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 67
Plans Are Not Executions: Adapting Frozen World-Model Planners to Controller-Induced Execution Shift
World-model planners evaluate candidate trajectories by predicting their future consequences, implicitly relying on the plan-to-motion relationship learned during training.CBF-Based Control Allocation for Omnidirectional Tiltrotor Aerial Robots
Actively tilting aerial robots can generate six-dimensional wrenches, but slow servo response can make a desired wrench infeasible during reconfiguration.Onboard Lightweight LLM Reasoning for Human-Aware Safe UAV Navigation
Aerial robots operating near people must treat a pedestrian, a parked car, and a wall differently, yet conventional perception--planning stacks reduce all of them to occupied geometry---a…CF-Splat: Closed-Form Triangle Splatting with Mesh Priors
Splatting-based radiance-field representations have recently gained popularity in robotic perception, enabling high-quality novel-view synthesis (NVS) through explicit scene primitives.Compliant GMT: Making General Motion Tracking Compliant via Residual Reference Adaptation
We propose Compliant GMT (C-GMT), a modular framework for full-body compliant responses in general motion tracking.FastVLA: Task-Conditioned and Temporally Adaptive Visual Token Compression for Efficient Vision-Language-Action Models
Vision-Language-Action (VLA) models present a promising paradigm for general-purpose robot manipulation, but closed-loop deployment is often limited by inference efficiency: at each timestep…Inertially Significant Humanoid Teleoperation via Whole Body Model Predictive Control and Online Parameter Estimation
The effective deployment of humanoid robots in practical tasks of interest will require a capability of sensing and adapting to variations in inertial parameters, as occurs during heavy tool use or…REKI: Registering Knowledge in VLAs
We introduce REKI, a 2.4B vision-language-action model (VLA) pretrained exclusively on public data that sets a new Pareto frontier between performance and model size: on LIBERO-Plus, RoboTwin…Whole-Body Dexterity
Current humanoid dexterous manipulation remains largely confined to end-effectors and simple grasps, falling short of humans' ability to engage the entire body by bracing and sliding bulky objects…MOSS: Mode-Oriented Source Shaping for Robot Flow Matching Policies
In robotic manipulation, the same observation often admits multiple feasible actions.Robust Multi-Agent Pursuit with Preemptive Communication via Reachability-Based Control Barrier Functions
Safe multi-agent coordination typically assumes what real-world, deployed, resource-constrained robots cannot provide: continuous, perfect state sharing.Safe and Fuel-Efficient Motion Planning for Lunar Propulsive Drones
Propulsive drones are a promising new technology for generating high-resolution terrain models of the Moon.Auditable and Deployable Multi-Agent Motion Planning via Posetal Games from Legal Guidelines
When robots are deployed in the real-world, they must interact with other agents and accomplish their own goals while adhering to legal constraints.Asking Smarter Questions: Targeted Active Preference Learning for Underspecified Rewards
Reward learning typically assumes the human's input covers everything that matters for the task.Mem4Act: Learning Effective Latent Memory for Long-Horizon Robotic Manipulation
Long-horizon robotic manipulation fundamentally requires memory: agents must retain task-relevant information from past observations and interactions and use it to guide future actions.Illumination-Aware Active Perception for Spacecraft Inspection
Harsh and rapidly varying orbital illumination introduces failure modes during spacecraft inspection.Sim-to-Real Reinforcement Learning for Path-Safe Target Reaching in Robotic Harvesting of Hydroponic Lettuce
Robotic harvesting requires precise manipulation to ensure accurate positioning of the end-effector, especially in a constraint workspace.Dexterity from Supervised Play
How can robots autonomously collect the contact-rich experience needed to learn dexterous manipulation?Spark-0: Scaling Spatially Aligned Tactile Pretraining for Robot Dexterous Manipulation
Generalist robot policies benefit from large-scale visual pretraining but often struggle with contact-rich dexterous manipulation, where force, compliance, and incipient slip are hard to observe…GeoState: Learning View-Decoupled Geometry States for 3D World Modeling
Recent 3D world models increasingly use features from geometry foundation models (GFMs) as predictive world states, benefiting from their rich geometric priors.