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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State estimation for a hybrid rigid-continuum space manipulator system
Spacecraft-mounted robotic manipulators can support long-term operability of orbiting assets by conducting tasks such as on-orbit assembly, repair, upgrade, and refueling.GAWM: A Compact Latent World-Action Model for Multi-Task Robot Manipulation
World-action models (WAMs) incorporate the prediction of future observations into robot policy learning.RAVEN: A Unified Active SLAM System for Rapid Autonomous Visual Exploration with Aerial Robots under Localization Uncertainty
Active simultaneous localization and mapping (SLAM) addresses the problem of planning robot motion to build complete and accurate maps of unknown environments through efficient exploration while…MCP-Net: Real-Time Coronary Perception Network and Topological Analysis for Robotic Guidewire Navigation
Coronary guidewire navigation during percutaneous coronary intervention requires continuous interpretation of vessel anatomy, guidewire position, and target stenosis under two-dimensional X-ray…FastBEVFusion: Simple Multi-Modal Fusion for 3D Object Detection at 50 FPS
Reliable real-time 3D object detection based on LiDAR and camera data is critical for safety in autonomous driving, where systems must accurately perceive their surroundings with minimal latency.From 12 to 200 Demonstrations: How ACT, Diffusion Policy, SmolVLA and $π_{0.5}$ Scale on a Low-Cost Arm
We trained four widely used imitation-learning policies, ACT, Diffusion Policy, SmolVLA and $π_{0.5}$, on nested subsets of 12, 25, 50, 100 and 200 teleoperated demonstrations of one pick-and-place…Acoustic Signature Optimisation for Bioinspired Flapping-Wing Micro Aerial Vehicles
Flapping-wing micro air vehicles are prized for quiet flight, yet the few existing measurements show engineered wings to be 15-30 dB louder than the animals they imitate.How Much Can Best-of-N Help a World Action Model? Measuring Selectable Headroom and Realizing It in Closed Loop
World action models (WAMs) predict the visual consequences of the actions they generate, which makes test-time selection a natural way to improve a fixed policy: imagine the futures of candidate…A Bi-level Co-design Framework for Lunar Monoped with 2D Jump and Landing Control
Legged robots for lunar exploration must be designed for low gravity, where reduced contact forces and long flight phases make leg morphology and controller choice interdependent.Remember Where You Walk: Learning Spatial Memory for End-to-End Legged Robot Exploration
Humanoids and other legged robots operating in complex environments must remember information that leaves their field of view and only becomes relevant much later.Retrieve to Act: Motion Primitive Graph Retrieval for Robust VLA Execution
Vision-Language-Action (VLA) policies demonstrate remarkable semantic generalization, yet remain highly vulnerable to out-of-distribution (OOD) visual shifts during execution.KEPT: Conformal Keepouts Kept in Planning for Enclosed-Space Navigation in Degraded Sensing
Autonomous vehicles in enclosed spaces such as tunnels and mines rely on range maps that smoke, dust and fog make inaccurate.Vision-Language-Action or World-Action? Just Action Models
The vision-language-action (VLA) and world-action model (WAM) communities debate whether control policies should inherit pretrained knowledge from vision-language models or from visual generators.Understanding Human-Robot Collaboration through Joint Action
Human-robot collaboration requires partners to coordinate interdependent contributions toward a shared goal.Spiking Neuromorphic Control for Periodic Orbits Stabilization in Underactuated Robots: A Greedy Lyapunov-Based Approach
This work investigates the use of event-based spiking controllers, implemented as spiking neural networks, for trajectory tracking in underactuated robots.Tokens of Motion: Primitive Motion Learning for Human-Humanoid Skill Transfer
Vision-language-action (VLA) models provide a promising paradigm for scalable robotic manipulation, yet their reliance on success-only behavioral cloning leaves them brittle; lacking corrective…Generalizable Target-Less Joint Intrinsic-Extrinsic Camera-LiDAR Calibration using Deep Pixel-Point Correspondences
Accurate camera-LiDAR calibration is an essential prerequisite for robust multi-modal perception in robotics.VLA-Stem: A Lightweight Safety Mechanism for Vision-Language-Action Models via Reinforcement Learning
Vision-Language-Action (VLA) models integrate high-level reasoning with low-level action execution for end-to-end robotic control.PDRVLA: A Vision-Language-Action Model with Physical Dynamics Representations
Vision--Language--Action (VLA) models generate robot actions from visual observations and language instructions, but their understanding of physical dynamics remains limited.Learning Quality-Controllable Robot Policies with Iterative Hindsight Relabeling
Robot policy evaluation often relies on a binary success signal for task completion.