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 186
SkelWAM: A Skeleton-Guided World-Action Model for Zero-Shot Cross-Embodiment Manipulation
Reusing manipulation experience across robot embodiments is important for scaling robot learning and reducing repeated task-specific data collection.PRIME: Perception Feedback with Situational Memory Embeddings in VLA Models
Current Vision-Language-Action (VLA) models for autonomous driving operate primarily through feedforward inference across the perception--reasoning--planning hierarchy.Benchmarking World Models for Continual Learning on Compositional Tasks
A desirable property of a world model is the ability to learn continually across tasks, adapting to new environments without forgetting what the agent has already learnt.Gripper-Aware Automatic Dense Packing of Irregular Objects
Automatic dense packing is widely desired in warehouse operations but remains a fundamental challenge in robotic manipulation.Duty Factor Predicts Robust Constrained Quadrupedal Locomotion Across Gait Types
Quadrupedal robots are increasingly deployed in environments where locomotion must remain robust to disturbances and constrained terrain.LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control
Safe whole-body control requires coordinating collision avoidance and balance under high-dimensional, nonlinear dynamics--making safety certificates difficult to design and reuse across behaviors.SeeQ: Training Generalist Value Functions for Long-Horizon Robotic Manipulation
Despite rapid progress, generalist robot policies remain brittle on complex, long-horizon tasks that comprise multiple stages or require repeated attempts and deliberation on the same underlying…Active Spatial Inspection for Effective and Efficient Embodied Exploration
Achieving high task success and efficiency remains a central pursuit in embodied exploration.Behavior Trees for Robotic Systems: An Empirical Study on Practices and Experiences
Over the last decade, behavior trees (BT) have become one of the dominant behavior models for coordinating missions of robotic systems.VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies
Vision-language-action (VLA) models enable increasingly general-purpose robotic manipulation, but such learned policies do not provide safety guarantees for collision avoidance---especially in…Tracker-Free Robotic Ultrasound Calibration with a Spherical-Marker Phantom and Threshold-Free Center Localization
Robotic ultrasound (US) calibration is essential for accurately relating US images to the robot coordinate system, but accurate and automated calibration remains challenging because existing methods…Layered e-skin for Shear Sensing
This paper presents a stacked two-layer force-sensing resistor (FSR) array designed for robotic fingertips that combines high-resolution pressure mapping with shear-force estimation.Latent Policy Steering: An Efficient and Flexible Framework for Cross-Embodiment Transfer
The performance of learned robot visuomotor policies depends heavily on the size and quality of their training data, yet collecting high-quality demonstrations remains costly for robots in the real…FRAMES: Failure Recovery And Monitoring of Embodied Skills for Humanoid Loco-Manipulation
Large language model (LLM) planners can decompose natural-language instructions and select reusable robot skills, but choosing the correct skill does not guarantee successful physical execution.React When You Need To: Event-Triggered Asynchronous Inference for VLA Policies
Vision-Language-Action (VLA) models commonly predict action chunks, limiting their ability to react to environmental changes during execution.REBOOT: From Failure to Recovery - A Dataset and Benchmark for Precision Assembly
Robot learning policies fail in characteristic ways: they stall in uncertain states, drift during contact-rich alignment, and miss targets by millimetres in precision tasks.Characterizing Wildlife Response to Biomimetic and Conventional Underwater Vehicles
Autonomous underwater vehicles (AUVs) are a promising alternative to divers for scalable collection of natural ocean ecology data.VT-Bridge: Bridging Pretrained Foundation VLAs to VTLAs via Lightweight Residual Adaptation
Vision-Tactile-Language-Action (VTLA) models have demonstrated clear advantages over Vision-Language-Action (VLA) models in contact-rich manipulation.Becoming a Fruit Ninja: Real-Time Probabilistic Kinodynamic Planning for Manipulator Projectile Interception
Projectile interception is a challenging dynamic manipulation problem.From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly
Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces that complete the…