cs.RO · 2026-09-08 · No. 109

Robotics, 2026-09-08.

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

01 — The papers

4 entries
  1. 01

    What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies

    Vivek Chavan, Pengtao Xie, Yahuan Shi, Oliver Heimann, Kevin Haninger, Jörg Krüger

    cs.RO · cs.AI · cs.CV

    Visuomotor imitation policies can achieve high performance under in-distribution visual conditions yet fail when visually similar objects or receptacles are introduced. We study this behavior as a problem of conditional visual grounding: the visual target required for successful control changes with the manipulation phase and, in more complex tasks, with the observed task state. Using Action Chunking with Transformers (ACT), we systematically...

    arxiv.org/abs/2609.05376 · PDF

  2. 02

    RoboSPA: Can VLA Models Go Beyond Simple Scenes and Short-Horizon Tasks?

    Zhenxuan Fan, Bo Zhang, Yutong Lin, Yuqian Yuan, Juekai Lin, Liang Liang, Zhuoyi Huang, Wenqiao Zhang, Juncheng Li,...

    cs.RO · cs.AI · cs.CV

    Vision-Language-Action (VLA) models have shown promising progress in language-conditioned robotic manipulation. However, existing datasets and benchmarks mainly evaluate task completion under predefined settings, offering limited insight into model reasoning under increasing spatial and procedural complexity. We introduce \textbf{RoboSPA} (\textbf{Robo}t \textbf{S}patial-\textbf{P}rocedural \textbf{A}ssessment), a large-scale robotic...

    arxiv.org/abs/2609.05324 · PDF

  3. 03

    A Schema Bounded Language Model for Refining Robot Policies Without Destabilizing Local Learning

    Chongwen Dong, Mithun Paul Saint-Germain, Pinjari Asif, Carlo R. daCunha

    cs.RO · cs.AI

    This paper addresses navigation by composite heterogeneous robots in a decentralized system when policy reasoning and local control operate at different update levels. In a NetLogo--Python implementation, three robots share motion dynamics but use different LLM backends. Each robot independently combines a large language model (LLM) policy agent, an Upper Confidence Bound (UCB) bandit, and a Double Deep Q-Network (Double DQN) controller; no...

    arxiv.org/abs/2609.05133 · PDF

  4. 04

    Coupled Control and Wireless World Models for Resilient Remote Robotic Control

    H. P. Madushanka, Sumudu Samarakoon, Mehdi Bennis

    cs.RO · cs.LG

    Remote robotic systems operating over wireless networks must maintain reliable control despite limited communication resources, changing channel conditions, and environmental disturbances.However, continuously transmitting high-dimensional sensory observations, such as camera images, increases communication overhead and energy consumption while reducing robustness under unreliable connectivity.To address these challenges, this paper proposes...

    arxiv.org/abs/2609.04851 · PDF

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