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 83
Phase-Conditioned Affordance Fields for SE(3)-Equivariant Visuomotor Policies
SE(3)-equivariance provides a useful geometric inductive bias for visuomotor policies, encoding that actions covary with rigid transformations of the observation.Improving Policy Learning from Delayed Interventions
In this work, we explore the idea of expert intervention delays in human-supervised robotic systems for imitation learning system.Reach-Avoid Certificates for Contact-based Stochastic Hybrid Systems
This work studies certified reach-avoid control of stochastic hybrid systems in which a stochastic differential equation governs continuous flow and a controlled stochastic kernel governs…Evaluating Long-Horizon Robot Planning under Uncertainty
Household robots must successfully navigate im-perfect circumstances, both in their internal models and the external world.Filtering for Liveness: Recurrence via Backup Reachability Control Barrier Functions
Liveness requires a dynamical system to repeatedly accomplish a desired objective over time.Can a Frontier VLM Serve as a Robot Policy for Memory-Dependent Manipulation?
We use a frozen frontier vision-language model, GPT-6-Astra, directly as the robot policy on RoboMME, a benchmark of 16 memory-dependent manipulation tasks spanning temporal, spatial, object, and…ClearNav: Perception-Aligned Quadrotor Flight Using Differential-Physics
Autonomous quadrotor flight in cluttered environment is an key capability for tasks like inspection and search.MIRROR: Reflecting Hidden Symmetries from Offline Robot Interaction Data
Symmetry-aware robot policy learning requires coupled observation-action transformations.Smoothness Ranks Skill, Not Success: An Audit of Published Trajectory-Smoothness Curation Metrics Under Episode-Length Controls
Trajectory smoothness has been proposed as a cheap, training-free signal for curating imitation-learning demonstrations, most recently by rinse, which introduces Spectral Arc Length (SAL) and a…Act4R: Action-conditioned 4D reconstruction for kinematics-free control
Precise control of movement across various robotic embodiments is a longstanding challenge.From Orbit Matching to Docking: A Hierarchical Reinforcement-Learning Approach to Multiphase Rendezvous Trajectory Design
As the complexity of space missions increases, autonomous spacecraft guidance must accommodate transitions between mission phases with distinct dynamics, objectives, and constraints.Reinforcement Learning Based Heterogeneous Task Allocation Under Spatio-Temporal Environmental Uncertainty for Multi-Robot Teams
Autonomous Surface Vehicles (ASVs) have been increasingly deployed to perform different kinds of maritime tasks in recent years, which motivates the need for a reliable task allocation policy that…LeHami: Symplectic Latent Dynamics for World Models
Joint-embedding predictive architectures (JEPAs) learn world models directly in latent space, but unconstrained autoregressive predictors may contract the latent distribution over long rollouts.Embodiment-Aware Inference-Time Search for Human Reaction Selection in Humanoid Retargeting
Training humanoid robots to learn human behaviors requires expensive data collection, and human-robot interaction data can be even more difficult and costly to collect.ASM-6D: Fast Certified Pose-Shape Inference with Complete Correspondence Flow Maps
Category-level 6D pose and shape estimation requires recovering an object's pose and geometry from partial observations without an exact instance model.ProWorld: Multi-View World Model with Proprioceptive Feedback for Closed-Loop Policy Evaluation
Evaluating robot manipulation policies through repeated physical trials is costly.RM-WAM: Reliable Memory-Augmented World Action Models for Long-Horizon Robot Manipulation
World Action Models (WAMs) improve robotic manipulation by jointly predicting future visual states and actions, yet most existing methods make decisions primarily from the current observation.An Open MuJoCo Simulation Framework for a Quadrotor Carrying a Tendon-Driven Soft Continuum Arm
Combining aerial robots with soft continuum manipulators promises safe, compliant interaction with the environment, but the coupled dynamics of a free-flying base and a highly deformable…Sensing via whole-body interactions with complex terrains: physical insights from robotic models
In nature, animals interact with complex terrains and often generate forces, deformations, and vibrations across the body and environment.CoLA: Multi-VLA Coordination via Learned Adapters
Vision-Language-Action (VLA) models are typically deployed as isolated single-agent policies.