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 178
Elevator-VIGS: Separating Elevator Motion from Robot Motion in Visual-Inertial Gaussian Splatting SLAM
We present Elevator-VIGS, a visual-inertial 3D Gaussian Splatting SLAM system that keeps tracking and mapping through elevator rides.Imagine then Verify: Affordance-Targeted Active Perception for Task-Oriented Grasping in Cluttered Scenes
Task-oriented grasping (TOG) requires robots to grasp functional parts of objects (e.g., the handle of a mug for pouring), yet these affordance regions are frequently occluded in cluttered scenes.Towards robust multimodal 3D object detection via visual foundation models
Multimodal 3D object detection is fundamental to robust perception in autonomous driving because it integrates complementary information from LiDAR and camera sensors.PINGU: Extending Air-Bearing Spacecraft Emulators with Open-Source Actuators and Learned Control for Contact-Rich Proximity Operations
Low-cost planar air-bearing testbeds have matured into a standard proxy for free-flying spacecraft GNC, but they remain largely thruster-only and are rarely equipped for contact-rich…MaskVLA: Visual Masking Against Trajectory Overfitting of Vision-Language-Action Model
Vision-Language-Action (VLA) models integrate vision-language understanding with executable robot actions, enabling end-to-end learning for robot control.G6D: Geometric Learning-Free RGB-D 6D Pose Solver for Robotic Manipulation
6D object pose estimation is fundamental to robotic manipulation and automation.AR-WAM: A Visual-Conditioned Agent-Ready World Action Model for Robotic Manipulation
As AI agents become increasingly capable, agent-driven robotic control is emerging as a compelling paradigm.TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation
Reactive vision--language--action (VLA) models struggle with long-horizon manipulation when visually similar observations can correspond to different actions depending on the task stage or…PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots
Simulation-trained humanoid proprioceptive odometry faces two transfer challenges: training trajectories generated by specific robot control policies intended for deployment cover only a limited…CompVLA: A Variable Compliance Vision-Language-Action Model for Contact-rich Manipulation
Contact-rich manipulation, requiring robots to regulate not only motion but also how they yield to external forces, has emerged as the next frontier for Vision-Language-Action (VLA) models.Spiking Neural Network Actor-Critic Proximal Policy Optimization Control for Autonomous UAV Navigation Through Constrained Openings in Civil Infrastructure and Buildings
Autonomous navigation of unmanned aerial vehicles in constrained three-dimensional environments has been a challenge in the robotics domain.Beyond Appearance Shifts: Task-Semantic Action Calibration for VLA Models
Vision-language-action (VLA) models have achieved strong performance in embodied manipulation, but still lack a clear mechanism to balance behavioral stability with task-semantic sensitivity.WOLF: World Model Guided LiDAR Exploration with Predictive Frontiers
LiDAR-based unmanned aerial vehicle (UAV) exploration builds maps by continually selecting where to observe next.UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains
Open-world deployment requires humanoid robots to cross highly heterogeneous terrain safely, with perception that simultaneously provides wide coverage, local accuracy, and redundancy against sensor…Which Terrain Is Better? Preference Learning with VLM Prototypes for Off-Road Traversability Ranking
In vision-based off-road navigation, a robot needs to know not only which obstacles to avoid but also which terrain is better.Marginal Calibration Does Not Compose: Hidden Dependence in Modular Robot Navigation
Robotic systems are typically composed of multiple independently developed modules that work together to perceive, predict, and act in the environment.FlockDiffusion: Assignment-Conditioned Diffusion for Multi-Drone Task Allocation and Completion
Autonomous multi-drone navigation requires fleets to service distributed objectives in cluttered environments under tight computational budgets.EgoWild2Dex: Learning Dexterous Robotic Manipulation from In-the-Wild Human Experience
Egocentric human data provide a principled source of supervision for learning dexterous robot manipulation.PackLab: A Comprehensive Framework for Developing, Training, and Evaluating MLLMs in Robotic Bin Packing
Robotic bin packing requires long-horizon sequential decision-making, as each object placement affects the available space for subsequent packing.Partial-Scan-and-Move Source Seeking for Mobile Robots
This paper presents a partial-scan-and-move strategy for source seeking with a mobile robot equipped with an offset scalar sensor.