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7 matches for “cs-ro”
Research arXiv
Full-sized humanoid robot capabilities have grown exponentially in recent years, aiming towards general-purpose deployment in human environments. A popular control method used by manufacturers utilizes Virtual Reality for upper-body teleoperation and…
Research arXiv
Robots in cluttered indoor spaces often fail not because they cannot generate collision-free paths, but because a fixed safety margin is mis-calibrated: conservative margins cause detours and timeouts, while permissive margins lead to near-boundary shortcuts…
Research arXiv
Pretrained dense visual features from Vision Transformers (ViTs) are powerful yet have been underutilized in robot learning. Modern robot policies either compress each observation into a single global token, or rely on visual backbones trained from scratch…
Research arXiv
Video models absorb rich priors over how the visual world moves, interacts, and responds to contact, making them promising substrates for robotic world modeling. The central challenge is how to communicate action to such models in a form aligned with the…
Research arXiv
Autonomous flight in cluttered environments requires a robot to build a geometric map of its surroundings and plan safe, dynamically feasible trajectories, all onboard and in real time. Conventional approaches treat mapping and planning as separate stages and…
Research arXiv
Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this…
Research arXiv
Closing the gap between benchmark performance and reliable real-world operation remains a central challenge for Vision-Language-Action (VLA) humanoid robots, which must handle execution errors, distribution shifts, and environmental variability. This paper…
