Robotics and embodied AI

Manipulation, locomotion, sim-to-real transfer and autonomous driving: learning systems that have to survive physics.

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arXiv AI

Jun 16

Running hardware-aware neural architecture search on embedded devices under 512MB of RAM

arXiv:2606. 14824v1 Announce Type: cross Abstract: This document proposes a novel approach to hardware-aware neural architecture search (HW NAS) that considers the resources available on the computing platform running it, enabling its execution on various embedded devices.

By Andrea Mattia Garavagno, Edoardo Ragusa, Paolo Gastaldo, Antonio Frisoli

robotics benchmarks safety

arXiv Machine Learning

Jun 16

DemoDiffusion: One-Shot Human Imitation using pre-trained Diffusion Policy

arXiv:2506. 20668v3 Announce Type: replace-cross Abstract: We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data.

By Sungjae Park, Homanga Bharadhwaj, Shubham Tulsiani

diffusion reinforcement-learning robotics

arXiv AI

Jun 16

ScoutVLA: UAV-Centric Active Perception via a Dual-Expert VLA Model for Open-World Embodied Question Answering

arXiv:2606. 14772v1 Announce Type: cross Abstract: Aerial Embodied Question Answering (EQA) requires Unmanned Aerial Vehicles (UAVs) to actively perceive the environment and answer natural language questions.

By Wenhao Lu, Zhengqiu Zhu, Xiaofeng Wang, Xiaoran Zhang, Yatai Ji, Yong Zhao, Yue Hu, Yingzhen Nie, Jinlong Zhu, Zheng Zhu

diffusion nlp robotics multimodal benchmarks

arXiv AI

Jun 16

X-Tokenizer: A Multimodal Action Tokenizer for Vision-Language-Action Pretraining

arXiv:2606. 14752v1 Announce Type: cross Abstract: Modern Vision-Language-Action (VLA) models must bridge pretrained vision-language reasoning and precise continuous robot control.

By Xirui Kang, Yanpei Shi, Lucy Liang, Roy Gan, Dongxiu Liu, Pushi Zhang, Danpeng Chen, Xiaoyi Qin, Yinan Zheng, Jinliang Zheng, Hao Wang, Xianyuan Zhan, Hang Su

nlp robotics efficiency multimodal safety

arXiv Machine Learning

Jun 16

Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes

arXiv:2606. 17043v1 Announce Type: cross Abstract: When pretrained VLA policies are fine-tuned through online RL, each rollout episode produces only a single binary outcome (success or failure), yet the actor update requires per-transition supervision.

By Tongyan Fang, Siyuan Huang, Naiyu Fang, Ganlong Zhao, Zhongjin Luo, Jianbo Liu, Xiaogang Wang, Ying Dong, Hongsheng Li

agents reinforcement-learning robotics fine-tuning

arXiv AI

Jun 16

IMPACTeen: Intentions, Manipulation, Persuasion, Annotations, and Consequences in Teen Communication Dataset

arXiv:2606. 16910v1 Announce Type: cross Abstract: IMPACTeen is a dataset of textual social influence scenarios spanning interpersonal, media-based, and digital settings in an adolescent context.

By Aleksander Szcz\k{e}sny, Wiktoria Mieleszczenko-Kowszewicz, Maciej Markiewicz, Beata Bajcar, Tomasz Adamczyk, Jolanta Babiak, Grzegorz Chodak, Przemys{\l}aw Kazienko

llms robotics

arXiv AI

Jun 16

Tensor-Coord: Algebraic Decomposition of Joint Plan Tensors for Conflict-Free Multi-Agent LLM Planning

arXiv:2606. 16478v1 Announce Type: new Abstract: Large language models (LLMs) remain limited in multi-agent planning because independently generated plans can create coordination failures such as spatial collisions, resource contention, and temporal deadlocks.

By Mudit Rastogi

llms agents robotics

arXiv Machine Learning

Jun 16

KATANA: A Fast, Low-Power Mapping of Kalman Filters onto Edge NPUs for Real-Time Tracking

arXiv:2606. 14992v1 Announce Type: cross Abstract: State estimation is the closed-loop core of every real-time tracking system, from radar surveillance and counter-UAV defense to autonomous driving and robotics.

By Bodhisatwa Kundu, Anish Rooj, Sumit Saha, Abhradeep Sarkar, Arghadip Das, Arnab Raha, Mrinal K. Naskar

agents robotics

arXiv AI

Jun 16

Towards Next-Generation Healthcare: A Survey of Medical Embodied AI for Perception, Decision-Making, and Action

arXiv:2606. 15647v1 Announce Type: new Abstract: Foundation models have demonstrated impressive performance in enhancing healthcare efficiency across a wide range of medical applications.

By Cheng Zhang, Qing Cai, Xingzheng Wu, Xun Yang, Xiaojun Chang, Bingkun Bao, Liqiang Nie, Xinwang Liu, Yi Yang

agents robotics safety

arXiv AI

Jun 16

PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty

arXiv:2606. 15654v1 Announce Type: cross Abstract: Real-world robot task planning must operate under both stochastic action execution and partial observability, yet constructing Partially Observable Markov Decision Process (POMDP) models for real robotics domains remains difficult and labor-intensive.

By Wenjing Tang, Xuanjin Jin, Yuan Liu, Renming Huang, Cewu Lu, Panpan Cai

llms reinforcement-learning robotics

arXiv AI

Jun 16

ARB4WM: An Adversarial Robustness Benchmark for World Models in Continuous Control

arXiv:2606. 16605v1 Announce Type: new Abstract: World models are widely used in robotic and agentic engineering control systems due to their ability to learn latent dynamics for planning and decision-making.

By Junjian Zhang, Hao Tan, Ruonan Li, Dong Zhu, Aiping Li, Zhaoquan Gu

agents robotics benchmarks safety

arXiv AI

Jun 16

MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency

arXiv:2606. 15148v1 Announce Type: cross Abstract: Inverse kinematics (IK) remains a critical bottleneck for real-time robot manipulation.

By Jiahao Yang, Shenhao Yan, Fan Feng, Chengsi Yao, Ge Wang, Zhixin Mai, Yiming Zhao, Yatong Han

diffusion robotics efficiency

arXiv AI

Jun 16

Binary Tracking for Spatial QA and Navigation with Open Vision-Language Models

arXiv:2606. 16902v1 Announce Type: cross Abstract: This work addresses spatial question answering for service robots traversing long egocentric routes.

By Dongbin Na, Chanwoo Kim, Soonbin Rho, Giyun Choi, Gangbok Lee, Dooyoung Hong

llms rag agents nlp robotics multimodal benchmarks

arXiv AI

Jun 16

Teacher-Student Structure for Domain Adaptation in Ensemble Audio-Visual Video Deepfake Detection

arXiv:2606. 15117v1 Announce Type: cross Abstract: The rapid advancement of generative AI models is leading to more realistic deepfake media, encompassing the manipulation of audio, video, or both.

By Elham Abolhasani, Maryam Ramezani, Hamid R. Rabiee

robotics fine-tuning multimodal safety

arXiv AI

Jun 16

Evidence of an Emergent "Self" in Continual Robot Learning

arXiv:2603. 24350v3 Announce Type: replace-cross Abstract: 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.

By Adidev Jhunjhunwala, Judah Goldfeder, Hod Lipson

robotics

arXiv AI

Jun 16

GAS-Leak-LLM: Genetic Algorithm-Based Suffix Optimization for Black-Box LLM Jailbreaking

arXiv:2606. 15788v1 Announce Type: cross Abstract: Large Language Models (LLMs) constitute pivotal components within the AI-dominated information technology ecosystem.

By Aman Anifer, Vignesh Kumar Kembu, Vishnu M, Antonino Nocera, Vinod P., Amal Murali PK, Akshay S Rajan

llms robotics safety

arXiv Machine Learning

Jun 16

CoIRL-AD: Collaborative-Competitive Imitation-Reinforcement Learning in Latent World Models for Autonomous Driving

arXiv:2510. 12560v2 Announce Type: replace-cross Abstract: End-to-end autonomous driving models trained with imitation learning (IL) often generalize poorly, particularly in long-tail scenarios where expert demonstrations are sparse.

By Xiaoji Zheng, Ziyuan Yang, Yanhao Chen, Yuhang Peng, Yuanrong Tang, Gengyuan Liu, Bokui Chen, Jiangtao Gong

agents reinforcement-learning robotics benchmarks

arXiv AI

Jun 16

Human Cognition in Machines: A Unified Perspective of World Models

arXiv:2604. 16592v2 Announce Type: replace-cross Abstract: This report of world models distinguishes prior works by the cognitive functions they innovate.

By Timothy Rupprecht, Pu Zhao, Amir Taherin, Arash Akbari, Arman Akbari, Yumei He, Tooba Imtiaz, Sean Duffy, Juyi Lin, Yixiao Chen, Rahul Chowdhury, Enfu Nan, Yixin Shen, Yifan Cao, Haochen Zeng, Weiwei Chen, Geng Yuan, Jennifer Dy, Sarah Ostadabbas, Xuan Zhang, David Kaeli, Edmund Yeh, Yanzhi Wang

agents robotics

arXiv AI

Jun 16

Leveraging Deep Learning for Object and Position Recognition of Load Carriers for Autonomous Logistics Vehicles

arXiv:2606. 16042v1 Announce Type: cross Abstract: This work explores the use of artificial intelligence in mobile robotics to achieve autonomous detection and pose estimation of load carriers for automated pickup.

By Christoph Legat, Tobias Miller, Marco Riess

agents computer-vision robotics

arXiv Machine Learning

Jun 16

Phase-Localized Curation Does Not Help: A Negative Result on Per-Phase Metric Selection for Demonstration Filtering

arXiv:2606. 15064v1 Announce Type: new Abstract: Manipulation demonstrations have temporal phase structure, and a natural hypothesis is that demonstration-curation metrics should be applied within phases rather than globally.

By Aarav Bedi

robotics

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