arXiv:2606. 04970v1 Announce Type: cross Abstract: We envision a proactive multi-modal assistant system which gives users real-time step-by-step guidance on a procedural task, autonomously deciding \textit{when} to interrupt, and \textit{how} to coach.
We envision a proactive multi-modal assistant system which gives users real-time step-by-step guidance on a procedural task, autonomously deciding \textit{when} to interrupt, and \textit{how} to coach. However, progress is limited by the absence of large-scale, cross-domain benchmarks that reflect realistic conditions, particularly the common case in which users deviate from the expected step sequence.
The paper proposes a new training dataset that generates more informative positive and negative samples for trajectory scoring in autonomous driving. By perturbing logged human trajectories laterally toward the drivable boundary and longitudinally toward a leading vehicle, the dataset provides richer supervision than the planner’s default proposal pool. Using a transformer-based scorer trained on this dataset, the authors achieve improved EPDMS scores on two frozen planners, DiffusionDrive and MeanFuser, when evaluated on the NAVSIM navtrain dataset.
arXiv:2510. 00182v2 Announce Type: replace-cross Abstract: While we know that large language models (LLMs) can solve some planning problems, we do not understand the extent of these capabilities for robotics.
arXiv:2606. 26661v1 Announce Type: cross Abstract: Motion forecasting is essential for autonomous driving systems to enable safe decision-making and planning in complex driving scenarios.
Motion forecasting is essential for autonomous driving systems to enable safe decision-making and planning in complex driving scenarios. While existing predictors excel at minimizing standard displacement errors, they often overlook the adherence to lane topology of multimodal predictions, particularly for lower-probability modes.
PlanWAM introduces a Planning‑Shaped World Action Model that tailors future‑state representations to be most useful for trajectory planning in end‑to‑end autonomous driving. It compresses historical observations with a Temporal Register Pyramid, shapes a future latent representation using a privileged posterior branch guided by planning objectives, and distills this into a prior branch that predicts the representation from history alone. The resulting foresighted planning context yields state‑of‑the‑art performance on NAVSIM and HUGSIM benchmarks.
The paper demonstrates that planners using frozen visual world models can achieve better control by changing the target used for action scoring. Instead of scoring actions solely by distance to the final goal image, the authors propose Anchored Planning, which retrieves a recorded trajectory segment that matches the current and goal observations and then scores actions toward an intermediate observation shortly after the segment’s start. Experiments on Cube, PushT, Reacher, and TwoRoom show that this intermediate-target approach outperforms the released LeWM planner on all long‑range tasks, while simple final‑goal search fails to achieve the same gains.
arXiv:2610.08123v1 Announce Type: cross Abstract: End-to-end planners based on waypoint regression achieve strong open-loop accuracy, but they primarily learn to mimic expert geometry and remain diff...
arXiv:2607. 23602v1 Announce Type: cross Abstract: Controllers based on sampling and latent world models assign a predicted terminal cost to each candidate action sequence, choose the minimum, execute its first action block, and replan.
arXiv:2512. 21201v3 Announce Type: replace-cross Abstract: Zero-shot object navigation (ZSON) requires robots to find target objects in unseen environments without task-specific fine-tuning or pre-built maps, a key capability for general-purpose service robots.
PointRL introduces a verifiable reinforcement learning framework that learns point-level vision‑language grounding from heterogeneous annotation evidence such as bounding boxes, masks, and instance labels. The method converts these annotations into pointing instructions while preserving target supports, instance membership, and set constraints as hidden verifier evidence, which a deterministic checker uses to score predictions. Evaluation on PointArena shows that PointRL improves Qwen3.5‑4B’s accuracy from 56.11% to 65.58%, and similar gains are observed on RoboSpatial, BLINK, and Ref‑Adv benchmarks.