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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To Coordinate or Not to Coordinate? Learning to Swim with Eight Soft Arms
Does effective swimming with multiple underactuated soft arms require explicit coordination between arms?RoboColosseum: Evaluating Physical Intelligence at Scale In-The-Wild
General-purpose robot policies must work across robots, tasks, and environments, yet the variation that makes physical trials informative also makes them difficult to reproduce.Neuro Inspired Robotics: What Robot Learning Can Borrow from the Sensorimotor Brain
Robot policies still fail at everyday manipulation: an unfamiliar task, an object never held before, a scene that changes mid-motion, a skill that should improve with use.A Study on the Effects of Finger Movements on a Humanoid Hugging Robot
This study aimed to examine the impact of finger movements in hugging robots on users by experimentally investigating how the presence and patterns of such movements affect users psychologically.Touching Projected Agents through the DAT Screen -System Design and Questions of Interaction Boundaries-
Touching a virtual agent involves more than detecting a finger on a display: the contact surface can deform and resist the user's push, and the agent can respond to that action.Interactive 3D Cutaway Visualization for Subsurface Target Localization in Robot-Assisted Surgery
Blended augmented reality (AR) overlays can provide ambiguous depth cues in which subsurface anatomy floats above the tissue surface.Energy-Based Policy Orchestration
Hierarchical control scales robot behavior by separating task-level planning from low-level control.Sequential Recovery Updates for Learned Controllers under Successful-Trajectory Preservation
A competent learned controller already recovers from many disturbances.Central pivot point control of a body-attached spring-mass runner: periodic gaits, stabilization, template embedding and approximate analytic return maps
The spring-loaded inverted pendulum (SLIP) describes the center-of-mass (COM) motion of runners but has no trunk.W2A: Distilling World Priors into Action Models for Real-Time Robotic Control
World Action Models (WAMs) have recently shown great promise in robotic control, benefiting from the future imagination capability of large-scale pretrained video models.MAPO: Mixture of Experts with Alternating Policy Optimization for Universal Humanoid Motion Tracking
Universal humanoid motion tracking is essential for enabling humanoid robots to perform diverse tasks in human environments.Neural Integral Control Barrier Functions for Agile Collision Avoidance
Control barrier functions (CBFs) are a standard way to keep a planner inside a safe set, but they assume control affine dynamics, a barrier function given in closed form, and a known nominal…DexArena: A Unified Benchmark for Long-Horizon Dexterous Manipulation
Long-horizon dexterous manipulation remains a fundamental challenge for robot learning, requiring the composition of multiple skills, precise bimanual coordination, generalizable visual…HeLM: Hierarchical Explicit Language Memory for Non-Markovian Manipulation
Recent advances in Vision-Language-Action (VLA) models have enabled fine manipulation capabilities, yet performing tasks that require working memory remains a key challenge.Visuo-tactile Diffusion Policy for Robotic Manipulation with Auxiliary Tactile Dynamics Prediction
Long-horizon robotic assembly requires reliable perception and action across grasping, alignment, and insertion.Closing the Dynamics Gap through Self-Directed Robotic Interaction
Agentic Real2Sim2Real systems can reconstruct a scene in simulation from camera observations, but contact-rich dynamics such as friction and restitution cannot be observed without interaction.Source-Resolved Collective Cognition in Robotics: Mathematical Foundations for Multimodal and Collective Estimation, and Their Reach across the Cognition Loop
The Generalized Singular Value Decomposition (GSVD) is a central tool for comparing two linear operators that act on the same unknown.Right Ranking, Wrong Scale: Reproducing the Robotic World Model's Dynamics Model and Testing the Uncertainty of Its Follow-up
We reimplement the dynamics model of the Robotic World Model (RWM) and test the uncertainty estimate that its follow-up, RWM-U, uses to penalize reward in offline policy optimization.Beyond Policy Patches: Distilling RL Specialists into Vision-Language-Action Policies
Vision-language-action (VLA) policies can handle noncritical stages of long-horizon manipulation yet fail during short precision-critical phases.SomaAlign: Reliability-Aware Multimodal Representation Learning for Soft Robotic Grasping
Robust multimodal perception for soft robotic grasping is challenged by modality-dependent noise, semantic ambiguity, and limited coordinated multisensory data.