Science Robotics
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Safe, Fluent and Acceptable Motion Generation and Execution for Human--Robot Interaction in Manufacturing Environments
arXiv:2606.08741v1 Announce Type: new Abstract: Robots operating in human environments must not only ensure physical safety but also exhibit behaviors that are understandable, fluent, and acceptable to human partners. This paper investigates motion generation strategies that combine safety guarantees with interaction quality considerations, such as motion smoothness and human comfort. While the design of robots capable of ensuring safety in shared human-robot environments has enabled closer...
Physics-Informed Modeling and Control of Emergent Behaviors in Robot Swarms
arXiv:2606.01597v1 Announce Type: new Abstract: Robot swarms can exhibit coherent collective behaviors through local perception, limited communication and decentralized decision-making, yet modeling and controlling such emergence remains challenging when behaviors unfold over multiple phases. Here we introduce PhySwarm, a physics-informed micro--macro framework that represents multi-stage swarm emergence as physically constrained density-field evolution coupled to executable robot motion. At...
Don't Fool Me Twice: Adapting to Adversity in the Wild with Experience-Driven Reasoning
arXiv:2605.31119v1 Announce Type: new Abstract: In robotics, dangers and adversity modes are often embodiment-specific and relative to each agent. A frontier of autonomous mobile robotics is to enable agents to operate effectively in the wild in unseen unstructured environments. A significant challenge in unseen unstructured environments is that it may not be possible to predict all the dangers to the specific robot.
Robots Need More than VLA and World Models
arXiv:2606.06556v1 Announce Type: new Abstract: Generalist robot intelligence is often framed as a policy-scaling problem: collect more robot demonstrations, train larger Vision-Language-Action (VLA) models, and expect broader generalisation. In this position paper, we argue that this framing is incomplete. The central bottleneck is not only policy learning, but the absence of mechanisms that convert the world's abundant unstructured behavioural data into grounded robot supervision.
RobotValues: Evaluating Household Robots When Human Values Conflict
Announce Type: new Abstract: While household robots are often evaluated based on task completion, everyday domestic environments involve value-conflicting situations in which robots are expected to choose actions that prioritize other values than task success, such as human autonomy, efficiency, or social appropriateness. Yet, there are no benchmarks for evaluating robots' value preferences in such scenarios. We introduce RobotValues, a benchmark to evaluate household robot planners in 10K...
HORUS: A Mixed Reality Interface for Managing Teams of Mobile Robots
arXiv:2506.02622v2 Announce Type: replace Abstract: Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified Systems, a Mixed Reality interface offering a comprehensive set of tools for managing multiple mobile robots simultaneously. HORUS enables operators to monitor individual robot statuses, visualize sensor...