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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Newest papers, page 110
Hierarchical Reinforcement Learning for Collision-Free Locomotion of an Underactuated Biped
A bipedal robot cannot deviate from its path to avoid an obstacle without disturbing its balance, and this coupling is most severe on underactuated platforms such as the biped considered here, which…OGAM: Connecting Systematic Testing to Runtime Assurance through Object-Grounded Attention Monitoring for VLA Policies
Benchmarks expose vision-language-action (VLA) policies to few canonical instructions, while exhaustive deployment testing is impossible.Mulligan: Performance-Guided Data Collection for Efficient On-Robot Learning
Learning from human demonstrations is a reliable way to teach robots new tasks, but the gains from each additional demonstration shrink as the policy improves.Structural Foundations of Nonlinear Systems with Unknown Inputs: The UID-Induced Normal Form and Minimal-Sensing Structure-from-Motion
This paper establishes the first general structural solution to the problem of state estimation for nonlinear systems driven by unknown inputs.From Social Reasoning to Embodied Interaction: An Agentic Framework for Social Robots
Natural face-to-face human--robot interaction requires a robot to understand an evolving social situation, decide when to engage, and express its intent through coordinated physical behavior.Reachability-Aware Diffusion Policy Optimization
Diffusion policies provide expressive action distributions for continuous-control reinforcement learning.A State Based Dispatch Controller for Hospital Delivery Robots with Shared Human and Infrastructure Resources
Robot delivery studies can overstate transport capacity when travel to pickups and human support fall outside the modeled schedule.How (and How Not) to Use Data Augmentation in VLA Post-Training
Vision-language-action (VLA) models currently demonstrate strong performance in a wide range of real-world robotics tasks.EpicWorldModel: Exploration-driven Planning with Latent World Models
Latent world models based on Joint-Embedding Predictive Architecture (JEPA) are deterministic by design.Infant simulator with an embodied caregiver: Generating infant-perspective touch and vision during social interaction
Early development unfolds in caregiver-infant dyads, where infants' sensorimotor streams are shaped by physical contact and face-to-face interaction.P3: Persistent Particle Planning for Constrained Diffusion Control
Diffusion models provide expressive priors over trajectories, but adapting these priors to test-time constraints requires maintaining feasibility and consistency across successive control decisions.Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference
Ultrasound visual servoing is essential for autonomous robotic ultrasound, yet 6-DoF probe control from 2D B-mode images remains challenging due to limited and ambiguous out-of-plane motion cues.MagServo: Uncertainty-Resilient Hierarchical Magnetic Servoing via Learned Latent Representations
Magnetic navigation provides contact-free and line-of-sight-independent feedback for robotic systems, yet existing approaches typically rely on explicit pose estimation or direct use of raw magnetic…Do VLAs Understand and Adapt to the Objects They Handle, or Simply Replay Learned Behaviors?
This paper asks whether VLA generalization is grounded in a global understanding of objects' physical properties that enables policies to adapt their motion to unseen setups, or if policies simply…Adaptive Mean Flow for Responsive Closed-Loop Robot Control
Diffusion- and flow-based robot policies have recently become widespread in robotic Imitation Learning (IL) due to their high performance and ability to model continuous and multimodal distributions.Execution-Aligned Progressive Noise for Consistent Asynchronous Replanning in Generative Robot Policies
Continuous asynchronous replanning is essential for real-time generative robot policies, but independent stochastic initialization can cause mode switching and inconsistent continuation across…Propagating Elevation-Map Uncertainty Through the Contact Maximum in Closed Form
Risk-aware planners score paths on uncertain elevation maps using the path cost's mean and standard deviation.Conditional Trajectory Peaks: Single-Pass Multimodal Policies over Action Chunks
Multimodal imitation learning requires diverse executable futures under the same observation and consistent behavior across replanning cycles.Radar2Plan: Benchmarking 4D Radar for End-to-End Open-Loop Ego-Trajectory Planning
Adverse weather and poor illumination remain major challenges for robust ego-trajectory planning in mobile autonomy.I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning
Behavioral foundation models (BFMs) have recently shown that a single humanoid policy can support diverse whole-body control, but extending such generality to physical interaction remains challenging.