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 196
Real-Time Bounded Catenary Solver for UAV Tether Modeling
For non-stationary tethered multirotor UAVs in real-world conditions, simulating the forces imposed on the drone by the aerodynamic drag of the tether becomes crucial, with online use cases placing…ActionPiece: Rethinking Action Tokenization for Autoregressive Vision-Language-Action Models
Action tokenizers play a central role in autoregressive vision-language-action (VLA) models, determining both the targets for policy training and the executable commands recovered from predicted…TAO-Force: Unifying Force-Aware Perception and Fast-Slow Control for Contact-Rich Manipulation
Vision-Language-Action (VLA) models have demonstrated strong performance across diverse robotic manipulation tasks, yet their predominantly vision-centric perception and position-controlled…InterMASH: A Unified Geometric Representation for Grasp Synthesis
Grasp synthesis aims to generate stable and physically plausible hand--object interactions, and has become a fundamental problem in both human hand modeling and robotic manipulation.ActiveScale: Scaling Active Perception for Robots across Model, Data, and Hardware
Active perception is essential for robotic manipulation when fixed viewpoints leave task-relevant information occluded or unobserved.HAP: A Hand-Driven Active Perception Framework for Egocentric Head Motion Prediction
Egocentric motion forecasting has primarily focused on hands and manipulated objects, leaving future human head motion comparatively underexplored.DynoFluxBench: Benchmarking Kinodynamic Space-Time Planners in Dynamic Environments
Robots that leave structured, static environments must plan motions that are kinodynamically feasible and safe among moving obstacles.GroundingVLN: Reasoning and Acting with Grounding for Vision-Language Navigation
Although vision-language models (VLMs) possess strong visual understanding and reasoning capabilities, existing vision-and-language navigation (VLN) agents struggle to connect semantic reasoning…DeformSmith: Physics Harness-Guided Hierarchical Generation of Deformable Assets for Robot Manipulation
Creating deformable assets for robot manipulation requires jointly specifying their geometry, appearance, and physical properties.FIVE-VLA: Fast and EffectIVE Autonomous Driving with Recurrent Action Memory
State-of-the-art vision-language-action models (VLA) for autonomous driving face critical limitations: excessive parameter counts, inefficient high-resolution image processing, and lack of temporal…Benchmarking Visual-Inertial Odometry in Subterranean Environments Under Sensor Degradation, Miscalibration, and Dynamic Occlusion
Visual-inertial odometry (VIO) is a core capability for autonomous operation in GPS-denied subterranean environments, yet its reliability can degrade sharply under sensor drift, calibration errors…From Gameplay to Policy: Towards Scalable Robot Data Collection via Gamified Robot-Free Interaction
Learning generalizable robot manipulation policies requires large-scale and diverse interaction data, yet collecting real-world demonstrations remains costly and difficult to scale.FIERCE: From Generalist Robot Policies to Fast Specialists via Progress-Failure Feedback
Generalist robot policies offer useful initialization, but refining compact specialists through limited physical interaction requires informative learning feedback.VLA-ULAP: Interleaving Cloud VLA Calls with Ultra-Lightweight Local Action Prediction at the Edge
Billion-parameter vision--language--action (VLA) policies demand substantial onboard power, while communication delays in remote inference hinder timely responses.M$^3$P-R1: Reinforcement Learning for Large Language Model Guided Multi-Modal Motion Planning via MIP Code Generation
Multi-Modal Motion Planning (M$^3$P) requires joint reasoning over continuous motions and discrete mode transitions, making it difficult to solve efficiently.WeaveRL: Weaving Reconstruction into Scene-Aware Fabrics for Perceptive Reinforcement Learning
Reinforcement learning allows robots to acquire complex skills, but producing policies for geometrically complex manipulation remains difficult.Toward 3D Printable Non-Planar Electroadhesive Structures for Active Anchoring
This paper investigates multi-material 3D printing as a method to fabricate non-planar structures with 3D-printed electrode patterns for electroadhesion.Calibrated Probabilistic Obstruction Reasoning with Vision-Language Models for Grasping in Clutter
Retrieving a target from clutter requires deciding whether to grasp the target, remove a blocker, or defer.PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments
Humanoid robots can step over, squeeze past, and duck under obstacles, but learning to select and coordinate these behaviors from onboard perception remains challenging.Active perception for robotic harvesting: 3D reconstruction and localisation of tomatoes hidden within clusters in a Mediterranean greenhouse
Automating robotic harvesting in intensive agriculture within Mediterranean greenhouses requires overcoming significant challenges related to the geometric complexity of plants and occluded fruits.