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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
PCA-DDReach: Efficient Statistical Reachability Analysis ...
Navid Hashemi, Lars Lindemann, Jyotirmoy Deshmukh · 2025-05-21 · via cs.RO updates on arXiv.org

This study presents a scalable data-driven algorithm designed to efficiently address the challenging problem of reachability analysis. Analysis of cyber-physical systems (CPS) relies typically on parametric physical models of dynamical systems. However, identifying parametric physical models for complex CPS is challenging due to their complexity, uncertainty, and variability, often rendering them as black-box oracles. As an alternative, one can treat these complex systems as black-box models and use trajectory data sampled from the system (e.g., from high-fidelity simulators or the real system) along with machine learning techniques to learn models that approximate the underlying dynamics. However, these machine learning models can be inaccurate, highlighting the need for statistical tools to quantify errors. Recent advancements in the field include the incorporation of statistical uncertainty quantification tools such as conformal inference (CI) that can provide probabilistic reachable sets with provable guarantees. Recent work has even highlighted the ability of these tools to address the case where the distribution of trajectories sampled during training time are different from the distribution of trajectories encountered during deployment time. However, accounting for such distribution shifts typically results in more conservative guarantees. This is undesirable in practice and motivates us to present techniques that can reduce conservatism. Here, we propose a new approach that reduces conservatism and improves scalability by combining conformal inference with Principal Component Analysis (PCA). We show the effectiveness of our technique on various case studies, including a 12-dimensional quadcopter and a 27-dimensional hybrid system known as the powertrain.