Pith Number

pith:K27DUO3T

pith:2026:K27DUO3TMGR4YNJ4L5CTE3AWZL

not attested not anchored not stored refs pending

Foundation Models in Robotics: A Comprehensive Review of Methods, Models, Datasets, Challenges and Future Research Directions

Aggelos Psiris, Arash Ajoudani, Efstratios Gavves, Evangelos K. Markakis, Georgios Th. Papadopoulos, Kostas Bekris, Panagiotis Sarigiannidis, Vasileios Argyriou

Foundation models are shifting robotics from single-task systems to adaptable agents for open-world environments.

arxiv:2604.15395 v2 · 2026-04-16 · cs.RO

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\usepackage{pith}
\pithnumber{K27DUO3TMGR4YNJ4L5CTE3AWZL}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The emergence of Foundation Models is driving a transformative paradigm shift in robotics from fixed, single-task, domain-specific solutions towards adaptive, multi-function, general-purpose agents capable of operating in complex, open-world, and dynamic environments.

C2weakest assumption

That the literature can be accurately delineated into five distinct research phases and that the chosen taxonomic categories (FM types, architectures, learning paradigms, tasks, domains) comprehensively cover the relevant work without major omissions or selection bias.

C3one line summary

Foundation models are enabling a shift in robotics toward general-purpose agents, and this review maps the methods, models, datasets, challenges, and future directions across the field.

Receipt and verification

First computed	2026-08-04T02:40:38.803312Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

56be3a3b7361a3cc353c5f45326c16cac664ec5f20ab481586a4a0f6ccdca53d

Aliases

arxiv: 2604.15395 · arxiv_version: 2604.15395v2 · doi: 10.48550/arxiv.2604.15395 · pith_short_12: K27DUO3TMGR4 · pith_short_16: K27DUO3TMGR4YNJ4 · pith_short_8: K27DUO3T

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/K27DUO3TMGR4YNJ4L5CTE3AWZL \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 56be3a3b7361a3cc353c5f45326c16cac664ec5f20ab481586a4a0f6ccdca53d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bde3fba689ce0c6b765dcdacf20f2db779298c83f2bcbab37d4597491c8b9225",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-16T09:32:36Z",
    "title_canon_sha256": "58b7369849ebb4394b96d1dada2fadf2f9c16fb5adf50cd9b9a73fe77e45177c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.15395",
    "kind": "arxiv",
    "version": 2
  }
}