Tootfinder

$\pi_1$-injective bounding and application to 3- and 4-manifolds
Jianfeng Lin, Zhongzi Wang
https://arxiv.org/abs/2506.08847 https://…

$π_1$-injective bounding and application to 3- and 4-manifolds
Suppose a closed oriented $n$-manifold $M$ bounds an oriented $(n+1)$-manifold.It is known that $M$ $π_1$-injectively bounds an oriented $(n+1)$-manifold $W$. We prove that $π_1(W)$ can be residually finite if $π_1(M)$ is, and $π_1(W)$ can be finite if $π_1(M)$ is. In particular, each closed 3-manifold $M$ $π_1$-injectively bounds a 4-manifold with residually finite $π_1$, and bounds a 4-manifold with finite $π_1$ if $π_1(M)$ is finite. Applications to 3- and 4-manifolds are given: (…

TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation
Won Kyung Do, Matthew Strong, Aiden Swann, Boshu Lei, Monroe Kennedy III
https://arxiv.org/abs/2506.08291

TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the capabilities of vision and proprioception alone, requiring high-resolution tactile sensing with calibrated physical metrics. Raw optical tactile sensor images, while information-rich, lack interpretability and cross-sensor transferability, limiting their real-world u…

John Deere Must Face FTC Lawsuit Over Its Tractor Repair Monopoly, Judge Rules https://www.404media.co/john-deere-must-face-ftc-lawsuit-over-its-tractor-repair-monopoly-judge-rules/

On astheno-K\"ahler manifolds
Punam Gupta, Nidhi Yadav
https://arxiv.org/abs/2506.06369 https://arxiv.org/pdf/2506.06369

On astheno-Kähler manifolds
This survey explores a range of classical findings and recent developments related to our understanding of astheno-Kähler manifolds. Furthermore, we provide various examples of astheno-Kähler manifolds and analyze the challenges associated with their existence.

Dirac spectral flow and Floer theory of hyperbolic three-manifolds
Francesco Lin, Michael Lipnowski
https://arxiv.org/abs/2506.07238 https://

Dirac spectral flow and Floer theory of hyperbolic three-manifolds
We study the interplay between hyperbolic geometry and monopole Floer homology for a closed oriented three-manifold $Y$ with $b_1=1$ equipped with a torsion spin$^c$ structure $\mathfrak{s}$. We show that, under favorable circumstances, one can completely describe the Floer theory of $(Y,\mathfrak{s})$ purely in terms of geometric data such as the lengths and holonomies of closed geodesics. In particular, we perform the first computations of monopole Floer chain complexes with non-trivial homol…

This https://arxiv.org/abs/2505.21652 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

PartInstruct: Part-level Instruction Following for Fine-grained Robot Manipulation
Fine-grained robot manipulation, such as lifting and rotating a bottle to display the label on the cap, requires robust reasoning about object parts and their relationships with intended tasks. Despite recent advances in training general-purpose robot manipulation policies guided by language instructions, there is a notable lack of large-scale datasets for fine-grained manipulation tasks with part-level instructions and diverse 3D object instances annotated with part-level labels. In this work,…

On gluing and splitting series invariants of plumbed 3-manifolds
Allison H. Moore, Nicola Tarasca
https://arxiv.org/abs/2506.06515 https://

On gluing and splitting series invariants of plumbed 3-manifolds
We study series invariants for plumbed 3-manifolds and knot complements twisted by a root lattice. Our series recover recent results of Gukov-Pei-Putrov-Vafa, Gukov-Manolescu, Park, and Ri and apply more generally to 3-manifolds which are not necessarily negative definite. We show that our series verify certain gluing and splitting properties related to the corresponding operations on 3-manifolds. We conclude with an explicit description of the case of lens spaces and Brieskorn spheres.

Deep Reinforcement Learning-Based Motion Planning and PDE Control for Flexible Manipulators
Amir Hossein Barjini, Seyed Adel Alizadeh Kolagar, Sadeq Yaqubi, Jouni Mattila
https://arxiv.org/abs/2506.08639

Deep Reinforcement Learning-Based Motion Planning and PDE Control for Flexible Manipulators
This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches that focus solely on control, we demonstrate that the desired trajectory significantly influences endpoint vibrations. To address this, a DRL motion planner, trained using the soft actor-critic (SAC) algorithm, generates optimized trajectories that inherently …

HiBerNAC: Hierarchical Brain-emulated Robotic Neural Agent Collective for Disentangling Complex Manipulation
Hongjun Wu, Heng Zhang, Pengsong Zhang, Jin Wang, Cong Wang
https://arxiv.org/abs/2506.08296

HiBerNAC: Hierarchical Brain-emulated Robotic Neural Agent Collective for Disentangling Complex Manipulation
Recent advances in multimodal vision-language-action (VLA) models have revolutionized traditional robot learning, enabling systems to interpret vision, language, and action in unified frameworks for complex task planning. However, mastering complex manipulation tasks remains an open challenge, constrained by limitations in persistent contextual memory, multi-agent coordination under uncertainty, and dynamic long-horizon planning across variable sequences. To address this challenge, we propose \…

Fast Estimation of Globally Optimal Independent Contact Regions for Robust Grasping and Manipulation
Jonathan P. King, Harnoor Ahluwalia, Michael Zhang, Nancy S. Pollard
https://arxiv.org/abs/2506.08856

Fast Estimation of Globally Optimal Independent Contact Regions for Robust Grasping and Manipulation
This work presents a fast anytime algorithm for computing globally optimal independent contact regions (ICRs). ICRs are regions such that one contact within each region enables a valid grasp. Locations of ICRs can provide guidance for grasp and manipulation planning, learning, and policy transfer. However, ICRs for modern applications have been little explored, in part due to the expense of computing them, as they have a search space exponential in the number of contacts. We present a divide an…