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 17
PREM: Prediction-Regulated Memory for Robot Manipulation
A robot's next action can depend on recent motion or earlier visual evidence absent from its current observation.STEER: Route-Aware Adaptive Reasoning for Autonomous Driving
Vision-language action (VLA) models excel for end-to-end autonomous driving, yet their tendency to over-invoke chain-of-thought (CoT) reasoning mirrors a human cognitive pitfall: overthinking.MOST: Memory of Object States and Task Progress for Long-Horizon Mobile Manipulation
Long-horizon embodied manipulation requires policies to act on information that is no longer visible.SceneBound: How Much Should a Streaming 3D Reconstruction Model Remember?
Streaming 3D reconstruction models keep past video frames in a recurrent state, fast weights from test-time training, or a key-value (KV) cache.A Reproducible Reconstruction and Evaluation Framework for Photorealistic Lunar Analog Scene Reconstruction Toward Digital Twins
In this paper, we present a reconstruction pipeline that empirically quantifies the photorealistic scene reconstruction accuracy from both human-controlled and rover mast camera monocular feeds…Flap like a bat: Soft pneumatic wings for biomimetic ornithopters
This paper describes the development of a bio-inspired ornithopter wing mechanism that uses soft pneumatic actuators, such as PneuNet structures, in place of revolute joints, inspired by the…Multi-quadrotor systems interconnected via structurally unknown forces and moments
This work addresses the challenge of controlling multi-quadrotor systems subject to tight uncertain couplings.Verifying Test-State Identity in Paired Evaluation of Vision-Language-Action Models
Simulation-based VLA evaluation often treats matching task, seed, and episode identifiers as sufficient evidence that two policies faced identical test conditions.Trading Transparency for Stability: Friction-Cone-Constrained Bilateral Teleoperation for Opening Doors of Unsecured Furniture
Opening the door of unsecured furniture loads the frictional contacts at its supports; too large a pull slides or tips the object.Why Koopman Structure Does Not Help Differentiable World Models for Humanoid Whole-Body Tracking
We test whether Koopman structure, linear dynamics in a lifted state space, helps when a humanoid whole-body tracking policy is trained by backpropagating through a differentiable world model…Task-Specialized Language-Conditioned Models for Fine-Grained Robotic Manipulation
Fine-grained robotic manipulation requires instruction grounding, robust perception, and precise contact control.Evaluating Tactile Foundation Models for End-to-End Imitation Learning in Contact-Rich Manipulation
Tactile sensing plays an important role in imitation learning for contact-rich manipulation by providing direct observations of physical contact with objects.Generalizable robotic manipulation through compositional skill reuse
Hao Ren, Shuohan Chen, Senyuan Mu, Ruihan Huang, Wanfeng Shang, Yajing ShenHALO-LP: A Homogeneous All-Shifted Non-Interior-Point Method for Linear Programming
This letter introduces HALO-LP, a novel homogeneous all-shifted non-interior-point method for linear programming (LP).pico-WAM: Evaluating Counterfactual Prediction and Planning Error in a Compact World Action Model
When a World Action Model fails at control, is the bottleneck proposal generation or trajectory scoring?Hi-CoLA: High Confidence Lower Bound Approximation Based Reinforcement Learning for Flex-Route Transit Operation Control
This paper studies safe policy improvement for real-time operation control of flex-route transit (FRT) systems, where robustness is critical and any performance decrease is undesirable.Robust Safety Assurance for Robotic Swarms Using Decentralized Collision Verification
In this paper we present the methodologies, results, and analysis used to deploy a decentralized safety verification algorithm on a robotic swarm to prevent collisions at runtime in an outdoor…Auriga Technical Report: A Task-Agnostic Agent Harness for Zero-Shot Embodied Manipulation
Vision-language models can interpret instructions and plan manipulation tasks, yet struggle when acting directly as robot policies.ClothDojo: Learned Data Generation and Benchmarking for Bimanual Garment Flattening and Folding
Garment flattening and folding require robots to identify garment structure during manipulation and adapt their actions as the cloth deforms.Learning Agile Humanoid Dodgeball with Onboard Monocular Vision
Humanoid robots operating in shared, dynamic environments must respond to rapidly approaching objects while maintaining balance.