy representational burden on grounding high-level semantics to continuous actions. To address this, we introduce Libra-VLA, a novel Coarse-to-Fine Dual-System VLA architecture. We explicitly decouple the learning complexity into a coarse-to-fine hierarchy to strike a training equilibrium, while simultaneously leveraging this structural modularity to implement an asynchronous execution strategy. The Semantic Planner predicts discrete action tokens capturing macro-directional intent, while the Action Refiner conditions on coarse intent to generate high-frequency continuous actions for precise alignment. Crucially, our empirical analysis reveals that performance follows an inverted-U curve relative to action decomposition granularity, peaking exactly when the learning difficulty is balanced between the two sub-systems. With the asynchronous design, our approach offers a scalable, robust, and responsive solution for open-world manipulation.
Comment: Accepted to the Main Conference of ACL 2026. Project page: https://libra-vla.github.io/
arXiv PDF
A First Look at the Security Issues in the Model Context Protocol Ecosystem
Xiaofan Li, Xing Gao
arXiv:2510.16558v2 •updated • 2025-10-18
The Model Context Protocol (MCP) has emerged as a standard for connecting large language models (LLMs) with external tools. However, this MCP ecosystem introduces new security risks across hosts, servers, and registries. In this paper, we present the first cross-entity security study of MCP under a two-stage attack surface. At the registry-level, weak vetting and ownership checks allow adversarial or hijacked servers to enter hosts. After integration, attacker-controlled tool metadata can shape LLM reasoning and induce attacker-intended operations, which hosts execute without independent verification. Code-level vulnerabilities (e.g., code injection) are not required but can amplify attacker-controlled parameters into exploitation. We analyze 67,057 servers across six public registries and identify widespread conditions enabling server hijacking and invocation manipulation. We further implement MCPInspect, a pre-integration analysis tool that detects misleading tool metadata and exploitable code vulnerabilities, identifying 833 vulnerable servers and 18 with suspicious descriptions.
Comment: This paper has been accepted to DSN 2026. The title has been updated from the anonymous submission version used during double-blind review
arXiv PDF
SPEAR-1: Scaling Beyond Robot Demonstrations via 3D Understanding
Nikolay Nikolov, Giuliano Albanese, Sombit Dey, Aleksandar Yanev, Luc Van Gool, Jan-Nico Zaech, Danda Pani Paudel
arXiv:2511.17411v2 •updated • 2025-11-21
Robotic Foundation Models (RFMs) hold great promise as generalist, end-to-end systems for robot control. Yet their ability to generalize across new environments, tasks, and embodiments remains limited. We argue that a major bottleneck lies in their foundations: most RFMs are built by fine-tuning internet-pretrained Vision-Language Models (VLMs). However, these VLMs are trained on 2D image-language tasks and lack the 3D spatial reasoning inherently required for embodied control in the 3D world. Bridging this gap directly with large-scale robotic data is costly and difficult to scale. Instead, we propose to enrich easy-to-collect non-robotic image data with 3D annotations and enhance a pretrained VLM with 3D understanding capabilities. Following this strategy, we train SPEAR-VLM, a 3D-aware VLM that infers object coordinates in 3D space from a single 2D image. Building on SPEAR-VLM, we introduce our main contribution, $~\textbf{SPEAR-1}$: a robotic foundation model that integrates grounded 3D perception with language-instructed embodied control. Trained on $\sim$45M frames from 24 Open X-Embodiment datasets, SPEAR-1 outperforms or matches state-of-the-art models such as $π_0$-FAST and $π_{0.5}$, while it uses 20$\times$ fewer robot demonstrations. This carefully-engineered training strategy unlocks new VLM capabilities and as a consequence boosts the reliability of embodied control beyond what is achievable with only robotic data. We make our model weights and 3D-annotated datasets publicly available at https://spear.insait.ai.
arXiv PDF
Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation
Yifan Xie, YuAn Wang, Guangyu Chen, Jinkun Liu, Yu Sun, Wenbo Ding
arXiv:2604.24681v1 • 2026-04-27
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. We introduce MoT-HRA, a hierarchical vision-language-action framework that learns human-intention priors from large-scale human demonstrations. We first curate HA-2.2M, a 2.2M-episode action-language dataset reconstructed from heterogeneous human videos through hand-centric filtering, spatial reconstruction, temporal segmentation, and language alignment. On top of this dataset, MoT-HRA factorizes manipulation into three coupled experts: a vision-language expert predicts an embodiment-agnostic 3D trajectory, an intention expert models MANO-style hand motion as a latent human-motion prior, and a fine expert maps the intention-aware representation to robot action chunks. A shared-attention trunk and read-only key-value transfer allow downstream control to use human priors while limiting interference with upstream representations. Experiments on hand motion generation, simulated manipulation, and real-world robot tasks show that MoT-HRA improves motion plausibility and robust control under distribution shift.
Comment: 13 pages, 5 figures
arXiv PDF
End-to-End AD
15
默认显示 5 篇
DouC: Dual-Branch CLIP for Training-Free Open-Vocabulary Segmentation
Mohamad Zamini, Diksha Shukla
arXiv:2604.24997v1 • 2026-04-27
Open-vocabulary semantic segmentation requires assigning pixel-level semantic labels while supporting an open and unrestricted set of categories. Training-free CLIP-based approaches preserve strong zero-shot generalization but typically rely on a single inference mechanism, limiting their ability to jointly address unreliable local tokens and insufficient spatial coherence. We propose DouC, a training-free dual-branch CLIP framework that decomposes dense prediction into two complementary components. OG-CLIP improves patch-level reliability via lightweight, inference-time token gating, while FADE-CLIP injects external structural priors through proxy attention guided by frozen vision foundation models. The two branches are fused at the logit level, enabling local token reliability and structure-aware patch interactions to jointly influence final predictions, with optional instance-aware correction applied as post-processing. DouC introduces no additional learnable parameters, requires no retraining, and preserves CLIP's zero-shot generalization. Extensive experiments across eight benchmarks and multiple CLIP backbones demonstrate that DouC consistently outperforms prior training-free methods and scales favorably with model capacity.
arXiv PDF
Subjective Portrait Region Cropping in Landscape Videos with Temporal Annotation Smoothing
Cheng-Han Lee, Maniratnam Mandal, Neil Birkbeck, Yilin Wang, Balu Adsumilli, Alan C. Bovik
arXiv:2604.24947v1 • 2026-04-27
With the rise of mobile video consumption on diverse handheld display resolutions and orientation modes, altering videos to aspect ratios poses challenges. Static cropping and border padding often compromises visual quality, while warping may distort a video's intended meaning. Here we advocate for a more effective approach: cropping significant regions within video frames in a temporal manner, while minimizing distortion and preserving essential content. One barrier to solving this problem is the lack of sufficiently large-scale database devoted to informing these tasks. Towards filling this gap, we introduce the LIVE-YouTube Video Cropping (LIVE-YT VC) database, featuring 1800 videos, annotated by 90 human subjects. Using videos sourced from the YouTube-UGC and LSVQ Databases, this new resource is the largest publicly-available subjective video portrait region cropping database. We also introduce a post-processed version of the database, called LIVE-YT VC++, whereby a novel intra-frame temporal filter was deployed to smooth subjective annotations within each video. We demonstrate the usefulness of this new data resource using the SmartVidCrop algorithm and state-of-the-art video grounding models, in hopes of establishing our subjective dataset as a benchmark for future research. Our contributions offer a resource for advancing video aspect ratio transformation models towards ensuring that reshaped mobile-friendly video content retains its quality and meaning. Since our labels bear resemblances to video saliency annotations, we also conducted an additional analysis to explore the similarity between our labels and video saliency predictions. Finally, we repurposed state-of-the-art video grounding models for aspect ratio change tasks, and fine-tuned them on our dataset. As a service to the research community, we plan to open source the project.
Comment: Under Review in IEEE Transactions on Image Processing. The code, models and dataset will be available at: https://github.com/steven413d/LIVE-YT-VideoCropping
arXiv PDF
Agentic AI for Remote Sensing: Technical Challenges and Research Directions
Muhammad Akhtar Munir, Muhammad Umer Sheikh, Akashah Shabbir, Muhammad Haris Khan, Fahad Khan, Xiao Xiang Zhu, Begum Demir, Salman Khan
arXiv:2604.24919v1 • 2026-04-27
Earth Observation (EO) is moving beyond static prediction toward multi-step analytical workflows that require coordinated reasoning over data, tools, and geospatial state. While foundation models and vision-language models have expanded representation learning and language-grounded interaction for remote sensing, and agentic AI has demonstrated long-horizon reasoning and external tool use, EO is not a straightforward extension of generic agentic AI. EO workflows operate over georeferenced, multi-modal, and temporally structured data, where operations such as reprojection, resampling, compositing, and aggregation actively transform the underlying state and can constrain subsequent analysis. As a result, errors may propagate silently across steps, and correctness depends not only on internal coherence, but also on geospatial consistency, temporally valid comparisons, and physical validity. This position paper argues that these challenges are structural rather than incidental. We identify the implicit assumptions commonly made in generic agentic models, analyze how they break in geospatial workflows, and characterize the resulting failure modes in multi-step EO pipelines. We then outline design principles for EO-native agents centered on structured geospatial state, tool-aware reasoning, verifier-guided execution, and learning objectives aligned with geospatial and physical validity. Finally, we present research directions spanning EO-specific benchmarks, hybrid supervised and reinforcement learning, constrained self-improvement, and trajectory-level evaluation beyond final-answer accuracy. Building reliable geospatial agents therefore requires rethinking agent design around the physical, geospatial, and workflow constraints that govern EO analysis.
Comment: 31 pages. Position Paper
arXiv PDF
Logic of Fuzzy Paths
Kush Grover, Pratham Gupta, Jan Křetínský
arXiv:2604.24907v1 • 2026-04-27
We introduce a new family of temporal logics intended for specifications in motion planning (MP). It builds upon the signal temporal logic (STL), which is a linear-time logic over real-valued signals that possess quantitative semantics and thus became popular in the areas of cyber-physical systems, robotics, and specifically robot MP. However, in contrast to STL, the proposed logic works with paths as first-class citizens, separating the concerns of geometry and of logic. This in turn leads to simpler and more understandable formulae, and a more refined notion of satisfaction being able to reflect also preferences over behaviours. Technically, the logic is built on fuzzy, time-varying signal constraints. As a consequence of this expressivity, it is (i) more usable for human-given specifications in MP and (ii) more amenable to learning specifications from demonstrations than other logics. The former is important for the traditional style of verification in robot MP; the latter is becoming recognized as crucial for mining data-given tasks and controller synthesis in human-aware MP. We expose the advantages of our proposed logic on examples and show the versatility and flexibility of the framework on a number of scenarios. Finally, we give a learning algorithm with a prototype implementation and discuss the possibilities of model checking and monitoring.
arXiv PDF
Interactive Episodic Memory with User Feedback
Nikesh Subedi, Loris Bazzani, Ziad Al-Halah
arXiv:2604.24893v1 • 2026-04-27
In episodic memory with natural language queries (EM-NLQ), a user may ask a question (e.g., "Where did I place the mug?") that requires searching a long egocentric video, captured from the user's perspective, to find the moment that answers it. However, queries can be ambiguous or incomplete, leading to incorrect responses. Current methods ignore this key aspect and address EM-NLQ in a one-shot setup, limiting their applicability in real-world scenarios. In this work, we address this gap and introduce the Episodic Memory with Questions and Feedback task (EM-QnF). Here, the user can provide feedback on the model's initial prediction or add more information (e.g., "Before this. I'm looking for the big blue mug not the white one"), helping the model refine its predictions interactively. To this end, we collect datasets for feedback-based interaction and propose a lightweight training scheme that avoids expensive sequential optimization. We also introduce a plug-and-play Feedback ALignment Module (FALM) that enables existing EM-NLQ models to incorporate user feedback effectively. Our approach significantly improves over the state of the art on three challenging benchmarks and is better than or competitive with commercial large vision-language models while remaining efficient. Evaluation with human-generated feedback shows that it generalizes well to real-world scenarios.
Comment: Accepted to CVPR 2026. Project Page: https://nsubedi11.github.io/refocus
arXiv PDF
2026-04-26
111 篇
Robotics
27
默认显示 5 篇
EL3DD: Extended Latent 3D Diffusion for Language Conditioned Multitask Manipulation
Jonas Bode, Raphael Memmesheimer, Sven Behnke
arXiv:2511.13312v2 •updated • 2025-11-17
Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion models within a visuomotor policy framework that merges visual and textual inputs to generate precise robotic trajectories. By employing reference demonstrations during training, the model learns to execute manipulation tasks specified through textual commands within the robot's immediate environment. The proposed research aims to extend an existing model by leveraging improved embeddings, and adapting techniques from diffusion models for image generation. We evaluate our methods on the CALVIN dataset, proving enhanced performance on various manipulation tasks and an increased long-horizon success rate when multiple tasks are executed in sequence. Our approach reinforces the usefulness of diffusion models and contributes towards general multitask manipulation.
Comment: 10 pages; 2 figures; 1 table
arXiv PDF
SLAM&Render: A Benchmark for the Intersection Between Neural Rendering, Gaussian Splatting and SLAM
Samuel Cerezo, Gaetano Meli, Tomás Berriel Martins, Kirill Safronov, Javier Civera
arXiv:2504.13713v6 •updated • 2025-04-18
Models and methods originally developed for Novel View Synthesis and Scene Rendering, such as Neural Radiance Fields (NeRF) and Gaussian Splatting, are increasingly being adopted as representations in Simultaneous Localization and Mapping (SLAM). However, existing datasets fail to include the specific challenges of both fields, such as sequential operations and, in many settings, multi-modality in SLAM or generalization across viewpoints and illumination conditions in neural rendering. Additionally, the data are often collected using sensors which are handheld or mounted on drones or mobile robots, which complicates the accurate reproduction of sensor motions. To bridge these gaps, we introduce SLAM&Render, a novel dataset designed to benchmark methods in the intersection between SLAM, Novel View Rendering and Gaussian Splatting. Recorded with a robot manipulator, it uniquely includes 40 sequences with time-synchronized RGB-D images, IMU readings, robot kinematic data, and ground-truth pose streams. By releasing robot kinematic data, the dataset also enables the assessment of recent integrations of SLAM paradigms within robotic applications. The dataset features five setups with consumer and industrial objects under four controlled lighting conditions, each with separate training and test trajectories. All sequences are static with different levels of object rearrangements and occlusions. Our experimental results, obtained with several baselines from the literature, validate SLAM&Render as a relevant benchmark for this emerging research area.
Comment: 9 pages, 8 figures, 7 tables. Submitted to IROS 2026
arXiv PDF
Using Language Models as Closed-Loop High-Level Planners for Robotics Applications: A Brief Overview and Benchmarks
Hao Wang, Sathwik Karnik, Bea Lim, Somil Bansal
arXiv:2511.07410v2 •updated • 2025-11-10
Large Language Models (LLMs) and Vision Language Models (VLMs) have become popular tools for embodied high-level planning. However, their deployment in black-box settings often leads to unpredictable or costly errors. To harness their capabilities more reliably in robotic systems, we empirically investigate practical strategies for integrating language models as closed-loop planners. Concretely, we study how the control horizon and warm-starting impact the performance of language model-based planners. We design and conduct controlled experiments to extract actionable insights, providing recommendations that can help improve the performance and robustness of language model-based embodied planning. The full implementation and experiments are available on the project website
arXiv PDF
Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
Hao Wang, Nam Nguyen, Armand Jordana, Ludovic Righetti, Somil Bansal
arXiv:2604.23863v1 • 2026-04-26
Autonomous systems are increasingly deployed in real-world environments, where they must achieve high performance while maintaining safety under state and input constraints. Although Model Predictive Control (MPC) provides a principled framework for constrained optimal control, guaranteeing safety beyond its finite planning horizon remains a fundamental challenge. In this work, we augment MPC with a safety value function-based terminal constraint that enforces membership in a control-invariant safe set at the end of each planning horizon. This formulation enables real-time synthesis of trajectories that are both high-performing and provably safe. We show that, under an exact safety value function and a feasible initialization, the proposed MPC scheme is recursively feasible, thereby ensuring persistent safety. In contrast to traditional terminal set constructions that rely on local linearizations or conservative approximations, our approach incorporates a reachability-based safety value function for terminal constraints, yielding less conservative and more expressive safety guarantees. We validate the proposed framework through simulation and hardware experiments on a Flexiv Rizon 10s manipulator. Results demonstrate improved constraint satisfaction and robustness compared to standard state-constrained MPC and reactive safety filtering, while maintaining competitive task performance. The full implementation and experiments are available on the project website.
arXiv PDF
Equitable Routing--Rethinking the Multiple Traveling Salesman Problem
Abhay Singh Bhadoriya, Deepjyoti Deka, Kaarthik Sundar
arXiv:2404.08157v6 •updated • 2024-04-11
The Multiple Traveling Salesman Problem (MTSP) extends the traveling salesman problem by assigning multiple salesmen to visit a set of targets from a common depot, with each target visited exactly once while minimizing total tour length. A common variant, the min-max MTSP, focuses on workload balance by minimizing the longest tour, but it is difficult to solve optimally due to weak linear relaxation bounds. This paper introduces two new parametric fairness-driven variants of the MTSP: the $\varepsilon$-Fair-MTSP and the $Δ$-Fair-MTSP, which promote equitable distribution of tour lengths while controlling overall cost. The $\varepsilon$-Fair-MTSP is formulated as a mixed-integer second-order cone program, while the $Δ$-Fair-MTSP is modeled as a mixed-integer linear program. We develop algorithms that guarantee global optimality for both formulations. Computational experiments on benchmark instances and real-world applications, including electric vehicle fleet routing, demonstrate their effectiveness. Furthermore, we show that the algorithms presented for the fairness-constrained MTSP variants can be used to obtain the Pareto front of a bi-objective optimization problem in which one objective minimizes the total tour length and the other balances the lengths of the individual tours. Overall, these fairness-constrained MTSP variants provide a practical and flexible alternative to the min-max MTSP.
Comment: 30 pages
arXiv PDF
Video World Models
10
默认显示 5 篇
Building a Precise Video Language with Human-AI Oversight
Zhiqiu Lin, Chancharik Mitra, Siyuan Cen, Isaac Li, Yuhan Huang, Yu Tong Tiffany Ling, Hewei Wang, Irene Pi, Shihang Zhu, Ryan Rao, George Liu, Jiaxi Li, Ruojin Li, Yili Han, Yilun Du, Deva Ramanan
arXiv:2604.21718v2 •updated • 2026-04-22
Video-language models (VLMs) learn to reason about the dynamic visual world through natural language. We introduce a suite of open datasets, benchmarks, and recipes for scalable oversight that enable precise video captioning. First, we define a structured specification for describing subjects, scenes, motion, spatial, and camera dynamics, grounded by hundreds of carefully defined visual primitives developed with professional video creators such as filmmakers. Next, to curate high-quality captions, we introduce CHAI (Critique-based Human-AI Oversight), a framework where trained experts critique and revise model-generated pre-captions into improved post-captions. This division of labor improves annotation accuracy and efficiency by offloading text generation to models, allowing humans to better focus on verification. Additionally, these critiques and preferences between pre- and post-captions provide rich supervision for improving open-source models (Qwen3-VL) on caption generation, reward modeling, and critique generation through SFT, DPO, and inference-time scaling. Our ablations show that critique quality in precision, recall, and constructiveness, ensured by our oversight framework, directly governs downstream performance. With modest expert supervision, the resulting model outperforms closed-source models such as Gemini-3.1-Pro. Finally, we apply our approach to re-caption large-scale professional videos (e.g., films, commercials, games) and fine-tune video generation models such as Wan to better follow detailed prompts of up to 400 words, achieving finer control over cinematography including camera motion, angle, lens, focus, point of view, and framing. Our results show that precise specification and human-AI oversight are key to professional-level video understanding and generation. Data and code are available on our project page: https://linzhiqiu.github.io/papers/chai/
Comment: CVPR 2026 Highlight. Project page: https://linzhiqiu.github.io/papers/chai/
arXiv PDF
AMAVA: Adaptive Motion-Aware Video-to-Audio Framework for Visually-Impaired Assistance
Benjamin Klein, Kazi Ruslan Rahman, Sanchita Ghose
arXiv:2604.23909v1 • 2026-04-26
Navigational aids for blind and low vision individuals struggle conveying dynamic real-world environments, leading to cognitive overload from continuous, undifferentiated feedback. We present AMAVA, a novel real-time video-to-audio framework that converts mobile device video into contextually relevant sound effects or text-to-speech descriptions. We propose a motion-aware pipeline using a lightweight AI classification model to distinguish between low and high-movement scenes followed by a real-time text-to-audio synthesis pipeline to enhance environmental perception more efficiently. In static environments, AMAVA generates spoken audio scene descriptions for situational awareness. In high-movement situations, it prioritizes safety by delivering sound cues, such as spoken hazard alerts and environmental sound effects. These audio outputs are produced by a decoder-only transformer-based vision-language model with mixture-of-experts and cross-modal attention for visual understanding, in conjunction with neural text-to-speech and natural sound synthesis networks. The proposed framework uses prompt-based caching and category-specific throttling to avoid auditory clutter and minimize latency. We present a comprehensive evaluation of the system, including a real-time navigation study comparing a white cane alone versus with AMAVA, that shows a significant increase in user confidence and perceived safety.
Comment: 8 pages, 7 figures. Published in the Proceedings of the 15th International Conference on Pattern Recognition Applications and Methods (ICPRAM 2026), pages 282--289
arXiv PDF
MuSS: A Large-Scale Dataset and Cinematic Narrative Benchmark for Multi-Shot Subject-to-Video Generation
Haojie Zhang, Di Wu, Bingyan Liu, Linjie Zhong, Yuancheng Wei, Xingsong Ye, Nanqing Liu, Yaling Liang
arXiv:2604.23789v1 • 2026-04-26
While video foundation models excel at single-shot generation, real-world cinematic storytelling inherently relies on complex multi-shot sequencing. Further progress is constrained by the absence of datasets that address three core challenges: authentic narrative logic, spatiotemporal text-video alignment conflicts, and the "copy-paste" dilemma prevalent in Subject-to-Video (S2V) generation. To bridge this gap, we introduce MuSS, a large-scale, dual-track dataset tailored for multi-shot video and S2V generation. Sourced from over 3,000 movies, MuSS explicitly supports both complex montage transitions and subject-centric narratives. To construct this dataset, we pioneer a progressive captioning pipeline that eliminates contextual conflicts by ensuring local shot-level accuracy before enforcing global narrative coherence. Crucially, we implement a cross-shot matching mechanism to fundamentally eradicate the S2V copy-paste shortcut. Alongside the dataset, we propose the Cinematic Narrative Benchmark, featuring a visual-logic-driven paradigm and a novel Anti-Copy-Paste Variance (ACP-Var) metric to rigorously assess continuous storytelling and 3D structural consistency. Extensive experiments demonstrate that while current baselines struggle with continuous narrative logic or degenerate into trivial 2D sticker generators, our MuSS-augmented model achieves state-of-the-art narrative effectiveness and cross-shot identity preservation.
Comment: 17 pages, 9 figues
arXiv PDF
ClawMark: A Living-World Benchmark for Multi-Turn, Multi-Day, Multimodal Coworker Agents
Fanqing Meng, Lingxiao Du, Zijian Wu, Guanzheng Chen, Xiangyan Liu, Jiaqi Liao, Chonghe Jiang, Zhenglin Wan, Jiawei Gu, Pengfei Zhou, Rui Huang, Ziqi Zhao, Shengyuan Ding, Ailing Yu, Bo Peng, Bowei Xia, Hao Sun, Haotian Liang, Ji Xie, Jiajun Chen, Jiajun Song, Liu Yang, Ming Xu, Qionglin Qiu, Runhao Fu, Shengfang Zhai, Shijian Wang, Tengfei Ma, Tianyi Wu, Weiyang Jin, Yan Wang, Yang Dai, Yao Lai, Youwei Shu, Yue Liu, Yunzhuo Hao, Yuwei Niu, Jinkai Huang, Jiayuan Zhuo, Zhennan Shen, Linyu Wu, Cihang Xie, Yuyin Zhou, Jiaheng Zhang, Zeyu Zheng, Mengkang Hu, Michael Qizhe Shieh
arXiv:2604.23781v1 • 2026-04-26
Language-model agents are increasingly used as persistent coworkers that assist users across multiple working days. During such workflows, the surrounding environment may change independently of the agent: new emails arrive, calendar entries shift, knowledge-base records are updated, and evidence appears across images, scanned PDFs, audio, video, and spreadsheets. Existing benchmarks do not adequately evaluate this setting because they typically run within a single static episode and remain largely text-centric. We introduce \bench{}, a benchmark for coworker agents built around multi-turn multi-day tasks, a stateful sandboxed service environment whose state evolves between turns, and rule-based verification. The current release contains 100 tasks across 13 professional scenarios, executed against five stateful sandboxed services (filesystem, email, calendar, knowledge base, spreadsheet) and scored by 1537 deterministic Python checkers over post-execution service state; no LLM-as-judge is invoked during scoring. We benchmark seven frontier agent systems. The strongest model reaches 75.8 weighted score, but the best strict Task Success is only 20.0\%, indicating that partial progress is common while complete end-to-end workflow completion remains rare. Turn-level analysis shows that performance drops after the first exogenous environment update, highlighting adaptation to changing state as a key open challenge. We release the benchmark, evaluation harness, and construction pipeline to support reproducible coworker-agent evaluation.
Comment: github repo: https://github.com/evolvent-ai/ClawMark
arXiv PDF
ZID-Net: Zero-Inference Diffusion Prior Decoupling Network for Single Image Dehazing
Xinheng Li, Minghao Chen, Mengqing Wu, Yan Liu, Guanying Huo
arXiv:2604.23709v1 • 2026-04-26
Single image dehazing is often constrained by a trade-off between restoration quality and computational efficiency. While efficient, CNN networks struggle to learn robust priors for dense and non-homogeneous haze. Conversely, diffusion models provide strong generative priors but suffer from severe inference latency and sampling instability. To address these limitations, we propose ZID-Net, a novel framework that explicitly decouples diffusion supervision from feed-forward inference. For efficient inference, we design a frequency-spatial decoupled feed-forward backbone. Within this backbone, a Channel-Spatial Laplacian Mask (CSLM) filters haze-amplified noise to extract purified structural details, while Lightweight Global Context Blocks (LGCBs) establish long-range spatial dependencies to capture the global variations of haze. A Dynamic Feature Arbitration Block (DFAB) then adaptively fuses these semantic and structural features for robust reconstruction. To provide this backbone with physical priors without the inference cost, we introduce a Zero-Inference Prior Propagation Head (ZI-PPH) during training. ZI-PPH leverages a conditional diffusion process to predict residual noise, providing degradation-aware structural supervision to the backbone. By discarding the diffusion branch at test time, ZID-Net integrates diffusion priors into a pure feed-forward architecture for accurate and efficient restoration. ZID-Net achieves 40.75 dB PSNR on the synthetic RESIDE dataset and outperforms existing methods with a 1.13 dB gain on real-world datasets. Additionally, it yields a 3.06 dB PSNR gain on the StateHaze1k remote sensing dataset with an inference time of just 19.35 ms. The project code is available at: https://github.com/XoomitLXH/ZID-Net.
Comment: Submitted to Neurocomputing. Includes 12 figures and 8 tables
arXiv PDF
Embodied Intelligence
11
默认显示 5 篇
Affordance-R1: Reinforcement Learning for Generalizable Affordance Reasoning in Multimodal Large Language Model
Hanqing Wang, Shaoyang Wang, Yiming Zhong, Zemin Yang, Jiamin Wang, Zhiqing Cui, Jiahao Yuan, Yifan Han, Mingyu Liu, Yuexin Ma
arXiv:2508.06206v4 •updated • 2025-08-08
Affordance grounding focuses on predicting the specific regions of objects that are associated with the actions to be performed by robots. It plays a vital role in the fields of human-robot interaction, human-object interaction, embodied manipulation, and embodied perception. Existing models often neglect the affordance shared among different objects because they lack the Chain-of-Thought(CoT) reasoning abilities, limiting their out-of-domain (OOD) generalization and explicit reasoning capabilities. To address these challenges, we propose Affordance-R1, the first unified affordance grounding framework that integrates cognitive CoT guided Group Relative Policy Optimization (GRPO) within a reinforcement learning paradigm. Specifically, we designed a sophisticated affordance function, which contains format, perception, and cognition rewards to effectively guide optimization directions. Furthermore, we constructed a high-quality affordance-centric reasoning dataset, ReasonAff, to support training. Trained exclusively via reinforcement learning with GRPO and without explicit reasoning data, Affordance-R1 achieves robust zero-shot generalization and exhibits emergent test-time reasoning capabilities. Comprehensive experiments demonstrate that our model outperforms well-established methods and exhibits open-world generalization. To the best of our knowledge, Affordance-R1 is the first to integrate GRPO-based RL with reasoning into affordance reasoning. The code of our method and our dataset is released on https://github.com/hq-King/Affordance-R1.
arXiv PDF
An AI-Based Supervisory Measurement Integrity Validation Layer for Cyber-Resilient AC/DC Protection in Inverter-Based Microgrids
Ahmad Mohammad Saber, Ahmed Saber Refae, Davor Svetinovic, Hatem Zeineldin, Amr Youssef, Ehab F. El-Saadany, Deepa Kundur
arXiv:2604.23666v1 • 2026-04-26
Line current differential relays (LCDRs) are measurement-driven relays that rely on time-synchronized multi-phase current waveforms to infer internal faults in AC and DC power networks. In inverter-based microgrids, however, the increasing reliance on digitally communicated measurements exposes LCDRs to false-data injection attacks (FDIAs), in which adversaries manipulate remote measurement streams to create protection-triggering yet physically inconsistent current trajectories. This paper addresses this emerging measurement integrity problem by introducing a measurement integrity validation scheme that operates as a supervisory instrumentation layer for modern LCDRs. The proposed scheme interprets short windows of synchronized instantaneous current measurements recorded during relay operation and assesses their physical consistency to distinguish genuine fault-induced trajectories from cyber-manipulated measurement streams. A recurrent neural network is trained offline using only relay-available current measurements and exploits the temporal structure of differential current waveforms, which remains informative in inverter-dominated systems where current magnitude is no longer a reliable observable. The method requires no additional sensors, auxiliary protection elements, or prior knowledge of network topology, and is applicable to both AC and DC LCDRs without structural modification. The proposed measurement validation scheme is evaluated on an islanded inverter-based microgrid under a comprehensive set of fault and FDIA scenarios, demonstrating high detection accuracy while preserving relay dependability. Hardware-in-the-loop validation using an OPAL-RT real-time simulator confirms that the scheme satisfies protection timing constraints and can operate in real time under realistic operating conditions.
arXiv PDF
DextER: Language-driven Dexterous Grasp Generation with Embodied Reasoning
Junha Lee, Eunha Park, Minsu Cho
arXiv:2601.16046v2 •updated • 2026-01-22
Language-driven dexterous grasp generation requires the models to understand task semantics, 3D geometry, and complex hand-object interactions. While vision-language models have been applied to this problem, existing approaches directly map observations to grasp parameters without intermediate reasoning about physical interactions. We present DextER, Dexterous Grasp Generation with Embodied Reasoning, which introduces contact-based embodied reasoning for multi-finger manipulation. Our key insight is that predicting which hand links contact where on the object surface provides an embodiment-aware intermediate representation, bridging task semantics with physical constraints. DextER autoregressively generates embodied contact tokens specifying which finger links contact where on the object surface, followed by grasp tokens encoding the hand configuration. On DexGYS, DextER achieves 67.14% success rate, outperforming state-of-the-art by 3.83 p.p. with 96.4% improvement in intention alignment. We also demonstrate steerable generation through partial contact specification, providing fine-grained control over grasp synthesis.
Comment: CVPR 2026, Project page: https://junha-l.github.io/dexter/
arXiv PDF
AI Security Beyond Core Domains: Resume Screening as a Case Study of Adversarial Vulnerabilities in Specialized LLM Applications
Honglin Mu, Jinghao Liu, Kaiyang Wan, Rui Xing, Xiuying Chen, Timothy Baldwin, Wanxiang Che
arXiv:2512.20164v2 •updated • 2025-12-23
Large Language Models (LLMs) excel at text comprehension and generation, making them ideal for automated tasks like code review and content moderation. However, our research identifies a vulnerability: LLMs can be manipulated by "adversarial instructions" hidden in input data, such as resumes or code, causing them to deviate from their intended task. Notably, while defenses may exist for mature domains such as code review, they are often absent in other common applications such as resume screening and peer review. This paper introduces a benchmark to assess this vulnerability in resume screening, revealing attack success rates exceeding 80% for certain attack types. We evaluate two defense mechanisms: prompt-based defenses achieve 10.1% attack reduction with 12.5% false rejection increase, while our proposed FIDS (Foreign Instruction Detection through Separation) using LoRA adaptation achieves 15.4% attack reduction with 10.4% false rejection increase. The combined approach provides 26.3% attack reduction, demonstrating that training-time defenses outperform inference-time mitigations in both security and utility preservation.
arXiv PDF
Move-Then-Operate: Behavioral Phasing for Human-Like Robotic Manipulation
Haoming Xu, Lei Lei, Jie Gu, Chu Tang, Jingmin Chen, Ruiqi Wang
arXiv:2604.23620v1 • 2026-04-26
We present Move-Then-Operate, a Vision language action framework that explicitly decouples robotic manipulation into two distinct behavioral phases: coarse relocation (move) and contact-critical interaction (operate). Unlike monolithic policies that conflate these heterogeneous regimes, our architecture employs a dual-expert policy routed by a learnable phase selector, introducing a structural inductive bias that isolates phase-specific dynamics. Phase labels are automatically generated via an MLLM-based pipeline conditioned on lightweight contextual cues such as end-effector velocity and subtask decomposition to ensure alignment with human motor patterns. Evaluated on the RoboTwin2 benchmark, our method achieves an average success rate of $68.9\%$, outperforming the monolithic $π_0$ baseline by $24\%$. It matches or exceeds models trained on $10\times$ more data and reaches peak performance in $40\%$ fewer training steps, demonstrating that architectural disentanglement of move and operate phases is a highly effective and efficient strategy for mastering high-precision manipulation.
Comment: 15 pages, 10 figures
arXiv PDF
End-to-End AD
13
默认显示 5 篇
Edit Where You Mean: Region-Aware Adapter Injection for Mask-Free Local Image Editing
Honghao Cai, Xiangyuan Wang, Yunhao Bai, Haohua Chen, Tianze Zhou, Runqi Wang, Wei Zhu, Yibo Chen, Xu Tang, Yao Hu, Zhen Li
arXiv:2604.23763v1 • 2026-04-26
Large diffusion transformers (DiTs) follow global editing instructions well but consistently leak local edits into unrelated regions, because joint-attention architectures offer no explicit channel telling the network where to apply the edit. We introduce REDEdit, a co-trained, instruction- and region-aware adapter framework that retrofits a frozen DiT into a precise local editor without modifying its backbone weights. A lightweight Block Adapter at every transformer block injects a structured condition stream that factorizes what to edit (instruction semantics) from where to edit (spatial mask); a learned SpatialGate routes the adapter signal selectively into the edit region while keeping the rest of the image near-identical to the source; and a Region-Aware Loss focuses the training objective on the changing pixels. Because these components make the backbone's internal representation mask-aware end-to-end, a thin MaskPredictor head trained jointly with the editor can ground the edit region directly from the instruction and source image eliminating any user-mask requirement at deployment. We evaluate on two complementary benchmarks: MagicBrush (paired ground-truth targets) to measure pixel-level preservation and edit accuracy, and Emu-Edit Test (no ground-truth images, 9 diverse edit categories) to stress-test instruction following and generalization across edit types. On both, REDEdit achieves state-of-the-art results, simultaneously outperforming mask-free and oracle-mask baselines. A seven-variant ablation cleanly isolates the contribution of each component.
arXiv PDF
DynProto: Dynamic Prototype Evolution for Out-of-Distribution Detection
Yanqi Wu, Xinhua Lu, Runhe Lai, Qichao Chen, Jia-Xin Zhuang, Wei-Shi Zheng, Ruixuan Wang
arXiv:2604.23729v1 • 2026-04-26
Recent studies show that using potential out-of-distribution (OOD) labels from large corpora as auxiliary information can improve OOD detection in vision-language models (VLMs). However, these methods often fail when real-world OOD samples fall outside the predefined OOD label set. To address this limitation, we propose DynProto, a novel approach that learns OOD prototypes dynamically during testing using only in-distribution (ID) information. DynProto is inspired by a key observation: OOD samples predicted as the same ID class tend to cluster in the feature space. With this insight, we leverage easy-to-detect OOD samples as ``anchors'' to find their harder-to-detect, similar counterparts. To this end, DynProto introduces two modules: \textbf{Coarse OOD Pattern Capturing Module} caches OOD patterns that are easily confused with each ID class during testing, and \textbf{Fine-grained OOD Pattern Refinement Module} subsequently clusters these patterns within each cache and aggregates them into representative OOD prototypes. By measuring similarity to ID and dynamic OOD prototypes, DynProto enables accurate OOD detection. DynProto significantly outperforms prior methods across multiple benchmarks. On ImageNet OOD benchmark, DynProto reduces FPR95 by 11.60\% and improves AUROC by 4.70\%. Moreover, the framework is architecture-agnostic and can be integrated into various backbones.
Comment: Accept by CVPR2026 Findings
arXiv PDF
Weakly Supervised Multicenter Nancy Index Scoring in Ulcerative Colitis Using Foundation Models
Adam Kukučka, Ondřej Fabián, Vít Musil, Tomáš Brázdil
arXiv:2604.23706v1 • 2026-04-26
Histologic assessment of ulcerative colitis (UC) activity is an important endpoint in clinical trials and routine care, but manual grading with indices such as the Nancy histological index (NHI) is time-consuming and prone to observer variability. While computational pathology methods can automate scoring, many approaches depend on dense region-level annotations, which are costly to obtain, particularly in heterogeneous, multicenter cohorts. We propose a weakly supervised multiple instance learning (MIL) approach for whole-slide images that learns from case- and slide-level NHI labels, leveraging foundation models. Our method targets clinically relevant endpoints, including neutrophilic activity and derived Nancy-low/high groupings, enabling full five-grade NHI prediction. On a multicenter dataset of H&E-stained colon biopsies from three hospitals (2019-2025), we evaluate multiple foundation model encoders and aggregation strategies. We find that foundation model choice and resolution substantially affect performance, with Virchow2 providing the most consistent gains, and that a simple ensembling rule improves five-grade NHI prediction compared to a hierarchical gating baseline. Overall, our results demonstrate that weakly supervised MIL with modern foundation-model representations can provide robust, interpretable UC histology activity assessment in realistic multicenter settings.
arXiv PDF
Agri-CPJ: A Training-Free Explainable Framework for Agricultural Pest Diagnosis Using Caption-Prompt-Judge and LLM-as-a-Judge
Wentao Zhang, Qi Zhang, Mingkun Xu, Mu You, Henghua Shen, Zhongzhi He, Keyan Jin, Derek F. Wong, Tao Fang
arXiv:2604.23701v1 • 2026-04-26
Crop disease diagnosis from field photographs faces two recurring problems: models that score well on benchmarks frequently hallucinate species names, and when predictions are correct, the reasoning behind them is typically inaccessible to the practitioner. This paper describes Agri-CPJ (Caption-Prompt-Judge), a training-free few-shot framework in which a large vision-language model first generates a structured morphological caption, iteratively refined through multi-dimensional quality gating, before any diagnostic question is answered. Two candidate responses are then generated from complementary viewpoints, and an LLM judge selects the stronger one based on domain-specific criteria. Caption refinement is the component with the largest individual impact: ablations confirm that skipping it consistently degrades downstream accuracy across both models tested. On CDDMBench, pairing GPT-5-Nano with GPT-5-mini-generated captions yields \textbf{+22.7} pp in disease classification and \textbf{+19.5} points in QA score over no-caption baselines. Evaluated without modification on AgMMU-MCQs, GPT-5-Nano reached 77.84\% and Qwen-VL-Chat reached 64.54\%, placing them at or above most open-source models of comparable scale despite the format shift from open-ended to multiple-choice. The structured caption and judge rationale together constitute a readable audit trail: a practitioner who disagrees with a diagnosis can identify the specific caption observation that was incorrect. Code and data are publicly available https://github.com/CPJ-Agricultural/CPJ-Agricultural-Diagnosis
Comment: This work is an expanded version of our prior paper published in the IEEE ICASSP 2026 conference arXiv:2512.24947, from 4 to 20+ pages, presenting a well-structured and principled framework, extensive experiments, and deeper insights. Tao Fang is the corresponding author
arXiv PDF
Personalizing Causal Audio-Driven Facial Motion via Dynamic Multi-modal Retrieval
Xuangeng Chu, Yu Han, Wei Mao, Shih-En Wei
arXiv:2604.23692v1 • 2026-04-26
Audio-driven facial animation is essential for immersive digital interaction, yet existing frameworks fail to reconcile real-time streaming with high-fidelity personalization. Current methods often rely on latency-inducing audio look-ahead, or require high user compliance to pre-encode static embeddings that fails to capture dynamic idiosyncrasies. We present an end-to-end causal framework for personalizing causal facial motion generation via dynamic multi-modal style retrieval, enabling ultra-low latency while uniquely leveraging unstructured style references. We introduce two key innovations: (1) a temporal hierarchical motion representation that captures global temporal context and high-frequency details while maintaining decoding causality, and (2) a multi-modal style retriever that jointly queries audio and motion to dynamically extract stylistic priors without breaking causality. This mechanism allows for scalable personalization with total flexibility regarding the number and contents of templates. By integrating these components into a causal autoregressive architecture, our method significantly outperforms state-of-the-art approaches in lip-sync accuracy, identity consistency, and perceived realism, supported by extensive quantitative evaluations and user studies.
arXiv PDF
Foundation Models
50
默认显示 5 篇
Loop Corrections to the Training Error and Generalization Gap of Random Feature Models
Taeyoung Kim
arXiv:2604.12827v2 •updated • 2026-04-14
We investigate random feature models in which neural networks sampled from a prescribed initialization ensemble are frozen and used as random features, with only the readout weights optimized. Adopting a statistical-physics viewpoint, we study the training error, test error, and generalization gap beyond the mean kernel approximation. Since the predictor is a nonlinear functional of the induced random kernel, the ensemble-averaged errors depend not only on the mean kernel but also on higher-order fluctuation statistics. Within an effective field-theoretic framework, these finite-width contributions naturally appear as loop corrections. We derive loop corrections to the training error, test error, and generalization gap, obtain their scaling laws, and support the theory with
Comment: 28 pages, 12 figures
arXiv PDF
The Rise of Verbal Tics in Large Language Models: A Systematic Analysis Across Frontier Models
Shuai Wu, Xue Li, Yanna Feng, Yufang Li, Zhijun Wang, Ran Wang
arXiv:2604.19139v2 •updated • 2026-04-21
As Large Language Models (LLMs) continue to evolve through alignment techniques such as Reinforcement Learning from Human Feedback (RLHF) and Constitutional AI, a growing and increasingly conspicuous phenomenon has emerged: the proliferation of verbal tics, repetitive, formulaic linguistic patterns that pervade model outputs. These range from sycophantic openers (That's a great question!, Awesome!) to pseudo-empathetic affirmations (I completely understand your concern, I'm right here to catch you) and overused vocabulary (delve, tapestry, nuanced). In this paper, we present a systematic analysis of the verbal tic phenomenon across eight state-of-the-art LLMs: GPT-5.4, Claude Opus 4.7, Gemini 3.1 Pro, Grok 4.2, Doubao-Seed-2.0-pro, Kimi K2.5, DeepSeek V3.2, and MiMo-V2-Pro. Utilizing a custom evaluation framework for standardized API-based evaluation, we assess 10,000 prompts across 10 task categories in both English and Chinese, yielding 160,000 model responses. We introduce the Verbal Tic Index (VTI), a composite metric quantifying tic prevalence, and analyze its correlation with sycophancy, lexical diversity, and human-perceived naturalness. Our findings reveal significant inter-model variation: Gemini 3.1 Pro exhibits the highest VTI (0.590), while DeepSeek V3.2 achieves the lowest (0.295). We further demonstrate that verbal tics accumulate over multi-turn conversations, are amplified in subjective tasks, and show distinct cross-lingual patterns. Human evaluation (N = 120) confirms a strong inverse relationship between sycophancy and perceived naturalness (r = -0.87, p < 0.001). These results underscore the alignment tax of current training paradigms and highlight the urgent need for more authentic human-AI interaction frameworks.
Comment: 20 pages, 17 figures, 8 tables; code and data available at https://github.com/Noah-Wu66/Vectaix-Research; DOI: 10.5281/zenodo.19767626
arXiv PDF
Agentic Fusion of Large Atomic and Language Models to Accelerate Materials Discovery
Mingze Li, Yu Rong, Songyou Li, Lihong Wang, Jiacheng Cen, Liming Wu, Anyi Li, Zongzhao Li, Qiuliang Liu, Rui Jiao, Tian Bian, Pengju Wang, Hao Sun, Jianfeng Zhang, Ji-Rong Wen, Deli Zhao, Shifeng Jin, Tingyang Xu, Wenbing Huang
arXiv:2604.23758v1 • 2026-04-26
The discovery of novel materials is critical for global energy and quantum technology transitions. While deep learning has fundamentally reshaped this landscape, existing predictive or generative models typically operate in isolation, lacking the autonomous orchestration required to execute the full discovery process. Here we present ElementsClaw, an agentic framework for materials discovery that synergizes Large Atomic Models (LAMs) with Large Language Models (LLMs). In response to varied human requirements, ElementsClaw dynamically orchestrates a suite of LAM tools finetuned from our proposed model Elements for atomic-scale numerical computation, while leveraging LLMs for high-level semantic reasoning. This shift moves AI-driven materials science from isolated processes toward integrated and human interactive discovery. In the demanding domain of superconductors, our agentic system guides the experimental synthesis of four new superconductors, including Zr3ScRe8 with a transition temperature of 6.8 K and HfZrRe4 at 6.7 K. At scale, ElementsClaw screens more than 2.4 million stable crystals within only 28 GPU hours, identifying 68,000 high-confidence superconducting candidates and vastly expanding the known superconducting space. These results demonstrate how our agent accelerates materials discovery with high physical fidelity.
arXiv PDF
Council Mode: A Heterogeneous Multi-Agent Consensus Framework for Reducing LLM Hallucination and Bias
Shuai Wu, Xue Li, Yanna Feng, Yufang Li, Zhijun Wang, Ran Wang
arXiv:2604.02923v3 •updated • 2026-04-03
Large Language Models (LLMs) have demonstrated advanced capabilities but often suffer from factual inaccuracies (hallucinations) and systematic biases. These issues, sometimes amplified in specific architectures like Mixture-of-Experts (MoE) which motivate our work, pose risks for reliable deployment. To address these challenges, we propose the Council Mode, a multi-agent consensus framework. Our approach dispatches queries to multiple heterogeneous frontier LLMs in parallel and synthesizes their outputs using a dedicated consensus model. The pipeline consists of three phases: an intelligent triage for query complexity, parallel generation across diverse models, and a structured synthesis that identifies agreement, disagreement, and unique findings. In our evaluation, conducted under controlled no-web settings, the Council Mode achieved a 35.9% relative reduction in hallucination rates on a 1,200-sample HaluEval subset and a 7.8-point improvement on TruthfulQA compared to the top-performing individual model. On our curated MDR-500 multi-domain reasoning benchmark, the Council Mode achieved a Quality Score of 91.7%, representing a 10.2-point improvement over the best individual model. The framework also exhibited lower measured bias variance under our rubric-based evaluation protocol. We provide a cost-effectiveness analysis showing that the framework incurs a 4.2x token-cost overhead, making it most suitable for accuracy-prioritized applications where the cost of errors exceeds the added inference cost. These findings suggest that structured multi-agent consensus is a promising direction for enhancing the reliability and factual grounding of LLM-generated content.
Comment: 24 pages, 8 figures, 16 tables, 1 algorithm. Open-source implementation: https://github.com/Noah-Wu66/Vectaix-Research. Archived software DOI: 10.5281/zenodo.19767626
arXiv PDF
Correction and Corruption: A Two-Rate View of Error Flow in LLM Protocols
Fernando Reitich
arXiv:2604.18245v2 •updated • 2026-04-20
Large language models are increasingly deployed as protocols: structured multi-call procedures that spend additional computation to transform a baseline answer into a final one. These protocols are evaluated only by end-to-end accuracy, giving limited insight into when they help, when they hurt, and whether their behavior transfers under distribution shift or composition. We propose a paired-outcome measurement interface for auditing a single protocol step on exact-match tasks. For each instance, the interface records a baseline correctness bit $E_0\in\{0,1\}$ and a post-step correctness bit $E_1\in\{0,1\}$, separating correction ($E_0=0\to E_1=1$) from corruption ($E_0=1\to E_1=0$) through two rates: $c=\Pr(E_1=1\mid E_0=0)$ and $γ=\Pr(E_1=0\mid E_0=1)$. These rates predict accuracy changes and define a reusable empirical interface testable across seeds, mixtures, and pipelines. We identify three failure mechanisms. Under mixture shift, pooled estimates of $(c,γ)$ become biased when calibration and deployment mixtures differ; conditioning on a difficulty proxy restores stability without additional model calls. Under presentation contamination, selection protocols alter the interface through stable presentation artifacts when candidate content is fixed. Under state insufficiency, the correctness bit may not carry enough history for multi-step pipelines to compose predictably; a Markov factorization test identifies when composition is valid and where additional state is needed. When a protocol step passes these diagnostics, it becomes an auditable module: gated by estimated gain, conditioned on a difficulty proxy to correct mixture bias, and composed into multi-step pipelines with predictable accuracy. We demonstrate these ideas on synthetic mathematical tasks and on GSM8K, where the calibrated interface correctly predicts when protocol steps should be activated or suppressed.
Comment: 36 pages main paper, 19 pages supplementary material included as ancillary file
arXiv PDF
2026-04-08
1 篇
Foundation Models
1
默认显示 1 篇
GameWorld: Towards Standardized and Verifiable Evaluation of Multimodal Game Agents
Mingyu Ouyang, Siyuan Hu, Kevin Qinghong Lin, Hwee Tou Ng, Mike Zheng Shou
arXiv:2604.07429v1 • 2026-04-08
Towards an embodied generalist for real-world interaction, Multimodal Large Language Model (MLLM) agents still suffer from challenging latency, sparse feedback, and irreversible mistakes. Video games offer an ideal testbed with rich visual observations and closed-loop interaction, demanding fine-grained perception, long-horizon planning, and precise control. However, systematically evaluating these capabilities is currently hindered by heterogeneous action interfaces and heuristic verification. To this end, we introduce GameWorld, a benchmark designed for standardized and verifiable evaluation of MLLMs as generalist game agents in browser environments. Two game agent interfaces are studied: (i) computer-use agents that directly emit keyboard and mouse controls, and (ii) generalist multimodal agents that act in a semantic action space via deterministic Semantic Action Parsing. GameWorld contains 34 diverse games and 170 tasks, each paired with state-verifiable metrics for outcome-based evaluation. The results across 18 model-interface pairs suggest that even the best performing agent is far from achieving human capabilities on video games. Extensive experiments of repeated full-benchmark reruns demonstrate the robustness of the benchmark, while further studies on real-time interaction, context-memory sensitivity, and action validity expose more challenges ahead for game agents. Together, by offering a standardized, verifiable, and reproducible evaluation framework, GameWorld lays a robust foundation for advancing research on multimodal game agents and beyond. The project page is at https://gameworld-bench.github.io.
Comment: 23 pages, 8 figures
arXiv PDF
2026-04-06
1 篇
Foundation Models
1
默认显示 1 篇
StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developing
StarVLA Community
arXiv:2604.05014v1 • 2026-04-06
Building generalist embodied agents requires integrating perception, language understanding, and action, which are core capabilities addressed by Vision-Language-Action (VLA) approaches based on multimodal foundation models, including recent advances in vision-language models and world models. Despite rapid progress, VLA methods remain fragmented across incompatible architectures, codebases, and evaluation protocols, hindering principled comparison and reproducibility. We present StarVLA, an open-source codebase for VLA research. StarVLA addresses these challenges in three aspects. First, it provides a modular backbone--action-head architecture that supports both VLM backbones (e.g., Qwen-VL) and world-model backbones (e.g., Cosmos) alongside representative action-decoding paradigms, all under a shared abstraction in which backbone and action head can each be swapped independently. Second, it provides reusable training strategies, including cross-embodiment learning and multimodal co-training, that apply consistently across supported paradigms. Third, it integrates major benchmarks, including LIBERO, SimplerEnv, RoboTwin~2.0, RoboCasa-GR1, and BEHAVIOR-1K, through a unified evaluation interface that supports both simulation and real-robot deployment. StarVLA also ships simple, fully reproducible single-benchmark training recipes that, despite minimal data engineering, already match or surpass prior methods on multiple benchmarks with both VLM and world-model backbones. To our best knowledge, StarVLA is one of the most comprehensive open-source VLA frameworks available, and we expect it to lower the barrier for reproducing existing methods and prototyping new ones. StarVLA is being actively maintained and expanded; we will update this report as the project evolves. The code and documentation are available at https://github.com/starVLA/starVLA.
Comment: Open-source VLA infra, Technical Report
arXiv PDF
2026-04-02
2 篇
Foundation Models
2
默认显示 2 篇
ECG Foundation Models and Medical LLMs for Agentic Cardiovascular Intelligence at the Edge: A Review and Outlook
Mudassir Hasan Khan, Ahmad Nayfeh, Mudassir Masood, Ali Ahmad Al-Shaikhi, Muhammad Mahboob Ur Rahman, Tareq Y. Al-Naffouri
arXiv:2604.02501v1 • 2026-04-02
Electrocardiogram (ECG) foundation models represent a paradigm shift from task-specific pipelines to generalizable architectures pre-trained on large-scale unlabeled waveform data. This survey presents a unified and deployment-aware review of foundation models and medical large language models (LLMs) for ECG intelligence in cardiovascular disease (CVD) diagnosis, monitoring, and clinical decision support. The central thesis of this survey paper is that next-generation cardiovascular AI systems will be inherently agentic, requiring the synergistic integration of two complementary model classes: (i) ECG foundation models that act as signal-level interpreters, learning rich electrophysiological representations via self-supervised and multimodal pretraining, and (ii) medical LLMs, trained on biomedical text corpora, that function as knowledge-based reasoning backbones for contextual inference, guideline alignment, and clinical decision support. Thus, the survey systematically reviews existing pool of generalist medical LLMs, as well as ECG foundation models that utilize techniques such as self-supervised learning, multimodal ECG-language alignment, vision transformer architectures, and possess capabilities such as zero-shot classification, automated report generation, and longitudinal risk modeling. Recognizing the constraints of consumer-grade wearable edge devices, we further examine model optimization techniques such as quantization, pruning, knowledge distillation, as well as the role of small language models in enabling low-latency, energy-efficient, and privacy-preserving ECG intelligence on edge platforms such as smartwatches. Finally, we outline future directions in multimodal ECG foundation models, agent-driven monitoring, and explainable, secure edge intelligence, with particular emphasis on real-time, on-device cardiovascular analytics in consumer electronics ecosystems.
Comment: 18 pages, 4 figures, 4 tables, under review with a journal
arXiv PDF
Intern-S1-Pro: Scientific Multimodal Foundation Model at Trillion Scale
Yicheng Zou, Dongsheng Zhu, Lin Zhu, Tong Zhu, Yunhua Zhou, Peiheng Zhou, Xinyu Zhou, Dongzhan Zhou, Zhiwang Zhou, Yuhao Zhou, Bowen Zhou, Zhanping Zhong, Zhijie Zhong, Haiteng Zhao, Penghao Zhao, Xiaomeng Zhao, Zhiyuan Zhao, Yechen Zhang, Jin Zhang, Wenwei Zhang, Hongjie Zhang, Zhuo Zhang, Wenlong Zhang, Bo Zhang, Chao Zhang, Chen Zhang, Yuhang Zang, Fei Yuan, Jiakang Yuan, Jiashuo Yu, Jinhui Yin, Haochen Ye, Qian Yao, Bowen Yang, Danni Yang, Kaichen Yang, Ziang Yan, Jun Xu, Yicheng Xu, Wanghan Xu, Xuenan Xu, Chao Xu, Ruiliang Xu, Shuhao Xing, Long Xing, Xinchen Xie, Ling-I Wu, Zijian Wu, Zhenyu Wu, Lijun Wu, Yue Wu, Jianyu Wu, Wen Wu, Fan Wu, Xilin Wei, Qi Wei, Bingli Wang, Rui Wang, Ziyi Wang, Zun Wang, Yi Wang, Haomin Wang, Yizhou Wang, Lintao Wang, Yiheng Wang, Longjiang Wang, Bin Wang, Jian Tong, Zhongbo Tian, Huanze Tang, Chen Tang, Shixiang Tang, Yu Sun, Qiushi Sun, Xuerui Su, Qisheng Su, Chenlin Su, Demin Song, Jin Shi, Fukai Shang, Yuchen Ren, Pengli Ren, Xiaoye Qu, Yuan Qu, Jiantao Qiu, Yu Qiao, Biqing Qi, Runyu Peng, Tianshuo Peng, Jiahui Peng, Qizhi Pei, Zhuoshi Pan, Linke Ouyang, Wenchang Ning, Yichuan Ma, Zerun Ma, Ningsheng Ma, Runyuan Ma, Chengqi Lyu, Haijun Lv, Han Lv, Lindong Lu, Kuikun Liu, Jiangning Liu, Yuhong Liu, Kai Liu, Hongwei Liu, Zhoumianze Liu, Mengjie Liu, Ziyu Liu, Wenran Liu, Yang Liu, Liwei Liu, Kaiwen Liu, Junyao Lin, Junming Lin, Tianyang Lin, Dahua Lin, Jianze Liang, Linyang Li, Peiji Li, Zonglin Li, Zehao Li, Pengze Li, Guoyan Li, Lingkai Kong, Linglin Jing, Zhenjiang Jin, Feifei Jiang, Qian Jiang, Junhao Huang, Zixian Huang, Haian Huang, Zhouqi Hua, Ermo Hua, Han Hu, Linfeng Hou, Yinan He, Conghui He, Tianyao He, Xu Guo, Qipeng Guo, Aijia Guo, Yuzhe Gu, Lixin Gu, Jingyang Gong, Qiming Ge, Jiaye Ge, Songyang Gao, Jianfei Gao, Xinyu Fang, Caihua fan, Yue Fan, Yanhui Duan, Zichen Ding, Shengyuan Ding, Ning Ding, Xuanlang Dai, Erfei Cui, Ganqu Cui, Pei Chu, Tao Chu, Guangran Cheng, Yu Cheng, Kai Chen, Yongkang Chen, Chiyu Chen, Guanzhou Chen, Qiaosheng Chen, Sitao Chen, Xin Chen, Haojiong Chen, Yicheng Chen, Weihan Cao, Yuhang Cao, Qinglong Cao, Lei Bai
arXiv:2603.25040v2 •updated • 2026-03-26
We introduce Intern-S1-Pro, the first one-trillion-parameter scientific multimodal foundation model. Scaling to this unprecedented size, the model delivers a comprehensive enhancement across both general and scientific domains. Beyond stronger reasoning and image-text understanding capabilities, its intelligence is augmented with advanced agent capabilities. Simultaneously, its scientific expertise has been vastly expanded to master over 100 specialized tasks across critical science fields, including chemistry, materials, life sciences, and earth sciences. Achieving this massive scale is made possible by the robust infrastructure support of XTuner and LMDeploy, which facilitates highly efficient Reinforcement Learning (RL) training at the 1-trillion parameter level while ensuring strict precision consistency between training and inference. By seamlessly integrating these advancements, Intern-S1-Pro further fortifies the fusion of general and specialized intelligence, working as a Specializable Generalist, demonstrating its position in the top tier of open-source models for general capabilities, while outperforming proprietary models in the depth of specialized scientific tasks.
arXiv PDF
2026-03-25
2 篇
Embodied Intelligence
1
默认显示 1 篇
Xiaomi-Robotics-0: An Open-Sourced Vision-Language-Action Model with Real-Time Execution
Rui Cai, Jun Guo, Xinze He, Piaopiao Jin, Jie Li, Bingxuan Lin, Futeng Liu, Wei Liu, Fei Ma, Kun Ma, Feng Qiu, Heng Qu, Yifei Su, Qiao Sun, Dong Wang, Donghao Wang, Yunhong Wang, Rujie Wu, Diyun Xiang, Yu Yang, Hangjun Ye, Yuan Zhang, Quanyun Zhou
arXiv:2602.12684v2 •updated • 2026-02-13
In this report, we introduce Xiaomi-Robotics-0, an advanced vision-language-action (VLA) model optimized for high performance and fast and smooth real-time execution. The key to our method lies in a carefully designed training recipe and deployment strategy. Xiaomi-Robotics-0 is first pre-trained on large-scale cross-embodiment robot trajectories and vision-language data, endowing it with broad and generalizable action-generation capabilities while avoiding catastrophic forgetting of the visual-semantic knowledge of the underlying pre-trained VLM. During post-training, we propose several techniques for training the VLA model for asynchronous execution to address the inference latency during real-robot rollouts. During deployment, we carefully align the timesteps of consecutive predicted action chunks to ensure continuous and seamless real-time rollouts. We evaluate Xiaomi-Robotics-0 extensively in simulation benchmarks and on two challenging real-robot tasks that require precise and dexterous bimanual manipulation. Results show that our method achieves state-of-the-art performance across all simulation benchmarks. Moreover, Xiaomi-Robotics-0 can roll out fast and smoothly on real robots using a consumer-grade GPU, achieving high success rates and throughput on both real-robot tasks. To facilitate future research, code and model checkpoints are open-sourced at https://xiaomi-robotics-0.github.io
Comment: Project page: https://xiaomi-robotics-0.github.io
arXiv PDF
Foundation Models
1
默认显示 1 篇
CUA-Suite: Massive Human-annotated Video Demonstrations for Computer-Use Agents
Xiangru Jian, Shravan Nayak, Kevin Qinghong Lin, Aarash Feizi, Kaixin Li, Patrice Bechard, Spandana Gella, Sai Rajeswar
arXiv:2603.24440v1 • 2026-03-25
Computer-use agents (CUAs) hold great promise for automating complex desktop workflows, yet progress toward general-purpose agents is bottlenecked by the scarcity of continuous, high-quality human demonstration videos. Recent work emphasizes that continuous video, not sparse screenshots, is the critical missing ingredient for scaling these agents. However, the largest existing open dataset, ScaleCUA, contains only 2 million screenshots, equating to less than 20 hours of video. To address this bottleneck, we introduce CUA-Suite, a large-scale ecosystem of expert video demonstrations and dense annotations for professional desktop computer-use agents. At its core is VideoCUA, which provides approximately 10,000 human-demonstrated tasks across 87 diverse applications with continuous 30 fps screen recordings, kinematic cursor traces, and multi-layerfed reasoning annotations, totaling approximately 55 hours and 6 million frames of expert video. Unlike sparse datasets that capture only final click coordinates, these continuous video streams preserve the full temporal dynamics of human interaction, forming a superset of information that can be losslessly transformed into the formats required by existing agent frameworks. CUA-Suite further provides two complementary resources: UI-Vision, a rigorous benchmark for evaluating grounding and planning capabilities in CUAs, and GroundCUA, a large-scale grounding dataset with 56K annotated screenshots and over 3.6 million UI element annotations. Preliminary evaluation reveals that current foundation action models struggle substantially with professional desktop applications (~60% task failure rate). Beyond evaluation, CUA-Suite's rich multimodal corpus supports emerging research directions including generalist screen parsing, continuous spatial control, video-based reward modeling, and visual world models. All data and models are publicly released.
Comment: Project Page: https://cua-suite.github.io/
arXiv PDF
2026-03-23
1 篇
Embodied Intelligence
1
默认显示 1 篇
UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos
Gu Zhang, Qicheng Xu, Haozhe Zhang, Jianhan Ma, Long He, Yiming Bao, Zeyu Ping, Zhecheng Yuan, Chenhao Lu, Chengbo Yuan, Tianhai Liang, Xiaoyu Tian, Maanping Shao, Feihong Zhang, Mingyu Ding, Yang Gao, Hao Zhao, Hang Zhao, Huazhe Xu
arXiv:2603.22264v1 • 2026-03-23
Dexterous manipulation remains challenging due to the cost of collecting real-robot teleoperation data, the heterogeneity of hand embodiments, and the high dimensionality of control. We present UniDex, a robot foundation suite that couples a large-scale robot-centric dataset with a unified vision-language-action (VLA) policy and a practical human-data capture setup for universal dexterous hand control. First, we construct UniDex-Dataset, a robot-centric dataset over 50K trajectories across eight dexterous hands (6--24 DoFs), derived from egocentric human video datasets. To transform human data into robot-executable trajectories, we employ a human-in-the-loop retargeting procedure to align fingertip trajectories while preserving plausible hand-object contacts, and we operate on explicit 3D pointclouds with human hands masked to narrow kinematic and visual gaps. Second, we introduce the Function-Actuator-Aligned Space (FAAS), a unified action space that maps functionally similar actuators to shared coordinates, enabling cross-hand transfer. Leveraging FAAS as the action parameterization, we train UniDex-VLA, a 3D VLA policy pretrained on UniDex-Dataset and finetuned with task demonstrations. In addition, we build UniDex-Cap, a simple portable capture setup that records synchronized RGB-D streams and human hand poses and converts them into robot-executable trajectories to enable human-robot data co-training that reduces reliance on costly robot demonstrations. On challenging tool-use tasks across two different hands, UniDex-VLA achieves 81% average task progress and outperforms prior VLA baselines by a large margin, while exhibiting strong spatial, object, and zero-shot cross-hand generalization. Together, UniDex-Dataset, UniDex-VLA, and UniDex-Cap provide a scalable foundation suite for universal dexterous manipulation.
Comment: Accepted by CVPR 2026
arXiv PDF
2026-03-10
1 篇
Embodied Intelligence
1
默认显示 1 篇
Cross-Hand Latent Representation for Vision-Language-Action Models
Guangqi Jiang, Yutong Liang, Jianglong Ye, Jia-Yang Huang, Changwei Jing, Rocky Duan, Pieter Abbeel, Xiaolong Wang, Xueyan Zou
arXiv:2603.10158v1 • 2026-03-10
Dexterous manipulation is essential for real-world robot autonomy, mirroring the central role of human hand coordination in daily activity. Humans rely on rich multimodal perception--vision, sound, and language-guided intent--to perform dexterous actions, motivating vision-based, language-conditioned manipulation systems for robots. However, training reliable vision-language-action (VLA) models for dexterous manipulation requires large-scale demonstrations across many robotic hands. In addition, as new dexterous embodiments appear rapidly, collecting data for each becomes costly and impractical, creating a need for scalable cross-embodiment learning. We introduce XL-VLA, a vision-language-action framework integrated with a unified latent action space shared across diverse dexterous hands. This embodiment-invariant latent space is directly pluggable into standard VLA architectures, enabling seamless cross-embodiment training and efficient reuse of both existing and newly collected data. Experimental results demonstrate that XL-VLA consistently outperforms baseline VLA models operating in raw joint spaces, establishing it as an effective solution for scalable cross-embodiment dexterous manipulation.
Comment: Website: https://xl-vla.github.io
arXiv PDF
2026-02-25
1 篇
Embodied Intelligence
1
默认显示 1 篇
EO-1: An Open Unified Embodied Foundation Model for General Robot Control
Delin Qu, Haoming Song, Qizhi Chen, Zhaoqing Chen, Xianqiang Gao, Dong Wang, Xinyi Ye, Qi Lv, Modi Shi, Guanghui Ren, Cheng Ruan, Maoqing Yao, Haoran Yang, Jiacheng Bao, Bin Zhao, Xuelong Li
arXiv:2508.21112v5 •updated • 2025-08-28
The human ability to seamlessly perform multimodal reasoning and physical interaction in the open world is a core goal for general purpose embodied intelligent systems. Recent vision-language-action (VLA) models, which are co-trained on large-scale robot and visual-text data, have demonstrated notable progress in general robot control. However, they still fail to achieve human-level flexibility in interleaved reasoning and interaction. In this work, we introduce EO-Robotics, consists of EO-1 model and EO-Data1.5M dataset. EO-1 is a unified embodied foundation model that achieves superior performance in multimodal embodied reasoning and robot control through interleaved vision-text-action pre-training. The development of EO-1 is based on two key pillars: (i) a unified architecture that processes multimodal inputs indiscriminately (image, text, video, and action), and (ii) a massive, high-quality multimodal embodied reasoning dataset, EO-Data1.5M, which contains over 1.5 million samples with emphasis on interleaved vision-text-action comprehension. EO-1 is trained through synergies between auto-regressive decoding and flow matching denoising on EO-Data1.5M, enabling seamless robot action generation and multimodal embodied reasoning. Extensive experiments demonstrate the effectiveness of interleaved vision-text-action learning for open-world understanding and generalization, validated through a variety of long-horizon, dexterous manipulation tasks across multiple embodiments. This paper details the architecture of EO-1, the data construction strategy of EO-Data1.5M, and the training methodology, offering valuable insights for developing advanced embodied foundation models. Project Page: https://eo-robotics.ai/eo-1.
arXiv PDF
2026-02-18
1 篇
Embodied Intelligence
1
默认显示 1 篇
EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
Ruijie Zheng, Dantong Niu, Yuqi Xie, Jing Wang, Mengda Xu, Yunfan Jiang, Fernando Castañeda, Fengyuan Hu, You Liang Tan, Letian Fu, Trevor Darrell, Furong Huang, Yuke Zhu, Danfei Xu, Linxi Fan
arXiv:2602.16710v1 • 2026-02-18
Human behavior is among the most scalable sources of data for learning physical intelligence, yet how to effectively leverage it for dexterous manipulation remains unclear. While prior work demonstrates human to robot transfer in constrained settings, it is unclear whether large scale human data can support fine grained, high degree of freedom dexterous manipulation. We present EgoScale, a human to dexterous manipulation transfer framework built on large scale egocentric human data. We train a Vision Language Action (VLA) model on over 20,854 hours of action labeled egocentric human video, more than 20 times larger than prior efforts, and uncover a log linear scaling law between human data scale and validation loss. This validation loss strongly correlates with downstream real robot performance, establishing large scale human data as a predictable supervision source. Beyond scale, we introduce a simple two stage transfer recipe: large scale human pretraining followed by lightweight aligned human robot mid training. This enables strong long horizon dexterous manipulation and one shot task adaptation with minimal robot supervision. Our final policy improves average success rate by 54% over a no pretraining baseline using a 22 DoF dexterous robotic hand, and transfers effectively to robots with lower DoF hands, indicating that large scale human motion provides a reusable, embodiment agnostic motor prior.
arXiv PDF
2026-02-13
1 篇
Embodied Intelligence
1
默认显示 1 篇
FlowHOI: Flow-based Semantics-Grounded Generation of Hand-Object Interactions for Dexterous Robot Manipulation
Huajian Zeng, Lingyun Chen, Jiaqi Yang, Yuantai Zhang, Fan Shi, Peidong Liu, Xingxing Zuo
arXiv:2602.13444v1 • 2026-02-13
Recent vision-language-action (VLA) models can generate plausible end-effector motions, yet they often fail in long-horizon, contact-rich tasks because the underlying hand-object interaction (HOI) structure is not explicitly represented. An embodiment-agnostic interaction representation that captures this structure would make manipulation behaviors easier to validate and transfer across robots. We propose FlowHOI, a two-stage flow-matching framework that generates semantically grounded, temporally coherent HOI sequences, comprising hand poses, object poses, and hand-object contact states, conditioned on an egocentric observation, a language instruction, and a 3D Gaussian splatting (3DGS) scene reconstruction. We decouple geometry-centric grasping from semantics-centric manipulation, conditioning the latter on compact 3D scene tokens and employing a motion-text alignment loss to semantically ground the generated interactions in both the physical scene layout and the language instruction. To address the scarcity of high-fidelity HOI supervision, we introduce a reconstruction pipeline that recovers aligned hand-object trajectories and meshes from large-scale egocentric videos, yielding an HOI prior for robust generation. Across the GRAB and HOT3D benchmarks, FlowHOI achieves the highest action recognition accuracy and a 1.7$\times$ higher physics simulation success rate than the strongest diffusion-based baseline, while delivering a 40$\times$ inference speedup. We further demonstrate real-robot execution on four dexterous manipulation tasks, illustrating the feasibility of retargeting generated HOI representations to real-robot execution pipelines.
Comment: Project Page: https://huajian-zeng.github.io/projects/flowhoi/
arXiv PDF
2026-02-11
1 篇
Foundation Models
1
默认显示 1 篇
MME-Emotion: A Holistic Evaluation Benchmark for Emotional Intelligence in Multimodal Large Language Models
Fan Zhang, Zebang Cheng, Chong Deng, Haoxuan Li, Zheng Lian, Qian Chen, Huadai Liu, Wen Wang, Yi-Fan Zhang, Renrui Zhang, Ziyu Guo, Zhihong Zhu, Hao Wu, Haixin Wang, Yefeng Zheng, Xiaojiang Peng, Xian Wu, Kun Wang, Xiangang Li, Jieping Ye, Pheng-Ann Heng
arXiv:2508.09210v2 •updated • 2025-08-11
Recent advances in multimodal large language models (MLLMs) have catalyzed transformative progress in affective computing, enabling models to exhibit emergent emotional intelligence. Despite substantial methodological progress, current emotional benchmarks remain limited, as it is still unknown: (a) the generalization abilities of MLLMs across distinct scenarios, and (b) their reasoning capabilities to identify the triggering factors behind emotional states. To bridge these gaps, we present \textbf{MME-Emotion}, a systematic benchmark that assesses both emotional understanding and reasoning capabilities of MLLMs, enjoying \textit{scalable capacity}, \textit{diverse settings}, and \textit{unified protocols}. As the largest emotional intelligence benchmark for MLLMs, MME-Emotion contains over 6,000 curated video clips with task-specific questioning-answering (QA) pairs, spanning broad scenarios to formulate eight emotional tasks. It further incorporates a holistic evaluation suite with hybrid metrics for emotion recognition and reasoning, analyzed through a multi-agent system framework. Through a rigorous evaluation of 20 advanced MLLMs, we uncover both their strengths and limitations, yielding several key insights: \ding{182} Current MLLMs exhibit unsatisfactory emotional intelligence, with the best-performing model achieving only $39.3\%$ recognition score and $56.0\%$ Chain-of-Thought (CoT) score on our benchmark. \ding{183} Generalist models (\emph{e.g.}, Gemini-2.5-Pro) derive emotional intelligence from generalized multimodal understanding capabilities, while specialist models (\emph{e.g.}, R1-Omni) can achieve comparable performance through domain-specific post-training adaptation. By introducing MME-Emotion, we hope that it can serve as a foundation for advancing MLLMs' emotional intelligence in the future.
arXiv PDF
2026-02-05
1 篇
Embodied Intelligence
1
默认显示 1 篇
MobileManiBench: Simplifying Model Verification for Mobile Manipulation
Wenbo Wang, Fangyun Wei, QiXiu Li, Xi Chen, Yaobo Liang, Chang Xu, Jiaolong Yang, Baining Guo
arXiv:2602.05233v1 • 2026-02-05
Vision-language-action models have advanced robotic manipulation but remain constrained by reliance on the large, teleoperation-collected datasets dominated by the static, tabletop scenes. We propose a simulation-first framework to verify VLA architectures before real-world deployment and introduce MobileManiBench, a large-scale benchmark for mobile-based robotic manipulation. Built on NVIDIA Isaac Sim and powered by reinforcement learning, our pipeline autonomously generates diverse manipulation trajectories with rich annotations (language instructions, multi-view RGB-depth-segmentation images, synchronized object/robot states and actions). MobileManiBench features 2 mobile platforms (parallel-gripper and dexterous-hand robots), 2 synchronized cameras (head and right wrist), 630 objects in 20 categories, 5 skills (open, close, pull, push, pick) with over 100 tasks performed in 100 realistic scenes, yielding 300K trajectories. This design enables controlled, scalable studies of robot embodiments, sensing modalities, and policy architectures, accelerating research on data efficiency and generalization. We benchmark representative VLA models and report insights into perception, reasoning, and control in complex simulated environments.
arXiv PDF