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 169
MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark
This short report documents our entry to the COMFORT Localization Benchmark (IROS 2026), evaluated on the GrandTour dataset recorded with the Boxi payload.Beyond Reconstruction Error: Analytical and Data-Driven Action Tokenization for Autoregressive Vision-Language-Action Models
Discrete action tokenization is central to autoregressive vision-language-action (VLA) models, yet action representations are often evaluated primarily through reconstruction fidelity.Sometimes You Gotta Run Before You Can Walk: Run-then-Walk Scheduling Strategy for VLM Autonomous Driving
Recent VLM-based autonomous driving planners adopt GRPO-style reinforcement learning to optimize driving performance.MatchFusion: Explicit-Implicit Instance Matching for Spatio-Temporal Multimodal Autonomous Driving
Sparse instance representations provide a compact interface for spatial LiDAR-camera and temporal past-current interaction in multimodal perception and E2EAD.What is the Better Curriculum: Controller-Shaped Grasping Behavior for Contact Force-Sensitive Manipulation
How should a robot learn to manipulate objects so fragile that sub-Newton contact forces can cause irreversible damage?Robust Active-Perception Control for Global-State-Free Aerial-Ground Cooperation
Aerial-ground cooperation requires real-time UAV--UGV relative-state information.You Should Be Properly Scoring Your Odometry
When we evaluate the performance of our odometry, it is common practice to score the estimated track against a ground truth.Control Barrier Functions for Safe Free-Flying Robotic Spacecraft Operations in Tumbling Target Capture
This paper presents a modular control barrier function (CBF) framework for safe free-flying robotic spacecraft operations during tumbling target capture.Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions
In this work, we propose a communication-free framework for vision-based formation control of fully actuated underwater robots subject to sensing constraints, collision-avoidance requirements, and…Unsigned Distance Maps on 2D Point Cloud Registration
2D point cloud registration arises in laser odometry and Simultaneous Localization and Mapping (SLAM) for mobile robots.Destination Support Restoration for Finite-Set Multimodal Trajectory Prediction
Robots operating around pedestrians often reason over a finite set of predicted human futures.An Action Is Worth One Patch: Unified World-Action Modeling with PatchWAM
Generative visual models offer a foundation for learning representations of physical dynamics, yet their extension to continuous control raises a fundamental question: do visual prediction and…Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance
Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations.Safety-Constrained Model Predictive Control for an Omnidirectional Walking Assistive Robot Using Control Barrier Function
Providing safe and effective mobility assistance plays a crucial role in restoring independence and enhancing the quality of life for individuals with motor impairments.Manipulation with Stability Guarantees: Linear Deformable Objects with Non-negligible Physical Response Grasped at Multiple Location
Most research on the manipulation of deformable objects focuses on lightweight systems with negligible mechanical response, effectively restricting attention to quasi-static regimes.Skytopia: Monocular Drone Navigation with Action-Conditioned Latent World Models
Monocular drone navigation requires reaching a goal in an unseen environment from a single forward-facing camera, which offers few cues for depth and scale.MATES: Learning Multi-Agent Interactions by Transforming Observations for Frozen Single-Agent Policies
Multi-agent reinforcement learning (MARL) commonly trains decentralized policies from scratch, requiring agents to acquire individual task competence and coordination simultaneously.Towards Intent-Aware Human-Robot Teaming: A Platform for Search-and-Rescue Operations
We investigate the challenges of enabling effective collaboration between human operators and heterogeneous autonomous agents in complex, dynamic environments by developing an interaction platform…Manipulation of Deformable Linear Objects Using Model Predictive Path Integral Control with Bidirectional Long Short-Term Memory Learning
The manipulation of Deformable Linear Objects (DLOs) such as cables poses a significant challenge for automation due to their infinite degrees of freedom and non-linear dynamics.RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World?
Physical-condition diversity is largely missing from current benchmarks for robot manipulation.