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arXiv2026

BlobBoards: Robust Markers for Accurate Pose

We propose BlobBoards, a fiducial marker system comprising a dense, multi-scale field of Gaussian blobs and a feature-based pipeline for joint detection, identification, and pose estimation. Each board is registered from hundreds of blob features whose dense spatial coverage constrains pose, while multiple scales preserve detectability across large changes in focal length, distance, and obliquity. Learned local descriptors are matched to the reference pattern and spatially verified, so the correspondences determine pose and certify identity. Against motion-capture ground truth, BlobBoards achieve median translation errors of 3.6-5.0 mm, reducing AprilTag's median translation error by 89% on small boards and 70% on large ones. They also produce far fewer large-rotation failures than state-of-the-art tag systems. BlobBoards achieve the highest detection rate, 80% versus 74% for AprilTag and 58% for ArUco, with the largest margin on the smallest markers. Under 50% occlusion, they still detect 69% of boards with essentially unchanged median translation error, while AprilTag and ArUco detect none. In experiments BlobBoards give state-of-the-art detection rate, pose accuracy and occlusion robustness.

cs.CV↗
arXiv2026

Fully Unleashing the Multimodal Attacker: Meta-Adaptive Jailbreaking of Vision-Language Models

The safety of large vision-language models is increasingly stress-tested by multimodal jailbreaks, yet existing attacks remain largely static at the meta level: template-based attacks freeze the image-text layout, while iterative attacks adapt only the image-text content with fixed attack strategies and frozen attacker parameters. We propose Meta-Adaptive Multimodal Jailbreaking (MAMJ), which instead optimizes the attacker itself along two axes: an attack strategy prompt (ASP) governing attack iteration and attacker model weights determining attack effectiveness. Across groups of multimodal attack trajectories, an LLM-based critique first refines the ASP, after which group-aggregated attack success rate (ASR) rewards update those weights. On MM-SafetyBench, MAMJ achieves 81.0%, 78.9%, and 82.3% ASR against GPT-4o, Gemini-3-Pro-Preview, and Seed 2.0, respectively, outperforming the strongest sample-level baseline by up to 24.1 percentage points. The learned attacker, comprising the optimized ASP and attacker weights, also transfers without retraining to unseen victims and remains effective under representative defenses. These results reveal a systemic vulnerability of frontier VLMs to meta-adaptive jailbreaks and motivate defenses against meta-level adversaries. Code is available at https://github.com/Alibaba-VELLDEPTH/MetaJailbreak-VLM.

cs.CR↗
arXiv2026

Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation

Real-world robotic assembly at sub-millimeter tolerances demands spatial precision, compliant interaction, and robustness to contact failures. We present Facet-0, a robotic foundation model that predicts and values the contact consequences of its actions. Facet-0 unifies multimodal representation learning and reinforcement learning (RL) post-training around a joint action-wrench proposal: a causal wrench history is aligned with vision-language semantics and kinematic state, and flow matching generates each action chunk together with the future wrist-wrench profile it is expected to induce. Deployment rollouts train a distributional Action-Wrench Critic to distinguish motions with similar task progress but different contact outcomes, while phase-aware rewards and contact-selective credit concentrate policy improvement on decisive interactions. To accommodate part-specific dynamics, a lightweight bounded actor reuses the frozen representation for on-robot adaptation; RL remains defined over executable Cartesian actions, while an auxiliary wrench head preserves predictive, non-commanded action-contact coupling. Trained on ManuFacet-1K, a 1,000-hour force-synchronized corpus spanning three embodiments and multiple manufacturing cells, the bounded task-adapted system reaches 82% mean success on five sub-millimeter computer-assembly tasks, compared with 15% for the strongest baseline, with 0.5 mm placement accuracy and 50 ms command latency.

cs.RO↗
arXiv2026

Beyond Language Priors: Diagnosing and Fixing Visual-Origin Hallucinations in Multimodal LLM

Existing research on object hallucination in multimodal large language models (MLLMs) predominantly attributes the problem to language priors such as over-reliance on textual co-occurrence statistics. We challenge this view by presenting quantitative evidence for a complementary, under-explored cause: visual-origin hallucination, where hallucinations arise from incorrect visual feature extraction and misalignment between image and text embeddings. Through cosine similarity analysis and Smooth Grad-CAM entropy measurements, we show that hallucinated samples exhibit systematically lower image-text similarity (average 0.158 vs. -0.122) and inverted attention patterns, where attention is dispersed when the target object is present but wrongly concentrated when it is absent. Guided by this diagnosis, we propose Adversarial Contrastive Fine-Tuning (ACFT). ACFT uses an Adversarial Hallucination Attribute Flipping (AHAF) procedure, involving minimal, targeted adversarial perturbations that flip an image's hallucination attribute, to construct perfectly aligned positive-negative pairs, which are then used for contrastive fine-tuning. AHAF simultaneously serves as a diagnostic probe, revealing that MLLM visual representations lie dangerously close to hallucination decision boundaries. Requiring only 0.9% of the COCO dataset and adding zero inference overhead, ACFT achieves state-of-the-art performance on POPE, MME, and four description-level hallucination benchmarks across LLaVA, MiniGPT-4, and Qwen2.5-VL. Code is available at https://github.com/zxp555/ACFT_MM

cs.CV↗
arXiv2026

MEOM: Multi-View Expected-OKS Maximization for Human Pose Triangulation

Conventional algebraic triangulation solves 3D human pose estimation (HPE) from multi-view 2D keypoints. The typical approach, decoding 2D keypoints from predicted heatmaps, is unreliable as heatmaps can be multimodal under occlusion, and collapsing them into single peaks discards their spatial distribution. We seek to use the entire heatmap to estimate 3D poses more accurately, which requires solving two problems: how to robustly fuse heatmaps across views, and how to assess the reliability of heatmaps. For the former, we introduce a novel objective, Multi-viewExpected-OKS Maximization (MEOM), that locates a 3D joint where the views agree in probability mass. For the latter, we adopt highest-density-region (HDR) calibration as a diagnostic of that mass, independently of distance-based metrics. The proposed framework covers two settings, with and without 3D supervision. Without 3D supervision, we optimize 3D poses from pretrained heatmap predictors by maximizing MEOM, achieving comparable performance with state-of-the-art methods that rely on larger backbones, temporal fusion, and simulated 3D data. On ambiguous Human3.6M (H36MA) and occluded CMU Panoptic frames, the advantage is substantial. When 3D labels are available, we train the model end-to-end with a combined MEOM and MSE loss, achieving 19.11 mm absolute MPJPE on Human3.6M outperforming the state-of-the-art volumetric approach on absolute MPJPE at half the inference cost.

cs.CV↗
arXiv2026

Weighted Fair Division of Indivisible Mixed Manna

We study weighted fair division of indivisible mixed manna under additive valuations. First, we resolve the general existence open question for weighted envy-freeness up to one item (WEF1), and show that every instance with arbitrary positive entitlements admits a complete WEF1 allocation computable in polynomial time. We then show that existence does not imply any welfare guarantee, i.e., the utilitarian price of WEF1 is infinite, even for two unweighted agents with normalized valuations, common item signs, and singleton values in a fixed four-value set; a welfare-maximizing WEF1 allocation in the construction is fractionally Pareto optimal. Second, suppose each agent $i$ has a number $a_i>0$ such that their valuation for any item is $-a_i$, $0$, or $a_i$. Then, for arbitrary entitlements, a weighted maximin share (WMMS) allocation always exists, is computable in polynomial time, and can be chosen to be fractionally Pareto optimal. An exact formula for each WMMS value leads to a polynomial-time flow algorithm. In this class, every WEF1 allocation satisfies a best possible additive WMMS guarantee whose loss depends on the agent's entitlement relative to the largest entitlement. Thus maximum entitlement agents receive exact WMMS and, under equal entitlements, every WEF1 allocation is also MMS-fair. Allowing a second positive magnitude can violate exact WMMS, while unrestricted entitlement ratios rule out any fixed multiplicative WMMS guarantee compatible with WEF1 for chores.

cs.GT↗
arXiv2026

Evidential Deep Learning for Multi-Modal Anti-UAV Detection

Anti-UAV systems increasingly fuse multiple sensors, yet their detection heads provide no per-modality reliability signal. This study evaluates whether evidential deep learning (EDL) heads, Dempster-Shafer (DS) evidence fusion, and uncertainty-driven temporal sensor gating improve anti-UAV detection through a controlled ablation on three benchmarks: thermal tracking (AntiUAV600), RGB-audio-RF classification (TRIDENT), and RGB-IR tracking (MM-UAV). The EDL training objective improves accuracy over retrained sigmoid baselines (+5.9 percentage points in accuracy and a tripled tracker-on-absent rate in E1; +4.8 percentage points in classification accuracy in E2, surviving a clip-clustered bootstrap, p = 0.011) and ranks classification errors substantially better (entropy UAUC approximately 0.94 vs. 0.51). The remaining components do not support their respective hypotheses. DS fusion does not outperform simple probability averaging. Dirichlet vacuity adds no ranking power beyond predictive entropy and inverts at the detection level, where extreme background imbalance causes it to encode class membership rather than error likelihood, a failure also observed for entropy and sigmoid confidence. Temporal gating preserves accuracy only when nearly inactive and yields no realised latency saving on shared-backbone hardware. The benefit of evidential learning therefore arises primarily from its training objective rather than its uncertainty estimate; a crop-level control further localises the detection-level breakdown to anchor-level evaluation rather than the learned representation.

cs.CV↗
arXiv2026

GhostWord: A Fine-Grained Backdoor Attack on Automatic Speech Recognition

Automatic Speech Recognition (ASR) systems are widely deployed in safety-critical settings but remain vulnerable to data-poisoning backdoor attacks. Existing ASR backdoors typically use phrase-level triggers paired with a fixed target sentence, creating strong artifacts (e.g., repeated transcripts or triggers placed in non-speech regions) that simple preprocessing can mitigate. We propose GhostWord, a word-level, time-localized ASR backdoor that uses codebooks mapping short ($\approx$400\,ms) acoustic triggers to target words. During poisoning, we inject a trigger into the forced-aligned time span of a chosen source word in the audio and replace only that word in the transcript, enabling precise semantic flips and composable sentence manipulation while avoiding many-to-one label artifacts. Across Common Voice (v23 English, v24 Lithuanian) and multiple backbones (Whisper-Small/Medium, MMS, SpeechT5), GhostWord achieves an average attack success rate of 89.3\% and transfers across languages and models. Adapting optimization-based defenses (ABL, ANP, SAU, I-BAU) reveals a sharp robustness--accuracy trade-off: attack success drops from 89.3\% to 29.1\% while clean WER rises from 21.5\% to 45.0\%, consistent with our theoretical analysis showing that, in high-vocabulary models, backdoor suppression structurally tends to degrade clean performance. The source code is publicly available at https://github.com/rohban-lab/GhostWord

eess.AS↗
arXiv2026

MuyBridge: Mobile Human Center-of-Mass Estimation from Monocular Video via Sparse Fusion

The 3D center of mass (CoM) is a primary quantity in the biomechanical analysis of sport, rehabilitation, and clinical movement, yet existing 3D pose tracking, mesh recovery, and multi-view triangulation methods either optimize 3D keypoint accuracy without anatomical constraints or carry compute and capture infrastructure too heavy to deploy where CoM tracking is most useful. As a result, the metric CoM remains difficult for coaches and movement analysts to measure from a single camera where athletes train and compete. In this work, we introduce MuyBridge, an on-device system that estimates the athlete's segmental center of mass trajectory from a single phone camera video stream. MuyBridge couples a compact 2D pose network and a distilled single-step monocular depth network through an analytic metric fusion that uses anatomical and physical priors to anchor the metric CoM, requiring no 3D or task-specific supervision. Evaluated on the athletic movements of AthletePose3D (running, track and field, and figure skating), MuyBridge achieves 33-41 mm vertical CoM error and 2.3-6.6% absolute-relative range error (AbsRel) under a one-time calibration, and produces CoM estimates at the 63 FPS pose-estimation rate using asynchronous 2.86 Hz depth updates on iPhone 15. Code is available at: https://github.com/Abradshaw1/Muybridge

cs.CV↗
arXiv2026

Beyond Representation Learning: A Systematic Study of Joint-Embedding Predictive Generation for 3D Brain MRI

Joint-embedding predictive architectures (JEPAs) have primarily been developed for self-supervised representation learning. Denoising JEPA (D-JEPA) recently demonstrated strong generative capabilities on natural images, yet the applicability to 3D medical imaging remains unexplored. Building on the D-JEPA framework, we present Med-D-JEPA, a systematic adaptation and evaluation of joint-embedding predictive generation for 3D brain MRI. Med-D-JEPA operates on continuous latent tokens produced by a 3D KL-regularized adversarial variational autoencoder, and combines masked context prediction, representation-level alignment, per-token diffusion, and iterative next-set-of-token sampling. We evaluate unconditional and class-conditional generation quality on BraTS2019 and OASIS-1 datasets; downstream classification utility; and preliminary whole-tumor segmentation on BraTS2020. Across different generation settings, Med-D-JEPA achieves superior or competitive performance compared to several strong baselines on fidelity and diversity metrics. Compared to training with real samples, Med-D-JEPA-based synthetic pretraining improves classification AUC from 0.63 to 0.85 on BraTS2019 and from 0.78 to 0.87 on OASIS-1. In the segmentation study, pretraining on Med-D-JEPA samples improves Dice from 0.74 to 0.80 and reduces HD95 from 13.40 to 9.56 mm. These findings establish joint-embedding predictive generation as a promising direction for 3D medical image synthesis and encourage further research in this direction.

cs.CV↗
arXiv2026

Patient-Specific Articulated Digital Twins from a Single Full-Body CT Scan

Patient-specific anatomical models provide individualized context for surgical planning, image-guided intervention, and algorithm development. However, most CT-derived models are static: they preserve the body configuration captured at scan time, but cannot represent how the same anatomy would appear after patient repositioning. This limitation is especially important for radiographic imaging, where appearance depends jointly on imaging geometry and patient pose. We present a proof-of-concept for constructing a patient-specific \emph{articulated} digital twin from a single full-body CT scan. The method fits a parametric human body model (SMPL) to obtain a patient-aligned kinematic scaffold, binds segmented bones and organs to an anatomy-aware rig, and retargets body-pose changes while preserving skeletal geometry. Using full-body CT scans from three subjects, the fitted scaffold achieved 15.8 $\pm$ 4.0 mm chamfer distance and 95.9 $\pm$ 1.8\% skeletal enclosure. Recomposition at the acquisition pose preserved major radiographic structure, with overall SSIM of 0.872 $\pm$ 0.016 and PSNR of 18.5 $\pm$ 1.4 dB across paired DRRs. Across unseen target poses, the resulting twins enabled articulation while maintaining high skeletal enclosure (94.4 $\pm$ 0.4\%). As a feasibility demonstration, we render the articulated twin as pose-dependent DRRs. These results suggest the feasibility of extending static, view-controllable CT simulation toward pose-controllable anatomical twins for future synthetic imaging and positioning studies.

cs.CV↗
arXiv2026

Cross-Model Distillation of a Human-Pose Foundation Model from Unannotated Infant Video for Markerless 3D Pose Estimation

Spontaneous movement is one of the earliest windows onto an infant's neuromotor health, and structured clinical instruments that score it are validated early predictors of cerebral-palsy risk. However, they require specially trained raters, are time-consuming, and carry inter-rater variability. This motivates automated, video-based markerless assessment, especially as marker-based motion capture is impractical in infants. Yet the foundation models that make markerless capture possible are trained almost entirely on adults: our recent multi-view infant study found that no single model is jointly best, with strong 2D keypoint accuracy and direct 3D body recovery split across different models. While that study identifies this trade-off, it does not resolve it. Here, we perform cross-model distillation from the Sapiens 2 pose model into the SAM 3D Body model, using unannotated infant video alone. A frozen teacher supplies dense pseudo-labels, and a differentiable renderer aligns the predicted mesh to them in the training loop. On eleven held-out infants (18 sessions, 173 recordings) under our prior study's multi-view protocol, fine-tuning improves same-view 2D keypoint agreement with the Sapiens reference (median body percentage of correct keypoints @ 10px 0.22 -> 0.42, face 0.22 -> 0.42) and Procrustes-aligned mean per joint 3D position error (25.5 -> 22.2 mm). This demonstrates how cross-model distillation improves SAM 3D Body model performance on infants.

cs.CV↗
arXiv2026

Sampling-based Certified Planning with Graphs of Convex Sets

Planners on graphs of convex sets return trajectories that are collision-free by construction, provided the convex regions are collision-free. The region generator only promises that property probabilistically, and no planner in the family verifies it. We report the first measurement of what the gap costs. On a scaled 14-DOF bimanual library, $3.2\%$ of interface samples are in collision, and a search-based GCS planner (\gcsstar) turns that volume error into a $62\%$ answer error: $18$ of $29$ pick-and-place queries return trajectories that drive the arms through the shelves, up to $91$\,mm deep, reported as successes. Repairing the library does not work; a ten times stricter acceptance contract, sums-of-squares certified regions, and uniform margins each destroy the connectivity planning needs before they deliver soundness. We instead build a planner that certifies its answers. It samples the overlaps and shared faces of the decomposition, prunes with an admissible informed bound, and verifies the one candidate each search round proposes, continuously, by a chain of clearance certificate balls with no resolution parameter; failures are repaired with local in-region detours, and the convex polish is re-verified. Head-to-head on all $29$ task queries it delivers zero invalid answers against $21$ for the reference, reaches its first certified answer in $0.11$\,s against $1.59$\,s for the reference's unverified one, and reproduces the reference optimum exactly on every query whose reference answer is physically valid.

cs.RO↗
arXiv2026

MV-dVRK: A Multi-Viewpoint Benchmark for Spatial Surgical Perception

Large-scale training and refined optimization techniques have greatly improved sparse multi-view 3D reconstruction. Despite their relevance to surgery, such methods have never before been rigorously evaluated on real endoscopic images. Current clinical telerobots deploy a single stereo camera inside the patient, making multi-viewpoint data extremely rare. This paper presents MV-dVRK, the first ex-vivo surgical dataset to combine multiple exposure-synchronized stereo viewpoints with accurate surface geometry and camera poses. The static subset of the benchmark provides dense SfM reference geometry, validated against an industrial 3D scanner, together with ground-truth camera poses and sparse-view test sets. We use MV-dVRK to systematically compare zero-shot monocular, stereo, multi-stereo, and multi-view 3D reconstruction methods as the number of viewpoints increases. With two endoscopes, multi-stereo reconstruction achieves the highest coverage. With a third viewpoint, optimization-based multi-view methods perform best, covering 67% of ground-truth surface points within a 1 mm tolerance and recovering highly accurate relative camera poses. By contrast, feed-forward foundation models cover only 43% of the ground-truth surface in the same setting. MV-dVRK also includes ten dynamic sequences spanning multiple surgical tasks, with increasing kinematic complexity and tissue deformation, providing a basis for future research in multi-viewpoint surgical perception. The project is available at: https://mv-dvrk.is.mpg.de.

cs.CV↗
arXiv2026

Partition-Aware Unlearning for Removing Spurious Correlations in Large Vision-Language Models

Large Vision-Language Models (LVLMs) achieve strong performance across many multimodal tasks; however, they often exploit spurious object-background correlations, resulting in predictions driven by contextual shortcuts rather than object-relevant visual evidence. Despite growing interest in hallucination and robustness evaluation, existing benchmarks provide limited control over whether model predictions are grounded in the target object or induced by correlated background cues. In this work, we introduce PURGE (\underline{P}artition-aware \underline{U}nlearning for \underline{R}emoving spurious-correlation \underline{G}enerated \underline{E}rrors), a framework for constructing, benchmarking, and mitigating spurious-correlation-induced failures in LVLMs. The framework consists of: -- (1) Structured dataset construction wherein we develop three complementary structured data construction strategies that partition examples by object-relevant evidence and spurious background cues, enabling controlled diagnosis of shortcut reliance; and -- (2) Partition-aware unlearning, which uses these partitions to selectively remove spurious object-background associations while preserving object-based reasoning. We evaluate the \algo~framework across multiple LVLMs, including LLaVA-1.6-7B, Qwen3-VL-8B-Instruct, and Qwen3.5-9B, together with CLIP as a vision-language encoder, on a diverse suite of benchmarks, including CHAIR, POPE, Causal-HalBench, MM-SpuBench, AMBER, MMHal, and Waterbirds. Our results show that PURGE consistently reduces hallucinations and spurious-correlation-driven errors while maintaining or improving overall performance in most evaluated settings, providing both a reusable evaluation protocol and an effective mitigation framework for more reliable LVLMs.

cs.CV↗
arXiv2026

PyDoseRT Proton: A GPU Pencil-Beam Engine with a Convolutional Residual-Correction Network for Fast Proton Dose Calculation

Architecture category. Hybrid method: a physics-based analytical pencil-beam (PB) dose engine followed by a 3-D convolutional residual-correction network (RepVGG-U-Net). We addressed the DoseRAD2026 proton dose-prediction task with PyDoseRT Proton, a GPU-accelerated engine implemented in PyTorch and augmented by a learned residual toward Monte Carlo (MC) accuracy. A double-Gaussian PB kernel was calibrated to GATE/Geant4 integrated depth doses in water in two stages: a classical per-energy curve fit, then a gradient-based fit of the full 3-D dose through the PyTorch physics engine as it retains a differentiable execution path for gradient-based optimization of dose-dependent objectives. The engine computes each beamlet on a beam's-eye-view (BEV) lattice with variance-preserving Gaussian splitting, an analytic nuclear halo, and a Fermi-Eyges heterogeneity term, then rotates the result into the patient frame. Additionally, a compact residual U-Net predicts an additive correction in BEV space. It is conditioned on voxelwise material-label embeddings, a discrete energy embedding and spot size. The same model was used for all anatomical sites (thoracic and abdominal). It was trained with a patient-space L1 objective emphasizing the scored high-dose region and multi-scale BEV deep supervision. The submitted CT configuration obtained preliminary-test beamlet MAE 0.0066, image-z IDD distance 0.0025, plan MAE 0.0049, 98.30\% gamma pass rate (1\%/1 mm), and DVH error 0.460.

physics.med-ph↗
arXiv2026

The Structure of Merging Turbulent Jets Beneath a Small Quadrotor

The downwash wake of a hovering quadrotor governs both the vehicle's own performance and the safe spacing of multi-rotor formations. Prior measurements have largely characterized the mean flow, using single-point anemometry, volumetric tracking, or planar cuts through part of the rotor system. Higher-order turbulent statistics of the merged wake, and how they relate to canonical jet scaling, have remained unresolved, particularly for small quadrotors at the low-Reynolds-number end of the size range. Here, we present a detailed particle image velocimetry (PIV) study of the downwash of a hovering Crazyflie 2.1 quadrotor (arm length, $l = 46$ mm), sampled along a diagonal cut, passing through rotors along the symmetry axis of the quadrotor, and a front-rotor cut, passing through adjacent rotors. The four rotor jets merge into a single column by $z/l \approx 5$, beyond which the mean velocity profiles progressively approach the canonical round-jet self-similar form, collapsing by $z/l \approx 13$ when scaled by the local centerline velocity and half-width. Centerline decay and half-width growth follow canonical scaling laws with an effective source diameter $D_\text{eff} = 2.29\,l$, effective Reynolds number $Re_{D_\text{eff}} = 3 \times 10^4$, at the low end of the range over which canonical jet scaling has been established, and spreading and decay constants nonetheless within the canonical round-jet range. Resolving both cuts shows that the turbulent normal stresses retain a bimodal, cut-dependent signature of the four-rotor source throughout the measurement domain.

physics.flu-dyn↗
arXiv2026

Robot Aware Computational Design of Object Specific Passive Grippers for Additive Manufacturing

This paper presents an end-to-end computational pipeline that converts a selected object mesh, a measured object state, and a selected six-axis robot into an object-specific, unactuated, additively manufacturable gripper. The method couples exact-mesh RGB-D/ICP pose registration, deterministic surface-contact sampling, uncertainty-aware wrench screening, selection among six passive capture mechanisms, object-conformal surface synthesis, full-orientation robot inverse kinematics, a swept-volume-aware manufacturing domain, directional fused-deposition finite-element screening, and constrained three-dimensional SIMP topology optimization. Unlike workflows that treat grasp selection, tool geometry, motion, and structural design as separate problems, every exported design is bound to the source mesh, object pose, robot flange, contact set, and insertion hypothesis by a traceable design identifier. We derive the implemented registration, contact, fit-tolerance, finite-element, and density-optimization equations and prove three properties of the numerical construction: nodal load preservation, monotonic compliance sensitivity under SIMP interpolation, and voxel-domain containment after topology post-processing. Four archived object-specific attempts - a rabbit, camera flange, 3DBenchy, and faceted bust - meet the nominal fit, uncertain-wrench, runtime-sweep, and baseline/post-topology FEA gates. A deliberately enlarged +/-3 mm, +/-5 degree pose stress check differentiates the designs, retaining 29-134 of 160 simulated trials. Their reconstructed topologies retain 92.0-97.6% of the FE domain because functional regions are protected. Archived robot photographs show the corresponding printed assemblies qualitatively, while nominal material properties and absent coupon-calibrated, instrumented tests keep all four at digital-screening status rather than operational release.

cs.RO↗