Rigid-Body Dynamics

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14 papers in the last four weeks, up 250% on the four weeks before. 0.1% of all new papers.

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  1. World Motion Models: Flexible Sequence Modeling of SE(3) Trajectories

    Oct 1, 2026Jiahui Lei, Qianqian Wang, Trevor Darrell +1Cross-Embodiment RetargetingRigid-Body Dynamics

    UC Berkeley · Harvard University

  2. Screw Attention: Rigid-Body Algebra Inside a Transformer

    Oct 1, 2026Aly MagassoubaRigid-Body DynamicsTransformer Architectures

    School of Computer Science, University of Nottingham, Nottingham, United Kingdom

  3. DQ-MPCC: Dual-Quaternion MPCC for Quadrotor Racing

    Sep 29, 2026Bryan S. Guevara, Luis F. Recalde, Guanrui Li +1QuadrotorModel Predictive Control

    Laboratory of Systems and Robotics Engineering (LASER), Center of Informatics (CI), Federal University of Para´ıba (UFPB), Jo˜ao Pessoa, PB 58051-900, Brazil · Department of Robotics Engineering, Worcester Polytechnic Institute (WPI), Worcester, MA 01609, USA

  4. On the Numerical Reliability of Differentiable Physics-Based Optimization for Robotic Material Manipulation

    Sep 28, 2026Xintong Yang, Minglun Wei, Yu-Kun Lai +1Differentiable PhysicsDifferentiable Optimization

    School of Engineering, Cardiff University, Cardiff, United Kingdom · School of Computer Science and Informatics, Cardiff University, Cardiff, United Kingdom · College of Mechanical and Electrical Engineering, Hohai University, China

  5. Smoothness as a Constraint for Stable Humanoid Locomotion

    Sep 21, 2026Utsav Panchal, Denis Kleyko, Unal Artan +1Full-Body Humanoid ControlWhole-Body Control

    AI, Robotics and Cybersecurity Center (ARC) and Department of Computer Science, Örebro University, Sweden

  6. S4R: Scaling for Rigid-Body Interpenetration Resolution

    Sep 17, 2026Zhiyang Dou, Ang Zhao, Chen Peng +8Rigid-Body Dynamics

    Texas A&M University, College Station, USA

  7. LUMO: Designing Luminous Contact Morphology for Repeatable Whole-Finger Contact Observation

    Sep 16, 2026Dong Ho Kang, Youngsu Ko, Luis SentisFingerGround Reaction Forces

    The University of Texas at Austin, Austin, TX, USA

  8. Calibrate Once, Fly Any Team: Residual-Grounded Low-Fidelity Training for Cooperative Drone Swarms

    Sep 15, 2026Maxim Mednikov, Oren GalMulti-Drone CoordinationUnmanned Aerial Vehicle Swarms

    Swarm & AI Lab (SAIL), University of Haifa, Israel

  9. Flexible-body Modeling, Kinematic Identification, and Assembly Accuracy of Overconstrained Spatial Linkages

    Sep 15, 2026Daniel Huczala, Michael Pieber, Johannes Gerstmayr +6Kinematic ChainRigid-Body Dynamics

    Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), 50 UNIST-gil, Eonyang-eup, Ulju-gun, Ulsan, 44919, South Korea · Department of Machine Parts and Mechanisms, VSB – Technical University of Ostrava, 17. listopadu 2172/15, Ostrava, 70800, Czech Republic · Department of Mechatronics, University of Innsbruck, Technikerstraße 13, Innsbruck, 6020, Austria +2

  10. High-Fidelity Multi-Body Simulator for Autonomous Racing

    Sep 14, 2026Nicola Musiu, Francesco Iacovacci, Fausto Lupo +11Autonomous RacingRoad Networks

    University of Modena and Reggio Emilia, Modena, Italy · Megaride S.r.l., Naples, Italy · University of Naples Federico II, Naples, Italy +1

  11. Trajectory Bundle Method in SE(3) for Black-Box Fixed-Wing Aircraft Trajectory Optimization

    Sep 14, 2026Matthew D. Osburn, Cameron K. Peterson, John L. SalmonRobust TrajectoryRigid-Body Dynamics

    Department of Electrical and Computer Engineering, Brigham Young University, Provo, UT 84602, USA · Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602, USA

  12. Toward Reliable Railway-Bogie Response Prediction Using Multifidelity TDNN and Physics-Informed Residual Learning

    Sep 10, 2026Gyeolhee Lee, Moosun Kim, Taewook Kwon +3Physics-Informed LearningRigid-Body Dynamics

    Department of Automotive Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Republic of Korea · Korea Railroad Research Institute, 176 Cheoldobangmulgwan-ro, Uiwang-si, Gyeonggi-do 16105, Republic of Korea · Department of Future Mobility, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Republic of Korea

  13. GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media

    Sep 9, 2026Junnosuke Kamohara, Feiyang Wu, Andy Ningan Zong +4TerrainLocomotion

    Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA 30332, USA · School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA · Northeastern University, 360 Huntington Ave, Boston, MA 02115, USA

  14. Ostrich: Taking Large Strides Through Stiff Contact in Differentiable Dynamics

    Sep 8, 2026Aleš Kučera, Karel ZimmermannRigid-Body DynamicsDifferentiable Physics

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic

  15. TRACE: Spatiotemporal Contact Memory Graph Network Simulator for Granular Dynamics

    Sep 2, 2026Changjian Zhou, Negin Yousefpour, Jie Qi +3Physics SimulationRigid-Body Dynamics

    Faculty of Engineering and IT, The University of Melbourne · School of Computing, National University of Singapore · Norwegian Geotechnical Institute

  16. Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation

    Sep 2, 2026Euncheol Im, Taehyun Kim, Yonghwan Oh +2Model Predictive Path IntegralTorque

    The Center for Humanoid Research, Korea Institute of Science and Technology (KIST), 02792 Seoul, South Korea · The School of Electrical Engineering, Korea University, 02841 Seoul, South Korea

  17. System Identification of Admittance Models for Large Real-World Objects

    Aug 30, 2026Nathan I. Baum, Nathaniel G. Luttmer, Mark A. MinorRigid-Body DynamicsKinematic Chain

    Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA

  18. Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References

    Aug 10, 2026Carlos Gonzalez, Luis SentisCollision-Free TrajectoriesFull-Body Humanoid Control

    Department of Aerospace Engineering and Engineering Mechanics, The University of Texas at Austin, TX 78712, USA.

  19. SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

    Aug 6, 2026Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegon +9Soft RoboticsCosserat Rod Theory

    Delft University of Technology, Delft, The Netherlands · Italian Institute of Technology, Genoa, Italy · Massachusetts Institute of Technology, Cambridge, MA, USA +1

  20. GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models

    Aug 6, 2026Shuai Wang, Yaxin Feng, Xuekun Jiang +12Physics SimulationVideo World Models

    1Shanghai Artificial Intelligence Laboratory · 2Hong Kong University of Science and Technology · 3Shanghai Jiao Tong University +1

  21. Surface Keypoint Representation for Multi-Object and Articulated Human-Object Interaction Generation

    Aug 4, 2026Xiaogang Peng, Zeyu Han, Zichong Meng +4Articulated ObjectsWhole-Body Motion

    Northeastern University, USA · Xi’an Jiaotong University, China · Amazon, USA

  22. Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting

    Aug 4, 2026Sergio A. Esteban, Jason H. K. Siu, Derrick Mach +4Cross-Embodiment RetargetingRigid-Body Dynamics

    Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA. · School of Computing, DePaul University, Chicago, IL, USA.

  23. Learning Smooth SE(3) Trajectories under Left-Invariant Riemannian Metrics

    Aug 3, 2026Yuwei Wu, Vijay KumarRobust TrajectoryRigid-Body Dynamics

    GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, 19104 USA

  24. Learning to Predict Contact Force Distributions from Vision Leveraging Object Geometry Priors

    Aug 1, 2026Ryo Hanai, Yukiyasu Domaea, Ixchel G. Ramirez-Alpizar +3ForceRigid-Body Dynamics

    Artificial Intelligence Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan · Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo, Japan · Institute of AI and Robotics, Graduate School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan

  25. Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations

    Jul 31, 2026Nataliya Nechyporenko, Ava Abderezaei, Alessandro RonconeRigid-Body DynamicsContact

  26. Amortising Trajectory Optimisation for Residual MPC via Implicit Contact Differentiation

    Jul 27, 2026Daniel Layeghi, Thomas Corbères, Calum Arnott +4Robust TrajectoryImplicit Differentiation

    School of Informatics, University of Edinburgh, Scotland.

  27. A note on the motion representation and configuration update in time stepping schemes for the constrained rigid body

    Jul 27, 2026A. MüllerRigid-Body DynamicsLie Group

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

  28. URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation

    Jul 23, 2026Jiyou Shin, Youngjin Seo, Jaeseog Won +5Robotic Manipulation PoliciesImpedance Control

    The authors are with the Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon 2066, South Korea · The authors are with the Faculty of Intelligent Robotics, Sungkyunkwan University, Suwon 2066, South Korea

  29. Contact-Persistent Full Actuation for Aerial Physical Interaction

    Jul 22, 2026Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan KumarContact Wrench EstimationRigid-Body Dynamics

    Guidance, Autonomy, Learning, and Control for Intelligent Systems (GALACxIS) Lab, Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati, OH 45221, USA · Intelligent Systems and Control (ISaC) Lab, Department of Aerospace Engineering, Indian Institute of Technology Bombay, Powai, Mumbai 400076, India

  30. A Splitting Architecture for Exact Reduced Coulomb Friction

    Jul 21, 2026Hongcheng Song, Ye Fan, Uri M. Ascher +1FrictionRigid-Body Dynamics

    University of British Columbia, Canada

  31. Learning Explicit Physical Parameter Control and Benchmarking for Video Generation

    Jul 21, 2026Yanxun Li, Hao Wen, Bingze Song +7Video GenerationHuman Motion Generation

    State Key Laboratory of Virtual Reality Technology and Systems, SCSE, Beihang University · AMAP, Alibaba Group

  32. Manifold-Guided Motion Planning for Tight Assemblies

    Jul 20, 2026Dror Livnat, Michael M. Bilevich, Michal Kleinbort +1Motion PlanningAssembly

    Blavatnik School of Computer Science and Artificial Intelligence, Tel-Aviv University, Israel.

  33. The Nonsmooth Impact Direction (NSID) of Robotic Systems

    Jul 15, 2026Annika Kirner, Christian OttRigid-Body DynamicsForce

    Automation and Control Institute, TU Wien, 1040 Vienna, Austria · Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany

  34. Learning Forced Multibody Dynamics on Lie Groups

    Jul 14, 2026Martine Dyring Hansen, Marta Ghirardelli, Elena Celledoni +2Lagrangian MethodsRigid-Body Dynamics

    Department of Mathematics and Cybernetics, SINTEF Digital Forskningsveien 1, 0373 Oslo, Norway · Department of Mathematical Sciences Norwegian University of Science and Technology (NTNU) Alfred Getz’ vei 1, 7034 Trondheim, Norway · Instituto de Ciencias Matematicas (CSIC) Calle Nicolás Cabrera 13-15, Cantoblanco, 28048 Madrid, Spain

  35. A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems

    Jun 27, 2026Qing Yu, Mikhail Svinin, Seyed Amir TafrishiMotion PlanningRigid-Body Dynamics

    Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab, School of Engineering, Cardiff University, Queen’s Buildings, The Parade, Cardiff, CF24 3AA · Information Science and Engineering Department, Ritsumeikan University, Shiga, Japan

  36. GPU-Accelerated Inverse Structural Anastylosis from Block Collapse Dynamics

    Jun 23, 2026L. A. MuñozRigid-Body DynamicsCollapse

    Computational Robotics Lab School of Engineering and Sciences Tecnológico de Monterrey Monterrey, Nuevo León, Mexico

  37. RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation

    Jun 23, 2026Xincheng He, Rongrong Zhang, Wei Jiang +1Rigid-Body DynamicsRobotic Manipulation

    Way Robotics

  38. Invariant Kalman filtering for extended pose estimation in multi-IMU articulated rigid-body systems

    Jun 23, 2026Sven Goffin, Cédric Schwartz, Silvère Bonnabel +2Extended Kalman FilterCategory-Level Object Pose Estimation

    Department of Electrical Engineering and Computer Science, University of Liège, Belgium · Department of Physical Activity and Rehabilitation Sciences, University of Liège, Belgium · Department of Mathematics and Systems, Mines Paris – PSL, France +1

  39. Geometric Reconstruction of Extrinsic Contact Trajectories using Tactile Sensing and Proprioception for Tool Manipulation

    Jun 20, 2026Seojung Min, Yoonjin Kim, Jeong-Jung Kim +1TactileProprioception

    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of Korea · Department of AI Machinery, Korea Institute of Machinery and Materials, Daejeon 34141, Republic of Korea

  40. Backpropagating Through Simulation: Analytic Policy Gradients for Sample and Learning Efficient Differentiable Continuous Control

    Jun 19, 2026Yueci DengPolicy GradientFrictive Policy Optimization

    School of Data Science, The Chinese University of Hong Kong, Shenzhen

  41. Learning-Based Modeling of Soft Robots via Cosserat Rod Theory

    Jun 18, 2026Mohammad Ali, Nithin Senthur Kumar, Eric J. Barth +1Cosserat Rod TheorySoft Robotics

    Department of Computer Science, Vanderbilt University, Nashville, TN 37235, USA · Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA

  42. Simulating Robotic Locomotion in Sand: Resistive Force Theory in an Open-Source Physics Engine

    Jun 17, 2026Ryan Walker Brown, Laura K. Treers, Kathryn A. DaltorioGround Reaction ForcesLocomotion

    College of Engineering, Department of Mechanical and Aerospace Engineering at Case Western Reserve University, Cleveland, OH 44106 · College of Engineering and Mathematical Sciences, Department of Mechanical Engineering at the University of Vermont, Burlington, VT 05405

  43. ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots

    Jun 17, 2026Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol +1Impedance ControlLocomotion

    Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT).

  44. URDF Synthesis from RGB-D Sequences via Differentiable Joint Inference and Energy-Consistent Verification

    Jun 17, 2026Xinze ZhangArticulated KinematicsGeometric Reconstruction

    University of Southern California, Los Angeles, CA 90007, USA

  45. NEXUS: Neural Energy Fields for Physically Consistent Contact-Rich 3D Object Dynamics

    Jun 12, 2026Qizhen Ying, Guangming Wang, Yangchen Pan +3Rigid-Body DynamicsNeural Fields

    Department of Engineering Science University of Oxford · Department of Engineering University of Cambridge

  46. Contact-Consistent Interaction Dynamics Normalization for Predictive Physical Human--Robot Interaction

    Jun 12, 2026Yongyan CaoImpedance ControlWhole-Body Control

    Voryx Robotics, San Jose, CA 95136, USA

  47. LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies

    Jun 9, 2026Sangli Teng, Ruiqi Zhang, Tzu-Yuan Lin +5Rigid-Body DynamicsRobust Trajectory

    University of California, Berkeley · MIT · Ohio University +1

  48. An Opticalmechanics Framework for Dynamic Estimation of Multibody Systems

    Jun 8, 2026Banglei Guan, Xuanyu Bai, Qingquan Chen +5Rigid-Body DynamicsTorque

    National University of Defense Technology

  49. Hybrid Dynamics Modeling for a Flexible 2-DoF Robotic Arm

    Jun 2, 2026Maciek Popik, Daniel Yang, Mahdis BishebanRigid-Body DynamicsTorque

    Dept. of Mechanical and Manufacturing Eng at the Schulich School of Engineering, University of Calgary, Alberta, Canada · Intelligent Dynamics and Control Lab, University of Calgary, Alberta, Canada

  50. Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects

    Jun 1, 2026Jens U. Kreber, Lukas Mack, Joerg StuecklerEfficient World-Action ModelWorld Models

    Intelligent Perception in Technical Systems Group University of Augsburg Augsburg, Germany

  51. Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning

    May 29, 2026Yue Wang, Yanran Xu, Wenbo Wu +2Rigid-Body DynamicsPytorch

    University of Southampton, Southampton, SO17 1BJ, UK

  52. Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation

    May 27, 2026Jiahe Pan, Stelian Coros, Jitendra Malik +1Sim-To-Real Reinforcement LearningContact-Rich Dexterous Manipulation

    1ETH Zürich · 2UC Berkeley

  53. Deformable Gaussian Occupancy: Decoupling Rigid and Nonrigid Motion with Factorized Distillation

    May 27, 2026Yang Gao, Wuyang Li, Po-Chien Luan +13D Semantic Occupancy PredictionDeformable Cnn

    ´Ecole Polytechnique F´ed´erale de Lausanne (EPFL), Switzerland

  54. PhyPush: One Push is All You Need for Sensorless Physical Property Estimation with Physics-Guided Transformers

    May 25, 2026Koyo Fujii, Luis Figueredo, Praminda Caleb-Solly +4Ground Reaction ForcesRigid-Body Dynamics

    School of Computer Science, University of Nottingham, Nottingham, United Kingdom · Dept. of Industrial Engineering, University of Bologna, Bologna, Italy

  55. Accelerated Spatio-Temporal Gaussian Rendering via Kinematic and Semantic Priors

    May 25, 2026Denis Gridusov, Maxim Popov, Sergey KolyubinScene ReconstructionRigid-Body Dynamics

    ITMO University, St. Petersburg, Russia

  56. Passivity-based Semi-autonomous Rotational Motion Navigation for Rigid-body Networks: Stability and Human Passivity Analysis

    May 23, 2026Reiji Terunuma, Yuta Nakamura, Takeshi HatanakaActive Flow ControlPassive

    Institute of Science Tokyo

  57. IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems

    May 23, 2026Qixin Liang, Zhongqing HanRigid-Body DynamicsPhysics Simulation

    Anker Humanoid Lab · Shenzhen, China · The University of Hong Kong +1

  58. MoSA: Motion-constrained Stress Adaptation for Mitigating Real-to-Sim Gap in Continuum Dynamics via Learning Residual Anisotropy

    May 21, 2026Jiaxu Wang, Junhao He, Jingkai Sun +5Sim-To-Real GapRigid-Body Dynamics

    Hong Kong University of Science and Technology, Guangzhou, China · MMLab, Chinese University of Hong Kong, Hong Kong SAR · The University of Hong Kong, Hong Kong SAR

  59. Safety-Critical Control for Smoothed Implicit Contact Dynamics

    May 20, 2026Haegu Lee, Yitaek Kim, Christoffer SlothControl Barrier FunctionsRigid-Body Dynamics

    The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark

  60. ΔΔynamics: Language-Based Representation for Inferring Rigid-Body Dynamics From Videos

    May 20, 2026Chia-Hsiang Kao, Cong Phuoc Huynh, Chien-Yi Wang +5Rigid-Body DynamicsVision-Language Foundation Models

    1Cornell University · 2Amazon