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Robótica

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arXiv AI Papers

ASTRIL-MPC: Autonomous Traversal Framework of Articulated Tracked Robots with Language-Guided Neural-Kinematic MPC

In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and cluttered building interiors. Reliable autonomy remains challenging because robot-terrain interaction (RTI) is hybrid and discontinuous, and effective flipper-track coordination is difficult to model analytically. We present ASTRIL-MPC, a language-guided neural kinematics model predictive control (MPC) framework for autonomous traversal. A learned kinematics model predicts short-horizon task-state increments from a height sequence and recent trajectories; NMPC plans with multi-objective costs and strict feasibility constraints; and a large language model (LLM) proposes bounded updates to selected weights and bounds through a safety-checked interface with range clipping, rate limiting, and consistency checks. The compiled predictor enables a full control cycle within 100 ms. Across three traversal tasks and a multi-height generalization setting, ASTRIL-MPC improves an aggregate traversal-quality score by up to 71% over a non-adaptive NMPC and by 67% over a PPO baseline, while eliminating measurable collision impacts during descent. These results indicate that combining learned kinematics, optimization-based planning, and language-guided retuning yields data-efficient and robust autonomy for articulated tracked robots.

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arXiv AI Papers

Dynin-Robotics: Omnimodal Unified Diffusion Vision-Language-Action Model

Visual goal and dynamics prediction can provide language-conditioned robot policies with both a target outcome and a representation of action-dependent scene changes. We bring these predictions into action generation and selection through a shared trajectory model. Dynin-Robotics implements this formulation on Dynin-Omni, an omnimodal masked-diffusion backbone, representing language, visual observations, goals, and actions as discrete tokens. By varying conditioning and target spans, the same model learns action prediction, action-conditioned next-observation prediction, terminal goal-state prediction, and trajectory-to-instruction reconstruction. These interfaces support test-time scaling through goal prediction, action-candidate evaluation, and joint refinement of action and future-state predictions. We continually pretrain the model on approximately 1.33 million trajectories from 48 Open X-Embodiment datasets and adapt it separately to downstream domains. On two VLABench tasks, robot pretraining improves adaptation within a fixed Stage-2 step budget, and the full objective mixture improves shifted-instruction success over Policy-only post-training under the same coupled decoder. Combining goal guidance with joint action-next-state denoising further improves shifted-instruction success over action-only decoding; the benefit depends on how the predictions are composed. Dynin-Robotics achieves competitive performance on LIBERO and zero-shot LIBERO-Plus, together with a 78.4% average success rate across four manipulation conditions on a Franka Research 3 robot. An optimized block-parallel implementation accelerates model-side action decoding by up to 29.2x relative to the base implementation under the reported profiling setup. These results support shared trajectory modeling as a common interface for learning complementary robot objectives and composing their predictions during control.

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AWS Machine Learning Blog

ICYMI: What landed for AI builders in August 2026

A recap of August 2026 launches for AI builders across Amazon Bedrock, Amazon Bedrock AgentCore, and Strands: million-token context for OpenAI models, cross-Region inference, agents that run for up to 14 days on dedicated compute, expanded AWS GovCloud availability, and Strands Robots for physical deployment.

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arXiv AI Papers

Show-Harness: Just a VLM Agent Can Play Robots

Foundation vision-language models (VLMs) exhibit broad intelligence about the world, yet translating this intelligence into robot control remains challenging. We present Show-Harness, an Embodied Harness that enables VLMs to "play" robots through a compact semantic interface linking intent to action. Show-Harness exposes discrete semantic action units that VLMs can naturally reason over, while embodiment-specific interpreters deterministically ground them into local robot actions, keeping the VLM directly responsible for fine-grained physical decisions. Through the same interface, Show-Harness demonstrates the feasibility of (1) directly unlocking closed-source frontier VLMs for zero-shot robot control, and (2) adapting small-scale open-source VLMs for low-cost deployment with just a few GPU-hours of fine-tuning. We further develop GUMI (GUI Manipulation Interface), which extends the same semantic action space to GUI-based demonstration collection, allowing humans and agents to "play" robots across embodiments without specialized teleoperation hardware. Extensive experiments show that Show-Harness-equipped VLM agents generalize robustly across tasks, embodiments, and environments, outperforming representative agentic and VLA paradigms. These results suggest that the right interface can unlock substantial embodied capability from foundation VLMs, without requiring additional model capacity or costly embodiment-specific pretraining.

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arXiv AI Papers

Semigroup-JEPA: Latent Dynamics Consistency for Zero-Shot Physics Generalization

Joint-Embedding Predictive Architecture (JEPA) world models learn a compact latent representation of the world that supports prediction and planning, but their capability to learn physics and generate physically realistic dynamics remains hitherto untested. In this work, we introduce SemiGroup-JEPA (SG-JEPA), which extends the LeWorldModel framework by supplying the parameter governing the physics to the temporal model via action-conditioning and jointly training an encoder and predictor through an autoregressive latent rollout. To evaluate the model's ability to generalize out of distribution, we design dynamical tasks under different gravitational fields that, despite obeying the same physical law, exhibit qualitatively different dynamics, ranging from floating motion in weak gravitational fields to rapid bouncing in strong ones. In contrast to DINO-WM, SG-JEPA reduces open-loop prediction error by up to 2 times on two-dimensional datasets, and increases control success rate up to 2.5 times for three-dimensional robotic datasets, for which we train independent diffusion policies. To explain this advantage, we develop a linear feature model that separates local law-conditioned error from its recursive amplification under rollout. Guided by this model, we find that back-propagating the multi-step rollout loss into the representation trains the encoder to keep the features that the predictor can carry forward, and that those are the features the dynamics depend on, so most of the gain comes from the encoder learning better features rather than from the predictor learning better dynamics. See project page at https://sg-jepa.github.io.

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arXiv AI Papers

PACE: Perceived-Latency-Aware Cascading Service Routing and Filler Control for QoE-Efficient Retrieval-Augmented Dialogue Serving

We present the PACE, a framework for retrieval-augmented dialogue serving that formalizes Perceived Time-to-First-Response (PTFR) as a QoE objective and minimizes it under quality/cost constraints. Unlike prior work on cascaded routing, semantic caching, or adaptive retrieval, PACE jointly controls which answer source composes the response and what fills the waiting window. Deployed on a humanoid-robot sales service, it combines three mechanisms: a load-adaptive cascading router, a joint path-filler controller, and volatility-aware cache admission. On 75k CarQA requests, the cascade halves pure-LLM PTFR at P95 (0.29 vs 0.53s at c16). The adaptive controller reaches 0.41s P95, outperforming RAG by 2.4 times at high load with equal quality. The filler controller cuts calls by 94% with zero conflict. Volatility-aware admission reduces stale answers from 86% to 0%. A gating rule ensures the controller never worse than the baseline, with exposure bounded by one hold period. This is the first quantification of filler-answer conflict risk in deployed services.

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arXiv AI Papers

TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model

We study the problem of navigating cluttered indoor environments with a humanoid robot. Unlike conventional methods that model navigation as a 2D path planning problem, humanoid traversal in cluttered environments requires continuous geometry-aware whole-body adaptation, including coordinated arm placement, torso adjustment, and gait modulation for collision-free movement through complex 3D spaces. We introduce TANGO, the first whole-body vision-language navigation framework for language-conditioned humanoid traversal in cluttered environments. Given a natural-language instruction and egocentric RGB observations, TANGO directly predicts 29-DoF joint-space actions for downstream whole-body control. We train TANGO entirely in simulation by synthesizing diverse collision-free traversal behaviors via global path planning, kinematic whole-body motion generation, obstacle-aware motion editing, and RL-based tracking. This pipeline provides dynamically feasible action supervision for learning language-conditioned whole-body policies. In extensive simulation experiments, TANGO demonstrates state-of-the-art performance in vision-language navigation, while outperforming strong modular baselines in navigating challenging scenes requiring obstacle negotiation. Lastly, we deploy TANGO zero-shot on a Unitree G1 humanoid robot, and observe robust language-guided traversal in cluttered real-world scenes without training on any real-world navigation data.

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arXiv AI Papers

A Data-Driven Framework for Identifying and Prioritizing RPA Opportunities in Healthcare Processes

Robotic Process Automation (RPA) is widely used to reduce administrative burden in United States hospitals, yet an estimated 30-50% of RPA initiatives underperform because processes are selected informally, without a repeatable method to catalogue candidates, prioritize them, match each to an automation tier -- a Python bot, an open-source orchestrator such as n8n, or an enterprise platform such as UiPath -- and forecast financial return before committing resources. We propose a four-module, data-driven framework unifying these decisions: a Process Taxonomy of twenty recurring hospital processes across five value streams; a Prioritization module deriving an Automation Suitability Index from an Analytic Hierarchy Process matrix with an explicit consistency check; a Tool-Tier Selection module recommending the least-cost technology sufficient for a process complexity, integration, and compliance profile; and a Return-on-Investment module quantifying labor savings, error-cost avoidance, payback, and net present value. Applied to a synthetic portfolio spanning all twenty processes, plus a reference data-flow architecture linking it to hospital EHR/payer/ERP systems: 12 of 20 clear the prioritization threshold; the ranking is robust to +/-20% weight perturbation (Spearman correlation 0.83, top-5 set preserved 97.7%, 2,000 Monte Carlo trials); an Automation Risk Index flags four qualifying processes as Critical risk; a budget-constrained portfolio optimization shows diminishing marginal NPV as spend scales from 400K to 1.03M; and a second Monte Carlo analysis shows portfolio NPV stays positive at its 5th percentile. The framework is a conceptual synthesis of the literature rather than an instrument calibrated on primary hospital data; we discuss HIPAA governance and a research agenda for empirical validation. A supplementary Python implementation accompanies the paper.

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arXiv AI Papers

DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination

Dexterous manipulation involves contact-rich and fine-grained interactions with the physical world, posing significant challenges for existing vision-language-action (VLA) models due to severe visual occlusions and complex contact dynamics. While recent works have incorporated tactile sensing into robotic manipulation, most approaches still rely on homogeneous multimodal fusion, lacking adaptive tactile integration and explicit modeling of physical dynamics. In this work, we present DeCAL, a physically-grounded dexterous vision-language-action model that unifies understanding, imagination and action generation for contact-rich dexterous manipulation. Built upon a Mixture-of-Transformers (MoT) architecture, DeCAL leverages specialized experts for each capability while enabling efficient information flow among them. To effectively leverage tactile information, we introduce Adaptive Visuo-Tactile Fusion that dynamically regulates tactile interactions via a contact-aware gating strategy. Furthermore, we propose Visuo-Tactile Latent Co-Imagination to jointly model visual and tactile dynamics, equipping the policy with implicit physical world knowledge. Experimental results show that DeCAL consistently achieves state-of-the-art performance across all tasks, attaining a 71% average success rate and an 83.4% progress success rate, while also demonstrating strong generalization to unseen scenarios. The website is available at https://aureleopku.github.io/DeCAL.

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arXiv AI Papers

One MLLM, One Call: Efficient Zero-Shot Vision-and-Language Navigation via Spatial-Aware Waypoints

Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires an embodied agent to navigate unseen environments by following natural language instructions. Current zero-shot VLN-CE methods either rely on pre-trained waypoint predictors or require multiple queries to large models per step. To address prohibitive inference latency and computational overhead, we propose O2C-Nav, an efficient zero-shot navigation framework that calls only a single large model once per decision step. Our approach introduces a training-free structured waypoint generator and a novel abstract representation that projects sparse, history-aware candidate waypoints directly onto RGB images as visual markers. The MLLM selects a waypoint or generates a fallback target bounding box at each step, while a low-level Fast Marching Method (FMM) planner converts the selected target into an executable collision-free path. This paradigm provides the model with concrete spatial perception and explicit memory while significantly reducing the visual processing load. Extensive evaluations on the R2R-CE and RxR-CE benchmarks demonstrate that O2C-Nav outperforms current state-of-the-art zero-shot methods, highlighting its great potential for real-time robotic deployment. Code is available at https://github.com/kkpsq/O2C-Nav-Code.

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arXiv AI Papers

Same Trajectory, Contradictory Rewards (ROBORMBENCH): Paraphrase Fragility in Vision Language Reward Models

Vision-language models are increasingly used as reward functions for robotic learning, but this role requires paraphrase invariance: the same trajectory should receive the same reward under semantically equivalent goal descriptions. We show that current VLM reward models often violate this property. Paraphrasing the instruction alone can substantially change predicted progress scores, and can even flip identical robot behavior between failure and success. To measure this failure mode, we introduce ROBORMBENCH, a benchmark with 2,390 real-robot trajectories, ground-truth progress labels, and 21,673 verified paraphrases spanning lexical, syntactic, and action-goal rewrites. Across proprietary and open-source VLMs, paraphrase-induced instability is widespread and severe, grows under more divergent rewrites, and is not reliably reduced by scale or explicit reasoning. Dedicated reward models trained with trajectory-grounded supervision are substantially more stable. These results show that paraphrase robustness is a core requirement for reliable VLM-based reward modeling in robotics.

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arXiv AI Papers

RoboSPA: Can VLA Models Go Beyond Simple Scenes and Short-Horizon Tasks?

Vision-Language-Action (VLA) models have shown promising progress in language-conditioned robotic manipulation. However, existing datasets and benchmarks mainly evaluate task completion under predefined settings, offering limited insight into model reasoning under increasing spatial and procedural complexity. We introduce RoboSPA (Robot Spatial-Procedural Assessment), a large-scale robotic manipulation dataset and benchmark for diagnosing embodied reasoning in VLA models. RoboSPA focuses on two core dimensions, Fine-Grained Spatial Reasoning and Long-Horizon Procedural Planning, covering 10 task categories and 56 base tasks. Each task is instantiated across five difficulty levels, yielding 280 variants with increasing spatial ambiguity and procedural complexity. We collect 527K trajectories across multiple embodiments and diverse scenes. Beyond binary success rate, RoboSPA introduces diagnostic metrics for more detailed evaluation. Experiments on representative VLA models show that current systems still struggle with complex spatial relations, precise low-level execution, and memory-intensive planning. These results establish RoboSPA as a challenging diagnostic benchmark for developing more capable, reliable, and generalizable embodied agents. Our data and code are available at https://github.com/fanzhenxuan/RoboSPA.

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arXiv AI Papers

Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesis

This paper proposes AdaRoboVLG, a task-adaptive Vision-Language-Grasp (VLG) framework that supports generalizable grasp synthesis across different robotic hands. Unlike existing VLG methods that tightly couple foundation models with end-to-end grasp policies, AdaRoboVLG learns an efficient generalizable base policy that generates and evaluates physically feasible grasp candidates through explicit kinematic mapping and force-closure-based stability estimation, while offloading task-dependent understanding to specialized foundation-model modules. These modules provide composable priors that are integrated into the grasp synthesis process, enabling contextually adaptive grasp synthesis without retraining the underlying grasp policy. Through extensive simulation and real-world experiments, we demonstrate that (i) the base policy exhibits efficient learning and strong cross-hand generalization, (ii) the framework effectively incorporates spatial, cognitive, and temporal priors to address three representative grasping challenges without compromising grasp synthesis performance compared to state-of-the-art methods, and (iii) these priors can operate jointly to enable functional grasping in cluttered and dynamic environments. These results indicate that decoupling physical grasp synthesis from task-dependent understanding provides a scalable paradigm for robotic grasping, allowing future advances in foundation models to be directly translated into improved grasp capabilities without redesigning or retraining the underlying grasp policy. Supplementary videos are available at https://adarobovlg.github.io/

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arXiv AI Papers

IRWOZ 2.0: A Large Language Model-driven Dialogue Dataset for Industrial Robot Conversations

IRWOZ has improved industrial human-robot interaction (HRI) dialogue systems through domain-specific annotations. However, its initial version contains substantial noise in dialogue states and utterances, limiting state-tracking accuracy. We introduce IRWOZ 2.0, which addresses these limitations through large language model (LLM) enhanced generation (Mistral/Claude-3.5) and quality refinements. Our improved dataset expands to 390 dialogues across 4 industrial domains (Assembly, Delivery, Position, Relocation), featuring manual corrections and automated typo removal. Benchmark experiments on dialogue state tracking demonstrate significant improvements, with GPT-2's BLEU-4 score increasing from 0.1651 to 0.5604 compared to original IRWOZ. To support industrial HRI research, we publicly released IRWOZ 2.0 dataset at https://ieee-dataport.org/documents/irwoz-20-large-language-model-driven-dialogue-dataset-industrial-robot-conversations

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