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Papers 6,781–6,810 of 6,861

Periodic robust robotic rock chop via virtual model control
Date pendingYi Zhang, Fumiya Iida, Fulvio Forni
University of Cambridge, United Kingdom · University of Tokyo, Japan
Dream4D: Lifting Camera-Controlled I2V towards Spatiotemporally Consistent 4D Generation
Date pendingXiaoyan Liu, Kangrui Li, Jiaxin Liu +24D Generation 4D Reconstruction
The Chinese University of Hong Kong · The Hong Kong Polytechnic University · The University of New South Wales +1
MIMIC-D: Multi-modal Imitation for MultI-agent Coordination with Decentralized Diffusion Policies
Date pendingDayi Dong, Maulik Bhatt, Seoyeon Choi +1Multi-Agent Coordination Multi-Robot Systems
Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA 94709, USA
BiHDTrans: binary hyperdimensional transformer for efficient multivariate time series classification
Date pendingJingtao Zhang, Yi Liu, Qi Shen +1Hybrid Transformer Time-Series Classification
School of Biomedical Engineering, Shenzhen Campus of Sun Yat-sen University · College of Medicine and Biological Information Engineering, Northeastern University
4D-RaDiff: Latent Point Diffusion for 4D Radar Point Cloud Generation
Date pendingJimmie Kwok, Holger Caesar, Andras PalffyLight Detection And Ranging Point Clouds Radar
Delft University of Technology, Netherlands · Perciv AI, Netherlands
AnyView: Synthesizing Any Novel View in Dynamic Scenes
Date pendingBasile Van Hoorick, Dian Chen, Shun Iwase +7Controllable Video Generation Novel View Synthesis
Toyota Research Institute, CA, USA · Amazon Web Services, CA, USA
The Vienna 4G/5G Drive-Test Dataset
Date pendingWilfried Wiedner, Lukas Eller, Mariam Mussbah +4Mobile Networks Naturalistic Driving Data
Institute of Telecommunications, TU Wien, Gusshausstraße 25, 1040 Vienna, Austria · Christian Doppler Laboratory for Digital Twin assisted AI for sustainable Radio Access Networks, TU Wien
Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
Date pendingHongjin Chen, Wei Zhang, Pengfei Li +10Task-Centric Hybrid Whole-Body Controller Humanoid
Fudan University · TARS Robotics · Tsinghua University +3
CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots
Date pendingShihao Ma, Hongjin Chen, Zijun Xu +6Long-Tail Humanoid Whole-Body Control Terrain
College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China, 200433
OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots
Date pendingBoxun Hu, Chang Chang, Jiawei Ge +4Diverse Occlusion-And-Revelation Scenarios Robotics
Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD 21218, USA · Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA · Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA +1
TRUST-SQL: Tool-Integrated Multi-Turn Reinforcement Learning for Text-to-SQL over Unknown Schemas
Date pendingAi Jian, Xiaoyun Zhang, Eryu Guo +6Text-To-Sql Schema
Beijing University of Posts and Telecommunications, Beijing, China · State Key Lab of Processors, Institute of Computing Technology, CAS · University of Chinese Academy of Sciences +1
LLMAR: A Tuning-Free Recommendation Framework for Sparse and Text-Rich Industrial Domains
Date pendingRyogo Hishikawa, Ichiro Kataoka, Shinya YudaCollaborative Filtering Recommendation
Hitachi, Ltd. Research and Development Group Hitachi, Ibaraki, Japan · Hitachi Power Solutions Co., Ltd. Hitachi, Ibaraki, Japan
Dont Just Teach, Explain! A Gamified 20Q Recommender for Cybersecurity Education
Date pendingMary Nusrat, Sarfuddin Bhuiyan, Gahangir HossainOnline Learning Explainable Artificial Intelligence
Information Science, University of North Texas, Denton, TX, USA · Mechanical Engineering, Bangladesh University of Eng. and Tech., BUET, Dhaka, Bangladesh
Joint Architecture-Token-Bitwidth Multi-Axis Optimization of Vision Transformers for Semiconductor IC Packaging
Date pendingPhat Nguyen, Xue Geng, Kaixin Xu +3Vision Transformer Sparse Deep Neural Network Accelerators
Singapore University of Technology and Design (SUTD) · Agency for Science, Technology, and Research (A*STAR)
Capable but Careless: Do Computer-Use Agents Follow Contextual Integrity?
Date pendingAnmol Goel, Iryna GurevychComputer-Use Agents Opti-Agent-Bench
Ubiquitous Knowledge Processing Lab (UKP Lab), Department of Computer Science, TU Darmstadt and National Research Center for Applied Cybersecurity ATHENE
EVIS: Real-Time Event Camera Simulation with Multimodal Supervision in NVIDIA Isaac Sim
Date pendingLinli Shi, Ruijun Zhang, Ziyun WangNvidia Isaac Sim Ego-Motion
Johns Hopkins University
Learning Traversability for Long Horizon Off-Road Navigation
Date pendingKasi Viswanath, Jason M. Gregory, Shaunak Kolhe +1Traversability Autonomous Navigation
Department of Mechanical Engineering, Texas A&M University, College Station, TX 77840, USA · DEVCOM Army Research laboratory, Adelphi, MD, USA
A Density-Matrix Framework for Electronic-Structure Analysis of Electrolytes for Lithium Batteries
Date pendingMingkang Liu, Huize Yu, Lei ShenLarge-Scale Electronic Structure Calculations Previous Machine-Learning-Based Implicit Solvent
Department of Mechanical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575, Singapore · National University of Singapore (Chongqing) Research Institute, Chongqing 401120, China · National University of Singapore Guangzhou Research Translation and Innovation Institute, Guangzhou, Guangdong 510700, China
Clearing the Fog: Towards Installing and Refining Proactive Exploration Capabilities in LLM Agents
Date pendingZhizhao Guan, Chen Huang, Ziming Liu +5Large Language Model Agents Autonomous Exploration Strategies
Sichuan University · Engineering Research Center of Machine Learning and Industry Intelligence · National University of Singapore +1
Chameleon: An Adaptive AI-Driven Honeypot Architecture Using Threat-Calibrated Particle Swarm Optimization and Semantic Deception Rapidly-Exploring Random Trees
Date pendingRohit Swami, Tushar Singh, Akash Warde +1Honeypots Threat Models
Dept. of AI and Data Science, SIES Graduate School of Technology, Mumbai, India
A2DINOv3: Rethinking Multi-Modal Object Detection via Socialized Collaboration
Date pendingJiekang Feng, Zhihe Fan, Yunqi Zhu +6Cross-Modal Fusion Cross-Modal Learning
School of Artificial Intelligence, Tianjin University · School of Sports Training, Tianjin University of Sport · School of Computer Science and Engineering, University of New South Wales +2
CLAP: Cross-Embodiment Video World Models are Zero-Shot Physical Simulators
Date pendingKechen Liu, Ola ShorinwaCross-Embodiment Transfer Video World Models
Princeton University
TDDM-Melatt: A Decoupled Memory and Diffusion Framework for Generalizable Encrypted Traffic Classification
Date pendingZe Chen, Qiming Yu, Zijia Song +2Network Traffic Reconstruction-Based Anomaly Detection
National University of Defense Technology Hefei, Anhui, China
LightNav-0: Eliciting VLM Spatial Intelligence for Generalist Embodied Navigation
Date pendingShaoan Wang, Aocheng Luo, Fei Huang +17Embodied Navigation Spatial Reasoning
Light Origins Team
SimSkill: A Self-Evolving LLM Agent for Skill and Knowledge Accumulation in Traffic Simulation
Date pendingQi Liu, Qinzheng Wang, Can Li +2Microscopic Traffic Simulations Self-Evolving Agents
School of Transportation, Jilin University, 5988 Renmin St., Changchun, Jilin 130022, China · Key Laboratory of Road and Traffic Engineering of the Ministry of Education, College of Transportation, Tongji University, 4800 Cao’an Rd., Shanghai 201804, China
Catalogue Photography as a Cold Start: Toward Deployable Rotary Milling Tool Recognition
Date pendingAbilash Philip Madavath, Chandra Yuvesh Aubeeluck, Augustin Raju +3Computer Vision Domain Shift
TH Köln – University of Applied Sciences, Cologne, Germany
EvoHarnessBench: Can Your Agents Keep Pace with an Evolving Harness?
Date pendingZixuan Ke, Vaidehi Patil, Haizhou Shi +9Agent Harness Llm-Based Agent
Salesforce Research · University of North Carolina at Chapel Hill, conducted this work during an internship at Salesforce Research · University of Wisconsin–Madison +1
Harbor Adapters and Harbor-Index: Infrastructure and a Curated Meta-Dataset for Large-Scale Agentic Evaluation
Date pendingLin Shi (Audrey), Haowei Lin (Audrey), Zixuan Zhu (Audrey) +123Agentic Benchmarks Agentic Evaluations
GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning
Date pendingLong Xu, Zhiqi Zhang, Mi Yan +8Indoor Scene Generation Articulated Objects
Galbot · Zhejiang University · Peking University +3
SAFER-Activities: A Dataset for Smart Assessment of Fall Events and Routine Activities
Date pendingDiwas Lamsal, Pramod Wickramatilake, Jednipat Moonrinta +2Robust Fall Detection Human Activity Recognition
KU Leuven, Leuven 3000, Belgium · Asian Institute of Technology, Khlong Luang, Pathum Thani 12120, Thailand

Date pending, cs.ROJ/K move · Enter open · S save

Periodic robust robotic rock chop via virtual model control

Yi Zhang, Fumiya Iida, Fulvio Forni

University of Cambridge, United Kingdom · University of Tokyo, Japan

Open paper AskPDF arXiv

Robotic cutting is a challenging, contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. Our hypothesis is that this complexity can be alleviated through the design of a physically structured virtual-model controller that uses switched virtual mechanisms to generate a robust, rhythmic rock-chop motion for robotic cutting, without requiring pre-planned trajectories or precise environmental information. Motion is generated by the interaction between the environment, the robot's dynamics, and the virtual forces of the switching virtual mechanism, ultimately realized through the available actuation. Through theoretical and numerical analysis, together with experimental validation, we demonstrate that the controlled robot behavior settles into a stable periodic motion. Experiments with a Franka manipulator demonstrate robust cuts across five different vegetables, achieving sub-millimeter slice accuracy for thicknesses from 1 mm to 7 mm at a rate of nearly one cut per second. The controller maintains high performance despite changes in knife shape or cutting board height, and successfully adapts to a different humanoid manipulator, demonstrating robustness and platform independence.