Search robot thinks for itself

Tracking objects with the help of language models

Technical University of Munich (TUM)

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A robot that can locate lost items on command – this is the latest development at the Technical University of Munich (TUM). It combines knowledge from the internet with a spatial map of its surroundings to efficiently find the objects being sought.

The new robot from Prof. Angela Schoellig’s TUM Learning Systems and Robotics Lab looks like a broomstick on wheels with a camera mounted at the top. It is one of the first robots that not only integrates image understanding but also applies it to a clearly defined task.

To find a pair of glasses misplaced in the kitchen, for example, the robot has to look around and build a three-dimensional image of the room. The camera initially provides two-dimensional images, but these pixels also contain depth information. This creates a spatial map of the environment that is accurate to the centimeter and is constantly updated. A laptop also provides the robot with information about which objects are visible in the image and what significance they have for humans.

“We have taught the robot to understand its surroundings,” says Prof. Angela Schoellig. The head of the Robotics Lab at the TUM Chair of Safety, Performance and Reliability for Learning Systems aims to develop robots that can navigate any environment independently. Humanoid robots working in factories or robots in care settings in private homes require this newly developed basic understanding, which, as Schoellig explains, “is important for all robots that move in spaces that are constantly changing”.

Internet knowledge translated into the robot’s language

The robot therefore understands that a table or window sill can be used to briefly set down a pair of glasses, whereas a stovetop or a sink are not suitable for this purpose. “The language model captures the relationships between the objects and we convert this information into the robot’s language,” explains Prof. Schoellig. Two-digit numbers appear on the three-dimensional map of the environment, constantly recalculating the likelihood that the object being searched for is located there. According to the research results, the robot then searches the probable locations almost 30 per cent more efficiently than if it searched randomly throughout the room. Artificial intelligence is used in two ways: on the one hand in image recognition and on the other hand through the use of a language model.

Another special capability of the robot: it remembers previous images and is able to compare them with new images of its surroundings. If a new object suddenly appears in the kitchen, it recognizes the change with a high degree of certainty (95 per cent) and marks these areas as “highly probable” search locations.

Next step: searching behind cupboard doors

In the next step, the TUM scientist and board member at the Munich Institute of Robotics and Machine Intelligence (TUM MIRMI) also wants to search for objects that are in a drawer or behind a door. To do this, however, the robot will not merely have to draw on knowledge from the internet but will also have to interact with its surroundings. Robotic arms and hands must open a cupboard and determine whether it opens upwards or sideways and how best to grasp the handle. This will enable the robot to search even in closed spaces such as cupboards or drawers.

Publications:

Where did I leave my glasses? Open-Vocabulary Semantic Exploration in Real-World Semi-Static Environments; Benjamin Bogenberger, Oliver Harrison, Orrin Dahanaggamaarachchi, Lukas Brunke, Jingxing Qian, Siqi Zhou, Angela P. Schoellig; IEEE Robotics and Automation Letters, 3 March 2026; https://ieeexplore.iee...t/11359697

Further information:

- Prof. Angela Schoellig is a member of the board of the Munich Institute of Robotics and Machine Intelligence (TUM MIRMI). The institute is an integrative research institute at the Technical University of Munich (TUM) that focuses on robotics and AI. The institute brings together expertise in key areas of robotics, including perception and data science. Nearly 80 TUM chairs are networked within MIRMI to develop innovative robotic and AI-supported solutions for the environment, health, mobility, work, as well as security and defense. TUM MIRMI is headed by Prof. Lorenzo Masia. Further information can be found at https://www.mirmi.tum.de/.

Additional material for media outlets:

• Photos for download: https://mediatum.ub.tum.de/1846659
• Scientific video: https://utiasdsl.githu...ploration/

Subject experts:

Prof. Angela Schoellig

Chair of Safety, Performance and Reliability for Learning Systems

Technical University of Munich (TUM)

angela.schoellig@tum.de

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Journal

IEEE Robotics and Automation Letters

DOI

10.1109/LRA.2026.3656790 

Method of Research

Case study

Subject of Research

Not applicable

Article Title

Where Did I Leave My Glasses? Open-Vocabulary Semantic Exploration in Real-World Semi-Static Environments

 

Postpartum Medicaid extensions reduce uninsurance

COVID continuous coverage policy reduced uninsurance among Black mothers in non-expansion states, yet disparities with White women persisted

Columbia University's Mailman School of Public Health

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March 17, 2026-- Postpartum uninsurance declined among Black women in non-expansion states during the COVID-19 continuous Medicaid coverage policy, but racial gaps persisted, according to a new study at Columbia University Mailman School of Public Health. The research is the first to explicitly examine how the policy affected racial equity in postpartum insurance coverage while also considering states’ Medicaid expansion status under the Affordable Care Act (ACA). The study is published in the American Journal of Preventive Medicine.

Extending Medicaid coverage to 12 months postpartum is widely viewed as a key strategy to reduce maternal morbidity and mortality, particularly in states that did not expand Medicaid under the ACA. The continuous Medicaid coverage provision enacted at the onset of the COVID-19 pandemic created a natural experiment to evaluate how extended coverage policies affect postpartum insurance coverage.

“Postpartum is a crucial time for preventing postpartum morbidity and mortality. The postpartum period is one of intense physiologic and psychosocial adaptation and requires consistent monitoring of health to support women during this critical time,” said Teresa Janevic, ​PhD, associate professor of Epidemiology at Columbia Mailman School. “Our goal was to examine changes in postpartum uninsurance, Medicaid coverage, and private insurance before and during the continuous coverage provision among Black and White women, and to understand how those changes differed in Medicaid expansion and non-expansion states.”

In 2022, Black women had twice the rate of pregnancy-related death within 42 days of  delivery compared with non-Hispanic White women and were more than four times as likely to die from pregnancy-associated causes up to 12 months postpartum. Beyond mortality, research shows that the postpartum period also widens racial health disparities, with Black women experiencing higher rates of severe maternal morbidity, postpartum depression, hospital readmissions, and emergency department visits.

Under the American Rescue Plan Act (ARPA), 49 states have enacted laws extending Medicaid postpartum coverage to 12 months, making it one of the largest policy responses to the U.S. maternal health crisis.

Before the pandemic, postpartum uninsurance rates were significantly higher in states that had not expanded Medicaid. In 2019, 16.5 percent of Black women and 11 percent of White women in non-expansion states were uninsured postpartum, compared with 6.4 percent and 5.4 percent respectively, in expansion states.

The study found that:

• Postpartum uninsurance among Black women fell significantly in non-expansion states after the continuous coverage policy. By 2023, postpartum uninsurance among Black women declined 5 percentage points more in non-expansion states than in expansion states.
• These reductions were driven largely by increased Medicaid coverage.
  Among Black women in non-expansion states, postpartum Medicaid coverage rose from 38 percent in 2019 to 42 percent in 2023, peaking at 45 percent in 2021.
• Among White women, declines in postpartum uninsurance were also larger in non-expansion states, but were driven mainly by gains in private insurance (69 percent) rather than gains in Medicaid (20 percent).

Despite these improvements, Black-White disparities in postpartum uninsurance remained unchanged.

The researchers analyzed data from the American Community Survey (ACS) for 2016–2019 and 2021–2023 across all 50 states and the District of Columbia using data from IPUMS USA, based on U.S. census microdata. The sample included 157,016 non-Hispanic Black and non-Hispanic White women who had given birth in the previous 12 months.

The study compared postpartum insurance coverage before the pandemic (2016–2019) with the period during the federal continuous coverage policy (2021–2023), adjusting for factors including age, employment status, and household income.

Janevic notes that the findings suggest policies extending Medicaid postpartum coverage can meaningfully reduce postpartum uninsurance, particularly in states that have not expanded Medicaid. However, the policy alone may not be sufficient to close racial gaps in maternal health.

“While racial inequities in insurance coverage persisted, our findings suggest that postpartum Medicaid extension plays an important role in improving access to postpartum care,” noted Janevic. “At the same time, it is unlikely to be sufficient on its own to address the U.S. Black maternal health crisis.”

The results also underscore the broader importance of Medicaid coverage for maternal health. Because Black women are more likely than White women to rely on Medicaid for pregnancy-related care, policies that reduce Medicaid access could disproportionately affect maternal health outcomes of Black women.

Co-authors are∙ Heeun Kim, University of California Fielding School of Public Health; Annabelle Ng, Shelley H. Liu, and Ellerie Weber, Icahn School of Medicine at Mount Sinai; Frances; Howell, Columbia Mailman School of Public Health; and Ashley Fox, Rockefeller College of Public Affairs and Policy, SUNY Albany.

The study was supported by the National Institutes on Minority Health and Health Disparities, grant R01MD018180 and the Robert Wood Johnson Foundation, grant 79625.

The authors report no financial conflicts of interest.

Columbia University Mailman School of Public Health

Founded in 1922, the Columbia University Mailman School of Public Health pursues an agenda of research, education, and service to address the critical and complex public health issues affecting New Yorkers, the nation and the world. The Columbia Mailman School is the third largest recipient of NIH grants among schools of public health. Its nearly 300 multi-disciplinary faculty members work in more than 100 countries around the world, addressing such issues as preventing infectious and chronic diseases, environmental health, maternal and child health, health policy, climate change and health, and public health preparedness. It is a leader in public health education with more than 1,300 graduate students from 55 nations pursuing a variety of master’s and doctoral degree programs. The Columbia Mailman School is also home to numerous world-renowned research centers, including ICAP and the Center for Infection and Immunity. For more information, please visit www.mailman.columbia.edu.

 

 

 

 

 

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Journal

American Journal of Preventive Medicine

DOI

10.1016/j.amepre.2026.108320 

Article Title

Racial Inequities in Postpartum Coverage During Medicaid Continuous Coverage: Evidence from ACA Expansion vs Non-Expansion State

 

Want to handle stress better? Start with breakfast, sleep, and exercise

New study shows healthy habits build ‘psychological flexibility’

Binghamton University

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image: 

Healthy fruit bowls with coconut, berries, and nuts for breakfast

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Credit: Arek Adeoye areksan, CC0, via Wikimedia Commons

Do you ever feel mentally stuck, like you can’t cope when a stressful situation hits? A healthy breakfast, exercise, and a good night’s sleep might be just what you need to build psychological flexibility, and new research from Binghamton University shows why that matters.

What is psychological flexibility? Psychological flexibility is the ability to adapt your thoughts, emotions, and behaviors to changing situations in a balanced and constructive way. Instead of getting mentally “stuck” when stress hits, psychologically flexible people can step back, process their emotions, and respond constructively.

“You might know someone who stays cool under pressure,” said Lina Begdache, an associate professor of health and wellness studies and lead author of the study. “The kind of person who misses a flight and, instead of panicking, calmly adapts to the situation. This person may still feel stressed, but they’re better able to manage it through psychological flexibility.”

Lina Begdache, associate professor of health and wellness studies at Decker College of Nursing and Health Sciences, studies the interaction between food and mood. Image Credit: Jonathan Cohen.

“People may say that these are resilient people, but they also have what’s called psychological flexibility. They’re able to change the way they think about the situation and then use brain resources to handle the stress.”

Begdache and her colleagues – former Assistant Professor of Physical Therapy Binghamton Jason Cherry and former student Alexander J. Talkachov – conducted an anonymous survey of approximately 400 college students asking questions on diet, sleeping habits, exercise frequency, and more. They found that consistent healthy habits, such as regular exercise and eating breakfast, enhance psychological flexibility, which in turn strengthens mental resilience and helps individuals cope with stress.

Key findings from the study include:

• Eating breakfast five or more times a week is associated with increased resilience through psychological flexibility processes
• People who sleep less than six hours tend to have less resilience and less psychological flexibility
• Exercise, even 20 minutes or more, is associated with psychological flexibility and resilience
• Taking fish oil multiple times a week can help with psychological flexibility

In contrast, low psychological flexibility, or rigidity in thinking and behavior, is associated with poor habits such as fast-food consumption and insufficient sleep.

Begdache said that psychological flexibility allows a person to “step back” and use their brain’s resources to better understand and process their emotions. And people can have more flexibility if they follow certain improvements in their diet and lifestyle.

“When we’re under stress, we feel like we fuse with the stress. We live the stress. But psychological flexibility is like stepping back and thinking, ‘I feel this because of that. What can I do?’ Identifying your emotions sometimes helps you find the solution for these emotions,” said Begdache.

Begdache’s earlier research found that high-quality diets boost resilience while poor diets reduce it. This study adds a critical piece: psychological flexibility is the pathway through which diet and lifestyle shape resilience.

“The new finding here is that diet and lifestyle don’t just make you resilient by themselves. They help you build the psychological flexibility, which, in turn, makes you a resilient person.”

The paper, “Dietary and lifestyle factors and resilience: the role of psychological flexibility as a mediator,” (opens in a new window)was published in the Journal of American College Health.

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Journal

Journal of American College Health

DOI

10.1080/07448481.2025.2597907 

Method of Research

Survey

Subject of Research

People

Article Title

Dietary and lifestyle factors and resilience: the role of psychological flexibility as a mediator

 

Some Canadians are willing to eat insect-based food — but conditions apply

A Concordia-led study reveals that curiosity drives entomophagy in adults, while disgust hinders it

Concordia University

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Nadezhda Velchovska, with Rassim Khelifa.

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Credit: Concordia University

Going to the grocery store these days can be a painful experience, with record-high price hikes biting into Canadian food budgets. However, as many societies around the world already know, a cheap, plentiful source of protein is literally at our feet: insects, especially crickets, grasshoppers, ants and beetles.

While entomophagy — the eating of insects — has lagged in the U.S. and Canada, a new study by Concordia researchers found that there is some interest in the dietary practice, with some demographic groups showing more openness than others.

Nadezhda Velchovska, an Honours undergraduate in the Department of Psychology, approached 252 adult visitors to the Montreal Insectarium between October 2024 and February 2025. She used a structured online questionnaire to evaluate participants’ willingness, motivation and barriers to trying insect-based food.

After analyzing the results, Velchovska and her supervisor Rassim Khelifa, an assistant professor in the Department of Biology, found 44 per cent of respondents reported being open to trying insects, though only 27 per cent were willing to include them in their regular diet.

Men were more willing than women to consume insect-based food and were more likely to have tried it in the past. Higher educational achievement was also a factor: participants with graduate degrees were found to be more likely to experiment with insect-based ingredients at home, and prior insect consumption among women increased with education. Age alone was not found to be a consistent predictor.

The paper was published in the Nature journal Scientific Reports.

Powdered is better

Curiosity was the strongest motivator in getting people to try insect-based foods, accounting for almost 42 per cent of respondents. Other factors include perceived health and nutritional benefits, environmental sustainability and taste.

The biggest barrier was disgust, as noted by 70 per cent of respondents. It was followed by fear of the insects, uncertainty about safety and health concerns.

Presentation and packaging were also important: 87 per cent of respondents preferred products where the insect component was not visible. Two-thirds of respondents said they might or certainly would try eating baked goods made with cricket-based flour. Almost half would try a cricket protein bar and powdered cricket bread. On the other hand, 82 per cent said visible larvae in a muffin would make them less likely to eat it.

“The motivators and barriers reveal an interesting interplay,” Velchovska says. “If we want to encourage entomophagy, the best way would be to convince the public of the health benefits and sanitary conditions in which these insects are farmed. We should also emphasize the huge difference in the amount of greenhouse gas emissions produced when farming insects versus raising livestock.”

Khelifa adds that farming insects can help upcycle the 40 per cent of food that goes to waste in Canada. The practice could also contribute to more sustainable agricultural production — including feed for farm animals.

“If we feed our food waste to insects, they will increase in body mass, giving us more insect protein and more insect excretions, which makes excellent fertilizer,” he says. “The protein would not even have to be for human consumption directly — it could be used as feed for chicken, pigs and aquaculture. Involving insects in our food system, either directly or indirectly, can yield enormous potential benefits.”

This research was supported by the Natural Sciences and Engineering Research Council of Canada.

Read the cited paper: “Acceptance of entomophagy among Canadians at an insectarium”

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Journal

Scientific Reports

DOI

10.1038/s41598-026-35288-w 

Method of Research

Survey

Subject of Research

People

Article Title

Acceptance of entomophagy among Canadians at an insectarium