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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D&A: Decoupling Description and Assessment Enables VLMs as Zero-Shot Robotic Reward Models
Vision-Language Models (VLMs) hold promise for zero-shot video task-progress estimation in robot learning, yet existing frameworks frequently suffer from confirmation bias, hallucinating progress in…Pixel-UMI: Learning Environment-Aware Whole-Body Manipulation from Sensorized Human Demonstrations
Sensorized human demonstrations offer scalable data for mobile manipulation, but embodiment differences complicate policy learning.Pixel: A Co-Designed Full-Stack Robot System for Learning General-Purpose Mobile Manipulation
General-purpose mobile manipulation requires a combination of capable robot hardware, scalable demonstration collection, expressive whole-body control, and effective policy learning.Robot-Matched Soft Fingers for UMI Data Collection: Lessons from 100 Hours of Pick and Place
Training robot policies for multi-task pick and place requires demonstrations on many objects, which handheld Universal Manipulation Interfaces (UMIs) can collect quickly and cheaply.AIRoA-0: Long-Horizon, Precise, Cross-Embodiment Manipulation from Handheld Data
AIRoA-0 (A-0) is a bimanual manipulation system learned from 16,151 hours of handheld demonstrations, with no robot data collected at any stage.A Tutorial on Shape Servoing of Deformable Objects-Part II: Advanced Concepts
In robotics, shape control, or shape servoing, refers to the automatic manipulation of a deformable object toward a desired shape.RoboScope Kit: Unified Interfaces for Fast and Scalable Embodied-AI Evaluation
Simulation benchmarks are the standard way to compare robot policies, but each benchmark brings its own evaluator, observation layout, and action convention, and evaluation is slow: 500 RoboTwin…Self-Consistent Neural Control: Learning Trajectories for Implicit Equilibrium
One big challenge in physical AI is interacting with systems whose states are defined by implicit equilibrium.CoReMatch: Recurrent Continuous Coordinate Refinement for Real-Time Robotic Feature Matching
Feature matching underpins many robotic perception tasks, including visual localization, mapping, SLAM, and autonomous navigation.Geometric Refinement and Distributional Alignment for Sim2Real Roadside LiDAR Detection
We describe our approach to the LUMPI track of the UrbanTwin Sim2Real LiDAR Challenge, in which a 3D object detector must be trained exclusively on synthetic data and evaluated on unseen real…Coordinate Frame Recovery, Per Class NMS and Null Return Modelling for Sim2Real V2X LiDAR Detection
We describe our approach to the V2X-Real track of the UrbanTwin Sim2Real LiDAR Challenge, in which a 3D object detector must be trained exclusively on synthetic data and evaluated on unseen real…h-NESDF: An Infinitely Differentiable Signed Distance Between Two Sets with Robotic Applications
Computing distances between sets is important in many robotic applications, such as motion planning and control.Self-governed access control in open robot swarms using a blockchain-based DAO
Robot swarms harness simple, local interactions among many individually limited robots to produce complex, coordinated collective behavior, making them valuable across domains from agriculture to…Physical Experience Builds Continual Spatial World Models
World models are increasingly used to support prediction and planning in embodied agents, but the knowledge is usually established before deployment and then carried into later encounters.A Practical Causal Framework for Autonomous Mobile Robots: From Simulation to Real-World Human Environments
Causal inference has emerged as a powerful paradigm enabling robots to make safe, efficient decisions by reasoning about the ``why'' behind events.FEIJOA: Task-Driven Grounding and Execution for Mobile Manipulation
A mobile manipulator asked to "put the toys away in the toy box" must decide which objects are toys and which container the user means, then find base poses, grasps, and placements it can execute.MABEL: An Open Anthropomorphic Mobile Bimanual Platform for Teleoperation and Learning
As robot learning moves beyond the tabletop, many tasks require mobility, adjustable reach, active perception, and bimanual dexterity.Same Path, Less Time: Training-Free Fast Execution of Vision-Language-Action Models under Inference Latency
Vision-language-action (VLA) models predict chunks of future actions, yet deployed robots waste time in two ways that are independent of model capability: they halt while the next chunk is inferred…Serving Agentic Robot Fleets: Workload Characterization, KV-Cache Thrashing, and Admission Control
Agentic robots combine a vision-language brain, a tool-using harness, and a vision-language-action (VLA) policy.Adaptive Surface Cleaning under Uncertain Cleaning Response
Surface cleaning requires robots to adapt both where they clean and how they interact with contamination whose response to cleaning may vary spatially and remain unobservable prior to interaction.