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 166
LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials
Control barrier functions (CBF) are a popular safety filter to ensure safety for nonlinear dynamical systems.Amplify: A Lightweight Library for Reproducible Nonlinear Programming Problems in Robotics
Optimization problems (OPs) are key to solving many challenging research problems in robotics.ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control
Humanoid control, leveraging human demonstrations, has achieved diverse, agile, and natural locomotion behaviors through reinforcement learning (RL).PointCast: One World Model for Rigid, Articulated, and Deformable Object Manipulation
World models are useful for robotic manipulation because robots can predict how actions change the states of objects before executing them.Tractable Reinforcement Learning for Full Class of Signal Temporal Logic Specifications Using Spatiotemporal Tube Reward
This paper addresses the control problem for robotic systems, including non-holonomic and underactuated platforms operating under unknown dynamics and strict actuator limits to satisfy complex…Frozen Flows Forget: Diagnosing and Restoring Lost Motion in a Latent-flow World Model
Latent world models that integrate a flow in a frozen self supervised latent space train stably and cheaply, yet silently lose the property manipulation depends on most: motion.Context-Continuous Preference Learning for Exoskeleton Personalization
Personalizing exoskeleton assistance across operating conditions is constrained by the time and physical effort required to collect user feedback.Watch, Recall, Act: Always-On Robots in Concurrent Embodied Streams
An always-on robot faces an endless stream that never resets: instructions arrive and lapse, the scene changes, and its own past actions reshape what it must reason about.LiMA: Bridging Long-term Imagination to Real-time Dexterous Manipulation via Asynchronous Diffusion
Dexterous manipulation demands long-term foresight and rapid reactive control.Where Should I Join? Robot Group Joining via Language-Guided Goal Prediction
Social navigation typically assumes a specified goal and focuses on reaching it while respecting social conventions, whereas robot group joining requires predicting where to join based on the…Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy
Human hand-object interactions (HOIs) provide a rich source of demonstrations for dexterous manipulation, but learning directly from them presents challenges in bridging morphology gaps, ensuring…OA-MPPI: Occlusion-Aware Model Predictive Path Integral Control for UAV Flight
Autonomous UAV flight through cluttered and partially unknown environments requires reasoning not only about observed obstacles but also about occluded regions that the sensor cannot observe.Temporal Learning for End-Effector Position Estimation under Aerodynamic Disturbances in Aerial Continuum Manipulation
This paper investigates temporal neural networks for \mbox{end-effector} position \mbox{estimation} of an aerial continuum manipulator (ACM) operating under aerodynamic effects induced by the…TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation
Applying adhesive tape to secure wire harnesses or seal packages requires robots to coordinate a flexible strip, a moving roll, and surfaces that attach and detach.Human-in-the-Loop Geospatial Annotation for Rapid Dataset Construction in Field-Deployed UAV Systems
Real-world perception systems must adapt to changing environments, but manual image annotation cannot scale to field data volumes.OCC4M: Object-Centric 4D Memory for Spatiotemporal Reasoning in Long-Horizon Manipulation
Long-horizon manipulation often requires reasoning about state absent from the current view, such as a vanished object's location, temporal identity, or the contents of a shuffled container.An Analysis of Streaming Deep Reinforcement Learning for Adaptive Continual Learning in Robotics
Over the course of a lifetime, robots may encounter novel scenarios unaccounted for in its original training that result in performance degradation.DeltaWAM: Delta World Action Models for Bimanual Manipulation
World-action models (WAMs) transfer visual and motion priors from pretrained video generators to robot control by jointly modeling visual dynamics and actions.FlyCNS: Connectome-Grounded Information Organization for Communication-Constrained Embodied Control
Robotic bodies are inherently distributed in sensing and actuation, yet learning-based control still commonly relies on centralized information processing.KeyGen: Unsupervised Keypoint based Object-Centric Representations for Category-Level Policy Generalization
Generalization in robotic manipulation requires policies to perform tasks across diverse unseen object instances that vary in shape, size, and pose.