Arm2Air: Cross-Embodiment Skeleton Transfer for 3D Relay Formation
Unmanned aerial vehicle (UAV) relay networks can restore connectivity after communication infrastructure is damaged. Urban relay placement is difficult because line-of-sight blockage, communication range, altitude, and three-dimensional obstacles must be considered jointly. Arm2Air transfers obstacle-avoidance skeletons from robot arms to UAV relay placement through cross-embodiment transfer. Source-domain robot-arm motions from a pretrained Neural MP model are converted into ordered skeletons that pretrain a transformer-based transfer platform, which is then adapted to the UAV domain using limited target data and Low-Rank Adaptation. The transferred skeleton initializes a relay chain tha...
| Authors | Dohun Lee, Kyeonghyun Yoo, Seokmin Kim et al. |
|---|---|
| Primary category | cs.RO |
| Published | 30 July 2026 |
| Last updated at source | 4 October 2026 |
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