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 162
ST-pRRTC: Parallel Space-Time RRT-C with Adaptive Goal-Time Forests
We propose ST-pRRTC, a GPU-parallel space- time RRT-Connect motion planner for problems with known obstacle trajectories and unspecified arrival time.GraspTwin: Zero-Shot Task-Oriented Grasp Optimization via a Digital Twin
As robots transition from structured factory settings into homes, they are required to interact with an ever-increasing variety of objects.Privacy-Preserving Prompted Policy Search for Robotic Control
Large language models (LLMs) have recently demonstrated promising capabilities as in-context policy optimizers for Reinforcement Learning (RL), enabling policy search driven by both numerical reward…Auditing Latent-Space Monitors for Autonomous Driving
Runtime failure monitors can use a model's internal representations to anticipate failures.SoGuDiff: Socially Guided Diffusion for Steerable, Norm-Grounded Robot Navigation
Beyond collision avoidance, socially competent robot navigation requires adherence to implicit social conventions that vary across contexts, cultures, and deployment requirements.MOCHA: Multi-Objective Co-Design using Hypernetwork Architectures
In this work, we present MOCHA, the first, to our knowledge, reinforcement learning based approach to computing a family of Pareto-optimal policies across the design space of a robot using a single…HuGo: LLMs as Whole-Body Policy Code Designers for Humanoid Loco-Manipulation
For humanoids to be useful in everyday environments, they must perform a wide range of tasks that couple locomotion and manipulation.Learning-Accelerated Narrow-Phase Collision Detection via Check Ordering for Sampling-Based Motion Planning
Collision detection is critical for ensuring the safety of planned paths.Audit Before You Commit: Locating Belief Failures in Active Identification for One-Shot Manipulation
A robot that probes a few times before one irreversible action, such as tapping a surface before inserting a peg, must decide when the evidence is enough to commit.Frequency-Modulated Piezoelectric Haptic Display
We present a frequency-modulated (FM) haptic display based on piezoelectric vibrating actuators.FRESHLATENT: Channel-Aware Latent Adaptation for Resource-Constrained Embodied VLM Perception
Mission-critical UAVs increasingly rely on split vision-language model (VLM) perception under tight onboard-resource and wireless-communication constraints.Robot Manipulation with GPT-6-Astra: Body Knowledge, Experience Reuse, Emergent Skills, and Sim2Real Transfer
General-purpose multimodal agents can write robot-control programs, but repeated exploration and model-mediated action selection can make execution slow.Timed Rule-Based Supervision of an End-to-End Autonomous Parking Policy
We study whether a manually specified runtime supervisor can correct recurring failures of an existing end-to-end parking policy in a fixed CARLA parking lot.Data-driven discrete-time deep recurrent neural network-based modeling for dissipative systems
Physical AI has gained increasing attention for its role in developing AI systems that better understand, predict, and control real-world dynamics.Learning Dissipative Dynamics with Dissipativity-by-Construction Discrete-Time Neural Networks
Dissipativity is a fundamental system-theoretic property closely related to stability, passivity, and input--output stability, and is particularly important in robotics, where learned dynamics…NaviScale: Generating Large-Scale Semantic Map Datasets for Object Navigation
Embodied navigation requires spatial representations that generalize across unseen environments, yet collecting large amounts of annotated data from real 3D environments is difficult.Vision-Based Control of a Tether-Suspended Aerial Radiation Sensing Payload
Aerial radiation surveys achieve higher sensitivity when the radiation detector is held close to the ground.Surgical Kinematics from Monocular Video with Learned Articulated Motion Constraints
Objective assessment of robotic surgery uses instrument kinematics, which must be reconstructed when only video is available.A Quasi-Direct-Drive Underactuated Asymmetric Hand for Dexterous and Efficient Grasping and Manipulation
In this paper, we present the Berkeley QUAD (Quasi-direct-drive, Underactuated, Asymmetric Design) Hand, a four-finger anthropomorphic robotic hand with 11 degrees of freedom and 8 degrees of…Memory That Changes Action Is Not Memory That Guides It: Counterfactual Auditing of History-Conditioned Robot Policies
A robot returning a block to its origin tray may encounter two task-consistent pasts that reconverge to the same current input but warrant different actions.