DyGeoVLN: Infusing Dynamic Geometry Foundation Model into Vision-Language Navigation

Vision-language Navigation (VLN) requires an agent to understand visual observations and language instructions to navigate in unseen environments. Most existing approaches rely on static scene assumptions and struggle to generalize in dynamic, real-world scenarios. To address this challenge, we propose DyGeoVLN, a dynamic geometry-aware VLN framework. Our method infuses a dynamic geometry foundation model into the VLN framework through cross-branch feature fusion to enable explicit 3D spatial representation and visual-semantic reasoning. To efficiently compress historical token information in long-horizon, dynamic navigation, we further introduce a novel pose-free and adaptive-resolution token-pruning strategy. This strategy can remove spatio-temporal redundant tokens to reduce inference cost. Extensive experiments demonstrate that our approach achieves state-of-the-art performance on multiple benchmarks and exhibits strong robustness in real-world environments.

Beyond the Patch: Exploring Vulnerabilities of Visuomotor Policies via Viewpoint-Consistent 3D Adversarial Object

Neural network-based visuomotor policies enable robots to perform manipulation tasks but remain susceptible to perceptual attacks. For example, conventional 2D adversarial patches are effective under fixed-camera setups, where appearance is relatively consistent; however, their efficacy often diminishes under dynamic viewpoints from moving cameras, such as wrist-mounted setups, due to perspective distortions. To proactively investigate potential vulnerabilities beyond 2D patches, this work proposes a viewpoint-consistent adversarial texture optimization method for 3D objects through differentiable rendering. As optimization strategies, we employ Expectation over Transformation (EOT) with a Coarse-to-Fine (C2F) curriculum, exploiting distance-dependent frequency characteristics to induce textures effective across varying camera-object distances. We further integrate saliency-guided perturbations to redirect policy attention and design a targeted loss that persistently drives robots toward adversarial objects. Our comprehensive experiments show that the proposed method is effective under various environmental conditions, while confirming its black-box transferability and real-world applicability.

Phase-Aware Policy Learning for Skateboard Riding of Quadruped Robots via Feature-wise Linear Modulation

Skateboards offer a compact and efficient means of transportation as a type of personal mobility device. However, controlling them with legged robots poses several challenges for policy learning due to perception-driven interactions and multi-modal control objectives across distinct skateboarding phases. To address these challenges, we introduce Phase-Aware Policy Learning (PAPL), a reinforcement-learning framework tailored for skateboarding with quadruped robots. PAPL leverages the cyclic nature of skateboarding by integrating phase-conditioned Feature-wise Linear Modulation layers into actor and critic networks, enabling a unified policy that captures phase-dependent behaviors while sharing robot-specific knowledge across phases. Our evaluations in simulation validate command-tracking accuracy and conduct ablation studies quantifying each component's contribution. We also compare locomotion efficiency against leg and wheel-leg baselines and show real-world transferability.

Learning-based Adaptive Control of Quadruped Robots for Active Stabilization on Moving Platforms

A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these challenges, we present the Learning-based Active Stabilization on Moving Platforms (\textit{LAS-MP}), featuring a self-balancing policy and system state estimators. The policy adaptively adjusts the robot's posture in response to the platform's motion. The estimators infer robot and platform states based on proprioceptive sensor data. For a systematic training scheme across various platform motions, we introduce platform trajectory generation and scheduling methods. Our evaluation demonstrates superior balancing performance across multiple metrics compared to three baselines. Furthermore, we conduct a detailed analysis of the \textit{LAS-MP}, including ablation studies and evaluation of the estimators, to validate the effectiveness of each component.

Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators

Trajectory optimization (TO) is an efficient tool to generate a redundant manipulator's joint trajectory following a 6-dimensional Cartesian path. The optimization performance largely depends on the quality of initial trajectories. However, the selection of a high-quality initial trajectory is non-trivial and requires a considerable time budget due to the extremely large space of the solution trajectories and the lack of prior knowledge about task constraints in configuration space. To alleviate the issue, we present a learning-based initial trajectory generation method that generates high-quality initial trajectories in a short time budget by adopting example-guided reinforcement learning. In addition, we suggest a null-space projected imitation reward to consider null-space constraints by efficiently learning kinematically feasible motion captured in expert demonstrations. Our statistical evaluation in simulation shows the improved optimality, efficiency, and applicability of TO when we plug in our method's output, compared with three other baselines. We also show the performance improvement and feasibility via real-world experiments with a seven-degree-of-freedom manipulator.

Enhancing Navigation Efficiency of Quadruped Robots via Leveraging Personal Transportation Platforms

Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by humans' utilization of personal transporters, including Segways. The \textit{RL-ATR} features a transporter riding policy and two state estimators. The policy devises adequate maneuvering strategies according to transporter-specific control dynamics, while the estimators resolve sensor ambiguities in non-inertial frames by inferring unobservable robot and transporter states. Comprehensive evaluations in simulation validate proficient command tracking abilities across various transporter-robot models and reduced energy consumption compared to legged locomotion. Moreover, we conduct ablation studies to quantify individual component contributions within the \textit{RL-ATR}. This riding ability could broaden the locomotion modalities of quadruped robots, potentially expanding the operational range and efficiency.

Uncertainty-Aware Non-Prehensile Manipulation with Mobile Manipulators under Object-Induced Occlusion

Non-prehensile manipulation using onboard sensing presents a fundamental challenge: the manipulated object occludes the sensor's field of view, creating occluded regions that can lead to collisions. We propose CURA-PPO, a reinforcement learning framework that addresses this challenge by explicitly modeling uncertainty under partial observability. By predicting collision possibility as a distribution, we extract both risk and uncertainty to guide the robot's actions. The uncertainty term encourages active perception, enabling simultaneous manipulation and information gathering to resolve occlusions. When combined with confidence maps that capture observation reliability, our approach enables safe navigation despite severe sensor occlusion. Extensive experiments across varying object sizes and obstacle configurations demonstrate that CURA-PPO achieves up to 3X higher success rates than the baselines, with learned behaviors that handle occlusions. Our method provides a practical solution for autonomous manipulation in cluttered environments using only onboard sensing.

Efficient Navigation Among Movable Obstacles using a Mobile Manipulator via Hierarchical Policy Learning

We propose a hierarchical reinforcement learning (HRL) framework for efficient Navigation Among Movable Obstacles (NAMO) using a mobile manipulator. Our approach combines interaction-based obstacle property estimation with structured pushing strategies, facilitating the dynamic manipulation of unforeseen obstacles while adhering to a pre-planned global path. The high-level policy generates pushing commands that consider environmental constraints and path-tracking objectives, while the low-level policy precisely and stably executes these commands through coordinated whole-body movements. Comprehensive simulation-based experiments demonstrate improvements in performing NAMO tasks, including higher success rates, shortened traversed path length, and reduced goal-reaching times, compared to baselines. Additionally, ablation studies assess the efficacy of each component, while a qualitative analysis further validates the accuracy and reliability of the real-time obstacle property estimation.

Central Angle Optimization for 360-degree Holographic 3D Content

In this study, we propose a method to find an optimal central angle in deep learning-based depth map estimation used to produce realistic holographic content. The acquisition of RGB-depth map images as detailed as possible must be performed to generate holograms of high quality, despite the high computational cost. Therefore, we introduce a novel pipeline designed to analyze various values of central angles between adjacent camera viewpoints equidistant from the origin of an object-centered environment. Then we propose the optimal central angle to generate high-quality holographic content. The proposed pipeline comprises key steps such as comparing estimated depth maps and comparing reconstructed CGHs (Computer-Generated Holograms) from RGB images and estimated depth maps. We experimentally demonstrate and discuss the relationship between the central angle and the quality of digital holographic content.

Genetic Algorithm for Constrained Molecular Inverse Design

A genetic algorithm is suitable for exploring large search spaces as it finds an approximate solution. Because of this advantage, genetic algorithm is effective in exploring vast and unknown space such as molecular search space. Though the algorithm is suitable for searching vast chemical space, it is difficult to optimize pharmacological properties while maintaining molecular substructure. To solve this issue, we introduce a genetic algorithm featuring a constrained molecular inverse design. The proposed algorithm successfully produces valid molecules for crossover and mutation. Furthermore, it optimizes specific properties while adhering to structural constraints using a two-phase optimization. Experiments prove that our algorithm effectively finds molecules that satisfy specific properties while maintaining structural constraints.