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.

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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