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 203
VCTP: Vehicle-Conditioned Terrain Planning for Off-Road Navigation
A vehicle's heading affects both the surfaces beneath its tires and its pitch and roll.RoboVAD: A Large Cross-Domain Evaluation Benchmark for Anomaly Detection in Robotic Arm Manipulation Videos
Video anomaly detection (VAD) is an actively studied task, having wide applications in typical scenarios such as public surveillance and road traffic safety.Investigating Adversarial Robustness of Heterogeneous Cooperative Perception
Heterogeneous cooperative perception (CP) enables connected vehicles with diverse sensor setups to share spatial awareness via compact feature maps, where receivers reconcile these maps using…Timely Activation of Safety Filters via One-Step Reachability Expansion
Least-restrictive safety filters based on Hamilton-Jacobi reachability provide strong safety guarantees by overriding a nominal controller only when the system reaches the boundary of the set of…Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps
We introduce Map2Route, a human-curated benchmark for compositional language-grounded route planning over pre-built semantic maps.Multi-Session Multimodal Underwater Mapping with Acoustic and Optical Imaging
Accurate seafloor mapping is essential for marine science, archaeology, and environmental monitoring.AthenaZero: A low-inertia, bimanual robot for dynamic manipulation
AthenaZero is a bimanual manipulator designed to minimize inertia without compromising control authority.Primitive-Informed Sampling-Based MPC for Multi-Fingered Dexterous Manipulation
We present a primitive-informed sampling-based model predictive control (MPC) framework for multi-fingered dexterous manipulation.Real-World Reinforcement Learning with MPC Scaffolding for Dexterous Manipulation
Real-world reinforcement learning (RL) offers a promising route to dexterous manipulation policies that can adapt directly from physical interaction, but learning is hindered by inefficient early…HydroMap: Probabilistic Water Surface Elevation Mapping for Semantic Scene Representation in Inland Waterways
Autonomous surface vehicles operating in inland waterways require a persistent representation of both surrounding structures and the water surface.Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters
Multi-robot Control Barrier Function (CBF) safety filters can become infeasible, but a failed quadratic program (QP) does not indicate why the conflict occurred or how to resolve it.Comparing Trajectories from Positions Alone: Curvature-Based Time Alignment and Drift Error Metric
In field robotics, acquiring independent large-scale reference trajectories more accurate than the evaluated estimates remains an open challenge.PhysBrain 1.5: From Vision-Language Models to Physical Foundation Models
We present PhysBrain 1.5, a unified model for understanding physical environments, generating actions, and predicting future states.Two-Stage Personalized Gait Phase Estimation in Stroke Survivors During Exoskeleton-Assisted Walking: An Offline Feasibility Study
This study evaluated personalized gait phase estimation for stroke survivors using functional inertial measurement unit (IMU) alignment and two-stage sequential adaptation of models pre-trained on…From Learned-Mode AV-Traffic Pairing to Planner Decisions: A Marginal-Preserving Study on Argoverse 2
Joint motion forecasts pair each autonomous-vehicle (AV) future with surrounding traffic, but actor-level metrics do not show whether that structure matters to a planner.IMPACT-VLA: Interaction-aware Multimodal Propagation Attribution via Counterfactual Trajectories for Vision-Language-Action Policies
Vision-Language-Action (VLA) policies perform robot manipulation tasks using multimodal inputs such as visual observations, proprioceptive states, and language instructions.Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation
Can changing only the language instruction redirect a VLA policy's end effector, or does the visually driven motion prior dominate?Steering Generative Robot Policies with Lexicographic Preferences
Pretrained generative robot policies can produce effective behaviors across diverse environments, but deployment can lead to requirements and preferences that may not have been represented during…Task-Distribution-Aware Counterweight Synthesis and Constrained Co-Design for Serial Manipulators
Passive counterweights are simple gravity compensators, but a counterweight selected from a single pose is not generally optimal for the configurations and tasks a manipulator actually executes.LG-VLN: A Zero-Shot Vision-and-Language Navigation Framework with LangGraph State Orchestration
Continuous-environment vision-and-language navigation (VLN-CE) requires interpreting natural-language instructions in unseen 3D environments and executing continuous low-level actions.