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 158
Simple Torque-Observation Alignment for Zero-Shot Sim-to-Real Grasping with a Direct-Drive Gripper
Torque observations in reinforcement learning remain challenging because simulated and measured torque differ in scale, offset, and noise.Design and Evaluation of LLM Chaining-Based Task Planning for General Purpose Service Robots
General Purpose Service Robot (GPSR) tasks, as defined in the RoboCup@Home benchmark, require robots to interpret diverse natural language commands and generate multi-step action sequences in real…A Procedure for Classifying Attachments and Affective Social Bonds in Human-Robot Dyads
Human-robot interaction (HRI) claims that people form attachments and social bonds with artificial agents, yet the terms are often applied without the behavioural and physiological criteria that…DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches
Grasping is a fundamental robotic capability that bridges perception and physical task execution.From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments
Recent advances in agentic systems have substantially enhanced the long-horizon capability of embodied manipulation.DAWN: Noise-Robust Quadruped Parkour via Depth-Denoising World Models
Vision-based legged locomotion methods assume clean depth at training time and rely on hand-tuned post-processing filters at deployment.A Support-Enhanced Granular-Jamming Gripper for RL-based Grasping with Continuum Manipulators
Continuum manipulators provide dexterous motion in confined spaces, but structural compliance, hysteresis, and load-dependent deformation leave residual position and orientation errors that can…TRACE: Interactive Bi-Directional Tracing of Monochrome Cables Amid Clutter
Accurate state estimation (tracing) of Deformable Linear Objects (DLOs) such as cables is a critical challenge for data centers, manufacturing, construction, homes, and surgery, where precise cable…Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series
Industrial robots are rarely used for machining tasks due to their limited path accuracy.UpDown-SC: Gravity-Canonicalized Dual-Envelope Scan Context for Indoor LiDAR Place Recognition
LiDAR place recognition is a key front end for loop closure and global relocalization, yet indoor retrieval remains difficult when attitude or sensor mounting height changes between mapping and…A Tendon-Driven Robotic Jellyfish with Constrained Soft Actuation and Depth Control via Reinforcement Learning
Jellyfish-inspired robots offer a compliant and efficient approach to underwater locomotion, but achieving large deformation together with repeatable actuation and closed-loop control remains…OREN-X: Octree Residual Network for Real-Time Multi-Modal Mapping
To achieve general-purpose autonomy over long horizons, a robot needs to maintain spatial environment information that supports a variety of tasks: geometry for planning and control, radiance for…HarnessPAI: An Evolving Harness for Physical AI
Physical AI aims to build embodied agents that perceive the world, understand and reason about it, and decide how to act.Representation World Model: Learning States, Transition and Executable Plans in Representation
We propose the Representation World Model (RWM), which learns states, transitions, and executable plans directly in representation space.Anthropomimetic Soft Robotic Forearm with Independently Articulated Carpal Bones Enabling Human-Like Adaptive Stiffness Modulability
The human wrist exhibits adaptive stiffness modulability: joint stiffness anisotropy can be actively regulated through muscle co-contraction.Continuous Online Fault Detection for Mobile Robots via Adaptive Edge Models
Mobile robots require robust, real-time fault detection capable of continuous adaptation on constrained edge hardware.Assessing the Impact of Fleet Size on Crowdsourced Mapping Using a Dissimilarity Measure
Accurate digital maps are essential for Advanced Driver Assistance Systems (ADAS) or Autonomous Driving (AD), providing critical information such as road geometry, traffic signs and speed limits…AdaHVLA: Adaptive Harnesses for Long-Horizon Vision-Language-Action Execution
Vision-language-action (VLA) models offer strong local control and instruction following but often struggle with long-horizon tasks requiring persistent memory and planning.ADM-Planner: LLM-Guided Long-Horizon Planning for Mobile Manipulators with Attention-Enhanced Dynamic Memory
Large language models can decompose mobile-manipulation goals into long action sequences, but the resulting plans remain reliable only while their world context is current.Dense-Joint-Based Obstacle-Aided Locomotion with a Joint-Repositionable Snake Robot
Obstacle-aided locomotion is a fundamental capability for snake robots to traverse complex environments.