cs.RO · 2026-08-10 · No. 80

Robotics, 2026-08-10.

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

01 — The papers

5 entries
  1. 01

    Learning Fault-Tolerant Locomotion with Adaptive Gait Timing

    Giovanbattista Gravina, Luca Rossini, Carlo Rizzardo, Arturo Laurenzi, Nikos Tsagarakis

    cs.RO · cs.LG

    Hardware failures require legged robots to rapidly reorganize coordination and gait timing to maintain stability and mobility. This is particularly challenging for larger quadrupeds, where increased mass and tighter actuation limits reduce the feasibility of aggressive, high-frequency compensation strategies often observed on smaller platforms. In this work, we propose a deep reinforcement learning approach for fault-tolerant locomotion under...

    arxiv.org/abs/2608.07328 · PDF

  2. 02

    Representation Handoffs for OpenArm-Based Laboratory Mobile Manipulation

    Yang Shen, Chonghao Cheng, Ziyi Zhao, Jialuo Zhu, Zhenyi Yi, Qi Zhao, Jian Yang, Yuhui Shi, Chin-Teng Lin

    cs.RO · cs.AI

    Open-source robotics and foundation models have lowered the barrier to embodied AI, yet language-guided laboratory automation still requires reliable alignment from instructions and observations to safe actions. This field report presents an OpenArm-based mobile manipulation prototype for laboratory-style tasks, built by integrating dual OpenArm manipulators with a mobile base, vertical slide, RGB-D sensing, lidar-based mapping, ROS2/MoveIt...

    arxiv.org/abs/2608.07154 · PDF

  3. 03

    LifelongCrossNav: Persistent 3D Semantic Memory for Cross-Floor Multi-Object Navigation

    Zehui Li, Zihao Sun, Jiawei Xu, Zheqi He, Xiaoqiang Zhang, Jing-Shu Zheng, Lu Liu, Dahui Gao, Xiuwan Chen

    cs.RO · cs.AI

    Object-goal navigation has made substantial progress in semantic perception and exploration, yet persistent memory for multi-object navigation and cross-floor navigation are still commonly addressed separately. We present LifelongCrossNav, a framework for sequential multi-object ObjectNav in unknown multi-floor indoor environments. Within each episode, the agent receives an ordered sequence of object-goal queries while continuously...

    arxiv.org/abs/2608.07079 · PDF

  4. 04

    AutoIntervene: Calibrated Intervention for Action-Chunking Imitation Learning Policies

    Jinhe Tang, Weiming Zhi

    cs.RO · cs.AI · cs.CV · cs.HC · cs.LG

    Action-chunking visuomotor policies learn from demonstrations and improve temporal consistency by predicting short action sequences rather than single-step commands. Yet perception errors and execution drift can move the robot outside the demonstration distribution, while the policy continues to produce smooth action chunks that are inconsistent with the observed state. We present AutoIntervene, an online framework that selectively transfers...

    arxiv.org/abs/2608.07065 · PDF

  5. 05

    Decoupling Intention from Trajectory: A Representational Deduction Framework for World Action Models

    Xiangkai Ma, Yue Ma, Junjie Wang, Sheng Xu, Mingyang Li, Han Zhang, Yuzheng Zhuang, Wenzhong Li, Zhihao Yuan

    cs.RO · cs.AI

    World Action Models (WAMs) aim to construct a unified architecture capable of understanding world state evolution and guiding to generative motion planning. However, existing visual branches focus on predicting static visual observation, rather than reflecting potential transition information that captures the evolution of world states under motion interactions. This leads to representational entanglement between high-level physical condition...

    arxiv.org/abs/2608.06994 · PDF

This edition is part of The Daily Abstract — cs.RO archive. Subscribe to receive these in your inbox each morning, automatically translated to Spanish, with reply-to-PDF: arxivdaily.ignorelist.com.

Colophon Set in Georgia, with system sans for interface chrome and a monospaced stack for code and paper identifiers. Sole accent: amber #D99C5E. Built and served on an always-free VM. The masthead is set 14% letterspaced because newspapers do that and it works.