arXiv AI

From Imitation to Alignment: Human-Preference Flow Policies for Long-Horizon Sidewalk Navigation

arXiv:2606. 12603v1 Announce Type: cross Abstract: Autonomous long-horizon sidewalk navigation is essential for micro-mobility applications such as robotic food delivery and assistive electronic wheelchairs.

arXiv Machine Learning

4d ago

Learning Social Navigation from Internet Videos in the Policy State Space

arXiv:2609.37476v1 Announce Type: cross Abstract: Training robust social-navigation policies requires simulators with diverse scene layouts, terrain, and human motion, but constructing such environme...

By Jiaming Wang, Duc Thang Nguyen, Jizhuo Chen, Volodymyr Shcherbyna, Diwen Liu, Zhengcheng Shen, Harold Soh

robotics fine-tuning benchmarks

arXiv Machine Learning

Jun 17

Can Vision Foundation Models Navigate? Zero-Shot Real-World Evaluation and Lessons Learned

arXiv:2603. 25937v2 Announce Type: replace-cross Abstract: Visual Navigation Models (VNMs) promise generalizable, robot navigation by learning from large-scale visual demonstrations.

By Maeva Guerrier, Karthik Soma, Jana Pavlasek, Giovanni Beltrame

llms diffusion robotics benchmarks

arXiv Computer Vision

4d ago

RoXDrive: Closed-Loop Reinforcement Learning for End-to-End Autonomous Driving via Action-Faithful Rollouts

arXiv:2609.36851v1 Announce Type: new Abstract: End-to-end autonomous driving policies are commonly trained via imitation learning on logged demonstrations without observing the consequences of their...

By Hongbin Lin, Chaoda Zheng, Yiming Yang, Xiangyu Li, Shijia Chen, Jinhao Deng, Kangjie Chen, Dongbin Zhang, Jie Feng, Yu Zhang, Xianming Liu, Shuguang Cui, Boyang Wang, Zhen Li

agents reinforcement-learning robotics safety

arXiv AI

2d ago

UrbanVLA: A Vision-Language-Action Model for Urban Micromobility

arXiv:2510.23576v2 Announce Type: replace-cross Abstract: Urban micromobility applications, such as delivery robots, demand reliable navigation across large-scale urban environments while following l...

By Anqi Li, Zhiyong Wang, Jiazhao Zhang, Minghan Li, Yunpeng Qi, Zhibo Chen, Zhizheng Zhang, He Wang

robotics fine-tuning multimodal safety

arXiv AI

Jul 9

HumAIN: Human-Aware Implicit Social Robot Navigation

arXiv:2607. 07357v1 Announce Type: cross Abstract: Effective social robot navigation requires sensitivity to human behavior, often revealed through subtle skeletal cues like gait and orientation.

By Daeun Song, Nhat Le, Jeffrey Chen, Mohammad Nazeri, Amirreza Payandeh, Rohan Chandra, Reuth Mirsky, Ross Mead, Ling Xiao, Xuesu Xiao

llms robotics efficiency multimodal benchmarks safety

arXiv Machine Learning

Sep 11

ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations

ObstaDiff is a diffusion-policy framework that introduces a lightweight obstacle-aware visual encoder to generate structured representations of targets, obstacles, and background. By aligning these representations, the policy produces end-effector trajectories that focus on a target-centered bottleneck pose while accounting for surrounding obstacles. In real-robot greenhouse trials, ObstaDiff achieved a 75.41% task success rate and an 8.20% obstacle collision rate, outperforming existing imitation-learning baselines in cluttered agricultural settings.

By Jiawen Wang, Kevin Yao, Khalid Jawed

diffusion robotics safety

arXiv AI

Jun 4

PerceptTwin: Semantic Scene Reconstruction for Iterative LLM Planning and Verification

arXiv:2606. 04226v1 Announce Type: cross Abstract: Simulation environments are useful for both robot policy learning and planning verification and validation.

By Charlie Gauthier, Sacha Morin, Liam Paull

llms robotics safety

arXiv Machine Learning

2d ago

STARS: From Spatiotemporal Dynamics to Social Representations in Human-Robot Interaction

arXiv:2609.40245v2 Announce Type: cross Abstract: Robot navigation in dynamic, human-centered environments requires socially-compliant decisions grounded in robust scene understanding. Recent Vision-...

By Nathan Tsoi, Michael J. Munje, Tejas Oberoi, Rishab Maheshwari, Pengen Zheng, Tanush Chauhan, Peter Stone, Joydeep Biswas

llms agents nlp robotics multimodal benchmarks

arXiv AI

Jul 14

Think When It Matters: Conditional VLM Reasoning for Social Navigation with RL Policies

arXiv:2607. 10991v1 Announce Type: cross Abstract: As mobile robots become more integrated into everyday human environments, social robot navigation is becoming essential for ensuring human comfort, safety, and trust.

By Ali Ahmadi, Hamed Rahimi, Adrien Jacquet Cretides, Marie Samson, Mahdi Khoramshahi, Mohamed Chetouani

llms reinforcement-learning robotics multimodal benchmarks safety

arXiv Machine Learning

Jul 15

APPLV: Adaptive Planner Parameter Learning from Vision-Language-Action Model

arXiv:2603. 08862v2 Announce Type: replace-cross Abstract: Autonomous navigation in highly constrained environments remains challenging for mobile robots.

By Yuanjie Lu, Beichen Wang, Zhengqi Wu, Yang Li, Xiaomin Lin, Chengzhi Mao, Xuesu Xiao

llms agents reinforcement-learning robotics fine-tuning efficiency multimodal benchmarks safety

arXiv AI

Jul 24

Robostral Navigate

arXiv:2607. 20785v1 Announce Type: cross Abstract: Deploying navigation systems at scale requires a recipe that minimizes sensor assumptions, generalizes across robot embodiments, and trains efficiently.

By 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

llms reinforcement-learning robotics multimodal benchmarks

arXiv AI

Jun 17

TerraTransfer: Learning End-to-End Driving Policies Without Expert Demonstrations

arXiv:2606. 17386v1 Announce Type: cross Abstract: End-to-end autonomous driving has achieved state-of-the-art performance on benchmarks and real-world deployments.

By Zikang Xiong, Weixin Li, Zhouchonghao Wu, Akshay Rangesh, Saarth Bonde, Grantland Hall, Chen Tang, Yihan Hu, Wei Zhan

agents diffusion reinforcement-learning robotics benchmarks safety

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