Tootfinder

EC-Flow: Enabling Versatile Robotic Manipulation from Action-Unlabeled Videos via Embodiment-Centric Flow
Yixiang Chen, Peiyan Li, Yan Huang, Jiabing Yang, Kehan Chen, Liang Wang
https://arxiv.org/abs/2507.06224

EC-Flow: Enabling Versatile Robotic Manipulation from Action-Unlabeled Videos via Embodiment-Centric Flow
Current language-guided robotic manipulation systems often require low-level action-labeled datasets for imitation learning. While object-centric flow prediction methods mitigate this issue, they remain limited to scenarios involving rigid objects with clear displacement and minimal occlusion. In this work, we present Embodiment-Centric Flow (EC-Flow), a framework that directly learns manipulation from action-unlabeled videos by predicting embodiment-centric flow. Our key insight is that incorp…

"I am an embodiment journeying towards belief. Faith seeking greater confidence. That is what being a Christian means to me. It may well be the work of a lifetime."
—Ian Barclay ’24 M.A.R. writing in the new issue of our journal, Reflections https://…

america-chan

VIKI-R: Coordinating Embodied Multi-Agent Cooperation via Reinforcement Learning
Li Kang, Xiufeng Song, Heng Zhou, Yiran Qin, Jie Yang, Xiaohong Liu, Philip Torr, Lei Bai, Zhenfei Yin
https://arxiv.org/abs/2506.09049

VIKI-R: Coordinating Embodied Multi-Agent Cooperation via Reinforcement Learning
Coordinating multiple embodied agents in dynamic environments remains a core challenge in artificial intelligence, requiring both perception-driven reasoning and scalable cooperation strategies. While recent works have leveraged large language models (LLMs) for multi-agent planning, a few have begun to explore vision-language models (VLMs) for visual reasoning. However, these VLM-based approaches remain limited in their support for diverse embodiment types. In this work, we introduce VIKI-Bench…

3DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Model
Hongyan Zhi, Peihao Chen, Siyuan Zhou, Yubo Dong, Quanxi Wu, Lei Han, Mingkui Tan
https://arxiv.org/abs/2506.06199

3DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Model
Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching robots manipulation skills. Current robot datasets often record robot action in different action spaces within a simple scene. This hinders the robot to learn a unified and robust action representation for different robots within diverse scenes. Observing how …

To Embody or Not: The Effect Of Embodiment On User Perception Of LLM-based Conversational Agents
Kyra Wang, Boon-Kiat Quek, Jessica Goh, Dorien Herremans
https://arxiv.org/abs/2506.02514

To Embody or Not: The Effect Of Embodiment On User Perception Of LLM-based Conversational Agents
Embodiment in conversational agents (CAs) refers to the physical or visual representation of these agents, which can significantly influence user perception and interaction. Limited work has been done examining the effect of embodiment on the perception of CAs utilizing modern large language models (LLMs) in non-hierarchical cooperative tasks, a common use case of CAs as more powerful models become widely available for general use. To bridge this research gap, we conducted a mixed-methods withi…

Is Diversity All You Need for Scalable Robotic Manipulation?
Modi Shi, Li Chen, Jin Chen, Yuxiang Lu, Chiming Liu, Guanghui Ren, Ping Luo, Di Huang, Maoqing Yao, Hongyang Li
https://arxiv.org/abs/2507.06219

Is Diversity All You Need for Scalable Robotic Manipulation?
Data scaling has driven remarkable success in foundation models for Natural Language Processing (NLP) and Computer Vision (CV), yet the principles of effective data scaling in robotic manipulation remain insufficiently understood. In this work, we investigate the nuanced role of data diversity in robot learning by examining three critical dimensions-task (what to do), embodiment (which robot to use), and expert (who demonstrates)-challenging the conventional intuition of "more diverse is better…

A Survey on Methodological Approaches to Collaborative Embodiment in Virtual Reality
Hongyu Zhou, Yihao Dong, Masahiko Inami, Zhanna Sarsenbayeva, Anusha Withana
https://arxiv.org/abs/2507.18877

A Survey on Methodological Approaches to Collaborative Embodiment in Virtual Reality
The application and implementation of collaborative embodiment in virtual reality (VR) are a critical aspect of the computer science landscape, aiming to enhance multi-user interaction and teamwork in immersive environments. A notable and enduring area of collaborative embodiment research focuses on approaches that enable multiple users to share control, interact, and investigate scenarios involving supernumerary arms in virtual spaces. In this survey, we will present an extensive overview of t…

I think we will soon see an AlphaGo moment somewhere in embodiment. Maybe in robot football?
pi_0 is the Atari moment: https://www.physicalintelligence.company/blog/pi0 We now know that training at scale works and generalizes remarkably well.
This is the trigge…

Our First Generalist Policy
Our first generalist policy, π0, a prototype model that combines large-scale multi-task and multi-robot data collection with a new network architecture to enable the most capable and dexterous generalist robot policy to date.

NoticeLight: Embracing Socio-Technical Asymmetry through Tangible Peripheral Robotic Embodiment in Hybrid Collaboration
Marie Altmann, Kimberly Hegemann, Ali Askari, Vineetha Rallabandi, Max Pascher, Jens Gerken
https://arxiv.org/abs/2506.22125

NoticeLight: Embracing Socio-Technical Asymmetry through Tangible Peripheral Robotic Embodiment in Hybrid Collaboration
Hybrid collaboration has become a fixture in modern workplaces, yet it introduces persistent socio-technical asymmetries-especially disadvantaging remote participants, who struggle with presence disparity, reduced visibility, and limited non-verbal communication. Traditional solutions often seek to erase these asymmetries, but recent research suggests embracing them as productive design constraints. In this context, we introduce NoticeLight: a tangible, peripheral robotic embodiment designed to…

#SlamRadio - 646 - Daryl Stay
https://on.soundcloud.com/kzFNChYGxTHrNeS22E
> UK-based artist Daryl Stay is the living embodiment of Acid House. A fan of electronic music…

Happy Friday! Anyone looking for a solid thrash/death recommendation, this is proving opulently adequate
https://blabbermouth.net/reviews/death-etiquette

Death Etiquette
Going righteously berserk at the exact point where thrash and death metal meet, ATOMIC WITCH are the living embodiment of face-ripping metal insanity. The band's debut album "Crypt of Sleepless Malice" snuck out in 2022, causing mild ripples of positive disgust among those in the know. Three years o...

@… once you understand the dissonance of https://www.rollingstone.com/politics/poli…

This https://arxiv.org/abs/2503.08570 has been replaced.
initial toot: https://mastoxiv.page/@a…

Kramers nodal lines in intercalated TaS$_2$ superconductors
Kramers degeneracy is one fundamental embodiment of the quantum mechanical nature of particles with half-integer spin under time reversal symmetry. Under the chiral and noncentrosymmetric achiral crystalline symmetries, Kramers degeneracy emerges respectively as topological quasiparticles of Weyl fermions and Kramers nodal lines (KNLs), anchoring the Berry phase-related physics of electrons. However, an experimental demonstration for ideal KNLs well isolated at the Fermi level is lacking. Here,…

This https://arxiv.org/abs/2505.16196 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

SEM: Enhancing Spatial Understanding for Robust Robot Manipulation
A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embodiment. Existing methods often fall short: 3D point cloud models lack semantic abstraction, while 2D image encoders struggle with spatial reasoning. To address this, we propose SEM (Spatial Enhanced Manipulation model), a novel diffusion-based policy framework that explicitly enhances spatial understanding from two com…

X-Nav: Learning End-to-End Cross-Embodiment Navigation for Mobile Robots
Haitong Wang, Aaron Hao Tan, Angus Fung, Goldie Nejat
https://arxiv.org/abs/2507.14731

X-Nav: Learning End-to-End Cross-Embodiment Navigation for Mobile Robots
Existing navigation methods are primarily designed for specific robot embodiments, limiting their generalizability across diverse robot platforms. In this paper, we introduce X-Nav, a novel framework for end-to-end cross-embodiment navigation where a single unified policy can be deployed across various embodiments for both wheeled and quadrupedal robots. X-Nav consists of two learning stages: 1) multiple expert policies are trained using deep reinforcement learning with privileged observations …

Breaking the mould of Social Mixed Reality -- State-of-the-Art and Glossary
Marta Bie\'nkiewicz, Julia Ayache, Panayiotis Charalambous, Cristina Becchio, Marco Corragio, Bertram Taetz, Francesco De Lellis, Antonio Grotta, Anna Server, Daniel Rammer, Richard Kulpa, Franck Multon, Azucena Garcia-Palacios, Jessica Sutherland, Kathleen Bryson, St\'ephane Donikian, Didier Stricker, Beno\^it Bardy

Breaking the mould of Social Mixed Reality -- State-of-the-Art and Glossary
This article explores a critical gap in Mixed Reality (MR) technology: while advances have been made, MR still struggles to authentically replicate human embodiment and socio-motor interaction. For MR to enable truly meaningful social experiences, it needs to incorporate multi-modal data streams and multi-agent interaction capabilities. To address this challenge, we present a comprehensive glossary covering key topics such as Virtual Characters and Autonomisation, Responsible AI, Ethics by Desi…

Latent Action Diffusion for Cross-Embodiment Manipulation
Erik Bauer, Elvis Nava, Robert K. Katzschmann
https://arxiv.org/abs/2506.14608 https://

Latent Action Diffusion for Cross-Embodiment Manipulation
End-to-end learning approaches offer great potential for robotic manipulation, but their impact is constrained by data scarcity and heterogeneity across different embodiments. In particular, diverse action spaces across different end-effectors create barriers for cross-embodiment learning and skill transfer. We address this challenge through diffusion policies learned in a latent action space that unifies diverse end-effector actions. We first show that we can learn a semantically aligned laten…

Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
Shunpeng Yang, Zhen Fu, Zhefeng Cao, Guo Junde, Patrick Wensing, Wei Zhang, Hua Chen
https://arxiv.org/abs/2506.11470

Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified framework combining a morphology-agnostic generative diffusion model with a lightweight residual policy optimized via reinforcement learning (RL). The diffusion model captures morphology-invariant locomotion patterns from diverse cross-embodiment datasets, improving…

Feel the Force: Contact-Driven Learning from Humans
Ademi Adeniji, Zhuoran Chen, Vincent Liu, Venkatesh Pattabiraman, Raunaq Bhirangi, Siddhant Haldar, Pieter Abbeel, Lerrel Pinto
https://arxiv.org/abs/2506.01944

Feel the Force: Contact-Driven Learning from Humans
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world interactions. Learning directly from humans offers a scalable solution, enabling demonstrators to perform skills in their natural embodiment and in everyday environments. However, visual demonstrations alone lack the information needed to infer precise contac…

H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation
Hongzhe Bi, Lingxuan Wu, Tianwei Lin, Hengkai Tan, Zhizhong Su, Hang Su, Jun Zhu
https://arxiv.org/abs/2507.23523

H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation
Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase data scale, while they face significant limitations as the diverse morphologies and action spaces across different robot embodiments make unified training challenging. In this paper, we present H-RDT (Human to Robotics Diffusion Transformer), a novel approach …

DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
Zhao Mandi, Yifan Hou, Dieter Fox, Yashraj Narang, Ajay Mandlekar, Shuran Song
https://arxiv.org/abs/2505.24853

DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
We study the problem of functional retargeting: learning dexterous manipulation policies to track object states from human hand-object demonstrations. We focus on long-horizon, bimanual tasks with articulated objects, which is challenging due to large action space, spatiotemporal discontinuities, and embodiment gap between human and robot hands. We propose DexMachina, a novel curriculum-based algorithm: the key idea is to use virtual object controllers with decaying strength: an object is first…

Latent Policy Steering with Embodiment-Agnostic Pretrained World Models
Yiqi Wang, Mrinal Verghese, Jeff Schneider
https://arxiv.org/abs/2507.13340 https:/…

Latent Policy Steering with Embodiment-Agnostic Pretrained World Models
Learning visuomotor policies via imitation has proven effective across a wide range of robotic domains. However, the performance of these policies is heavily dependent on the number of training demonstrations, which requires expensive data collection in the real world. In this work, we aim to reduce data collection efforts when learning visuomotor robot policies by leveraging existing or cost-effective data from a wide range of embodiments, such as public robot datasets and the datasets of huma…

Risk-Guided Diffusion: Toward Deploying Robot Foundation Models in Space, Where Failure Is Not An Option
Rohan Thakker, Adarsh Patnaik, Vince Kurtz, Jonas Frey, Jonathan Becktor, Sangwoo Moon, Rob Royce, Marcel Kaufmann, Georgios Georgakis, Pascal Roth, Joel Burdick, Marco Hutter, Shehryar Khattak
https://arxiv.org/abs/2506.1760…

Risk-Guided Diffusion: Toward Deploying Robot Foundation Models in Space, Where Failure Is Not An Option
Safe, reliable navigation in extreme, unfamiliar terrain is required for future robotic space exploration missions. Recent generative-AI methods learn semantically aware navigation policies from large, cross-embodiment datasets, but offer limited safety guarantees. Inspired by human cognitive science, we propose a risk-guided diffusion framework that fuses a fast, learned "System-1" with a slow, physics-based "System-2", sharing computation at both training and inference to couple adaptability …