Inverse Dynamics

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9 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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  1. EIDA: Execution-Interface Dynamics Adaptation for Real-to-Sim-to-Real Robot Navigation

    Oct 1, 2026Yiwei Qian, Shanze Wang, Qingyuan Hu +2Inverse DynamicsActuator

    Eastern Institute of Technology, Ningbo, China · National University of Singapore, Singapore · Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong +1

  2. Social-WM: Safety-Aware Latent World Models for Robot Social Navigation

    Sep 30, 2026Zhihao Zheng, Mooi Choo ChuahRobot NavigationSafe Navigation

    Computer Science and Engineering department, P.C. Rossin College of Engineering and Applied Science, Lehigh University, Bethlehem, PA 18015, USA.

  3. Markovian Dynamics Enforcer: Feasibility Preserving Correction on Learned Dynamics Manifolds

    Sep 30, 2026Kevin Yu, Tao Guo, Constantinos Antoniou +1Model Predictive ControlInverse Dynamics

    Imperial College London, UK · Technical University of Munich, Germany

  4. Bounded Channel-Adaptive Spectral Learning for Forward-Consistent Inverse Flapping-Wing Aerodynamics

    Sep 30, 2026Haichuan LiAerodynamicsInverse Dynamics

    University of Turku

  5. Pixels to Keys: Exploring Spatial and Motion Cues in Gameplay Inverse Dynamics

    Sep 29, 2026Abhishek Pillai, Ekta Prashnani, Joohwan Kim +1Inverse DynamicsMotion

    NVIDIA

  6. DynamicHOI: Coupled Dynamics for Physics-aware HOI Reconstruction

    Sep 29, 2026Wenliang Guo, Zhanbo Huang, Yu KongHand-Object Interaction Detection3D Hand

    Michigan State University

  7. Representation World Model: Learning States, Transition and Executable Plans in Representation

    Sep 24, 2026Yijun Yuan, Weicheng Zheng, Weibang Wang +7World Model PlanningWorld Models

    IIIS, Tsinghua University

  8. MotionJEPA: Preventing Temporal Feature Collapse by Capturing Visual Changes in Latent Space

    Sep 20, 2026Markus Karmann, Shile Li, Christian Internò +10Video Joint Embedding Predictive ArchitectureS-Jepa

    University of Oxford · vivo Tech Research GmbH · Bielefeld University +5

  9. Visual Cue Guided Video Planning for Generalizable Robot Navigation

    Sep 15, 2026Hojin Lee, Sizhe Lester Li, Maximilian Hilger +4Object Goal NavigationRobot Navigation

    Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, 80797 Munich, Germany. · Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA 02139, USA. · Centre for Applied Autonomous Sensor Systems (AASS), Örebro University, 72081 Örebro, Sweden.

  10. Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning

    Sep 3, 2026Muyuan Liu, Yue Huang, Zheng Liang +1Inverse DynamicsRobot Planning

    GENISOM AI, Beijing, China

  11. A Posterior-Dynamics Framework for Imaging Inverse Problems with Pretrained Diffusion Priors

    Aug 15, 2026Zhaoqiang Liu, Tongyao Pang, Ruibing Wang +1Diffusion PriorsBayesian Inverse Problems

    School of Computer Science and Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China · Yau Mathematical Sciences Center, Shuangqing Complex, Tsinghua University, Beijing 100084, China

  12. Static In, Dynamic Out: Counterfactual Action Augmentation for Moving Object Manipulation

    Jul 30, 2026Woo Chul Shin, Zhenyang Chen, Alfred Cueva +5Inverse DynamicsObjects

    Georgia Institute of Technology

  13. Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics

    Jul 24, 2026Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5Impedance ControlTorque

  14. Action-Conditioned World Model for Goal Plane Probe Guidance in Robotic Ultrasound

    Jul 24, 2026Siqi Fan, Mingcong Chen, Ran Liu +5Robotic UltrasoundEfficient World-Action Model

    Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong SAR · Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Hong Kong SAR · Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR +3

  15. KineBench: Benchmarking Embodied World Models via IDM-Free Kinematic Grounding

    Jul 22, 2026Zeyu Liu, Zhangzhe Zhu, Yang Zhang +3Articulated KinematicsWorld Models

    Institute of Artificial Intelligence (TeleAI), China Telecom, China · National University of Singapore, Singapore · Fudan University, China +2

  16. World Translation: Minimizing Sim-to-Real Gap with Backward Dynamics Extraction and Unpaired Domain Translation

    Jul 20, 2026Xinchen Yao, Leixin Chang, Hua ChenSim-To-Real Reinforcement LearningInverse Dynamics

    Zhejiang University · LimX Dynamics

  17. Conditional Invertible Neural Networks for Data-Driven UAV Control: A 2-D Proof of Concept

    Jul 15, 2026Christian Wittke, Stephan Myschik, Oliver NiggemannQuadrotorInverse Dynamics

    Computer Science in Mechanical Engineering, Helmut Schmidt University, Hamburg, Germany. · Institute for Aeronautical Engineering, University of the Bundeswehr Munich, Bavaria, Germany

  18. NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception

    Jul 13, 2026Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang +9ActuatorInverse Dynamics

    1MIT · 2Amazon Robotics

  19. FlowPET: Physics-Informed Symplectic Flow Matching for Low-Count PET Reconstruction

    Jul 13, 2026Zheng Zhang, Hao Tang, Yingying Hu +2Positron Emission TomographyRiemannian Flow Matching

    Centre for Smart Health, The Hong Kong Polytechnic University, Hong Kong, China · Department of Nuclear Medicine, Sun Yat-sen University Cancer Center, Guangzhou, China · Research Center for Medical AI, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China

  20. Efficient Transfer Learning of Robot Dynamic Models Using Morphological Similarity

    Jul 6, 2026Pavlo Kupyn, Yuya Hamamatsu, Roza Gkliva +2Underwater RobotsSoft Robotics

    Department of Computer Systems, Tallinn University of Technology, Tallinn, Estonia

  21. ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion

    Jul 3, 2026Seokju Lee, Jeongtae Lee, Jeonghyeok Lim +6Full-Body Humanoid ControlKinematic Priors

    Mechatronics, Systems and Control Lab (MSC Lab), Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Yuseong-gu, Daejeon 34141, Republic of Korea · Samsung Electronics, Future Robotics AI Group, Seoul, Republic of Korea · School of Electrical Engineering, Hanyang University, Ansan 15588, Republic of Korea +1

  22. Learning to Move Before Learning to Do: Task-Agnostic pretraining for VLAs

    Jul 2, 2026Junhao Shi, Siyin Wang, Xiaopeng Yu +3Photometric SupervisionEmbodied Artificial Intelligence

    1Fudan University · 2Shanghai Innovation Institute

  23. ACID: Action Consistency via Inverse Dynamics for Planning with World Models

    Jul 2, 2026Gawon Seo, Dongwon Kim, Suha KwakWorld Model PlanningInverse Dynamics

    1POSTECH · 2KAIST

  24. Sensorless Four-Channel Control Architecture Using Inverse Dynamics Modeling for Human-Scale Bilateral Teleoperation

    Jul 1, 2026Amir Noohian, Dylan Miller, Justin Valentine +2TeleoperationInverse Dynamics

    Department of Electrical and Computer Engineering, University of Alberta, Canada · Department of Computing Science, University of Alberta, Canada

  25. Structured 4D Latent Predictive Model for Robot Planning

    Jul 1, 2026Zhiyi Li, Peilin Wu, Xiaoshen Han +2Robot PlanningInverse Dynamics

    1MIT · 2Harvard University

  26. 3D Point World Models: Point Completion Enables More Accurate Dynamics Learning

    Jun 30, 2026Skand Peri, Hung Nguyen, Chanho Kim +2World Models3D World

    Oregon State University

  27. FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control

    Jun 26, 2026Angchen Xie, Nikhil Sobanbabu, Ishayu Shikhare +3Full-Body Humanoid ControlInverse Dynamics

    Carnegie Mellon University

  28. IOI: Decoupling Kinematics and Physics for Interactive World Models

    Jun 22, 2026Chengyu Bai, Peidong Jia, Tiecheng Guo +11Video World ModelsInverse Dynamics

    1Beijing Innovation Center of Humanoid Robotics · 2Peking University

  29. Sensorimotor World Models: Perception for Action via Inverse Dynamics

    Jun 18, 2026Petr Ivashkov, Randall Balestriero, Bernhard SchölkopfLatent World ModelsInverse Dynamics

    Max Planck Institute for Intelligent Systems, Tübingen, Germany · Department of Computer Science, Brown University, Providence, RI, USA · ELLIS Institute, Tübingen, Germany +1

  30. SC3-Eval: Evaluating Robot Foundation Models via Self-Consistent Video Generation

    Jun 17, 2026Wei-Cheng Tseng, Gashon Hussein, Yuzhu Dong +9Video World ModelsAutoregressive Rollout

    University of Toronto · Vector Institute · NVIDIA +3

  31. Individual Control Barrier Functions-Guided Diffusion Model for Safe Offline Multi-Agent Reinforcement Learning

    Jun 10, 2026Qingyun Guo, Junyi Shi, Jianuo Huang +1Multi-Agent Reinforcement LearningModel-Based Reinforcement Learning

    Department of Electrical Engineering and Automation, Aalto University, Espoo, Finland · School of Computing and Data Science, Xiamen University Malaysia, Sepang, Malaysia · Department of Computer Science, University of Toronto, Toronto, Canada

  32. Physics-Aware Sparse Learning and Selective Online Adaptation for Euler-Lagrange Robot Dynamics

    Jun 8, 2026Rishabh Dev Yadav, Samaksh Ujjawal, Sihao Sun +2Inverse DynamicsLagrangian Methods

    Department of Computer Science, The University of Manchaster, U.K. · Department of Cognitive Robotics, Delft University of Technology, Netherlands · International Institute of Information Technology Hyderabad. +1

  33. Stabilizing Fast Dynamical Systems Using Time-of-Flight Cameras

    Jun 8, 2026Anthony Czubarow, Antonio Terpin, Raffaello D'AndreaInverted PendulumQuadrotor

    Institute for Dynamic Systems and Control, ETH Zürich, Zürich, Switzerland

  34. Inverse Manipulation through Symbolic Planning and Residual Operator Learning

    Jun 3, 2026Yigit Yildirim, Giuseppe Rauso, Riccardo Caccavale +1Inverse DynamicsClassical Planning

    CREATE Consortium, Italy · Department of Electrical Engineering and Information Technologies, Universit`a di Napoli Federico II, Italy

  35. Let the Dynamics Flow: Stable Flow Matching Dynamical Systems

    Jun 2, 2026Rodrigo Pérez-Dattari, Francisco Leiva, Andrea Testa +3Imitation LearningMultimodal Action Distributions

    Department of Robotics, Perception, and Learning, KTH Royal Institute of Technology, Stockholm, Sweden. · Advanced Mining Technology Center (AMTC) and Department of Electrical Engineering, Universidad de Chile, Santiago, Chile. · Bosch Center for Artificial Intelligence, Renningen, Germany. +1

  36. Mitigating State Aliasing in Vision-Language-Action Models via Inverse Dynamics Learning

    May 28, 2026Kyujin Lee, Injae Kim, Jihwan Park +3Inverse DynamicsAction Prediction

    KAIST · Korea University

  37. Turning Video Models into Generalist Robot Policies

    May 27, 2026Sizhe Lester Li, Evan Kim, Xingjian Bai +4Inverse DynamicsAction Space

    1MIT · 2Independent Researcher · 3CMU +1

  38. How Noisy Poses Break Inverse Dynamics: Analysis and Mitigation for Video-Based Joint Torque Estimation

    May 23, 2026Donghyun Kim, Chanyoung Kim, Eunseo Jeong +2Inverse DynamicsTorque

    Emory University · Yonsei University

  39. Can Predicted Dynamics Exist in the Physical World?

    May 23, 2026Barak OrInverse DynamicsAdmissibility

    STATE16 Founder and CEO, STATE16

  40. Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos

    May 22, 2026Constant Roux, Ludovic De Matteïs, Armand Jordana +4Cross-Embodiment RetargetingMotion Imitation

    LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France · IRT Saint-Exupéry, Toulouse, France · Artificial and Natural Intelligence Toulouse Institute (ANITI), Toulouse, France

  41. Trajectory Planning and Control near the Limits: an Open Experimental Benchmark on the RoboRacer Platform

    May 19, 2026Mattia Piccinini, Patrick Zambiasi, Aniello Mungiello +3Robust TrajectoryInverse Dynamics

    Professorship of Autonomous Vehicle Systems, Technical University of Munich, 85748 Garching, Germany; Munich Institute of Robotics and Machine Intelligence (MIRMI). · Avilus GmbH, Germany. · Department of Information Technology and Electrical Engineering (DIETI), University of Naples Federico II, Naples 80125, Italy. +1

  42. Learning Cross-Coupled and Regime Dependent Dynamics for Aerial Manipulation

    May 14, 2026Rishabh Dev Yadav, Samaksh Ujjawal, Sihao Sun +2Aerial ManipulationModel Predictive Control

    Department of Computer Science, The University of Manchaster, U.K. · Department of Cognitive Robotics, Delft University of Technology, Netherlands · International Institute of Information Technology Hyderabad. +1

  43. ASH: Agents that Self-Hone in Long-Horizon Worlds

    May 14, 2026Benjamin Schneider, Xavier Schneider, Victor Zhong +1Self-Improving AgentsInverse Dynamics

    University of Waterloo · National Research Council Canada

  44. SCAR: Self-Supervised Continuous Action Representation Learning

    May 13, 2026Hongjia Liu, Fan Feng, Minghao Fu +3Cross-Embodiment TransferEmbodied Artificial Intelligence

    University of California, San Diego · KTH Royal Institute of Technology

  45. Twincher: Bijective Representation Learning for Robust Inversion of Continuous Systems

    May 13, 2026Arkady GonoskovInverse DynamicsRepresentation Learning

    Department of Physics, University of Gothenburg, SE-41296 Gothenburg, Sweden

  46. Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis

    May 13, 2026Sunghee Kim, Yuta Shimane, Taiki Ishigaki +1Kinematic ChainFeet

    Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Tokyo, Japan · Research Institute for Science and Technology, Tokyo University of Science, Katsushika-ku, Tokyo, Japan

  47. From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation

    May 12, 2026Yajie Li, Bozhou Zhang, Chun Gu +5Latent ActionsRobotic Manipulation

    School of Data Science, Fudan University · Shanghai Innovation Institute · Imperial College London +1

  48. Control of Fully Actuated Aerial Vehicles: A Comparison of Model-based and Sensor-based Dynamic Inversion

    May 12, 2026Ali Sidar Yilmaz, Buday Turan, Lukas Pries +1QuadrotorInverse Dynamics

    Professorship of Autonomous Aerial Systems, School of Engineering and Design, Technical University of Munich, Lise-Meitner-Str. 9, 85521 Ottobrunn, Germany

  49. Latent Geometry Beyond Search: Amortizing Planning in World Models

    May 9, 2026Hoang Nguyen, Xiaohao Xu, Xiaonan HuangLatent World ModelsWorld Models

    Department of Robotics, University of Michigan, Ann Arbor

  50. DynSSM: A Physics-Aware State-Space Memory Framework for Learning Vehicle Dynamics

    May 8, 2026Musabbir Ahmed Arrafi, Malik Ali, Nicholas M. Stiffler +1Vehicle DynamicsAutonomous Racing

    University of Dayton, Dayton, OH 45469 USA

  51. Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots

    May 7, 2026Ahmed Ali, Chiara Gabellieri, Antonio FranchiLie GroupLagrangian Methods

    Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty, University of Twente, 7500 AE Enschede, The Netherlands. · Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy.

  52. Dynamics Aware Quadrupedal Locomotion via Intrinsic Dynamics Head

    May 2, 2026Aman Arora, Nalini RathaInverse DynamicsTorque

    Department of Computer Science, University at Buffalo, The State University of New York, Buffalo, USA

  53. LA-Pose: Latent Action Pretraining Meets Pose Estimation

    Apr 30, 2026Zhengqing Wang, Saurabh Nair, Prajwal Chidananda +4Wifi-Csi 3D Human Pose EstimationLatent Action Models

    1Wayve · 2Simon Fraser University

  54. QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear

    Apr 26, 2026Hanze Hu, Luying Feng, Silu Chen +6Ground Reaction ForcesInverse Dynamics

  55. False Feasibility in Variable Impedance MPC for Legged Locomotion

    Apr 24, 2026Vishal RameshImpedance ControlModel Predictive Control

  56. Forward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation

    Apr 21, 2026Andreas MuellerKinematic ChainRobotic Manipulator

    Institute of Robotics, Johannes Kepler University Altenbergerstr. 69, 4040 Linz, Austria

  57. StableIDM: Stabilizing Inverse Dynamics Model against Manipulator Truncation via Spatio-Temporal Refinement

    Apr 20, 2026Kerui Li, Zhe Jing, Xiaofeng Wang +6Inverse DynamicsEmbodied Artificial Intelligence

    1GigaAI · 3Beijing Institute of Technology · Institute of Automation, Chinese Academy of Sciences

  58. Coordinate-Independent Robot Model Identification

    Mar 15, 2026Yanhao Yang, Ross L. HattonInverse DynamicsSystem Identification

    Collaborative Robotics and Intelligent Systems (CoRIS) Institute at Oregon State University, Corvallis, OR USA

  59. Task Parameter Extrapolation via Learning Inverse Tasks from Forward Demonstrations

    Mar 5, 2026Serdar Bahar, Fatih Dogangun, Matteo Saveriano +2Inverse DynamicsImitation

  60. On the Sample Efficiency of Inverse Dynamics Models for Semi-Supervised Imitation Learning

    Feb 2, 2026Sacha Morin, Moonsub Byeon, Alexia Jolicoeur-Martineau +1Strong Imitation LearningImitation Learning

    Département d’informatique et de recherche opérationnelle, Université de Montréal · Mila – Quebec AI Institute · Samsung AI Lab, Montreal +1