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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
A transformable slender microrobot inspired by nematode p...
Xin Yang, Dongliang Fan, Yunteng Ma, Yuxuan Liao, Diancheng Li, · 2026-04-15 · via cs.RO updates on arXiv.org

Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and high risks during operations. Robots, although promising, still face the dilemma of possessing versatility or maneuverability after decades of development. Inspired by nematodes, the parasites living, feeding, and moving in the human body's vascular system, this work develops a transformable slender magnetic microrobot. Based on the experiments and analyses, we optimize the fabrication and geometry of the robot and finally create a slender prototype with an aspect ratio larger than 100 (smaller than 200 microns in diameter and longer than 20 mm in length), which possesses uniformly distributed magnetic beads on the body of an ultrathin polymer string and a big bead on the head. This prototype shows great flexibility (largest curvature 0.904 mm-1) and locomotion capability (the maximum speed: 125 mm/s). Moreover, the nematode-inspired robot can pass through sharp turns with a radius of 0.84 mm and holes distributed in three-dimensional (3D) space. We also display the potential application in interventional surgery of the microrobot by navigating it through a narrow blood vessel mold to wrap and transport a drug (95 times heavier than the robot) by deforming the robot's slender body and releasing the drug to the aim position finally. Moreover, the robot also demonstrates the possible applications in embolization by transforming and winding itself into an aneurysms phantom and exhibits its outstanding injectability by being successfully withdrawn and injected through a medical needle (diameter: 1.2 mm) of a syringe.