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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Principal Steering Subspaces for Online Adaptation of Frozen Generative Robot Policies
Generative robot policies provide expressive behavior priors, but updating a large diffusion or flow-matching model through online interaction is costly.CodeActionBench: Evaluating Agentic Code-as-Policy for Embodied Manipulation
How well can general-purpose multimodal models turn visual understanding and reasoning into embodied manipulation via executable code?Achieve What You Imagined: Learning to Align Actions with Visual Plans
World-action models can jointly predict future visual observations and robot actions.DeltaSeek: Toward Active Perception in Evolving Construction Environments
Construction environments evolve continuously, causing large geometric changes that degrade static mapping and registration performance.Robot-GST: geometry-aware spatial-temporal robot policy representation and evaluation
Robotic manipulation policies are advancing rapidly with increasing reliance on vision-language models for end-to-end decision making.DexTaG: Tactile-as-Guidance in Reinforcement Learning for Dexterous Manipulation
Glove-based motion capture is emerging as a scalable approach to collecting dexterous-hand demonstration data.Residual Learning-Based Control of Vehicle Platoons with $\ell_2$ Stability Guarantees via Recurrent Equilibrium Networks
This paper proposes a residual learning-based control framework for heterogeneous vehicle platoons subject to parametric uncertainty and external disturbances.ArticulateArena: A Metric for Articulated Kinematics
Modern methods reconstruct or generate simulation-ready articulated objects, predicting not only their geometry but also how their parts are connected and allowed to move.EpiTransfer: Sparse, Training-Free Long-Range Depth Estimation from Temporal Monocular Aerial Frames
Reliable 3D spatial understanding is essential for autonomous navigation, obstacle avoidance, and scene reconstruction.ReSync: Re-Aligning the Two Clocks of Asynchronous World-Action Models
Jointly generating future video and actions has become a standard recipe for world-action models, and the strongest systems denoise the two streams on separate schedules: actions are decoded in few…Integrity Detection and Characterization of Malicious Injections in RAVEN II
The increasing adoption of robotic systems in surgery, together with the expanding range of procedures they can support and the growing level of autonomy they provide, has substantially increased…FINGR: Learning Dexterous Hand Control for Real-World Rubik's Cube Solving
Manipulating a Rubik's Cube with a single dexterous hand is a challenging test of sustained, contact-rich control: the hand must execute successive layer turns while keeping the cube secure.Test-Time Spatial Reasoning for Robot Manipulation Using Generative Real-to-Sim
Spatial reasoning is fundamental to general robot intelligence, as it enables robots to complete long-horizon tasks involving multi-object interaction.TacGooseBumps (TacGB): Retrofitting Normal-Only Tactile Sensors with Shear Encoding for Learning Contact-Rich Manipulation
Contact-rich policies often fail because distinct physical states look alike yet require different actions.ZeroBot: Learning from Scratch in Minutes with Generative Real2Sim
We present ZeroBot, a real2sim framework for learning a robot manipulation task from scratch in minutes under challenging conditions: zero human demonstrations, zero policy pre-training, and zero…Estimate, Don't Imitate: Reusing Differentiable State-Based Policies for Visuomotor Control
Simulation-trained manipulation policies can exploit privileged state information to learn effective contact-rich behaviours, but deployment requires acting from partial observations such as noisy…3D Point Tracking with State Space Models
Tracking any point of a dynamic scene in metric 3D - in absolute meters, not up to an unknown scale - underpins 3D and 4D reconstruction, robot navigation, and autonomous driving, where decisions…Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation
High-performance surgical master consoles offer intuitive articulated manipulation but are expensive and difficult to reproduce, while accessible commercial haptic devices lack built-in interfaces…Contact-Adaptive Robotic Ultrasound Probe Control for Tissue Exploration and Continuous Task-Relevant Visualization Using Robot-Free Image-Motion Demonstration
Robotic ultrasound commonly targets standardized views, predefined scanning protocols, or expert-scan reproduction.Waggle-Dance-Inspired Multi-UAV Recruitment with RGB and Synthetic Event Vision
The honeybee waggle dance motivates a communication mechanism in which one agent's motion guides the subsequent work of other agents.