Uni-Mo generates 7,488 language-annotated quadruped motions via LLM prompts and video diffusion, lifts them to 3D trajectories, and trains policies achieving 96.7% real-robot success on 392 sampled motions.
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Meeting-merging-mission: A multi- robot coordinate framework for large-scale communication-limited exploration
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MPC-Injection biases off-policy RL locomotion policies toward controller-induced behavior basins by injecting MPC transitions into the replay buffer.
Reinforcement learning policies for quadrotor inversion transitions with bidirectional thrust outperform optimization baselines by 32% in position RMSE and 57% in settling time in simulation, with successful hardware validation.
RS2AD-LiDAR reconstructs vehicle LiDAR data from roadside observations via coordinate transformation, virtual LiDAR modeling and resampling, claimed as the first such method, with experiments showing improved object detection when mixed with real data.
SpUDD defines superpower contours from power diagrams of unsigned distance samples, proves convergence to the true surface, and uses them to generate approximating polygonal meshes that outperform prior strategies.
SARR modifies trigonometric rotation encodings with object symmetry orders to produce unique continuous poses, enabling standard CNNs to outperform existing methods on symmetry-aware 6D pose estimation without custom losses or 3D models.
The virtual object MPC framework enables stable shared teleoperation for transporting up to nine objects, cutting sliding distance by 72.45% and eliminating tip-overs compared to baseline.
ReV is a referring-aware visuomotor policy using coupled diffusion heads for real-time trajectory replanning in robotic manipulation, trained solely via targeted perturbations to expert demonstrations and achieving higher success rates in simulated and real tasks.
MIMPC delivers better fuel efficiency and guaranteed stability for binary thrusters in low-thrust regimes than continuous MPC with modulation, while a modulator-informed continuous variant narrows the performance gap.
Guided RL using Bezier curves and UARM model enables efficient, explainable omnidirectional jumping in quadruped robots.
UMI enables zero-shot deployment of robot manipulation policies trained solely on portable human demonstrations captured with custom handheld grippers, supporting dynamic bimanual tasks across novel environments and objects.
PEACH uses a novel spatio-temporal point cloud sequence encoder plus auxiliary supervision to enable zero-shot adaptation of graph network simulators to unseen physical properties, outperforming mesh-based baselines in simulation accuracy while being more deployable for real scenes.
A hierarchical multi-robot motion planner that refines workspace decompositions to enable scalable coordination through discrete search over smaller decoupled subproblems.
GRCA filters ray-triangle pairs from the triangle side using per-channel cone surfaces, beating OptiX and Embree by up to 8-14x in dynamic LiDAR benchmarks while accepting a 95.8-100% per-frame hit-match rate against OptiX.
KiTE-Extend uses offline-computed translation-invariant trajectory bundles to improve action selection in kinodynamic MRMP, reducing planning time and scaling better across centralized, prioritized, and conflict-based paradigms without altering planner guarantees.
MAG-VLAQ fuses multi-modal ground and aerial data via ODE-conditioned vector-of-locally-aggregated-queries to nearly double recall@1 on aerial-ground place recognition benchmarks.
Prevent-Jack fuses six local behaviors into a context steering framework for swarms of heavy articulated vehicles, delivering collision and jackknifing avoidance at the expense of deadlocks and livelocks observed in 15,000 simulations.
Wi2SAR is a drone-based wireless system that locates wilderness victims by exploiting automatic Wi-Fi reconnection on their mobile devices, using a 3D-printed Luneburg Lens for direction finding and adaptive navigation.
A cross-embodied co-design framework learns task-specific hand morphologies and control policies, achieving sim-to-real rotation up to 3.3 rad/s and full fabrication in under 24 hours.
MVP-Nav reconstructs explicit 3D physical occupancy from monocular RGB using foundation models and integrates it with semantic priorities via a Multi-layer Value Map for grounded planning in zero-shot object navigation.
Hardware-software architecture for drone swarms illuminating line drawings mid-air, including Blender add-on, SVG import, and user study validating misalignment tolerance.
STRIPS-WM induces an abstract transition graph from images, learns latent binary predicates and one grounded operator per action, then distills the predicates into a visual encoder for classical planning from novel start and goal images.
No haptic guidance model is universally best; spring-damper performs well in cluttered environments, potential field in free spaces with some risks, and guiding tube provides a balanced option, with guiding force correlating to comfort and trust.
Hybrid ME-DDP variants combine deterministic DDP with inverse-Hessian sampling to improve success rates over pure DDP and MPPI in robotic navigation under non-convex costs.
citing papers explorer
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Unleashing Infinite Motion: Scaling Expressive Quadrupedal Motion via Generative Video Priors
Uni-Mo generates 7,488 language-annotated quadruped motions via LLM prompts and video diffusion, lifts them to 3D trajectories, and trains policies achieving 96.7% real-robot success on 392 sampled motions.
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MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins
MPC-Injection biases off-policy RL locomotion policies toward controller-induced behavior basins by injecting MPC transitions into the replay buffer.
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AcroRL: Learning Aggressive Quadrotor Inversion using Bidirectional Thrust
Reinforcement learning policies for quadrotor inversion transitions with bidirectional thrust outperform optimization baselines by 32% in position RMSE and 57% in settling time in simulation, with successful hardware validation.
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RS2AD-LiDAR: End-to-End Autonomous Driving LiDAR Data Generation from Roadside Sensor Observations
RS2AD-LiDAR reconstructs vehicle LiDAR data from roadside observations via coordinate transformation, virtual LiDAR modeling and resampling, claimed as the first such method, with experiments showing improved object detection when mixed with real data.
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SpUDD: Superpower Contouring of Unsigned Distance Data
SpUDD defines superpower contours from power diagrams of unsigned distance samples, proves convergence to the true surface, and uses them to generate approximating polygonal meshes that outperform prior strategies.
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Towards Symmetry-sensitive Pose Estimation: A Rotation Representation for Symmetric Object Classes
SARR modifies trigonometric rotation encodings with object symmetry orders to produce unique continuous poses, enabling standard CNNs to outperform existing methods on symmetry-aware 6D pose estimation without custom losses or 3D models.
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Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control
The virtual object MPC framework enables stable shared teleoperation for transporting up to nine objects, cutting sliding distance by 72.45% and eliminating tip-overs compared to baseline.
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Referring-Aware Visuomotor Policy Learning for Closed-Loop Manipulation
ReV is a referring-aware visuomotor policy using coupled diffusion heads for real-time trajectory replanning in robotic manipulation, trained solely via targeted perturbations to expert demonstrations and achieving higher success rates in simulated and real tasks.
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Mixed-Integer vs. Continuous Model Predictive Control for Binary Thrusters: A Comparative Study
MIMPC delivers better fuel efficiency and guaranteed stability for binary thrusters in low-thrust regimes than continuous MPC with modulation, while a modulator-informed continuous variant narrows the performance gap.
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Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Guided RL using Bezier curves and UARM model enables efficient, explainable omnidirectional jumping in quadruped robots.
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Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
UMI enables zero-shot deployment of robot manipulation policies trained solely on portable human demonstrations captured with custom handheld grippers, supporting dynamic bimanual tasks across novel environments and objects.
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Point Cloud Sequence Encoding for Material-conditioned Graph Network Simulators
PEACH uses a novel spatio-temporal point cloud sequence encoder plus auxiliary supervision to enable zero-shot adaptation of graph network simulators to unseen physical properties, outperforming mesh-based baselines in simulation accuracy while being more deployable for real scenes.
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Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement
A hierarchical multi-robot motion planner that refines workspace decompositions to enable scalable coordination through discrete search over smaller decoupled subproblems.
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Geometrically Approximated Modeling for Emitter-Centric Ray-Triangle Filtering in Arbitrarily Dynamic LiDAR Simulation
GRCA filters ray-triangle pairs from the triangle side using per-channel cone surfaces, beating OptiX and Embree by up to 8-14x in dynamic LiDAR benchmarks while accepting a 95.8-100% per-frame hit-match rate against OptiX.
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Efficient Multi-Robot Motion Planning with Precomputed Translation-Invariant Edge Bundles
KiTE-Extend uses offline-computed translation-invariant trajectory bundles to improve action selection in kinodynamic MRMP, reducing planning time and scaling better across centralized, prioritized, and conflict-based paradigms without altering planner guarantees.
-
MAG-VLAQ: Multi-modal Aerial-Ground Query Aggregation for Cross-View Place Recognition
MAG-VLAQ fuses multi-modal ground and aerial data via ODE-conditioned vector-of-locally-aggregated-queries to nearly double recall@1 on aerial-ground place recognition benchmarks.
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PREVENT-JACK: Context Steering for Swarms of Long Heavy Articulated Vehicles
Prevent-Jack fuses six local behaviors into a context steering framework for swarms of heavy articulated vehicles, delivering collision and jackknifing avoidance at the expense of deadlocks and livelocks observed in 15,000 simulations.
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"Take Me Home, Wi-Fi Drone": A Drone-based Wireless System for Wilderness Search and Rescue
Wi2SAR is a drone-based wireless system that locates wilderness victims by exploiting automatic Wi-Fi reconnection on their mobile devices, using a 3D-printed Luneburg Lens for direction finding and adaptive navigation.
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House of Dextra: Cross-embodied Co-design for Dexterous Hands
A cross-embodied co-design framework learns task-specific hand morphologies and control policies, achieving sim-to-real rotation up to 3.3 rad/s and full fabrication in under 24 hours.
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MVP-Nav: Multi-layer Value Map Planner Navigator
MVP-Nav reconstructs explicit 3D physical occupancy from monocular RGB using foundation models and integrates it with semantic priorities via a Multi-layer Value Map for grounded planning in zero-shot object navigation.
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Line Drawings using LightBenders: Authoring and Illuminating
Hardware-software architecture for drone swarms illuminating line drawings mid-air, including Blender add-on, SVG import, and user study validating misalignment tolerance.
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STRIPS-WM: Learning Grounded Propositional STRIPS-style World Models from Images
STRIPS-WM induces an abstract transition graph from images, learns latent binary predicates and one grounded operator per action, then distills the predicates into a visual encoder for classical planning from novel start and goal images.
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Selecting haptic guidance models in teleoperation: guidelines from a comparative user study
No haptic guidance model is universally best; spring-damper performs well in cluttered environments, potential field in free spaces with some risks, and guiding tube provides a balanced option, with guiding force correlating to comfort and trust.
-
Beyond Pure Sampling: Hybrid Optimization Mechanisms for Non-Convex Model Predictive Control
Hybrid ME-DDP variants combine deterministic DDP with inverse-Hessian sampling to improve success rates over pure DDP and MPPI in robotic navigation under non-convex costs.
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Where to Perch in a Tree: Vision-Guidance for Tree-Grasping Drones
A computer vision pipeline assesses urban tree branches for drone perching suitability on width, slope and curvature, achieving 76% success on feasible targets from over 10,000 images.
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What Do You Think I Think? Accounting for Human Beliefs Using Second-Order Theory of Mind
A second-order ToM agent using I-POMDP models human erroneous beliefs and cognitive biases to generate adaptive feedback that improves interaction informativeness.
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SutureFormer: Learning Surgical Trajectories via Goal-conditioned Offline RL in Pixel Space
Goal-conditioned offline RL with spline-densified rewards and discrete-direction continuous-magnitude actions cuts needle-trajectory ADE by 58.6% on a 1,158-trajectory kidney suturing dataset.
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MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
MOBIUS is a multi-modal bipedal robot with hybrid reinforcement learning and force control plus an MIQCP planner that enables walking, crawling, climbing, and rolling on varied terrains.
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Latent Linear Quadratic Regulator for Robotic Control Tasks
LaLQR learns a latent linear-quadratic representation of robotic systems by imitating MPC to enable efficient LQR control.
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Optimal Design and Analytical Modeling of a Soft Fin-Ray Effect Gripper Finger Using the Finite Rigid Elements Method
A fin-ray soft gripper finger was optimized for length, rib spacing, angle and thickness using FREM modeling, achieving 3% error validated by ANSYS simulation and experiments.
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PIMbot: A Self-Adaptive Attack Framework for Adversarial Manipulation of Multi-Robot Reinforcement Learning
PIMbot introduces an adaptive attack using reward-channel and policy manipulation to disrupt cooperation in multi-robot social dilemma RL, shown effective in Gazebo simulation and on NVIDIA Jetson hardware.
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EUPHORIA: Efficient Universal Planning via Hybrid Optimization for Robust Industrial Robotic Assembly
EUPHORIA is a hybrid framework using meta-learning via graph hypernetworks, physics-biased attention in graph transformers, and residual stability correction for few-shot adaptable robotic assembly planning.
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The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
An open-sourced Unified Autonomy Stack fuses LiDAR, radar, vision and inertial data with sampling-based planning and control barrier functions to deliver resilient autonomy on aerial and ground robots in challenging real-world settings.
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Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs
The paper recasts Gaussian-process continuous-time estimation in factor-graph language and supplies three GTSAM implementations to lower the barrier to adoption.
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What Does a Meow Mean? In Search of Intuitively Understandable Communication by a Nonverbal Companion Robot
Older adults interpreted a cat robot's intentions more accurately from combined visual icons and auditory signals than from sounds alone, except for strong sentiments.
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Real-Time Frame- and Event-based Object Detection with Spiking Neural Networks on Edge Neuromorphic Hardware: Design, Deployment and Benchmark
SNNs deployed on Loihi 2 achieve real-time object detection with the lowest dynamic energy per inference and recover 87-100% of ANN accuracy via distillation-aware training.
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Autonomous Unmanned Aircraft Systems for Enhanced Search and Rescue of Drowning Swimmers: Image-Based Localization and Mission Simulation
A UAS with YOLO-based swimmer detection and DES simulations reduces drowning rescue response time by a factor of five versus standard operations in tested lake areas.
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DigiForest: Digital Analytics and Robotics for Sustainable Forestry
DigiForest integrates heterogeneous autonomous robots for data collection, automated tree trait extraction, a decision support system for growth forecasting, and autonomous harvesters for selective logging, with real-world tests in European forests.
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Optimal Gait Control for a Tendon-driven Soft Quadruped Robot by Model-based Reinforcement Learning
Develops and tests a model-based RL controller with post-training for gait in a tendon-driven soft quadruped, reporting improved efficiency and robustness over benchmarks.
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Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot
An architecture for humanoid robots that optimizes hardware and physical intelligence parameters with respect to human ergonomic metrics, demonstrated via the ergoCub robot.
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Digital Guardians: The Past and The Future of Cyber-Physical Resilience
A survey frames CPS resilience through five themes and illustrates them in connected transportation and medical systems to provide a roadmap for real-world resilience.
- SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling
- The functional and temporal roles of gaze evolve across the phases and constraints of multi-stage robot-mediated manipulation
- Robotic Nanoparticle Synthesis via Solution-based Processes