Motion Control

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

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Latest papers 27

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Local-Minimum Escaper: Programmatic Subgoal Generation for Robust Navigation in Unknown Environments
Sep 30, 2026Yin Gu, Xinming Zhang, Shanze Wang +2Robot Navigation Object Goal Navigation
Eastern Institute of Technology, Ningbo, China · Tsinghua University, China · Department of Aeronautical and Aviation Engineering, Polytechnic University, Hong Kong
Rethinking Causal Action Tokenization with Conditional Annealing in Flow Matching
Sep 28, 2026Chenyu Zhang, Yuhang Cao, Daru Du +8Discrete Action Tokenizers Diffusion-Based Vision-Language-Actions
IIIS, Tsinghua University · Shanghai Qizhi Institute
Learning High-Risk High-Precision Motion Control
Sep 28, 2026Nam Hee Kim, Markus Kirjonen, Perttu HämäläinenMotion Control
Aalto University Espoo, Finland
Agent as Policy for Robotic Manipulation
Sep 11, 2026Mengzhao Jia, Yang Lin, Xixin Zhang +3Robotic Manipulation Robot Policies
University of Notre Dame · University of California San Diego · San Diego State University
REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs
Sep 1, 2026Riyaaz Shaik, Chandru VenkataramanMotion Control Equivalence
Apple
Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning
Aug 28, 2026Nan Wang, Mohit Yadav, Jonathan Wulff +5Robotic Hands Motion Control
Chestnut Robotics
Exact Thrust-Reversal Limits of Bidirectional Propellers under Bounded Motor Inputs
Aug 7, 2026Ahmed Ali, Chiara Gabellieri, Antonio FranchiBidirectional Thrust Motion Control
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
PRISM: Polynomial Representations for Interaction-Structured Motor Control
Jul 26, 2026Seung Hyun Lee, Stella X. YuNeural Policies Motion Control
University of Michigan, Ann Arbor Computer Science and Engineering
QWERTY: Training-Free Motion Control via Query-Warped Video Diffusion Transformers
Jul 2, 2026Kyobin Choo, Youngmin Kim, Hyunkyung Han +4Video Diffusion Models Motion Control
Department of Computer Science, Yonsei University, Seoul, Republic of Korea · Department of Artificial Intelligence, Yonsei University, Seoul, Republic of Korea
Backspace as a Natural Experiment: An Accelerated Failure Time Model of Selective Post-Error Motor Impairment in Parkinsons Disease
Jun 30, 2026Navin BondadeKeystroke Dynamics Time-To-Event Data
Institute of Health Informatics, University College London
GPC: Large-Scale Generative Pretraining for Transferable Motor Control
Jun 28, 2026Yi Shi, Yifeng Jiang, Chen Tessler +1Human Motion Generation Full-Body Humanoid Control
Simon Fraser University, Canada and NVIDIA, USA · NVIDIA, USA · Simon Fraser University, Canada and NVIDIA, Canada
Subject-Level Unknown-Identity Identification from Leap Motion Controller 2 Hand Landmarks
Jun 22, 2026Bahar Moharrer, Susanna Cifani, Marco Raoul Marini +2One-Shot Medical Landmark Detection 3D Hand
Department of Computer Science Sapienza University of Rome Rome, Italy
A Unified Benchmark for RCM-Constrained Visual Servoing: Modeling-Controller Interaction and Robustness Analysis in Laparoscopic Robots
Jun 22, 2026Jing Zhang, Mengtang LiVisual Servoing Surgical Robots
School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China
Go-with-the-Track: Video Compositing and Motion Control with Point Tracking
Jun 18, 2026Koichi Namekata, Yash Kant, Zhizheng Liu +9Camera Control 3D Tracking
Netflix, USA · Eyeline Labs, USA · University of Oxford, United Kingdom +3
Kine2Go: Kinematic dataset for the Unitree Go2 robot with diverse gaits and motions
Jun 12, 2026Władysław Pałucki, Paweł Siwak, Krzysztof Ciebiera +1Gait Dynamics Kinematics
University of Warsaw
How VLAs Fail Differently: Black-Box Action Monitoring Reveals Architecture-Specific Failure Signatures
May 27, 2026Krishnam GuptaVision-Language-Action Framework Diffusion-Based Vision-Language-Actions
Independent Research San Francisco, CA
VLAMotor: Test-Guided Enhancement of Vision-Language-Action Models via Agent-BasedData Synthesis
May 16, 2026Zeqin Liao, Peifan Ren, Zixu Gao +6Diffusion-Based Vision-Language-Actions Ava-Vlm
School of computing and data science, Nanyang Technological University · School of Software Engineering, Sun Yat-sen University, China and GuangDong Engineering Technology Research Center of Blockchain, China · Northwest A&F University
Continuum Robot Modeling with Action Conditioned Flow Matching
May 9, 2026Jiong Lin, Jinchen Ruan, Hod LipsonSoft Robotics Motion Control
Department of Mechanical Engineering, Columbia University, New York, NY, USA
Ablation Study of Multimodal Perception, Language Grounding, and Control for Human-Robot Interaction in an Object Detection and Grasping Task
May 1, 2026Zi Tian, Guanting ShenHuman-Robot Interaction Contextual Grounding
Dalian University of Technology, Dalian, China
ExoActor: Exocentric Video Generation as Generalizable Interactive Humanoid Control
Apr 30, 2026Yanghao Zhou, Jingyu Ma, Yibo Peng +3Full-Body Humanoid Control Human Motion Generation
Beijing Academy of Artificial Intelligence (BAAI)
Insect-inspired modular architectures as inductive biases for reinforcement learning
Apr 23, 2026Anne E. StaplesBio-Inspired Framework Predator-Prey Models
Department of Mechanical Engineering, Virginia Tech, Blacksburg, Virginia 24061, USA
MMControl: Unified Multi-Modal Control for Joint Audio-Video Generation
Apr 21, 2026Liyang Li, Wen Wang, Canyu Zhao +4Audio-Video Generation Motion Control
Zhejiang University, Hangzhou, China
PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking
Mar 13, 2026Jiacheng Bao, Haoran Yang, Yucheng Xin +7Full-Body Humanoid Control Humanoid
Shanghai AI Laboratory · University of Science and Technology of China · Tsinghua University +3
Mind the Gap: Rethinking I/O Design for Contact-Rich Visuomotor Policy Learning
Feb 9, 2026Cuijie Xu, Shurui Zheng, Zihao Su +7Strong Imitation Learning Motion Control
Department of Electronic Engineering, Tsinghua University · Qiuzhen College, Tsinghua University · School of Mechanical and Aerospace Engineering, Jilin University +2
A Study of the Design Space of Motion and Disocclusion Control in Video Generation
Dec 15, 2025Anran Qi, Changjian Li, Adrien Bousseau +1Motion Geometric Guidance
1Inria - Universit´e Cˆote d’Azur · University of Edinburgh · 3Adobe Research +1
Dynamic Properties and Motion Reproducibility of a Compact Pneumatically Actuated Humanoid Upper Body for Data-Driven Control
Date pendingHiroshi Atsuta, Hisashi Ishihara, Minoru AsadaFull-Body Humanoid Control Soft Pneumatic Actuators
Symbiotic Intelligent Systems Research Center, Institute for Open and Transdisciplinary Research Initiatives, The University of Osaka, Suita, Osaka, Japan · College of Arts and Design, Ritsumeikan University, Kyoto, Japan · International Professional University of Technology in Osaka, Umeda, Kita-ku, Osaka, Japan +1
CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots
Date pendingShihao Ma, Hongjin Chen, Zijun Xu +6Full-Body Humanoid Control Terrain
College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China, 200433

Sep 30, 2026, cs.ROJ/K move · Enter open · S save

Local-Minimum Escaper: Programmatic Subgoal Generation for Robust Navigation in Unknown Environments

Yin Gu, Xinming Zhang, Shanze Wang, Siwei Cheng+1

Eastern Institute of Technology, Ningbo, China · Tsinghua University, China · Department of Aeronautical and Aviation Engineering, Polytechnic University, Hong Kong

Robot Navigation Object Goal Navigation High-Level Subgoal Generation Mobile Robots Dynamic Environments Subgoals+2

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Mapless navigation in unknown and partially observable environments remains challenging for mobile robots, particularly when local minima prevent the robot from making progress toward its goal. Existing local navigation methods often lack an explicit mechanism for escaping such situations, while deep reinforcement learning (DRL) approaches typically learn recovery behaviors implicitly through reward design and policy optimization. In this work, we propose \textbf{LME} (Local-Minimum Escaper), a programmatic hierarchical framework that explicitly generates and reasons subgoals to guide robots out of local-minimum regions. LME operates solely on local observations and selects candidate subgoals using interpretable heuristic criteria that account for both surrounding obstacle geometry and candidate-location safety. A local planner then generates low-level motion commands toward the selected subgoal. This design enables LME to handle environments both with and without local minima within a unified framework, while remaining independent of the underlying local planner and requiring no additional training. Extensive experiments in simulated and real-world environments demonstrate that LME provides robust navigation performance and generalizes to challenging unseen scenarios. Furthermore, the generated subgoals can be used to guide different local planners, substantially improving their ability to escape local minima. Successful deployments on both differential-drive and quadruped robots further demonstrate the practical applicability and generality of the proposed framework.

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Latest papers 27