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 160
SplatLabel: Pseudo-Labelling through 4D Gaussian Splatting
While 2D Vision Foundation Models offer a pathway to automate 3D semantic pseudo-labelling, translating these priors into robust 3D representations typically requires complex heuristics or…BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video
Learning executable motions from human videos offers a scalable solution for humanoid robots to acquire demonstration motions.GPT-6-Astra Lights Up Embodied Navigation: Evaluation in Zero-Shot Vision-and-Language Navigation in Continuous Environments
We investigate whether GPT-6-Astra, a general-purpose foundation model, can navigate unfamiliar environments using its own perception, reasoning, and decision-making capabilities.MorphIK: Morphology-Conditioned Neural Inverse Kinematics for Unknown Robots
Neural models can learn to generate various solutions to the inverse kinematics problem from data, but are usually limited to a single robot.High-Voltage Optocoupler Amplifier for Electrostatic Actuators
Many electrostatic actuators require multi-kilovolt drive voltages at sub-milliamp currents, a task poorly suited for conventional switching devices.Pairwise Approximation Can Select the Wrong Multi-Robot Plan
Multi-robot coordination methods often score a joint plan from singleton and pairwise terms, leaving out the terms that involve three or more robots.Beyond Spatial Benchmarks: From Spatial Reasoning to Navigation
Does progress on spatial reasoning benchmarks translate into better navigation?World Action Agent: Harnessing VLMs for Robot Manipulation via World Action Rehearsal
General-purpose vision-language models (VLMs) bring broad knowledge and spatial reasoning to robot manipulation, yet existing systems either use them indirectly, to predict constraints or write…Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation
Imitation learning enables robots to acquire manipulation skills from demonstrations, but the resulting policies can fail outside the training data, while collecting more demonstrations requires…Body-Grounded Replanning for Physically Adaptive Manipulation
Manipulation requires not only reasoning about the external environment, but also about the robot's physical condition.Aim Short to Reach Far: Your Frozen World Model Can Plan Better Than You Think
Latent world models plan toward goal images with a frozen pretrained predictor, without task rewards or extra trained heads.M3GD: Multi-Modal Multi-View Geometric Diffusion for Camera--LiDAR Novel View Synthesis
Robotic novel view synthesis (NVS) must recover both visual appearance and metric 3D structure, yet most generative NVS methods rely only on images, overlooking LiDAR, a complementary sensor common…Real-Time Force Regulation for Whole-Hand Dexterous Grasping
Robust dexterous grasping requires maintaining physical stability despite contacts interactively evolving across the entire hand.Self-Adaptive VLA for Robust Robot Deployment
While Vision-Language-Action (VLA) models demonstrate impressive capabilities in robotic manipulation, their memoryless nature renders them brittle to test-time environment shifts, particularly…Faster Visuomotor Policy Learning on Action Manifolds via Riemannian MeanFlow
Visuomotor policies learn a direct map from raw sensory observations to robot action sequences.Training-free Behavior Cloning
Neural behavior cloning compresses demonstrations into large models, making individual actions difficult to trace and policy updates costly.Contact as a Decision Variable: Capability-Tradeoff Contact Selection for Legged Loco-Manipulation
In this paper, we study the joint selection of an environmental support contact and a whole-body configuration for a prescribed loco-manipulation task.Ego-Exo4D Human Meshes Dataset: 4D Human Motion Reconstruction for Ego-Exo Captures
Ego-Exo4D is a large-scale dataset providing synchronized egocentric and multi-view exocentric video, a rich resource for skill learning and assessment, procedural activity understanding, and…ReVAMP: Vector-Accelerated Motion Planning for Kinematically-Constrained Systems via Reparameterization
Robots often must satisfy one or more constraints during motion planning for real-world tasks.Underwater C3-JEPA: An Object-Centric Cross-View World Model for ROV Salvage
We present Underwater C$^{3}$-JEPA (cross-view, control-conditioned, context-extended), an object-centric multi-view predictive world model for near-field heavy-load underwater ROV salvage.