Language-Conditioned Robot Control

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5 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

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Adaptive Code Generation for Controlling Robots
Oct 7, 2026Justus Flerlage, Thorsten Wittkopp, Alexander Acker +1Language Model-Based Control Language-Conditioned Robot Control
Technische Universität Berlin, Germany · logsight.ai, Berlin, Germany
TempoBridge: Language-Guided Tempo Control for Vision-Language-Action Policies
Oct 7, 2026Yeonseo Lee, Hyosup Shin, Guebin Hwang +1Language-Conditioned Robot Control Vision-Language-Action Models
Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea.
EgoLAP: Learning from Egocentric Human Data through Language-Action Reasoning
Oct 6, 2026Lihan Zha, Shresth Grover, Tenny Yin +7Cross-Embodiment Robot Learning Motion Representation Learning
Princeton University · Toyota Research Institute · Physical Intelligence
KPI: A Promptable Kernel for Physical Interaction on Humanoids
Sep 28, 2026Yikai Wang, Honghao Zhu, Xiao Hu +5Humanoid Robot Control Impedance Control
Carnegie Mellon University. · Autel US. · Northeastern University.
RoboICL: Embodied In-Context Learning with GPT-6 Astra
Sep 28, 2026Fangcheng Liu, Yeqing Shen, Anda Cheng +7Robotic Control ICL for Robotics
Samsung Research, Beijing, China · Samsung Robotics eXperience · Shanghai Jiao Tong University
PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control
Sep 21, 2026Lei Ye, Haibo Gao, Yitang Li +10Diffusion Guidance Humanoid Robot Control
Harbin Institute of Technology · Shanghai Innovation Institute · RoboParty Lab +2
Show-Harness: Just a VLM Agent Can Play Robots
Sep 9, 2026Yanzhe Chen, Zechen Bai, Zhijun Cao +7Cross-Embodiment Robot Learning Language-Conditioned Robot Control
Show Lab, National University of Singapore
TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model
Sep 8, 2026Anqi Li, Yuxin Chen, Zhaobo Li +4Robot Navigation Humanoid Robot Control
University of California, Berkeley · Peking University · Tsinghua University +2
ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control
Sep 1, 2026Yan Wu, Chenhao Li, Kaifeng Zhao +3Humanoid Robot Control Diffusion Policy
ETH Zurich, Switzerland
Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models
Aug 11, 2026Li Wenjie, Yash Jangir, Ignacy Stepka +3Vision-Language-Action Models Language-Conditioned Robot Control
Carnegie Mellon University
ProtoAct: Turning Wet-Lab Protocols into Embodied Robotic Actions
Aug 3, 2026Zhe Liu, Jiaming Gu, Zhaohui Du +7Robotics Laboratory Automation
Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China · Department of Computer Science and Engineering, East China University of Science and Technology, Shanghai, China · Department of Laboratory Medicine, Ruijin Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China +1
RL Bootstrapping of OpenVLA-OFT for a Novel Robot Embodiment
Aug 2, 2026Damir Nurtdinov, Alexei Kornaev, Alexander MaloletovRobot Skill Learning Cross-Embodiment Robot Learning
Research Center of the Artificial Intelligence Institute Innopolis University Innopolis, Russia
ORCESTRA: VLM-driven Visual Robot programming in Mixed Reality
Aug 1, 2026Ivan Snegirev, Elizaveta Semenyakina, Mikhail Konenkov +3Digital Twins Language-Conditioned Robot Control
Intelligent Space Robotics Lab, Skolkovo Institute of Science and Technology, Moscow, Russian Federation · R&D Center, MWS, Moscow, Russian Federation
Towards General Language-Conditioned Latent Safety Filters
Jul 31, 2026Ihab Tabbara, Yuxuan Yang, Hussein SibaiRobotic Control Robot Safety
Department of Computer Science and Engineering, Washington University in St. Louis, MO 63130, USA
A Few Words Go a Long Way: Language Guided Robot Policy Synthesis
Jul 26, 2026Daphne Chen, Archit Ritesh Jain, Eric Goossen +4Long-Horizon Robotic Manipulation Robot Skill Learning
University of Washington · 2Microsoft Research · 3Massachusetts Institute of Technology
Addressing the Orchestration Gap in Generalist Robots via Physical Agency
Jul 23, 2026Liane Galanti, Dhruv Shah, Tri DaoRobotic Manipulation Robot Task Planning
1Princeton University · 2Together AI
STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
Jul 20, 2026Kasra Torshizi, Anukriti Singh, Sidharth Mathur +3Language-Conditioned Robot Control VLMs for Robotics
Department of Computer Science University of Maryland
RT-SHCUA: Real-Time Self-Hosted Computer-Use Agent for UAV Control
Jul 20, 2026Di Lu, Bo Zhang, Xiyuan Li +5Aerial Robotics Safety-Critical Control
School of Cyber Engineering, Shaanxi Key Lab of Network and System Security, Xidian University, Xi’an, Shaanxi 710071, China. · College of Cyber Security, Jinan University, Guangzhou 510632, China.
AeroAct: Action-Centered World-Action Models for Language-Conditioned Quadrotor Flight
Jul 16, 2026Xinhong Zhang, Qiyuan Zhu, Yubo Huang +8Robotic Control Aerial Robotics
School of Automation, Beijing Institute of Technology · School of Mechanical Engineering, Beijing Institute of Technology · Independent researcher
Whole-Body Semantic-to-Actuation Grounding of Elephant-Inspired Soft-Trunk Motion via Lightweight Flow Matching
Jul 13, 2026Tingcong Liu, Tongshun Chen, Siyi Ma +6Robot Motion Generation Continuum Robot Control
Immersive Social Interaction with VR and LLM-Assisted Humanoids
Jul 8, 2026Niraj Pudasaini, Geeta Chandra Raju Bethala, Pranav Doma +2Robot Teleoperation Humanoid Robot Control
New York University Abu Dhabi (NYUAD), UAE
Exp2VLA: Enabling Vision-Language-Action for Drone Navigation from Expert Demonstrations
Jul 3, 2026Van Huyen Dang, Kabilesh Rajendran, Erdi Sayar +1UAV Navigation Vision-Language-Action Models
Automatic Control Group Paderborn University Paderborn, Germany
CoFL-S: Spatially Queryable Sector Flow Fields for Local Language-Conditioned Navigation
Jul 2, 2026Haokun Liu, Zhaoqi Ma, Yicheng Chen +5Robotic Control Robot Navigation
Dragon Lab, Department of Mechanical Engineering, The University of Tokyo
LLM-Powered Interactive Robotic Action Synthesis from Multimodal Speech, Gestures, and Music
Jun 30, 2026Snehasis Banerjee, Ranjan DasguptaRobotic Control Large Language Model-Based Robot Planning
Physical AI Research · TCS Research, Tata Consultancy Services · Kolkata, India
WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning
Jun 24, 2026Melya Boukheddimi, Omar Adjali, Daniel Sontag +1Robotic Control Humanoid Robot Locomotion
Robotics Innovation Center, DFKI, 28359 Bremen, Germany · Interactive Machine Learning, DFKI, 26129 Oldenburg, Germany · University of Oldenburg, 26129 Oldenburg, Germany +1
Y-BotFrame: An Extensible Embodied Agent Framework for Quadruped Robot Assistants
Jun 11, 2026Luyao Zhang, Ke Li, Yuan Ding +9Assistive Robotics Language-Conditioned Robot Control
Xidian University Xi’an, China
OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
Jun 9, 2026Siqiao Huang, Kun-Ying Lee, Dongming Qiao +5Robot Foundation Models Humanoid Robot Control
Tsinghua University
Hierarchical Policies from Verbal and Egocentric Human Signals for Natural Human-Robot Interaction
Jun 9, 2026Dongjun Lee, Juheon Choi, Dong Kyu Shin +2Robotic Control Language-Conditioned Robot Control
1KAIST · 2Seoul National University · 3Config
Ensuring Interaction Safety in Multitask Exoskeleton Control: A Simulation-Trained Variable Impedance Framework
Jun 4, 2026Muyuan Ma, Houcheng Li, Haotian Zhai +4Robotic Control Impedance Control
FineVLA: Fine-Grained Instruction Alignment for Steerable Vision-Language-Action Policies
May 26, 2026Xintong Hu, Xuhong Huang, Jinyu Zhang +11Language-Conditioned Robot Manipulation Vision-Language-Action Models
XLANG Lab, The University of Hong Kong · Qwen Team, Alibaba Inc.
MIND: Multi-Scale Intent Diffusion for Text-Driven Physics-Based Humanoid Control
May 25, 2026Bin Li, Ruichi Zhang, Han Liang +4Robotic Control Humanoid Robot Control
ShanghaiTech University, China · University of Pennsylvania, USA · Bytedance Seed, China +3
SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control
May 21, 2026Jingyan Zhang, Han Liang, Ruichi Zhang +6RL for Robotics Humanoid Robot Control
ShanghaiTech University, China · Bytedance Seed, China · University of Pennsylvania, USA +2
NORM-Nav: Zero-Shot Mobile Robot Navigation with Natural Language Behavioral Constraints
May 16, 2026Dongjie Huo, Junhui Wang, Chao Gao +3Constrained Motion Planning Trajectory Generation
College of Information Science and Technology, Beijing University of Chemical Technology · Institute for AI Industry Research (AIR), Tsinghua University · Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems, Macau University of Science and Technology +1
Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control
May 14, 2026Haozhe Jia, Honglei Jin, Yuan Zhang +9Robotic Control Latent Action Learning
The Hong Kong University of Science and Technology (Guangzhou). · LimX Dynamics Technology Co., Ltd. · Shandong University. +3
Guide, Think, Act: Interactive Embodied Reasoning in Vision-Language-Action Models
May 13, 2026Yiran Ling, Qing Lian, Jinghang Li +6Robotic Control Robot Policy Learning
Faculty of Computing, Harbin Institute of Technology · International Digital Economy Academy (IDEA) · National Key Laboratory of Smart Farm Technologies and Systems +4
A Semantic Autonomy Framework for VLM-Integrated Indoor Mobile Robots: Hybrid Deterministic Reasoning and Cross-Robot Adaptive Memory
May 4, 2026Bogdan Felician Abaza, Andrei-Alexandru Staicu, Cristian Vasile DoicinMobile Robotics Vision-Language Navigation
Faculty of Industrial Engineering and Robotics (FIIR), National University of Science and Technology POLITEHNICA Bucharest
ExoActor: Exocentric Video Generation as Generalizable Interactive Humanoid Control
Apr 30, 2026Yanghao Zhou, Jingyu Ma, Yibo Peng +3Humanoid Robot Control Language-Conditioned Robot Control
Beijing Academy of Artificial Intelligence (BAAI)
From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges
Apr 23, 2026Yiming Zhong, Yaoyu He, Zemin Yang +5Diffusion Policy Robot Motion Generation
ShanghaiTech University, Shanghai, China · Morphic Robotics, Shenzhen, China · The Chinese University of Hong Kong, Hong Kong, China.
MOMO: A framework for seamless physical, verbal, and graphical robot skill learning and adaptation
Apr 22, 2026Markus Knauer, Edoardo Fiorini, Maximilian Mühlbauer +10Robot Skill Learning Robot Imitation Learning
German Aerospace Center (DLR), Institute of Robotics and Mechatronics (RMC), Münchener Str. 20, 82234 Weßling, Germany · School of Computation, Information and Technology (CIT), Technical University of Munich (TUM), Arcisstr. 21, 80333 Munich, Germany
AeroBridge-TTA: Test-Time Adaptive Language-Conditioned Control for UAVs
Apr 21, 2026Lingxue LyuRobotic Control Aerial Robotics
University of Pennsylvania Philadelphia, Pennsylvania, United States
SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating
Mar 25, 2026Hanbyel Cho, Sang-Hun Kim, Jeonguk Kang +1Robotic Control Humanoid Robot Control
Physical AI Lab, RX, Samsung Electronics
When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs
Feb 19, 2026Yu Fang, Yuchun Feng, Dong Jing +5VLM Robustness Counterfactual Evaluation of VLMs
University of North Carolina at Chapel Hill
Prompting Robot Teams with Natural Language
Sep 29, 2025Eduardo Sebastián, Nicolas Pfitzer, Ajay Shankar +1Large Language Model-Based Robot Planning Multi-Robot Coordination
Department of Computer Science and Technology, University of Cambridge, UK · Department of Mechanical and Process Engineering, ETH Zurich, Switzerland
Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control
Date pendingJun Chen, Erdemt Bao, Wenlong Dong +7Robot Skill Learning Imitation Learning
University of Electronic Science and Technology of China · Huazhong University of Science and Technology · Southern University of Science and Technology +2

Oct 7, 2026, cs.ROJ/K move · Enter open · S save

Adaptive Code Generation for Controlling Robots

Justus Flerlage, Thorsten Wittkopp, Alexander Acker, Odej Kao

Technische Universität Berlin, Germany · logsight.ai, Berlin, Germany

Language Model-Based Control Language-Conditioned Robot Control Large Language Model-Based Robot Planning Code Generation

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Deploying robots as Complex Adaptive Systems (CAS) in unknown and dynamic environments necessitates a transition from rigid command libraries toward intention-based autonomy, as natural language represents the only medium capable of articulating complex goals beyond the capacity of finite instruction sets. While Large Language Models (LLMs) offer a path toward natural language goal description, their integration introduces significant challenges: the formalization gap between imprecise intentions and executable actions, the taxonomy gap induced by unpredictable environments, and the challenge of maintaining temporal state and progress awareness. This work introduces an architectural framework that enables robotic control by leveraging generative AI. The system follows a dual-AI design: an LLM translates high-level intentions into executable program code restricted to a formal robotic library and constrained by verifiable syntax, while a Vision-Language Model (VLM) provides semantic grounding via a distillation process. To ensure robustness, the framework incorporates environment-driven replanning triggers based on geometric and semantic thresholds, complemented by continuous runtime monitoring and an adaptive planning loop. Benchmarked across frontier models, our framework architecture demonstrates that grounding generative AI in a reactive, constrained loop enables robust fulfillment of complex intentions in dynamic and unknown environments.

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