cs.RO · 2026-08-04 · No. 74

Robotics, 2026-08-04.

6 new papers in cs.RO. Titles, authors, abstracts. Links to arXiv. Want this in your inbox every morning? Subscribe →

01 — The papers

6 entries
  1. 01

    CoWAM: Coordination Contracts for Selective Policy Intervention with WAMs

    Shuaijun Liu, Qifu Wen, Shuyang Hao, Qi Luo, Chenglong Zhang, Feiyang You, Chengyu Wu, Ningxin Su

    cs.RO · cs.AI · cs.LG

    World Action Models (WAMs) augment robot policies with action-conditioned predicted futures, but a plausible future alone does not justify changing the action that a bimanual policy would execute. We present CoWAM, a selective intervention layer that expresses synchronization, role compatibility, and collision convergence as coordination contracts. Each contract combines typed admissibility checks with event-conditioned verification and...

    arxiv.org/abs/2608.02578 · PDF

  2. 02

    Human-Centered Reflections on Care Robots: A Comparative Study of Caregiver Perspectives

    Laura Londoño, Klaus Baumann, Abhinav Valada, Markus Langer

    cs.RO · cs.AI · cs.ET · cs.LG

    Care robots are increasingly being introduced into healthcare settings, raising important questions about their acceptance and ethical implementation. To better understand these challenges, this study investigates caregivers' perceptions of four categories of care robots: delivering supplies, helping patients into bed, monitoring vital signs, and assisting with mobility. We conducted a mixed-methods study employing a mixed-factorial design in...

    arxiv.org/abs/2608.02411 · PDF

  3. 03

    TS-MAMP: A Remanufactured Agricultural Robot Powered by Second-Life EV Components and NMS-Free On-Device Weed Detection

    Weijie Shi, Zicheng Xu, Zhenbang Cheng, Haoran Xuan, Mingbo Duan, Gan Ge

    cs.RO · cs.AI

    Agriculture 4.0 robotic systems improve field efficiency yet remain too capital-intensive for the fragmented smallholdings that dominate global agriculture. Meanwhile, a growing number of retired low-speed electric-vehicle (LSEV) powertrains retain functional electromechanical value but are destructively recycled. This paper presents TS-MAMP (Telescopic-Sleeve Modular Agricultural Mobile Platform), a remanufactured robot built under 3R...

    arxiv.org/abs/2608.02270 · PDF

  4. 04

    Open-DiffLoco: Open-Source Differentiable Learning for Deployable Blind Quadruped Locomotion

    Martin Opat

    cs.RO · cs.LG · eess.SY

    Developing deployable locomotion policies through conventional reinforcement learning often requires complex reward engineering and expensive training times. While differentiable simulation offers a highly efficient alternative, open-source tools capable of end-to-end transfer of these policies to physical hardware remain limited. This paper introduces Open-DiffLoco, an open-source framework for training deployable blind quadruped locomotion...

    arxiv.org/abs/2608.02069 · PDF

  5. 05

    MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping

    Heng Zhang, Kevin Yuchen Ma, Mike Zheng Shou, Weisi Lin, Yan Wu

    cs.RO · cs.AI

    Cross-embodiment dexterous grasping aims to synthesize stable grasps across heterogeneous multi-fingered hands with little or no embodiment-specific tuning. Existing interaction-centric methods achieve promising results, but their object representations often underrepresent local surface geometry, while their robot descriptors do not explicitly encode both robot morphology and kinematics. We propose MANGO-Grasp, an anisotropic interaction...

    arxiv.org/abs/2608.02014 · PDF

  6. 06

    Weights or Skills? A Survey of Robot-Learning Techniques: from Action-Predicting Weights to Robots that Write their Own Skills

    Gaytri Jena, Kapil Wanaskar, Vinija Jain, Aman Chadha, Vasu Sharma, Amitava Das

    cs.RO · cs.AI

    Robot learning is splitting into two bets: policies that bake competence into frozen weights (vision-language-action, or VLA, models), and agents that write and refine their own executable skills as code. This survey organises the field around that axis of weights versus skills. Its central analytical contribution is a deep-dive that arranges code-as-policy methods by their degree of self-improvement, from zero-shot program synthesis, through...

    arxiv.org/abs/2608.01851 · PDF

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