Applied & Human-Centered · Computer Science & AI
Robotics
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4,418 papers, from 4 September 2026 to 5 November 2026: 4,418 arXiv preprints.
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An Empirical Study of Reinforcement Learning for Keypoint Positioning of Deformable Linear Objects
Deformable linear object (DLO) manipulation is challenging because high-dimensional configurations, nonlinear contact dynamics, and diverse material and geometric properties produce a broad range of…CRISP: Constraint-Resolved Interactions between Subsystems for Predictive Whole-Body Cooperation
This paper presents a layered control framework that recasts high-dimensional system dynamics as a composition of dynamically interconnected subsystems, with dynamic dual-arm manipulation on the…VREgo: Consumer VR Headsets for Learning Robot Manipulation from Egocentric Demonstrations
VREgo trains manipulation policies from demonstrations recorded on consumer VR headsets; we instantiate it with EgoKit on one such headset, the PICO 4 Ultra.Efficient Diffusion Policy Fine Tuning with Latent Noise Representation Bridging
Pre-trained diffusion and flow policies have emerged as powerful backbones for robotics, yet adapting them to novel data via reinforcement learning (RL) remains computationally expensive, sample…An Ordering Optimization for Fruit-Vegetable in High-Density Environment based on Genetic Algorithm
This paper presents a robotic harvesting method that combines RGB-D fruit localization, GA-based harvest ordering, and waypoint-based robot motion in dense and unstructured crop environments.Dynamic Watermarking and Action-Conditioned Latent Dynamics for Secure Vision-Based Controllers
Replay attacks are difficult to detect in vision-based control systems because previously recorded observations can remain plausible while the physical system follows a different trajectory.Kinematic Hypothesis Context: Embodiment-Conditioned Learned Video Coding for Bandwidth-Limited Robot Policy Uplinks
Robots increasingly run large vision-language-action policies on remote servers, making the camera uplink the bottleneck.MessyNav: Zero-Shot Navigation via Manipulation in Messy Environments
Real-world environments are messy, with paths often blocked by everyday objects like chairs and toys, requiring robots to perform interactive navigation by manipulating obstacles to clear a path.Closed-Loop Physics-Based Manipulation Evaluation at a Commodity Price: What 4.4 L4 GPU hours at $3.50 Buys You
Running evaluations of contact-rich robotic manipulation at statistical scale has largely been possible only at well-resourced labs, highlighting the need for affordable and efficient options for…FREE-LIVO: Physically Decoupled Yet Tightly Coupled LiDAR-Inertial-Visual Odometry
LiDAR-Inertial-Visual Odometry (LIVO) integrates complementary LiDAR, camera, and IMU measurements to achieve robust state estimation.Kinematic analysis of a double-closed-loop four-bar chain-based leg for a multimodal quadruped-pentarotor robot
This paper presents the kinematic modeling and singularity analysis of a three-degree-of-freedom, double four-bar closed-loop quadruped leg mechanism.Fast and Reliable Open-Vocabulary Object Search with Absence Detection from Robot Memory
Mobile manipulators deployed in everyday human environments, such as homes for assistive care or flexible automation, often need to locate specific objects on demand from accumulated observations.Concertina: Embodying Manipulation and Cognition in One Diffusion Vision-Language Model
Most vision-language-action (VLA) policies decouple manipulation from cognition by bolting an external action mechanism onto a vision-language model (VLM)--either quantizing actions into discrete…LMGN: A Unified Policy Learning Model for Last-Mile Grasp-Navigation
Legged robots equipped with manipulators have shown significant potential in the fields of daily life and industry in complex environments.Training-Independent Validation of a Learning-Based Controller for Stunt Maneuvers
Learned controllers for vehicle maneuvers are usually validated under the conditions and objective used to train them, where they appear highly reliable, yet the parameters that change on real roads…Embodied RAG++: Retrieval-Augmented Generation From What Exists to What Works in Embodied Scenes
To serve a request in a human environment, a robot system must find an object that satisfies a functional requirement and a robot that can feasibly reach it.Semantics-to-Contact: A Stagewise Framework for Robust Contact-Rich Manipulation
Contact-rich manipulation requires precise control under complex contact dynamics while remaining robust to diverse visual conditions.Unified Overview of Safety Certificate Functions: Techniques from Hamilton--Jacobi Reachability and Control Barrier Functions
Safety is a central concern in modern autonomous systems.Whole-Body Elasto-Geometrical Calibration of Wheeled Humanoid Robots Using a Shared-Waist Dual-Chain Model
Wheeled humanoid robots carry both arms on one actuated waist, usually without torque sensors, so the accuracy of both end-effectors depends on a single waist model.Data-Driven Configuration of Protective Separation Zones in Collaborative Robot Cells from Operator Occupancy
The protective separation zone of a collaborative robot cell is commonly dimensioned for a worst case that disregards where the operator is actually present during the task.