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 210
Autonomous Precision Milling of Biological Structures via Generic Anatomical Priors and Active Boundary Perception
Autonomous precision milling of biological structures is challenged by incomplete knowledge of target geometry, local material thickness, and critical internal boundaries.STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation
Dexterous manipulation requires coordinated multi-finger control and effective tactile feedback, yet learning these capabilities remains challenging due to the lack of large-scale real-world data…DRS-VPT: Directly Relocalizing in a Scan with Vision Point Transformers
We present DRS-VPT, a feed-forward transformer architecture for foundational image-to-scan registration.A Hierarchical Coverage Path Planning Algorithm for Unknown Environments
This paper presents an online coverage path planning algorithm for unknown environments.Quantifying Spectral Differences in Vehicle Kinematics Between Production Autonomous and Human-Driven Vehicles Across Driving Scenarios
Differences in vehicle kinematic characteristics between production autonomous vehicles (PAVs) and human-driven vehicles (HVs) have been limitedly investigated by empirical studies.ProClosure: Hierarchical Room-Object Assignment using Progressive Boundary Closure from Monocular Video
A 3D scene graph groups objects into rooms.Online Material Estimation for Conditioned Diffusion Policy in Shaping Deformable Linear Objects
Shape control of deformable linear objects (DLOs) is challenging for imitation learning because deformation behavior varies with material properties such as stiffness and elasticity, so a single…Breaking the Vision-Action Shortcut: Latent Interface Training for Generalizable Robotics Foundation Models
Robot foundation models achieve strong in-distribution performance but often degrade under visual distribution shifts.Driving Context-guided Model Predictive Planning and Control for Autonomous Car Racing at the Limit and Beyond
This paper presents a Model Predictive Control-based motion planning and control pipeline for autonomous car racing capable of adapting to different driving contexts, such as overtaking, nominal…Size Doesn't Matter: Material-State Reinforcement Learning for Excavator Transferable Soil Manipulation
Earthmoving tasks such as excavation, backfilling, or embankment construction require deliberate repositioning of deformable soil.Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining
Applying an imitation learning policy to a new manipulation task usually requires collecting new demonstrations and retraining the model, which makes sample efficiency a practical concern.Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper
Robots are increasingly used in unstructured environments.High-Fidelity Multi-Body Simulator for Autonomous Racing
We present a custom high-fidelity vehicle dynamics simulation environment for testing and validation of Autonomous Racing software.VertexCBF: Improving Neural Control Barrier Functions via Vertex-Restricted Control Search
As the number of autonomous robots continues to grow, safety becomes increasingly important.Parameter Sensitivity Analysis for Aerial LiDAR-Inertial Odometries in low-altitude flights
LiDAR-based SLAM (Simultaneous Localization and Mapping) and LIO (LiDAR-inertial odometry) algorithms are often used for precise navigation of unmanned aerial vehicles, especially during…A Multi-Vehicle Dataset with Camera, LiDAR, and Radar Sensors and Scanned 3D Models for Custom Auto-Annotation using RTK-GNSS
Datasets are a crucial element in the development of perception algorithms.From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics
Magnetic levitation (MagLev) systems have great potential for application in high-mix, low-volume manufacturing due to their scalability and flexibility, enabling highly reconfigurable in-machine…Before the Tipping Point: Force-Guided Active Perception for Shape-Agnostic Estimation of 3D Centers of Mass
Estimating the 3D center of mass of unknown objects is challenging when grasping is infeasible, geometry is irregular, or mass distribution is uneven.UniPart: Towards Zero-shot Language-Grounded 3D Part Segmentation for Embodied Interaction
Fine-grained robotic manipulation depends on understanding parts, not only whole objects.Robust Underwater Grasping of Sloped Objects with a Waterproof Passive Adaptive Gripper
Robust grasping of everyday objects remains challenging for parallel-jaw grippers, particularly when handling sloped or asymmetric items that induce torque-driven rolling and shear slip.