Robotics & Automation
Robotics & Automation news — Friday 02 October 2026
150 stories from 4 sources, every one in English. Each links to its publisher.
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Inside Omron’s next-generation LD mobile robots
Robotics Business Review
The Robot Report Podcast · Inside Omron’s Next-Generation LD Mobile Robots Miguel Garcés Moreno, PMM, mobile robots, OMRON In Episode 264 of The Robot Report Podcast, we interview Miguel Garcés Moreno , product marketing manager for…
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Inside Omron’s next-generation LD mobile robots
The Robot Report
The Robot Report Podcast · Inside Omron’s Next-Generation LD Mobile Robots Miguel Garcés Moreno, PMM, mobile robots, OMRON In Episode 264 of The Robot Report Podcast, we interview Miguel Garcés Moreno , product marketing manager for…
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Eli Lilly, Purdue to share field learnings on human robot interaction at RoboBusiness
The Robot Report
https://www.therobotreport.com/wp-content/uploads/2026/10/lilly-physical-ai.mp4 Human-robot interaction is one of the biggest unlocks left in industrial automation to enable stronger safety, but most HRI research happens on university…
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Eli Lilly, Purdue to share field learnings on human robot interaction at RoboBusiness
Robotics Business Review
https://www.therobotreport.com/wp-content/uploads/2026/10/lilly-physical-ai.mp4 Human-robot interaction is one of the biggest unlocks left in industrial automation to enable stronger safety, but most HRI research happens on university…
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Runway introduces Praxis-1 world action model for robotics
Robotics Business Review
Runway said it is testing Praxis-1 on a variety of embodiments and environments to identify and close potential gaps before moving to general availability. | Source: Runway Runway AI Inc. this week introduced Praxis-1, an open-weight world…
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Runway introduces Praxis-1 world action model for robotics
The Robot Report
Runway said it is testing Praxis-1 on a variety of embodiments and environments to identify and close potential gaps before moving to general availability. | Source: Runway Runway AI Inc. this week introduced Praxis-1, an open-weight world…
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Video Friday: Albatross Falls, Spins, Self-Rights, and Sails Away
IEEE Spectrum Robotics
Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for…
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Continual Learning for 6-DoF Grasp Synthesis via Experience and Demonstrations
arXiv cs.RO (Robotics)
arXiv:2610.01301v1 Announce Type: new Abstract: Most current grasp synthesis systems are trained offline and remain fixed during deployment. While this works well when deployment conditions resemble the training data, performance can…
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Constant-Time Planning for Chaining Collision-free Motion to Manipulation Behaviors
arXiv cs.RO (Robotics)
arXiv:2512.00939v3 Announce Type: replace Abstract: Recent progress in contact-rich robotic manipulation has been striking, yet most deployed systems remain confined to simple, scripted routines. One of the barriers is the lack of motion…
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Diffusion Policy Improvement with Proposal-Conditioned Refinement Flows
arXiv cs.RO (Robotics)
arXiv:2609.36812v2 Announce Type: replace-cross Abstract: Diffusion and flow policies can model complex behaviors in offline reinforcement learning (RL). However, penalizing their KL divergence from the behavior policy can discourage…
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NarrativeFlow: Flow-Based Vision-Language-Action Model Using Robot Velocity Fields
arXiv cs.RO (Robotics)
arXiv:2610.00981v1 Announce Type: new Abstract: We focus on language-conditioned flow-based manipulation, where robot flows (robot velocity fields) serve as embodiment-agnostic, motion-centric representations for leveraging data collected…
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Design and Implementation of a Kalman Filter-Infused Algorithm for Tilt Estimation
arXiv cs.RO (Robotics)
arXiv:2609.00730v3 Announce Type: replace-cross Abstract: Accurate tilt angle estimation is important in many engineering applications, such as robotics, motion tracking, and embedded control systems. However, measurements from low-cost…
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Towards Physical Underwater Robotic Assistance for Scuba Diver Movement in Confined Spaces
arXiv cs.RO (Robotics)
arXiv:2610.01906v1 Announce Type: new Abstract: Scuba divers are taught to control their depth to avoid rapid ascents and descents, which could result in serious injuries such as gas embolisms and barotrauma. However, many underwater tasks…
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Experience-Based Feasibility-Aware Generative Adversarial Imitation from Observation under Embodiment Mismatch
arXiv cs.RO (Robotics)
arXiv:2610.01171v1 Announce Type: new Abstract: With the increasing use of robot-free demonstration interfaces that provide state trajectories without action labels, imitation from observation has become a promising approach for learning…
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What Do Scan-Derived Class Prototypes Add? Disentangling Supervision, Prototype Content and Query Protocol in Recognition over Frozen Foundation Features
arXiv cs.RO (Robotics)
arXiv:2609.04381v2 Announce Type: replace-cross Abstract: A scan supplies labeled images and a geometric reference. We separate their contributions in a recognizer whose scan-derived prototype matrix acts as a supervised head's fixed…
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Closed-Loop Refinement and Execution for Learned Driving Planners
arXiv cs.RO (Robotics)
arXiv:2610.00992v1 Announce Type: cross Abstract: Learning-based driving planners are usually trained and evaluated in open loop against logged trajectories. In closed loop, a trajectory with small displacement error can still stall the…
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Multi-Reference Path Tracking Control for an Agricultural Tractor with Nonlinear Model Predictive Control
arXiv cs.RO (Robotics)
arXiv:2610.00057v1 Announce Type: new Abstract: Guiding a tractor along a predefined reference path is a key component of precision agriculture. This study develops a path tracking controller based on Nonlinear Model Predictive Control…
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SkeleWAM: Skeleton World-Action Modeling for Efficient Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.02120v1 Announce Type: new Abstract: World action models (WAMs) combine robot action generation with future state prediction. Existing WAMs typically predict videos or learned visual latents, which represent interaction geometry…
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FERPO: Forward Entropy-Regularized Policy Optimization
arXiv cs.RO (Robotics)
arXiv:2610.02198v1 Announce Type: cross Abstract: Several state-of-the-art methods for online reinforcement learning in continuous control improve policies using action gradients of a learned critic. However, critics are typically trained…
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FlashDexRetarget: Accelerating Dexterous Manipulation Data Generation through Multi-Motion Retargeting
arXiv cs.RO (Robotics)
arXiv:2610.01849v1 Announce Type: new Abstract: Human hand-object demonstrations offer a reusable source of dexterous robot manipulation data, but transferring them across embodiments requires physically feasible retargeting. Existing…
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STATERA: Hidden Mass Estimation via Zero-Shot Sim-to-Real Kinematics using Frozen Temporal Tubelets
arXiv cs.RO (Robotics)
arXiv:2610.00003v1 Announce Type: cross Abstract: Vision models pretrained for frame-level appearance often struggle to infer hidden physical properties from motion. We study center-of-mass (CoM) localization for opaque, asymmetric rigid…
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Sequential Object Placement Optimization with Convex Decomposition
arXiv cs.RO (Robotics)
arXiv:2608.25162v2 Announce Type: replace Abstract: Robotic object packing has been a core challenge for robotic deployment in logistics, industry, etc., due to the curse of dimensionality in combinatorial search and the difficulty of…
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STARS: From Spatiotemporal Dynamics to Social Representations in Human-Robot Interaction
arXiv cs.RO (Robotics)
arXiv:2609.40245v2 Announce Type: replace Abstract: Robot navigation in dynamic, human-centered environments requires socially-compliant decisions grounded in robust scene understanding. Recent Vision-Language Models (VLMs) exhibit…
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Bridging the Sim-to-Real Gap with multipanda_ros2: A Real-Time ROS2 Framework for Multimanual Systems
arXiv cs.RO (Robotics)
arXiv:2602.02269v2 Announce Type: replace Abstract: We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2…
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DynamicVLA: A Vision-Language-Action Model for Dynamic Object Manipulation
arXiv cs.RO (Robotics)
arXiv:2601.22153v2 Announce Type: replace Abstract: Manipulating dynamic objects remains an open challenge for Vision-Language-Action (VLA) models. Although recent VLAs generalize well in static manipulation, dynamic scenes introduce a…
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Social-WM: Safety-Aware Latent World Models for Robot Social Navigation
arXiv cs.RO (Robotics)
arXiv:2609.40177v2 Announce Type: replace Abstract: Safe social navigation requires a robot to anticipate not only the future consequences of its actions, but also whether a nominal action can actually be executed under surrounding…
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Ex vivo breach detection using electrical conductivity during robotic pedicle drilling in the spine
arXiv cs.RO (Robotics)
arXiv:2610.01310v1 Announce Type: new Abstract: Purpose: Pedicle screw placement is technically demanding in scoliosis treatment. High precision is required due to limited visibility, anatomical variability, and the risk of complications…
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Probing an Embodied LLM: When Higher Observation Fidelity Hurts Problem Solving
arXiv cs.RO (Robotics)
arXiv:2605.20072v2 Announce Type: replace-cross Abstract: Large Language Models (LLMs) are increasingly proposed as cognitive components for robotic systems, yet their opaque decision processes make it difficult to explain success or…
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MASkillBlender: Decentralized Whole-Body Coordination for Multi-Humanoid Loco-Manipulation via Skill Blending
arXiv cs.RO (Robotics)
arXiv:2610.01102v1 Announce Type: new Abstract: Coordinated multi-humanoid loco-manipulation is promising yet challenging due to high-dimensional whole-body control, decentralized decision making, and scalability. While recent…
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Markovian Dynamics Enforcer: Feasibility Preserving Correction on Learned Dynamics Manifolds
arXiv cs.RO (Robotics)
arXiv:2609.39888v2 Announce Type: replace-cross Abstract: Neural trajectory predictors can reach low prediction error while violating dynamics, actuator limits, or state constraints, especially when controls are unobserved and dynamics are…
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SlotVLA: Towards Modeling of Object-Relation Representations in Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2511.06754v4 Announce Type: replace Abstract: Inspired by how humans reason over discrete objects and their relationships, we explore whether compact object-centric and object-relation representations can form a foundation for…
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FlashNav: Training Deployable Robot Navigation Policies in Seconds
arXiv cs.RO (Robotics)
arXiv:2606.15846v2 Announce Type: replace Abstract: Training Deep Reinforcement Learning (DRL) navigation policies for different robot configurations remains time-consuming. We present FlashNav, a GPU-based framework that trains…
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TacDyn-WAM: Learning Implicit Tactile Dynamics in a Heterogeneous Visuo-Tactile World Action Model
arXiv cs.RO (Robotics)
arXiv:2610.00638v1 Announce Type: new Abstract: World action models improve robotic manipulation by conditioning actions on predicted futures, yet existing tactile variants largely inherit video-generation pipelines that reconstruct future…
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WBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.01083v1 Announce Type: new Abstract: Vision-language-action (VLA) policies have demonstrated impressive capabilities in generalizable robotic manipulation, but their deployment in the real world remains challenging due to…
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Interaction-Stiffness-Guided Basis Allocation in Dynamic Movement Primitives for Efficient Skill Transfer
arXiv cs.RO (Robotics)
arXiv:2610.01288v1 Announce Type: new Abstract: Dynamic Movement Primitives (DMPs) provide a compact and stable formulation for trajectory representation and generalization in robot skill learning. However, their predefined basis layout…
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Spatial Strategies, Not Actions: Vector-Quantized Geodesics as Tools for LLM-Driven Agents
arXiv cs.RO (Robotics)
arXiv:2610.00613v1 Announce Type: cross Abstract: Large language model (LLM) based agents are often criticized for lacking spatial understanding and mainly exploiting statistical text patterns. We investigate their spatial comprehension…
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Robot Learning on Discrete Surfaces: Theory and Applications
arXiv cs.RO (Robotics)
arXiv:2610.01910v1 Announce Type: new Abstract: All the objects composing our world are enclosed within surfaces. Yet, most robot learning and motion generation frameworks treat surfaces as constraints ignoring their intrinsic geometry…
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Measuring Asset and Scene Reconstruction Effects in Real-to-Sim Robot Evaluation
arXiv cs.RO (Robotics)
arXiv:2610.00731v1 Announce Type: new Abstract: Simulated evaluation is increasingly used alongside real-world evaluation of robot policies because it is cheaper and easier to repeat; however, its value depends on how closely its outcomes…
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Learning a Resolution-Consistent Jacobian Field for Bio-Inspired Rigid-Soft Finger
arXiv cs.RO (Robotics)
arXiv:2610.01668v1 Announce Type: new Abstract: Bio-inspired tendon-driven rigid-soft coupled dexterous fingers exhibit strong nonlinearity and configuration-dependent sensitivity, making accurate modeling challenging. In discrete-time…
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DriftOPD: Sequence-Level Reverse-KL Distillation for One-Step VLA Policies
arXiv cs.RO (Robotics)
arXiv:2610.00317v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models increasingly rely on action experts that generate short action chunks under receding-horizon control. While chunk-level training is convenient across robot…
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TRACE: Privacy-Preserving Next-Best-View Selection over Distributed 3D Gaussian-Splat Maps
arXiv cs.RO (Robotics)
arXiv:2610.00822v1 Announce Type: new Abstract: Share the light, not the map. We study next-best-view selection for a team of robots, each of which builds its own 3D Gaussian Splatting map and keeps it private. A robot picks the view with…
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Bounded-Fidelity Sim-as-Demo-Stage: Mocap Handoff for Governance Benchmarks
arXiv cs.RO (Robotics)
arXiv:2610.00008v1 Announce Type: new Abstract: Sim-to-real research pursues physics fidelity as a primary objective: simulators are judged by how closely they reproduce real-world contact dynamics. For governance benchmarking of…
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IndoorBEV: A Lightweight Real-Time LiDAR BEV Perception System for Indoor Mobile Robots
arXiv cs.RO (Robotics)
arXiv:2610.00355v1 Announce Type: new Abstract: Efficient indoor LiDAR perception is challenging because mobile robots must understand cluttered three-dimensional environments under strict latency and memory constraints. Existing…
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DexPolicy: Scheduled Exploration for Trajectory-Guided Dexterous Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.00360v1 Announce Type: new Abstract: Reinforcement learning (RL) for dexterous manipulation must discover finger-object contacts and then control the object precisely; the action noise that serves the first goal can interfere…
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DeepJEPA: Scaling World Models from Within
arXiv cs.RO (Robotics)
arXiv:2610.00368v1 Announce Type: new Abstract: World-model planners typically scale outward by rolling farther, sampling more trajectories, or optimizing longer, while assigning the same computation to every imagined transition. We show…
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Retrospective Open-Vocabulary Memory for Long-Term Object Search
arXiv cs.RO (Robotics)
arXiv:2610.00330v1 Announce Type: new Abstract: Long-term object search requires learning where objects usually appear from repeated but uneven observations of a changing environment. We formulate retrospective open-vocabulary memory as…
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CF-JEPA: Improving Robustness of JEPA World Models via Controllability Factorization
arXiv cs.RO (Robotics)
arXiv:2610.00727v1 Announce Type: new Abstract: Controlling an agent with vision requires being able to separate useful information from irrelevant background information. JEPA-style latent world models seem like a natural approach for…
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ECoMEM: Explicit Concept Memory for Memory-Dependent Robot Control
arXiv cs.RO (Robotics)
arXiv:2610.00801v1 Announce Type: new Abstract: A robot may lose sight of an object it must later retrieve, need to recall what a person demonstrated earlier, or track which steps of a task it has already completed. Current…
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DITTO-X: Forward and Reverse Teleoperation for Dexterous Manipulation and Human Intervention
arXiv cs.RO (Robotics)
arXiv:2610.00781v1 Announce Type: new Abstract: Teleoperated demonstrations are a primary source of data for robot manipulation, and teleoperated interventions are a primary mechanism for correcting policies at deployment. Yet most…
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Getting Out and Getting Back: World and Behavior Grounding in Real2Sim2Real Co-Training
arXiv cs.RO (Robotics)
arXiv:2610.00821v1 Announce Type: new Abstract: Simulation can expand scarce real demonstrations for co-training, yet how world fidelity and similarity to human behavior affect policy performance remains unclear. We distinguish world…
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UniTrackPLA: Unified Panorama-Language-Action Model for Instruction-Guided Navigation and Dynamic Person Tracking
arXiv cs.RO (Robotics)
arXiv:2610.00878v1 Announce Type: new Abstract: General-purpose embodied robots should support both navigation toward language-specified destinations and dynamic person tracking under arbitrary initial target azimuths. However, existing…
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Real-Time Human-Adaptive Task Allocation for Multi-Human Multi-Robot Supervision
arXiv cs.RO (Robotics)
arXiv:2610.00897v1 Announce Type: new Abstract: We propose a human-factor-aware method of allocating robot supervision tasks to multiple human operators. In scenarios where multiple operators occasionally teleoperate multiple robots to…
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TOAST: Stochastic Robot Action Tokenization for Autoregressive Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.00899v1 Announce Type: new Abstract: Autoregressive Vision-Language-Action models often represent continuous robot actions as discrete token sequences, enabling action prediction with standard next-token objectives. FAST has…
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Screw Attention: Rigid-Body Algebra Inside a Transformer
arXiv cs.RO (Robotics)
arXiv:2610.00904v1 Announce Type: new Abstract: Learned manipulation policies rediscover from data the spatial relations that rigid-body mechanics supplies in closed form. This costs data, and it leaves the policies fragile to geometric…
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quARtet Marker: A 3D-Printable Multi-Tag Fiducial for Robust Near-Frontal Pose Estimation
arXiv cs.RO (Robotics)
arXiv:2610.01072v1 Announce Type: new Abstract: Robotic manipulation of labware is difficult when transparent or reflective objects must be identified and localized. Coded planar fiducials are a practical retrofit: easy to print, they…
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ShowerFlex: Achieving Pseudo-Static Balancing in a Continuum Shower Hose
arXiv cs.RO (Robotics)
arXiv:2610.00936v1 Announce Type: new Abstract: With the global population rapidly aging, maintaining independence in Activities of Daily Living (ADLs), particularly bathing or showering, has become a critical challenge. Older adults who…
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Divide-and-Remember: Recursive Action-Relevant Memory for Long-Horizon VLA Policies
arXiv cs.RO (Robotics)
arXiv:2610.00982v1 Announce Type: new Abstract: Vision-language-action (VLA) models struggle on history-dependent manipulation tasks, where the current observation alone does not determine the action, and the policy needs a memory of the…
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Online Planning for Sparse Ground Target Search from a High-Altitude UAV under Partial Observability
arXiv cs.RO (Robotics)
arXiv:2610.01067v1 Announce Type: new Abstract: Unmanned aerial vehicles (UAVs) searching for ground targets from a high altitude face a unique challenge, particularly when the target is already within the field of view but effectively…
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Recova: Agent-Guided Failure Recovery for Autonomous Robotic Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.01178v1 Announce Type: new Abstract: Manipulation failures can leave scenes in states from which a task policy cannot recover. Learning corrective behaviors requires scalable failure exploration and physical grounding. We…
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ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot
arXiv cs.RO (Robotics)
arXiv:2610.01258v1 Announce Type: new Abstract: Autonomous colonoscopic navigation can reduce operator burden and the risk of loop formation or tissue trauma, but remains challenging due to deformable anatomy, weak-texture and specular…
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PROMO: Preference-conditioned Multi-Objective Reinforcement Learning for Quadrupedal Robots
arXiv cs.RO (Robotics)
arXiv:2610.01260v1 Announce Type: new Abstract: Quadrupedal locomotion requires balancing conflicting objectives such as command tracking, stability, and energy efficiency, yet conventional reinforcement learning (RL) hardcodes these…
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Is Success All You Need? Investigating the Impact of Input Perturbations on VLA Behaviour in Tabletop Manipulation Tasks
arXiv cs.RO (Robotics)
arXiv:2610.01351v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have achieved high task success rates on robot manipulation task benchmarks. More recently, there has been an emphasis on evaluating the robustness of VLA…
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Continue, Abort, or Fall: Viability-Aware Policy Selection (VAPS) for Safe Humanoid Acrobatics
arXiv cs.RO (Robotics)
arXiv:2610.01397v1 Announce Type: new Abstract: Dynamic humanoid motions such as flips risk hardware damage due to suboptimal policies, disturbances or sim-to-real gaps. A motion tracking policy offers no way out once the maneuver leaves…
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ALFRED: Requirement-driven development of an open-source mobile manipulator for long-term plant monitoring
arXiv cs.RO (Robotics)
arXiv:2610.01477v1 Announce Type: new Abstract: Tracking seasonal change in crops and forests requires observing the same plants repeatedly. Ground robots can do this at close range, and a manipulator gives their sensors more viewpoints…
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OpenSpace Lab Solution to the IROS 2026 Indoor Exploration Competition
arXiv cs.RO (Robotics)
arXiv:2610.01505v1 Announce Type: new Abstract: This report presents the \textbf{OpenSpace Lab}'s solution to the Competition on Intelligent Information Gathering for Single and Multi-Robot Systems Workshops, organized as part of the…
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Query-Conditioned Articulation Estimation from a Single Image
arXiv cs.RO (Robotics)
arXiv:2610.01726v1 Announce Type: new Abstract: Enabling robots to estimate the kinematic parameters of articulated objects unlocks a wide range of capabilities for interaction and manipulation. The estimation has to happen from the…
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World Motion Models: Flexible Sequence Modeling of SE(3) Trajectories
arXiv cs.RO (Robotics)
arXiv:2610.01742v1 Announce Type: new Abstract: Equipping artificial agents with spatial intelligence requires a comprehensive generative prior over the dynamic 3D world. We propose World Motion Models (WMMs) that capture "what was, is…
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Beyond Leaderboard Scores: A Deployment-Focused Protocol for Interpretable Tracking Evaluation in Pedestrian-Centric Environments
arXiv cs.RO (Robotics)
arXiv:2610.01682v1 Announce Type: new Abstract: Mobile robots operating among pedestrians need trajectories that become available quickly, remain spatially credible through missed observations, preserve identity, and fit within an embedded…
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ActiveWAM: Evidence-Aware Active Vision for World-Action Models
arXiv cs.RO (Robotics)
arXiv:2610.01698v1 Announce Type: new Abstract: Active vision manipulation requires a policy to control both its camera and its end-effectors, yet camera motion determines which evidence remains visible within finite observation windows…
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Decentralized Safe Path Following for Multiple Quadrotors on Intersecting Paths with Theoretical Guarantees
arXiv cs.RO (Robotics)
arXiv:2610.00208v1 Announce Type: cross Abstract: This paper studies decentralized safe path following for multiple quadrotors on intersecting paths, where safety requires both collision avoidance and strict adherence to pre-assigned…
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EgoRefine: Ego-Referenced Predictive Alignment and Trajectory-Conditioned Reliability-Aware Fusion for Asynchronous Collaborative Perception
arXiv cs.RO (Robotics)
arXiv:2610.00319v1 Announce Type: cross Abstract: Collaborative perception enables connected agents to share complementary observations for 3D object detection, extending sensing range and mitigating occlusion. Under asynchronous…
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MIKASA-Robo-VLA: Benchmarking Memory in VLA Models for Long-Horizon Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.00604v1 Announce Type: cross Abstract: Vision-language-action policies often see only one or a few recent frames, which makes it difficult to evaluate how they use information that disappears during a task. We introduce…
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Admissibility-Preserving Control for Multi-Input Systems with Joint Capacity Constraints
arXiv cs.RO (Robotics)
arXiv:2610.00533v1 Announce Type: cross Abstract: This paper addresses the control of multi-input strict-feedback nonlinear systems subject to a joint capacity constraint, in which the admissible input set is a coupled subset of the…
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In CEM, a World Model Is Also a Proposal Mechanism
arXiv cs.RO (Robotics)
arXiv:2610.00921v1 Announce Type: cross Abstract: The cross-entropy method (CEM) uses world-model scores to select action sequences and fit the distribution sampled in its next iteration. A scoring error can therefore change both the…
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The Effect of Gait Stability Based on Two Types of Impact Strategies for Two-Link Walking and Brachiating Robots
arXiv cs.RO (Robotics)
arXiv:2610.01004v1 Announce Type: cross Abstract: In this paper, we explore the impulsive dynamics common to single-joint, two-link models of walking and brachiating gaits with respect to slope and switching time. In particular, we…
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FedCKA: Representation-Guided Layer Personalization for Federated 3D Perception Across Driving Domains
arXiv cs.RO (Robotics)
arXiv:2610.01510v1 Announce Type: cross Abstract: Robust perception in intelligent vehicles demands 3D object detectors that remain dependable under domain shifts, such as changes in time of day, location, or weather. However, due to…
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PhysicsLENS: Diagnosing Physical Property Blindness in Video Generation Models
arXiv cs.RO (Robotics)
arXiv:2610.01162v1 Announce Type: cross Abstract: Reliable video world models could provide scalable predictive environments for robot learning, planning, and evaluation. However, generated robot videos can violate physical principles and…
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Managing Context and Communication in Distributed Agentic UAV Swarms
arXiv cs.RO (Robotics)
arXiv:2610.01569v1 Announce Type: cross Abstract: Unmanned aerial vehicle (UAV) swarms increasingly rely on language-model agents to provide adaptive mission-level reasoning in uncertain environments. Fully distributed control, in which…
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3DROID: A Renderable 3D Gaussian Dataset with Measured Per-Scene Reliability
arXiv cs.RO (Robotics)
arXiv:2610.01744v1 Announce Type: cross Abstract: Robot manipulation models primarily reason from 2D observations while acting in the 3D physical world. To bridge this gap, recent work has augmented robot data with geometric priors such as…
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Continuous Conditioning of VLAs with Augmenting EMG and Visual Task Descriptors
arXiv cs.RO (Robotics)
arXiv:2610.01794v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models rely strongly on language for describing task information, despite having multimodal inputs. We hypothesize that other modalities in the state space may…
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UrbanVLA: A Vision-Language-Action Model for Urban Micromobility
arXiv cs.RO (Robotics)
arXiv:2510.23576v2 Announce Type: replace Abstract: Urban micromobility applications, such as delivery robots, demand reliable navigation across large-scale urban environments while following long-horizon route instructions. This task is…
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External Photoreflective Tactile Sensing Based on Surface Deformation Measurement
arXiv cs.RO (Robotics)
arXiv:2511.06311v2 Announce Type: replace Abstract: We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to…
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FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid
arXiv cs.RO (Robotics)
arXiv:2603.08961v2 Announce Type: replace Abstract: Maintaining balance under external hand forces is critical for humanoid bimanual manipulation, where interaction forces propagate through the kinematic chain and constrain the feasible…
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Rewind-IL: Online Failure Detection and State Respawning for Imitation Learning
arXiv cs.RO (Robotics)
arXiv:2604.16683v2 Announce Type: replace Abstract: Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-horizon…
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Guide, Think, Act: Interactive Embodied Reasoning in Vision-Language-Action Models
arXiv cs.RO (Robotics)
arXiv:2605.13632v3 Announce Type: replace Abstract: In this paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework that enables spatially steerable embodied reasoning by allowing users to guide…
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BORA: Bridging Offline Reinforcement Learning and Online Residual Adaptation for Real-World Dexterous VLA Models
arXiv cs.RO (Robotics)
arXiv:2605.30226v3 Announce Type: replace Abstract: Vision-Language-Action (VLA) policies provide strong behavioral priors for dexterous manipulation, yet adapting them on real robots remains challenging because high-DoF contact failures…
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PACE: Persona Adaptation through Conversational Elicitation in Human-Robot Interaction
arXiv cs.RO (Robotics)
arXiv:2607.15579v3 Announce Type: replace Abstract: Equipping humanoid robots with coherent and adaptable personas is crucial for fostering natural, engaging, and trustworthy human-robot interaction (HRI). However, existing approaches…
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Arm2Air: Cross-Embodiment Skeleton Transfer for 3D Relay Formation
arXiv cs.RO (Robotics)
arXiv:2607.27627v3 Announce Type: replace Abstract: Unmanned aerial vehicle (UAV) relay networks can restore connectivity after communication infrastructure is damaged. Urban relay placement is difficult because line-of-sight blockage…
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G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation
arXiv cs.RO (Robotics)
arXiv:2607.16956v2 Announce Type: replace Abstract: Social navigation requires the robot to reason and respond in complex real-world environments. While recent works attempt to incorporate human-level intelligence into robot planning using…
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WholeBodyWAM: Learning Whole-Body World Action Models with Scalable Motion Priors
arXiv cs.RO (Robotics)
arXiv:2609.18197v2 Announce Type: replace Abstract: Humanoid whole-body manipulation requires coordinated whole-body dynamics, yet large-scale trajectories from a target robot are expensive to collect and difficult to scale. In contrast…
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From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention
arXiv cs.RO (Robotics)
arXiv:2609.21788v2 Announce Type: replace Abstract: A pretrained robot foundation policy may execute most of a long-horizon task yet repeatedly fail at a few critical subtasks. Collecting additional full-task demonstrations for supervised…
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TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model
arXiv cs.RO (Robotics)
arXiv:2609.09158v2 Announce Type: replace Abstract: We study the problem of navigating cluttered indoor environments with a humanoid robot. Unlike conventional methods that model navigation as a 2D path planning problem, humanoid traversal…
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TacGooseBumps (TacGB): Retrofitting Normal-Only Tactile Sensors with Shear Encoding for Learning Contact-Rich Manipulation
arXiv cs.RO (Robotics)
arXiv:2609.34006v2 Announce Type: replace Abstract: Contact-rich policies often fail because distinct physical states look alike yet require different actions. Cameras may not reveal whether a connector is aligned or fully seated, while…
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FRAM: Trajectory-Guided Visual Feature Selection for Compact Language-Conditioned Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2609.30965v2 Announce Type: replace Abstract: Vision-Language-Action models achieve strong performance in robot manipulation, but often require large numbers of parameters. In this work, we propose the Future Representation Action…
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One from Infinity: Actualizing Futures from Pretrained World Models into Robot Actions
arXiv cs.RO (Robotics)
arXiv:2609.36413v2 Announce Type: replace Abstract: A pretrained video world model admits many plausible futures for a scene, but a robot must realize the exact task-conditioned one. To turn world models into executable robot policies…
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FineART: Fine-Grained Annotated Robotic Trajectory Dataset and Vision-Language-Action Model for Bimanual Manipulation
arXiv cs.RO (Robotics)
arXiv:2609.36416v2 Announce Type: replace Abstract: Robots operating in real-world environments must often execute complex, multi-step bimanual tasks over long horizons rather than single, isolated actions. Current manipulation datasets…
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Learning Social Navigation from Internet Videos in the Policy State Space
arXiv cs.RO (Robotics)
arXiv:2609.37476v2 Announce Type: replace Abstract: Training robust social-navigation policies requires simulators with diverse scene layouts, terrain, and human motion, but constructing such environments and specifying pedestrian behavior…
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EmbodiRSI: Recursive Self-Improvement for Data-Efficient Robot Adaptation
arXiv cs.RO (Robotics)
arXiv:2609.38905v2 Announce Type: replace Abstract: Adapting robot manipulation policies to new tasks and environments remains highly data-intensive, while the data needed for further improvement depends on the policy's current…
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LangMap: A Human-Verified Benchmark for Hierarchical Open-Vocabulary Goal Navigation
arXiv cs.RO (Robotics)
arXiv:2602.02220v3 Announce Type: replace-cross Abstract: Language-conditioned goal navigation (LGN) requires embodied agents to locate user-specified targets without step-by-step guidance. However, existing benchmarks largely focus on…
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The Alignment Flywheel: A Governance-Centric Hybrid MAS for Architecture-Agnostic Safety
arXiv cs.RO (Robotics)
arXiv:2603.02259v3 Announce Type: replace-cross Abstract: Multi-agent systems provide mature abstractions for role decomposition, coordination, and normative governance, but increasingly capable learned components make post-deployment…
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Token-World: World Modeling in Vision-Language Model Token Space for Robot Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.00575v1 Announce Type: new Abstract: A common approach to world-model simulation for vision-language-action (VLA) systems is to predict future RGB observations and then re-encode them into policy inputs, introducing an indirect…
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Toward Humanoid Robots in Construction: A Teleoperation Feasibility Study
arXiv cs.RO (Robotics)
arXiv:2610.00718v1 Announce Type: new Abstract: We present a teleoperation system that enables a single operator to perform construction tasks on a Unitree G1 humanoid, combining extended reality (XR) based upper body control with…
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ChunkVLA-AM: Parallel Action Chunking for Vision-Language-Action Robot Control in Additive Manufacturing
arXiv cs.RO (Robotics)
arXiv:2610.01856v1 Announce Type: new Abstract: Vision-language-action (VLA) models unify visual perception, language understanding, and action generation, offering new opportunities for automation in additive manufacturing (AM). However…
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Direct Action-Head Injection of A Grounded 3D Point Unlocks Spatial and Task Generalization
arXiv cs.RO (Robotics)
arXiv:2606.27663v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models leverage large-scale vision-language pretraining for flexible robot manipulation, yet at test time they remain brittle to changed object positions and…
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Rethinking World Models for Safety-Critical Embodied Systems
arXiv cs.RO (Robotics)
arXiv:2609.03774v2 Announce Type: replace-cross Abstract: World models have progressed from compact latent dynamics to generative, controllable, and interactive simulators of embodied environments. However, high predictive likelihood and…
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Where Predictive Supervision Goes Shapes What VLA Policies Learn
arXiv cs.RO (Robotics)
arXiv:2609.36645v2 Announce Type: replace Abstract: Future prediction is increasingly used to improve vision-language-action (VLA) policies, based on the premise that anticipating scene evolution encourages representations useful for…
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Probabilistic Plan Legibility with Off-the-shelf Planners
arXiv cs.RO (Robotics)
arXiv:2610.00065v1 Announce Type: new Abstract: Legible planning is the creation of plans that best disambiguate their goals from a set of other candidates from an observer's perspective. In this paper we propose a method for legible…
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Same Scene, Different Task: Skill Alignment for Compositional Generalization in VLAs
arXiv cs.RO (Robotics)
arXiv:2610.00524v1 Announce Type: new Abstract: Vision-language-action (VLA) models often struggle to generalize to skill combinations absent from their fine-tuning demonstrations, even when every constituent skill has been demonstrated…
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Does Continual Imitation Learning Remain Grounded? A Language-Perturbed Benchmark for Robotic Task Retention
arXiv cs.RO (Robotics)
arXiv:2610.00542v1 Announce Type: new Abstract: Continual imitation learning evaluates whether a robot can learn new knowledge without forgetting previously learned skills. However, retaining task performance does not ensure the behavior…
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Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots
arXiv cs.RO (Robotics)
arXiv:2610.00220v1 Announce Type: new Abstract: Real-time motion generation for tendon-driven continuum robots requires accurate modeling of nonuniform bending and whole-body collision avoidance. This paper presents a unified…
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ReCo: Response-Consistent Locomotion with Policy-Aware MPC for Legged Manipulation
arXiv cs.RO (Robotics)
arXiv:2610.01612v1 Announce Type: new Abstract: Continuous legged manipulation requires accurate end-effector tracking while the base keeps walking. Combining reinforcement learning (RL) with model predictive control (MPC) suits this task…
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TouchTherm: Building Multimodal Digital Twins of Objects for Tactile and Thermal Rendering
arXiv cs.RO (Robotics)
arXiv:2610.01943v1 Announce Type: new Abstract: Robotic simulation and virtual reality increasingly require object assets that capture not only visual geometry but also the physical cues underlying tactile and thermal interaction. Existing…
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Learning Transferable Skills using Goal-Conditioned Bisimulation
arXiv cs.RO (Robotics)
arXiv:2610.00676v1 Announce Type: cross Abstract: Unsupervised skill discovery has emerged as a promising approach for leveraging reward-free datasets to pretrain general-purpose policies. However, current skill discovery methods either…
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LiDARFlow: Real-Time Panel-Based MAV Guidance in Unknown Environments
arXiv cs.RO (Robotics)
arXiv:2610.01573v1 Announce Type: new Abstract: This paper presents a guidance algorithm for micro aerial vehicles operating in unknown, cluttered environments using only onboard sensing. The method is based on a panel formulation…
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Reward as Observation: Learning Reward-Based Policies for Rapid Adaptation
arXiv cs.RO (Robotics)
arXiv:2610.00729v1 Announce Type: cross Abstract: This paper explores a reward-based policy to achieve zero-shot transfer between source and target environments with completely different observation spaces. While humans can demonstrate…
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CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction
arXiv cs.RO (Robotics)
arXiv:2610.01927v1 Announce Type: cross Abstract: Feedforward foundation models have recently shown remarkable 3D reconstruction capabilities. However, existing models exhibit large tracking drift in long-context streaming reconstruction…
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OrbitTAMP: Grounding Language Models for Task and Motion Planning in Spacecraft Rendezvous
arXiv cs.RO (Robotics)
arXiv:2610.01093v1 Announce Type: new Abstract: Spacecraft rendezvous and proximity operations (RPO) are currently planned through an expertise-intensive process in which engineers translate high-level operational intent into safe…
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ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning
arXiv cs.RO (Robotics)
arXiv:2607.04162v2 Announce Type: replace Abstract: General-purpose manipulation requires both semantic reasoning over task constraints and reliable execution of contact-rich actions. We present ACE, an agentic manipulation harness that…
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DexHoldem: An Agentic Robotics Benchmark for Dexterous Manipulation in Texas Hold'em
arXiv cs.RO (Robotics)
arXiv:2605.18727v3 Announce Type: replace Abstract: Evaluating embodied systems with real dexterous hardware requires more than isolated motor-skill tests: an agent must perceive a changing scene (e.g. a tabletop), choose a…
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Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity Sensing, Force/Torque and Pressure Map Estimation
arXiv cs.RO (Robotics)
arXiv:2606.11952v3 Announce Type: replace Abstract: This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity and force/torque sensing with pressure map estimation into a single…
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Dex-X: Learning Visual-Tactile Dexterous Manipulation From Human Videos with Simulated Interaction
arXiv cs.RO (Robotics)
arXiv:2609.07747v3 Announce Type: replace Abstract: Human videos are an abundant source of dexterous manipulation behaviors, but they lack tactile information that is crucial for contact-rich interaction. This raises a fundamental…
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JAMB: Joint Action-Motion Diffusion for Bimanual Manipulation
arXiv cs.RO (Robotics)
arXiv:2609.25322v2 Announce Type: replace Abstract: Coordinated bimanual manipulation is challenging because the motion of either arm can alter the shared 3D scene and thereby affect the other arm. Yet most diffusion policies generate…
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Frequency-aware decomposition learning for sensorless wrench estimation in vibration-rich robotic contact
arXiv cs.RO (Robotics)
arXiv:2604.12905v2 Announce Type: replace Abstract: Force and torque (F/T) sensors enable contact-aware control by providing reactive feedback, but they are often fragile and expensive. To overcome these limitations, sensorless methods…
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eRLT: Efficient VLA Reinforcement Learning via Action-Relevant Token Routing
arXiv cs.RO (Robotics)
arXiv:2610.00913v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models provide strong behavioral priors for robotic manipulation, yet efficiently adapting them to downstream tasks remains challenging. Recent work addresses…
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Training-Free Diffusion Planning with Analytical Local Scores
arXiv cs.RO (Robotics)
arXiv:2610.01959v1 Announce Type: new Abstract: Path finding and multi-robot motion planning require trajectories that are smooth, goal-directed, and collision-free in environments with complex geometric constraints. Recent diffusion-based…
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Reactive Humanoid Multi-Contact Using Learned Stability Models
arXiv cs.RO (Robotics)
arXiv:2610.00823v1 Announce Type: new Abstract: We present a planning and control approach to reactively use hand contacts to stabilize a humanoid in low stability scenarios, where only using feet contacts may result in a fall. Candidate…
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Supervise What Decides Success: Criterion-Aligned Auxiliary Losses for Latent World-Model Planning
arXiv cs.RO (Robotics)
arXiv:2610.01224v1 Announce Type: cross Abstract: Latent world models plan by scoring candidate action sequences with distances in latent space. However, task success is judged by physical quantities, which we call the success-criterion…
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Extreme Length Generalization in a Compact Recurrent Architecture for One-Shot Exploration
arXiv cs.RO (Robotics)
arXiv:2610.01105v1 Announce Type: new Abstract: Autonomous robots on one-shot missions run over horizons far longer than the trajectories seen during training, under a fixed onboard compute budget. We present FRANK, a 507K-parameter…
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HumanoidTTT: Test-Time Capability Reuse for Efficient Humanoid Control
arXiv cs.RO (Robotics)
arXiv:2610.00198v1 Announce Type: new Abstract: Recent advances in motion generation and whole-body tracking have enabled humanoid robots to execute increasingly diverse motions, yet the same motion capabilities may be requested repeatedly…
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Are Frontier VLM Agents Ready to Be Robot Generalists? An Empirical Study with the Embodied Agent Arena
arXiv cs.RO (Robotics)
arXiv:2610.00854v1 Announce Type: new Abstract: Frontier vision-language models (VLMs) combine scene estimation, interaction grounding, and executable actions. Understanding how these abilities support complete robotic tasks is central to…
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Completion Aware Guidance for World Action Models
arXiv cs.RO (Robotics)
arXiv:2610.01559v1 Announce Type: new Abstract: World Action Models (WAMs) predict visual futures and robot actions, yet they remain susceptible to task-incomplete imagination, where plausible, action-consistent predictions omit the…
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Watch, Infer, Coordinate: Inferring Robot Partner Constraints for Zero-Shot Coordination
arXiv cs.RO (Robotics)
arXiv:2610.02170v1 Announce Type: new Abstract: Robots operating in the physical world will increasingly need to coordinate with other robots, particularly in manipulation tasks where an object may be too large or heavy for a single robot…
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GlassGuard: Verified Glass Plane Mapping for Robot Navigation
arXiv cs.RO (Robotics)
arXiv:2610.02110v1 Announce Type: new Abstract: Transparent and specular surfaces pose a serious challenge to LiDAR-based SLAM and navigation because laser returns may pass through glass, leaving collision boundaries absent from the map…
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On Learning Spatial Structure from Pre-Beamforming Per-Antenna Range-Doppler Radar Measurements
arXiv cs.RO (Robotics)
arXiv:2604.01921v3 Announce Type: replace-cross Abstract: Automotive radar perception pipelines commonly construct angle-domain representations via beamforming before applying learning-based models. This work instead investigates a…
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Kinematic MeanFlow: One-Step Action Generation Policy for Robotic Foundation Models
arXiv cs.RO (Robotics)
arXiv:2610.00864v1 Announce Type: new Abstract: In this paper, we study how to achieve one-step action generation in Robotic Foundation Models (RFMs), aiming to overcome the high inference latency of multi-step flow matching. MeanFlow…
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Region Based SLAM-Aware Exploration: Efficient and Robust Autonomous Mapping Strategy That Can Scale
arXiv cs.RO (Robotics)
arXiv:2504.10416v3 Announce Type: replace Abstract: Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational…
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The Geometry of Time: Horizon-Independent Feasibility and Repair for STL
arXiv cs.RO (Robotics)
arXiv:2610.00199v1 Announce Type: cross Abstract: Signal Temporal Logic control synthesis frequently encounters physical infeasibility due to actuator limits or flawed task deadlines. Standard optimization methods model time by…
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LiteReality-Agent: An Agentic System for Interactable 3D Indoor Scene Reconstruction
arXiv cs.RO (Robotics)
arXiv:2610.01863v1 Announce Type: cross Abstract: We present LiteReality-Agent, an agentic system for reconstructing real indoor environments as realistic, articulated, and simulation-ready 3D scenes from RGB-D scans. At its core…
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H-SPAR: Hydrodynamic-aware Simulation for Particle Transport and Autonomous Robots
arXiv cs.RO (Robotics)
arXiv:2610.01985v1 Announce Type: new Abstract: Environmental robotic sampling requires considering the dual influence of water currents on robotic motion and particle transport. Existing marine robotics simulators generally model flow…
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Lang3DSeg: Annotation-Free Open-Vocabulary 3D Segmentation with Point Transformers
arXiv cs.RO (Robotics)
arXiv:2610.00855v1 Announce Type: cross Abstract: Accurate 3D semantic perception is critical for safe autonomous navigation. However, supervised LiDAR segmentation remains tied to closed taxonomies and to the cost of point-wise manual…
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MotionPersona: Real-Time Locomotion Control across Personas, Bodies, and Styles
arXiv cs.RO (Robotics)
arXiv:2506.00173v2 Announce Type: replace-cross Abstract: We present MotionPersona, a generative framework for character-aware locomotion control, in which the motion for a command depends on the captured persona, the body shape, and the…
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SonarVoxNet: Diver Detection in 3D Bounding Box using 3D Sonar
arXiv cs.RO (Robotics)
arXiv:2610.01644v1 Announce Type: new Abstract: Autonomous underwater vehicles (AUVs) assisting human divers must continuously track not only the diver's 3D position but also their full-body orientation. However, vision-based perception is…
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AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation
arXiv cs.RO (Robotics)
arXiv:2602.14363v2 Announce Type: replace Abstract: This paper presents Adaptive Whole-body Loco-Manipulation, AdaptManip, a fully autonomous framework for humanoid robots to perform integrated navigation, object lifting, and delivery…
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A Survey on End-to-End Autonomous Driving Training from the Perspectives of Data, Strategy, and Platform
arXiv cs.RO (Robotics)
arXiv:2610.00926v1 Announce Type: new Abstract: Autonomous driving is a cornerstone technology for the future of intelligent transportation, where end-to-end learning has emerged as a transformative paradigm that directly maps multimodal…
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EIDA: Execution-Interface Dynamics Adaptation for Real-to-Sim-to-Real Robot Navigation
arXiv cs.RO (Robotics)
arXiv:2610.01219v1 Announce Type: new Abstract: Simulation-to-robot transfer can fail when velocity commands produce motion and feedback that differ from those modeled during policy training. We present execution-interface dynamics…
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HumanoidToolBench: Benchmarking Humanoid Tool Use from Selection to Mobile Execution
arXiv cs.RO (Robotics)
arXiv:2610.02089v1 Announce Type: new Abstract: As robotic hardware and learning methods advance, humanoids need tools to perform tasks beyond their inherent physical limits. Successful tool use requires selecting a suitable tool and…
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UniWAM: Unified World-Action Model
arXiv cs.RO (Robotics)
arXiv:2610.02054v1 Announce Type: new Abstract: Vision-language-action models benefit from the understanding and reasoning capabilities of pretrained vision-language models, but action-only supervision provides limited grounding in world…
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Reconstruct, Practice, Go Real: Guided Self-Improvement for Embodied Agents
arXiv cs.RO (Robotics)
arXiv:2610.02204v1 Announce Type: new Abstract: Building reliable robot capabilities across diverse tasks requires substantial human effort to develop and maintain skills, design rewards, and integrate perception with control. We present…
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Tool-Policy Co-Design for Powder Weighing in Laboratory Automation
arXiv cs.RO (Robotics)
arXiv:2609.39797v2 Announce Type: replace Abstract: Autonomous powder weighing is one of many bottlenecks in laboratory automation due to the complex, non-linear dynamics of heterogeneous materials. Robot chemists performing this task…
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AFD-CAMLs: Agile Force-Distribution-Aware Planning and Control for Cable-Suspended Aerial Multi-Lifting Systems
arXiv cs.RO (Robotics)
arXiv:2610.01185v1 Announce Type: new Abstract: Multiple UAVs can cooperatively transport heavy payloads while controlling their position and orientation. Trajectory-based methods offer high agility while satisfying system constraints, but…