Manipulation, locomotion, sim-to-real transfer and autonomous driving: learning systems that have to survive physics.
arXiv:2606. 19920v1 Announce Type: cross Abstract: Distributed optimization is a highly scalable and structurally transparent technique to solve multi-agent robotics problems; however, such methods often suffer from the need for highly-specialized, problem-specific hyperparameter tunings.
arXiv:2606. 19935v1 Announce Type: new Abstract: Humanoid robots require co-speech motions that are not only expressive and speech-aligned, but also physically executable under embodiment constraints.
arXiv:2606. 19357v1 Announce Type: cross Abstract: We built a robot called the Robotroller that actuates an Atari CX40+ controller and a device called the Atari Devbox that renders the game frame and the reward signal from the Arcade Learning Environment on a screen.
arXiv:2606. 19990v1 Announce Type: new Abstract: While RL has become a promising tool for refining world models, existing methods largely rely on conservative rollouts near the training distribution, limiting exploration, behavioral diversity, and richer dynamic discovery.
arXiv:2505. 18201v2 Announce Type: replace-cross Abstract: Controlling flapping-wing drones requires controllers that handle time-varying, nonlinear, underactuated dynamics from incomplete, noisy sensor data.
arXiv:2606. 20120v1 Announce Type: cross Abstract: Biological experiment protocols are written in natural language, whereas automation systems rely on predefined control commands, creating a semantic gap that limits autonomous execution.
arXiv:2606. 19451v1 Announce Type: new Abstract: 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.
arXiv:2606. 20537v1 Announce Type: new Abstract: Mainstream LLM serving systems reuse prefix work mainly through paged or radix key-value (KV) caches.
arXiv:2606. 19951v1 Announce Type: cross Abstract: Mean opinion score (MOS) prediction models are widely used as proxy metrics in text-to-speech (TTS) research, yet their ability to capture quality differences beyond acoustic fidelity remains unclear.
arXiv:2606. 19752v1 Announce Type: cross Abstract: Long-horizon robot manipulation policies trained with reward shaping can still exploit dense rewards through inefficient interaction, while rare efficient behaviors may be forgotten during training.
arXiv:2606. 20118v1 Announce Type: cross Abstract: Vision-language-action (VLA) policies have shown strong potential for general-purpose manipulation, yet they often fail on novel, out-of-distribution objects whose appearance or geometry deviates from the training distribution.
arXiv:2606. 20138v1 Announce Type: new Abstract: LLMs can personalize education, although current static-prompt tutoring systems struggle to adapt to diverse academic disciplines.
arXiv:2604. 13240v2 Announce Type: replace-cross Abstract: Mapping the spatial distribution of species is essential for conservation policy and invasive species management.
arXiv:2606. 19948v1 Announce Type: new Abstract: For embodied agents capable of physical interaction, the capability to create and understand dialog is crucial to ensure both safety and effectiveness.
arXiv:2606. 20209v1 Announce Type: cross Abstract: Joint spatial and temporal understanding of 3D scenes is a crucial requirement for robots deployed in everyday household environments.
Embodied foundation models are expected to benefit from data scaling like large language models, but face a much tighter data bottleneck. Teleoperated real-robot trajectories remain the dominant pretraining source due to their precise action supervision and embodiment alignment, yet their scalability is limited by high collection cost, acquisition difficulty, and low behavioral and environmental diversity.
UAV Vision-Language Navigation (UAV-VLN) is typically formulated as a holistic search-and-reach problem, where long-range target discovery and final target approach are optimized and evaluated jointly. This formulation makes it difficult to assess a critical capability of aerial embodied agents, namely whether a UAV can accurately ground a visible target and translate vision-language evidence into precise 3D motion once the target enters its field of view.
arXiv:2606. 18861v1 Announce Type: cross Abstract: Reconstructing simulation-ready digital twins of articulated objects from sensor observations remains constrained by two persistent gaps: (i) part-level geometric reconstruction is decoupled from kinematic-parameter estimation, and (ii) the recovered models often violate basic dynamic invariants such as energy conservation, leading to drift when the URDF is replayed in physics simulators.
arXiv:2606. 18634v1 Announce Type: cross Abstract: To locate a target object while exploring the unknown environment is a fundamental capability for autonomous agents, with applications ranging from search-and-rescue to field robots.
arXiv:2606. 18594v1 Announce Type: cross Abstract: In real-world reinforcement learning (RL), the choice of action space can play a key role in shaping motion smoothness, safety, and overall task performance.