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1,589 papers
Flow-based policies such as $\pi_0$ are trained on a fixed set of embodiments, and transferring them to new ones is an open problem. To adapt a frozen $\pi_0$ to a new embodiment without additional demonstrations or parameter updates, we train a lightweight embodiment classifier to distinguish successful action chunks...
RePlanMem-VLA (Replanning-Guided Keyframe Memory for VLA), which turns a policy's own plan revisions into an online memory-write signal for controlling what a VLA remembers, is introduced.
GPT-6-Astra demonstrates a level of competence in robotic manipulation and navigation that challenges the conventional paradigm of building specialized models for individual tasks and embodiments. In this report, we ask not only how capable GPT-6-Astra is, but what its capabilities imply for the field. First, we probe...
Cage-based deformation (CBD) parametrises 3D geometry through a small set of control handles, effectively enabling a variety of tasks from animation and interactive modelling to tool-based co-design, neural deformation transfer, and aerodynamic shape optimization. Many optimization approaches relying on CBD employ regu...
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ARMOR achieves state-of-the-art performance by improving over the previous approaches by improving over the previous approaches by up to 30% on failure detection rate and up to 100% in reasoning measured through LLM fuzzy match score, demonstrating robustness to heterogeneous supervision and open-ended reasoning beyond...
We introduce REKI, a 2.4B vision-language-action model (VLA) pretrained exclusively on public data that sets a new Pareto frontier between performance and model size: on LIBERO-Plus, RoboTwin Clean2Rand and RoboCasa365, it is outperformed only by models about twice its size. REKI consists of a vision-language model (VL...
This work introduces a policy-aligned predictive verifier (PAV) that anticipates the consequences of candidate action prefixes and evaluates their compatibility with successful continuation before execution, and combines trajectory-level survival supervision with a localization prior that preserves useful behavior with...
A-SLS, a learning-aware robust adaptive model predictive control (RAMPC) framework based on system-level synthesis that forecasts future parameter uncertainty and preserves correlations between process disturbances, parameter error, and estimate updates to construct tight, guaranteed reachable sets that account for fut...
Overall, this work lays out an initial phenomenology of realized geometry in VLA policies and demonstrates that a concept's shape carries as much importance as its readability.
Close forms are given for the quantities that bound performance before any policy is chosen, and each is validated by Monte Carlo to argue such ceilings should be computed before any learning experiment and quoted alongside every result.
It is shown that coarse hazard recognition does not imply reliable fine-grained defensive-driving reasoning and motivate geographically diverse safety evaluation, and all models show weak latent-hazard anticipation and near-zero self-reported trap recognition.
Evaluation of VOiLA on three benchmark problems indicates that VOiLA achieves equal or better performance than current reinforcement learning methods for POMDPs, while using less than 10% of the training data, and generalizes much better to unseen environment configurations.
A Blog post by Ai2 on Hugging Face
A new system identifies and corrects unreliable object descriptions stored in a robot’s memory, improving the robot’s ability to interact with its environment.
Discover Gemini 4 Argon for robotics: leading the ERQA benchmark with physical reasoning, zero-shot control, Real2Sim, and agentic workflows.
Robots are getting smarter, but how can their hardware match that growth? New Microsoft Research findings show that moving AI inference beyond the robot can improve task success, boost efficiency, and support more advanced physical AI workloads. The post Offloaded inference for real-world physical AI robotics appeared first on Microsoft Research.
A Blog post by Amazon on Hugging Face
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