Tootfinder

Nice overview of the role of #Nurse Scientists employed in #US #hospitals...

Despite their rebranding efforts, Facebook remains a deeply rotten company:
https://www.washingtonpost.com/investigations/2025/09/08/meta-research-child-safety-virtual-reality/
Vía Zamaan Qureshi:

There's something about the Lions House Allotments that always makes me think of hobbits.

Post Edited: Weddingplatz: Jetzt wird gefeiert! https://weddingweiser.de/weddingplatz-jetzt-wird-gefeiert/

#CarsAndCoffee starting off #MontereyCarWeek with our usual gathering at Seaside. My son brought his (recently acquired) 2019 GT3 here for the week, and I drove his matching guards red 1990 C4 that he’s owned for 18years now (same spec as the one on the cover of the Sun perf book I wro…

Die #Kernfusionskollektoranlage hat heute 0,974 kWh Energie eingefangen.
Gesamtleistung: 480 Wp
Ausrichtung: West
Anstellwinkel: ca. 50 Grad
Diese #Balkonsolaranlage wurde durch das Berliner SolarPLUS-Programm gefördert.
Mit Förderung sind noch…

A 15 second exposure of my field around sunset with the camera resting on a bucket trying to capture the fireflies. I'm going to try again when its darker; I guess it counts as #sliceoflife
#photo #photography

Eleven Theses on Technological Hype as Capital:
https://interregnum.ghost.io/eleven-theses-on-technological-hype-as-capital/

Eleven Theses on Technological Hype as Capital
Hype is a kind of currency in the tech world, and when so much of the market for innovation depends on speculation, all kinds of monsters appear. Vassilis Galanos theorises this hype as a form of capital.

I hadn't realised there was Salt, N and Pepa.
#TOTP

At some point NYC stops even offering your kids school options, which is pretty funny. Hopefully should make this year's lawsuits against them a breeze!

The hacking group responsible for recent attacks on M&S, Qantas and others has ramped up its efforts to phish companies across sectors.
https://www.computing.co.uk/news/2025/security/m-s-hackers-gear-up-new-attacks

M&S hackers gear up for new attacks, and RaaS provider continues cyber showdown
The hacking group responsible for recent attacks on M&S, Qantas and others has ramped up its efforts to phish companies across sectors.

Ik zat vanochtend net een halve poging te doen om dochterlief naar Linux te helpen. Haar leptop is stuk dus dit is een mooi moment voor verandering.
Maar eigenlijk weet ik niks van Linux. Net zo min als de dochter heb ik veel zin in systeembeheren.
Ik zou wel tips willen welke tweedehands laptop geschikt zou zijn voor een verse Linux-installatie waar een eh, normaal mens ook mee kan werken.
#linux

Monday jam: Floyd Lee | In Trouble Again | #blues

In Trouble Again by Floyd Lee & His Mean Blues Band
Listen now on your favorite streaming service. Powered by Songlink/Odesli, an on-demand, customizable smart link service to help you share songs, albums, podcasts and more.

A word or 300 about low efforts, work detachments, and how hobbies can make you feel better in the workplace.
Feel free to discuss.
#blogger

I've started a secret experiment
It's a one-off. No big picture. No 5-year plan. It's "secret" because I’m also learning to resist spilling everything for cheap dopamine hits (I am a sucker for "announcements").

A little scramble of egg, peas, broccolini, silver beet, cherry toms, spring onion scapes for breakfast. All #fromthegarden #retrosuburbia #permaculture

Wordle 1,542 3/6
⬜⬜⬜🟩⬜
⬜🟨⬜🟨🟨
🟩🟩🟩🟩🟩
sub par streak: 6
last 9: eagles: 1, birdies: 6, pars: 2
last 18: eagles: 1, birdies: 13, pars: 4
#Wordle #WordleResults #WordPuzzle

Paul Lim – an attempt at an obituary from a Brussels perspective. By Frank Schwalba-Hoth
https://europa.blog/en/paul-lim-an-attempt-at-an-obituary-from-a-brussels-perspective/

Paul Lim – an attempt at an obituary from a Brussels perspective - Europa Blog
38

LOL dafür dass sich Giovanni Di Lorenzo Italian Brainrot reinzieht!
https://youtu.be/kSH-u32DXwU

https://restofworld.org/2025/nepal-gen-z-protest/ The news from Nepal are worrisome. A corrupt government shouldn't be banning people from using Internet services without due process, but not been able to block a company if doesn't comply with the law because people could stat…

How a social media shutdown in Nepal triggered unrest and the prime minister’s resignation
In what has come to be known as the “Gen Z protest,” thousands of demonstrators took to the streets against corruption and a ban on Facebook, WhatsApp, and Instagram.

#pastpuzzle 90
🟩🟥🟥🟥 ( 348)
🟩🟥🟨🟥 ( 123)
🟩🟥🟩🟥 (-301)
🟩🟩🟩🟥 ( 4)
x/4 🟥
https://www.pastpuzzle.de

Relax and watch my photos of butterflies.
#slideshow

Replaced article(s) found for cs.RO. https://arxiv.org/list/cs.RO/new
[2/2]:
- Learning to Coordinate: Distributed Meta-Trajectory Optimization Via Differentiable ADMM-DDP
Bingheng Wang, Yichao Gao, Tianchen Sun, Lin Zhao

Those trumpets sound remarkably synthesised.
Almost... like... they're... not... plugged in?!
#TOTP #Sonia

The nyu #mychart #biometrics #amazon thing is so scummy. You show up for a doctor appt, you try to check in at a kiosk.. You go through a few screens, then it asks you to sign up with no …

“Naming things is hard”, zeggen ze.
Pff, amateurs.

@Zak@plasmatrap.com Hello metalhead-distrohopper. Welcome to Fediverse.

🌴 Commentary: Prepare to say a frond farewell to Los Angeles' palm trees
https://www.latimes.com/california/story/2025-08-10/prepare-to-say-farewell-to-los-angeles-palm-trees
🆓

Commentary: Prepare to say a frond farewell to Los Angeles’ palm trees
Palms are freeloader trees: They suck down water like camels, but give back barely enough leafiness to shade a Hula-Hoop.

Paul Lim – der Versuch eines Nachrufes aus Brüsseler Sicht. Von Frank Schwalba-Hoth
#EU

Paul Lim – der Versuch eines Nachrufes aus Brüsseler Sicht - Europa Blog
86

I think this is a good call!
”The presence of Expert Generalists crossing the competency boundaries can also increase knowledge transfer between competency groups, increasing everyone's sympathy for related domains. This mechanism also encourages specialists to explore the Expert Generalist skill for themselves.”
https://

Expert Generalists
Being an Expert Generalist should be treated as a first-class skill, one that can be assessed and taught.

Finland getting worst in education. Half of teachers have consider to change career. Maybe these two things are related, no?
#Finland

Tuesday's papers: Exhausted teachers, illegal speed cam detectors, and mushroom hunting
Newspaper Helsingin Sanomat sheds light on the struggles of teachers across Finland, highlighting heavy workloads, burnout, and insufficient support.

So we're doing an updated neuropsych for our younger kid in the spring, but we asked her therapist for a personal guess/opinion and she said [paraphrasing] "probably AuDHD." That would make us 2 for 2 - woo!
Probably all that Tylenol that my wife didn't take while pregnant, right Bobby Brainworms?

@FotoVorschlag
#FotoVorschlag⁩ 'Zäune' ⁨Dieser hübsche Zaun wurde in Wien fotografiert. Kunstschmiedearbeit.

Replaced article(s) found for cs.RO. https://arxiv.org/list/cs.RO/new
[1/2]:
- Controller Design and Implementation of a New Quadrotor Manipulation System
Ahmed Khalifa

I'd like to see what @… will think of this photo. This is me circa 2000 performing a Rock Bottom, The Rock's signature wrestling move, on one of my friends.
Back when we didn't take "Don't try this at home" too seriously.
#Wrestling

Paul Lim – une tentative de nécrologie vue par Bruxelles. Par Frank Schwalba-Hoth
#EU

Paul Lim – une tentative de nécrologie vue par Bruxelles - Europa Blog
53

Mrs F. has just pointed out today's date is 45²-3²-2² (ISO 8501 FTW).
I responded that in a few days it'll be:
(15×3)²-3²-3²
#Maths #Math #Geek

"run the government like a business," they said. everyone forgot to ask, "okay but WHICH business??"
https://newsie.social/@ProPublica/115168798837508804

So Grok is a nazi now?
Who would have thought?! GASP. There must have been some precautions in place!
#sarcasm #ai #grok #twitter

Crosslisted article(s) found for cs.RO. https://arxiv.org/list/cs.RO/new
[1/1]:
- The best approximation pair problem relative to two subsets in a normed space
Daniel Reem, Yair Censor

Wishing my wife good luck with that.
https://www.youtube.com/watch?v=BohXQF4dWT0

It's not a security alert, my dear Google. It's by design.
@…
#Proton #degoogleAdventures

Meh. For all the damage that Trump has done to the country - the FBI can get fucked. I will never shed a tear for them.

Robust Model Predictive Control Design for Autonomous Vehicles with Perception-based Observers
Nariman Niknejad, Gokul S. Sankar, Bahare Kiumarsi, Hamidreza Modares
https://arxiv.org/abs/2509.05201

Robust Model Predictive Control Design for Autonomous Vehicles with Perception-based Observers
This paper presents a robust model predictive control (MPC) framework that explicitly addresses the non-Gaussian noise inherent in deep learning-based perception modules used for state estimation. Recognizing that accurate uncertainty quantification of the perception module is essential for safe feedback control, our approach departs from the conventional assumption of zero-mean noise quantification of the perception error. Instead, it employs set-based state estimation with constrained zonotop…

As I move my data away from Alphabet (Google), I also delete accounts I no longer use. Here's what I've learned:
Creating an account and sharing your data is very easy.
Deleting an account and your data is sometimes impossible and usually pretty hard.
#degoogle #degoogleAdventures

We have raspberries growing. When we lived in Seattle we grew kale and picked wild blackberries. All were so much better than anything you get in a grocery store.
I don't eat a lot of fruit these days because its so disappointing to take a bite out of a bland or bitter berry from a plastic carton..
https://m…

I'm at a b-mitzvah and the DJ just started playing YMCA and all I can picture is Trump dancing to it.

Shared Autonomy through LLMs and Reinforcement Learning for Applications to Ship Hull Inspections
Cristiano Caissutti, Estelle Gerbier, Ehsan Khorrambakht, Paolo Marinelli, Andrea Munafo', Andrea Caiti
https://arxiv.org/abs/2509.05042

Shared Autonomy through LLMs and Reinforcement Learning for Applications to Ship Hull Inspections
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the interaction of three complementary approaches to advance shared autonomy in heterogeneous marine robotic fleets: (i) the integration of Large Language Models (LLMs) to facilitate intuitive high-level task specification and support hull inspection missions, (ii) the im…

The cargo bike came with one of those Pinhead wheel locks on the front wheel. I finally took it off (without damaging it) using this technique: https://www.youtube.com/watch?v=17p_FfK31ek
Not exactly the most secure mechanism! I've now replaced it with a quick release skewer.
What sh…

Pointing-Guided Target Estimation via Transformer-Based Attention
Luca M\"uller, Hassan Ali, Philipp Allgeuer, Luk\'a\v{s} Gajdo\v{s}ech, Stefan Wermter
https://arxiv.org/abs/2509.05031

Pointing-Guided Target Estimation via Transformer-Based Attention
Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essential in Human-Robot Interaction (HRI), where robots should be able to predict human intent and anticipate appropriate responses. In this work, we propose the Multi-Modality Inter-TransFormer (MM-ITF), a modular architecture to predict objects in a controlled tabletop scenario with the NICOL robot, where humans indicate…

omg how come no one TOLD me that there's a #FuckEricAdams subreddit?? https://www.reddit.com/r/FuckEricAdams/

Jesus, we are such a broken country. https://www.newsweek.com/police-believe-cdc-shooter-thought-covid-vaccine-made-him-sick-report-2111117

FLOWER: Democratizing Generalist Robot Policies with Efficient Vision-Language-Action Flow Policies
Moritz Reuss, Hongyi Zhou, Marcel R\"uhle, \"Omer Erdin\c{c} Ya\u{g}murlu, Fabian Otto, Rudolf Lioutikov
https://arxiv.org/abs/2509.04996

FLOWER: Democratizing Generalist Robot Policies with Efficient Vision-Language-Action Flow Policies
Developing efficient Vision-Language-Action (VLA) policies is crucial for practical robotics deployment, yet current approaches face prohibitive computational costs and resource requirements. Existing diffusion-based VLA policies require multi-billion-parameter models and massive datasets to achieve strong performance. We tackle this efficiency challenge with two contributions: intermediate-modality fusion, which reallocates capacity to the diffusion head by pruning up to $50\%$ of LLM layers, …

I thought at this point in my life I would live somewhere with better bike infrastructure.

Lyapunov-Based Deep Learning Control for Robots with Unknown Jacobian
Koji Matsuno, Chien Chern Cheah
https://arxiv.org/abs/2509.04984 https://arxiv.org/pd…

Lyapunov-Based Deep Learning Control for Robots with Unknown Jacobian
Deep learning, with its exceptional learning capabilities and flexibility, has been widely applied in various applications. However, its black-box nature poses a significant challenge in real-time robotic applications, particularly in robot control, where trustworthiness and robustness are critical in ensuring safety. In robot motion control, it is essential to analyze and ensure system stability, necessitating the establishment of methodologies that address this need. This paper aims to develo…

I've heard "bullshit generator" plenty, but I also really like "it's doing improv".
https://wandering.shop/@janellecshane/114994047649930977

Janelle Shane (@janellecshane@wandering.shop)
Attached: 1 image New AIWeirdness post: ChatGPT will apologize for anything, including stuff that didn't happen. It's not reflecting on stuff it did wrong, it's improv. https://www.aiweirdness.com/chatgpt-will-apologize-for-anything/

People have lots of reasons for loving human languages. Some find that they sound romantic, others love the ways that they can be patterned into poetry or song, and still others find them fascinating in the ways that they morph and change over time.
Me? The thing I love most about the English language is how easy it is to accidentally write "pubic" when you meant "public", and vice-versa.

DeGuV: Depth-Guided Visual Reinforcement Learning for Generalization and Interpretability in Manipulation
Tien Pham, Xinyun Chi, Khang Nguyen, Manfred Huber, Angelo Cangelosi
https://arxiv.org/abs/2509.04970

DeGuV: Depth-Guided Visual Reinforcement Learning for Generalization and Interpretability in Manipulation
Reinforcement learning (RL) agents can learn to solve complex tasks from visual inputs, but generalizing these learned skills to new environments remains a major challenge in RL application, especially robotics. While data augmentation can improve generalization, it often compromises sample efficiency and training stability. This paper introduces DeGuV, an RL framework that enhances both generalization and sample efficiency. In specific, we leverage a learnable masker network that produces a ma…

Do transit planners realize they're helping the anti-Mamdani frenzy by publishing their pieces? Of *course* you're getting attention for your fares-are-good-actually writing now, despite the fact that no one cares about this normally - because billionaire media wants whatever they can use against Mamdani.
(As an aside, you also sound incredibly obnoxious when voters are like "we want fast & free buses" and you respond with "well actually..")

Jesse Raub (@jesseraub.bsky.social)
damn, it's also like he's already advocating for all of those things as part of his proposal. it's like maybe you didn't even read what his free bus fare policy included

Them: "check out this asshole legislator getting heckled!"
Me: "Ooh that's a nice protected bike lane with.. is that a bus island? In-lane stops? Sweet!"
https://fed.brid.gy/r/https://bsky.app/profile…

Ground-Aware Octree-A* Hybrid Path Planning for Memory-Efficient 3D Navigation of Ground Vehicles
Byeong-Il Ham, Hyun-Bin Kim, Kyung-Soo Kim
https://arxiv.org/abs/2509.04950 htt…

Ground-Aware Octree-A* Hybrid Path Planning for Memory-Efficient 3D Navigation of Ground Vehicles
In this paper, we propose a 3D path planning method that integrates the A* algorithm with the octree structure. Unmanned Ground Vehicles (UGVs) and legged robots have been extensively studied, enabling locomotion across a variety of terrains. Advances in mobility have enabled obstacles to be regarded not only as hindrances to be avoided, but also as navigational aids when beneficial. A modified 3D A* algorithm generates an optimal path by leveraging obstacles during the planning process. By inc…

"if donald trump is still president a year from now, LA will still be dealing with troops periodically entering public spaces and generally just shitting on everything for a day, and by then it will basically just be a habit for people to screen their social media and groupchats for advance warning of a need to shelter in place until the moment passes. it’s going to get even less effective for them to be here the longer they keep doing it. "

Towards an Accurate and Effective Robot Vision (The Problem of Topological Localization for Mobile Robots)
Emanuela Boros
https://arxiv.org/abs/2509.04948 https://

Towards an Accurate and Effective Robot Vision (The Problem of Topological Localization for Mobile Robots)
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity, sensor noise, and illumination variations. This work addresses topological localization in an office environment using only images acquired with a perspective color camera mounted on a robot platform, without relying on temporal continuity of image sequences…

I also believe that those who disrespect pizza do not deserve to live! https://fed.brid.gy/r/https://bsky.app/profile/did:plc:hf7ezrajxadu7v3tzcyij424/post/3ltahk7md4k2d

My 8yo crashed the HOA meeting and took notes for us.
I'm not sure if that's a parenting win or fail (raising NIMBYs?)

A Knowledge-Driven Diffusion Policy for End-to-End Autonomous Driving Based on Expert Routing
Chengkai Xu, Jiaqi Liu, Yicheng Guo, Peng Hang, Jian Sun
https://arxiv.org/abs/2509.04853

A Knowledge-Driven Diffusion Policy for End-to-End Autonomous Driving Based on Expert Routing
End-to-end autonomous driving remains constrained by the need to generate multi-modal actions, maintain temporal stability, and generalize across diverse scenarios. Existing methods often collapse multi-modality, struggle with long-horizon consistency, or lack modular adaptability. This paper presents KDP, a knowledge-driven diffusion policy that integrates generative diffusion modeling with a sparse mixture-of-experts routing mechanism. The diffusion component generates temporally coherent and…

It's going to be extremely funny when Trump chokes to death on a cheeseburger and the whole GOP regime collapses because absolutely no one likes JD Vance, not even MAGA.

COMMET: A System for Human-Induced Conflicts in Mobile Manipulation of Everyday Tasks
Dongping Li, Shaoting Peng, John Pohovey, Katherine Rose Driggs-Campbell
https://arxiv.org/abs/2509.04836

COMMET: A System for Human-Induced Conflicts in Mobile Manipulation of Everyday Tasks
Continuous advancements in robotics and AI are driving the integration of robots from industry into everyday environments. However, dynamic and unpredictable human activities in daily lives would directly or indirectly conflict with robot actions. Besides, due to the social attributes of such human-induced conflicts, solutions are not always unique and depend highly on the user's personal preferences. To address these challenges and facilitate the development of household robots, we propose COM…

Um, CNN, the whole "secret" part of secret police is that they wear masks and operate outside of the law. There's no "but" there - they are secret police. Warrantless, going outside the purview of their mission by disappearing US citizens, and so on, it's pretty clear what they are. #FuckICE
Imagine being naive enough to write "apparently to protect age…

southpaw (@nycsouthpaw.bsky.social)
This is not an apt moment to use the word "but." https://www.cnn.com/2025/07/09/politics/ice-cbp-police-los-angeles-immigration

I would like a poster of this on my wall. #ACAB

Børge (@forteller@tutoteket.no)
Attached: 1 image Chat, is this solarpunk? #LAriots #solarpunk #bike #BikeTooter #fuckice

Imitation Learning Based on Disentangled Representation Learning of Behavioral Characteristics
Ryoga Oishi, Sho Sakaino, Toshiaki Tsuji
https://arxiv.org/abs/2509.04737 https://…

Imitation Learning Based on Disentangled Representation Learning of Behavioral Characteristics
In the field of robot learning, coordinating robot actions through language instructions is becoming increasingly feasible. However, adapting actions to human instructions remains challenging, as such instructions are often qualitative and require exploring behaviors that satisfy varying conditions. This paper proposes a motion generation model that adapts robot actions in response to modifier directives human instructions imposing behavioral conditions during task execution. The proposed metho…

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames
https://arxiv.org/abs/2509.04722

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on reduced-order models -- enabling versatile step planning and incorporating arm and torso dynamics to better stabilize the walking. At the high level, we use the step-to-step dynamics of the ALIP model to simultaneously optimize over step periods, step lengths, and…

Bootstrapping Reinforcement Learning with Sub-optimal Policies for Autonomous Driving
Zhihao Zhang, Chengyang Peng, Ekim Yurtsever, Keith A. Redmill
https://arxiv.org/abs/2509.04712

Bootstrapping Reinforcement Learning with Sub-optimal Policies for Autonomous Driving
Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. However, RL agents often face training challenges in sample efficiency and effective exploration, making it difficult to discover an optimal driving strategy. To address these issues, we propose guiding the RL driving agent with a demonstration policy that need not be a highly optimized or expert-level controller. Specifi…

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision
Manish Kansana, Sindhuja Penchala, Shahram Rahimi, Noorbakhsh Amiri Golilarz
https://arxiv.org/abs/2509.04658

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision
Multimodal surface material classification plays a critical role in advancing tactile perception for robotic manipulation and interaction. In this paper, we present Surformer v2, an enhanced multi-modal classification architecture designed to integrate visual and tactile sensory streams through a late(decision level) fusion mechanism. Building on our earlier Surformer v1 framework [1], which employed handcrafted feature extraction followed by mid-level fusion architecture with multi-head cross-…

Replaced article(s) found for cs.RO. https://arxiv.org/list/cs.RO/new
[3/3]:
- Conversational Code Generation: a Case Study of Designing a Dialogue System for Generating Drivin...
Rimvydas Rubavicius, Antonio Valerio Miceli-Barone, Alex Lascarides, Subramanian Ramamoorthy

Replaced article(s) found for cs.RO. https://arxiv.org/list/cs.RO/new
[2/3]:
- SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
Arachchige, Chen, Jung, Shin, Bansal, Barroso, He, Lin, Joffe, Kousik, Xu

Replaced article(s) found for cs.RO. https://arxiv.org/list/cs.RO/new
[1/3]:
- Stochastic Adaptive Estimation in Polynomial Curvature Shape State Space for Continuum Robots
Guoqing Zhang, Long Wang

Crosslisted article(s) found for cs.RO. https://arxiv.org/list/cs.RO/new
[1/1]:
- Anticipatory Fall Detection in Humans with Hybrid Directed Graph Neural Networks and Long Short-T...
Younggeol Cho, Gokhan Solak, Olivia Nocentini, Marta Lorenzini, Andrea Fortuna, Arash Ajoudani

Deep Reactive Policy: Learning Reactive Manipulator Motion Planning for Dynamic Environments
Jiahui Yang, Jason Jingzhou Liu, Yulong Li, Youssef Khaky, Kenneth Shaw, Deepak Pathak
https://arxiv.org/abs/2509.06953

Deep Reactive Policy: Learning Reactive Manipulator Motion Planning for Dynamic Environments
Generating collision-free motion in dynamic, partially observable environments is a fundamental challenge for robotic manipulators. Classical motion planners can compute globally optimal trajectories but require full environment knowledge and are typically too slow for dynamic scenes. Neural motion policies offer a promising alternative by operating in closed-loop directly on raw sensory inputs but often struggle to generalize in complex or dynamic settings. We propose Deep Reactive Policy (DRP…

F1: A Vision-Language-Action Model Bridging Understanding and Generation to Actions
Qi Lv, Weijie Kong, Hao Li, Jia Zeng, Zherui Qiu, Delin Qu, Haoming Song, Qizhi Chen, Xiang Deng, Jiangmiao Pang
https://arxiv.org/abs/2509.06951

F1: A Vision-Language-Action Model Bridging Understanding and Generation to Actions
Executing language-conditioned tasks in dynamic visual environments remains a central challenge in embodied AI. Existing Vision-Language-Action (VLA) models predominantly adopt reactive state-to-action mappings, often leading to short-sighted behaviors and poor robustness in dynamic scenes. In this paper, we introduce F1, a pretrained VLA framework which integrates the visual foresight generation into decision-making pipeline. F1 adopts a Mixture-of-Transformer architecture with dedicated modul…

LLaDA-VLA: Vision Language Diffusion Action Models
Yuqing Wen, Hebei Li, Kefan Gu, Yucheng Zhao, Tiancai Wang, Xiaoyan Sun
https://arxiv.org/abs/2509.06932 https://

LLaDA-VLA: Vision Language Diffusion Action Models
The rapid progress of auto-regressive vision-language models (VLMs) has inspired growing interest in vision-language-action models (VLA) for robotic manipulation. Recently, masked diffusion models, a paradigm distinct from autoregressive models, have begun to demonstrate competitive performance in text generation and multimodal applications, leading to the development of a series of diffusion-based VLMs (d-VLMs). However, leveraging such models for robot policy learning remains largely unexplor…

Dynamic Modeling and Efficient Data-Driven Optimal Control for Micro Autonomous Surface Vehicles
Zhiheng Chen, Wei Wang
https://arxiv.org/abs/2509.06882 https://

Dynamic Modeling and Efficient Data-Driven Optimal Control for Micro Autonomous Surface Vehicles
Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly challenging, mainly due to the complexity of modeling nonlinear hydrodynamic forces and the increased sensitivity to self-motion effects and environmental disturbances, including waves and boundary effects in confined spaces. This paper presents a physics-driven dy…

CRISP - Compliant ROS2 Controllers for Learning-Based Manipulation Policies and Teleoperation
Daniel San Jos\'e Pro, Oliver Hausd\"orfer, Ralf R\"omer, Maximilian D\"osch, Martin Schuck, Angela P. Sch\"ollig
https://arxiv.org/abs/2509.06819

CRISP - Compliant ROS2 Controllers for Learning-Based Manipulation Policies and Teleoperation
Learning-based controllers, such as diffusion policies and vision-language action models, often generate low-frequency or discontinuous robot state changes. Achieving smooth reference tracking requires a low-level controller that converts high-level targets commands into joint torques, enabling compliant behavior during contact interactions. We present CRISP, a lightweight C++ implementation of compliant Cartesian and joint-space controllers for the ROS2 control standard, designed for seamless …

Embodied Hazard Mitigation using Vision-Language Models for Autonomous Mobile Robots
Oluwadamilola Sotomi, Devika Kodi, Kiruthiga Chandra Shekar, Aliasghar Arab
https://arxiv.org/abs/2509.06768

Embodied Hazard Mitigation using Vision-Language Models for Autonomous Mobile Robots
Autonomous robots operating in dynamic environments should identify and report anomalies. Embodying proactive mitigation improves safety and operational continuity. This paper presents a multimodal anomaly detection and mitigation system that integrates vision-language models and large language models to identify and report hazardous situations and conflicts in real-time. The proposed system enables robots to perceive, interpret, report, and if possible respond to urban and environmental anomal…

Safe Robust Predictive Control-based Motion Planning of Automated Surface Vessels in Inland Waterways
Sajad Ahmadi, Hossein Nejatbakhsh Esfahani, Javad Mohammadpour Velni
https://arxiv.org/abs/2509.06687

Safe Robust Predictive Control-based Motion Planning of Automated Surface Vessels in Inland Waterways
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels, higher traffic density, and hydrodynamic disturbances. Existing methods for autonomous vessel navigation often lack the robustness or precision required for such environments. This paper presents a new motion planning approach for Automated Surface Vessels (ASV…

An Adaptive Coverage Control Approach for Multiple Autonomous Off-road Vehicles in Dynamic Agricultural Fields
Sajad Ahmadi, Mohammadreza Davoodi, Javad Mohammadpour Velni
https://arxiv.org/abs/2509.06682

An Adaptive Coverage Control Approach for Multiple Autonomous Off-road Vehicles in Dynamic Agricultural Fields
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static conditions, making them unsuitable for real-world farming scenarios where obstacles, such as moving machinery and uneven terrains, create continuous challenges. To address this, we propose a real-time path planning framework that integrates Unmanned Aerial Veh…

T-araVLN: Translator for Agricultural Robotic Agents on Vision-and-Language Navigation
Xiaobei Zhao, Xingqi Lyu, Xiang Li
https://arxiv.org/abs/2509.06644 https://

T-araVLN: Translator for Agricultural Robotic Agents on Vision-and-Language Navigation
Agricultural robotic agents have been becoming powerful helpers in a wide range of agricultural tasks, nevertheless, still heavily rely on manual operation or untransportable railway for movement. The AgriVLN method and the A2A benchmark pioneeringly extend Vision-and-Language Navigation (VLN) to the agricultural domain, enabling agents navigate to the target position following the natural language instructions. AgriVLN effectively understands the simple instructions, however, often misundersta…

LiHRA: A LiDAR-Based HRI Dataset for Automated Risk Monitoring Methods
Frederik Plahl, Georgios Katranis, Ilshat Mamaev, Andrey Morozov
https://arxiv.org/abs/2509.06597 https://…

LiHRA: A LiDAR-Based HRI Dataset for Automated Risk Monitoring Methods
We present LiHRA, a novel dataset designed to facilitate the development of automated, learning-based, or classical risk monitoring (RM) methods for Human-Robot Interaction (HRI) scenarios. The growing prevalence of collaborative robots in industrial environments has increased the need for reliable safety systems. However, the lack of high-quality datasets that capture realistic human-robot interactions, including potentially dangerous events, slows development. LiHRA addresses this challenge b…

A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modeling
Meher V. R. Malladi, Tiziano Guadagnino, Luca Lobefaro, Cyrill Stachniss
https://arxiv.org/abs/2509.06593

A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modeling
Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor-based odometry approaches should be robust across sensor types and deployable in different target domains, from solid-state LiDARs mounted on cars in urban-driving scenarios to spinning LiDARs on handheld packages used in unstructured natural environments. In this paper, we propose a robust LiDAR-inertial odometry sy…

Co-Located VR with Hybrid SLAM-based HMD Tracking and Motion Capture Synchronization
Carlos A. Pinheiro de Sousa, Niklas Gr\"one, Mathias G\"unther, Oliver Deussen
https://arxiv.org/abs/2509.06582

Co-Located VR with Hybrid SLAM-based HMD Tracking and Motion Capture Synchronization
We introduce a multi-user VR co-location framework that synchronizes users within a shared virtual environment aligned to physical space. Our approach combines a motion capture system with SLAM-based inside-out tracking to deliver smooth, high-framerate, low-latency performance. Previous methods either rely on continuous external tracking, which introduces latency and jitter, or on one-time calibration, which cannot correct drift over time. In contrast, our approach combines the responsiveness …

Event Driven CBBA with Reduced Communication
Vinita Sao, Tu Dac Ho, Sujoy Bhore, P. B. Sujit
https://arxiv.org/abs/2509.06481 https://arxiv.org/pdf/2509.06…

Event Driven CBBA with Reduced Communication
In various scenarios such as multi-drone surveillance and search-and-rescue operations, deploying multiple robots is essential to accomplish multiple tasks at once. Due to the limited communication range of these vehicles, a decentralised task allocation algorithm is crucial for effective task distribution among robots. The consensus-based bundle algorithm (CBBA) has been promising for multi-robot operation, offering theoretical guarantees. However, CBBA demands continuous communication, leadin…

Interactive Shaping of Granular Media Using Reinforcement Learning
Benedikt Kreis, Malte Mosbach, Anny Ripke, Muhammad Ehsan Ullah, Sven Behnke, Maren Bennewitz
https://arxiv.org/abs/2509.06469

Interactive Shaping of Granular Media Using Reinforcement Learning
Autonomous manipulation of granular media, such as sand, is crucial for applications in construction, excavation, and additive manufacturing. However, shaping granular materials presents unique challenges due to their high-dimensional configuration space and complex dynamics, where traditional rule-based approaches struggle without extensive engineering efforts. Reinforcement learning (RL) offers a promising alternative by enabling agents to learn adaptive manipulation strategies through trial …

Real-time Photorealistic Mapping for Situational Awareness in Robot Teleoperation
Ian Page (GIPSA-lab), Pierre Susbielle (GIPSA-lab), Olivier Aycard (GIPSA-lab), Pierre-Brice Wieber
https://arxiv.org/abs/2509.06433

Real-time Photorealistic Mapping for Situational Awareness in Robot Teleoperation
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as it enables the teleoperator to progressively explore the site from multiple perspectives. However, traditional online map-based teleoperation systems struggle to generate visually accurate 3D maps in real-time due to the high computational cost involved, lead…

Safety Meets Speed: Accelerated Neural MPC with Safety Guarantees and No Retraining
Kaikai Wang, Tianxun Li, Liang Xu, Qinglei Hu, Keyou You
https://arxiv.org/abs/2509.06404 htt…

Safety Meets Speed: Accelerated Neural MPC with Safety Guarantees and No Retraining
While Model Predictive Control (MPC) enforces safety via constraints, its real-time execution can exceed embedded compute budgets. We propose a Barrier-integrated Adaptive Neural Model Predictive Control (BAN-MPC) framework that synergizes neural networks' fast computation with MPC's constraint-handling capability. To ensure strict safety, we replace traditional Euclidean distance with Control Barrier Functions (CBFs) for collision avoidance. We integrate an offline-learned neural value functio…

Adaptive Evolution Factor Risk Ellipse Framework for Reliable and Safe Autonomous Driving
Fujiang Yuan, Zhen Tian, Yangfan He, Guojian Zou, Chunhong Yuan, Yanhong Peng, Zhihao Lin
https://arxiv.org/abs/2509.06375

Adaptive Evolution Factor Risk Ellipse Framework for Reliable and Safe Autonomous Driving
In recent years, ensuring safety, efficiency, and comfort in interactive autonomous driving has become a critical challenge. Traditional model-based techniques, such as game-theoretic methods and robust control, are often overly conservative or computationally intensive. Conversely, learning-based approaches typically require extensive training data and frequently exhibit limited interpretability and generalizability. Simpler strategies, such as Risk Potential Fields (RPF), provide lightweight …

Towards bridging the gap: Systematic sim-to-real transfer for diverse legged robots
Filip Bjelonic, Fabian Tischhauser, Marco Hutter
https://arxiv.org/abs/2509.06342 https://

Towards bridging the gap: Systematic sim-to-real transfer for diverse legged robots
Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect actuator-specific energy losses or depend on complex, hand-tuned reward formulations. We propose a framework that integrates sim-to-real reinforcement learning with a physics-grounded energy model for permanent magnet synchronous motors. The framework requires a minimal para…

Learning to Walk with Less: a Dyna-Style Approach to Quadrupedal Locomotion
Francisco Affonso, Felipe Andrade G. Tommaselli, Juliano Negri, Vivian S. Medeiros, Mateus V. Gasparino, Girish Chowdhary, Marcelo Becker
https://arxiv.org/abs/2509.06296

Learning to Walk with Less: a Dyna-Style Approach to Quadrupedal Locomotion
Traditional RL-based locomotion controllers often suffer from low data efficiency, requiring extensive interaction to achieve robust performance. We present a model-based reinforcement learning (MBRL) framework that improves sample efficiency for quadrupedal locomotion by appending synthetic data to the end of standard rollouts in PPO-based controllers, following the Dyna-Style paradigm. A predictive model, trained alongside the policy, generates short-horizon synthetic transitions that are gra…

DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
Xiangcheng Hu, Xieyuanli Chen, Mingkai Jia, Jin Wu, Ping Tan, Steven L. Waslander
https://arxiv.org/abs/2509.06285

DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
LiDAR point cloud registration is fundamental to robotic perception and navigation. However, in geometrically degenerate or narrow environments, registration problems become ill-conditioned, leading to unstable solutions and degraded accuracy. While existing approaches attempt to handle these issues, they fail to address the core challenge: accurately detection, interpret, and resolve this ill-conditioning, leading to missed detections or corrupted solutions. In this study, we introduce DCReg, …

O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation
Tongxuan Tian, Xuhui Kang, Yen-Ling Kuo
https://arxiv.org/abs/2509.06233 ht…

O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation
Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance, overlooking the fact that most real-world interactions involve relationships between pairs of objects. In this work, we address the challenge of object-to-object affordance grounding under limited data contraints. Inspired by recent advances in few-shot lear…

Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control
Jun Yamada, Adithyavairavan Murali, Ajay Mandlekar, Clemens Eppner, Ingmar Posner, Balakumar Sundaralingam
https://arxiv.org/abs/2509.06201

Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control
Grasping of diverse objects in unstructured environments remains a significant challenge. Open-loop grasping methods, effective in controlled settings, struggle in cluttered environments. Grasp prediction errors and object pose changes during grasping are the main causes of failure. In contrast, closed-loop methods address these challenges in simplified settings (e.g., single object on a table) on a limited set of objects, with no path to generalization. We propose Grasp-MPC, a closed-loop 6-Do…

Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen)
Yifei Ren, Edward Johns
https://arxiv.org/abs/2509.06191 https://

Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen)
Recent 3D generative models, which are capable of generating full object shapes from just a few images, now open up new opportunities in robotics. In this work, we show that 3D generative models can be used to augment a dataset from a single real-world demonstration, after which an omnidirectional policy can be learned within this imagined dataset. We found that this enables a robot to perform a task when initialised from states very far from those observed during the demonstration, including s…