Proprioception

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25 papers in the last four weeks, up 525% on the four weeks before. 0.2% of all new papers.

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  1. Continuous Conditioning of VLAs with Augmenting EMG and Visual Task Descriptors

    Oct 1, 2026Edward W. Staley, Connor O. Pyles, Rahul Hingorani +5Surface ElectromyographyProprioception

    Johns Hopkins Applied Physics Laboratory Laurel, MD, USA

  2. Experience-Driven Continual Learning of Terrain Traversability for Quadruped Robots

    Sep 30, 2026Luca Bricarello, João Carlos Virgolino Soares, Alberto Sanchez-Delgado +2Legged RobotsTraversability

    Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia, Genoa, Italy. · Universit`a degli Studi di Genova, Genoa, Italy.

  3. MotionWeave: Learning Motion-Centered Future Dynamics for Vision-Language-Action Policies

    Sep 30, 2026Jingqiu Wang, Yan WangAction PredictionWeave

    School of Data Science and Engineering East China Normal University, Shanghai, China

  4. Blackout vs. Freeze: Analyzing Physical Failure Modes of VLAs under Camera Faults

    Sep 30, 2026Heejae Suh, Jongwook Han, Zahra Gholami +1Frozen Vision-Language ModelsRobot Failures

    Seoul National University, Seoul, Republic of Korea

  5. Embodiment-aware control by inference over the operator: a simulation study

    Sep 29, 2026Sara FalconeEmbodimentTeleoperation

    Department of Computer Science, Seidenberg School of Computer Science and Information Systems, Pace University, New York, USA

  6. Inferring Soil Friction Angle from Robot Foot-Ground Force Histories: A Bayesian Inverse Approach to Proprioceptive Soil Sensing

    Sep 29, 2026Dawei Xu, Zhijie WangGround Reaction ForcesFriction

    Department of Civil and Environmental Engineering Washington State University Pullman, WA 99164, USA

  7. Terrain-Aware Autonomous Planetary Exploration for Exteroceptive-Proprioceptive Mapping with Quadruped Scouts

    Sep 28, 2026Alberto Sanchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol +1Planetary ExplorationProprioception

    Dynamic Legged Systems lab (DLS), Istituto Italiano di Tecnologia (IIT), Genoa, Italy

  8. Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction

    Sep 28, 2026Run Wang, Xu Yang, Alapati Tuerxun +1Ground Reaction ForcesProprioception

    Department of Automation, Tsinghua University, Beijing, China

  9. Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning

    Sep 24, 2026Tomohiro Motoda, Masaki Murooka, Keisuke Shirai +6ProprioceptionImitation Learning

    Embodied AI Research Team, AIRC and National Institute of Advanced Industrial Science and Technology (AIST) · CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST)

  10. PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation

    Sep 24, 2026Conor W. Hayes, Rickmer Krohn, Aravind Ramaswami +6TactileProprioception

    Center for Robotics and Biosystems, Northwestern Univ., Evanston, IL, USA · Interactive Robot Perception & Learning (PEARL) Lab, TU Darmstadt, Germany · Robotics Institute Germany (RIG)

  11. DAWN: Noise-Robust Quadruped Parkour via Depth-Denoising World Models

    Sep 24, 2026Yohan Choi, Min-Jun Kim, Jin-Sung Kim +2Depth EstimationRobotic Perception

    Convergence Engineering, Korea University of Technology and Education, Cheonan 31253, South Korea · School of Electrical, Electronics and Communication Engineering, Korea University of Technology and Education, Cheonan, 31253, South Korea

  12. Generalizable Robotic Insertion with World Models

    Sep 23, 2026Nicklas Hansen, Iretiayo Akinola, Yijie Guo +7Robotic ManipulationWorld Models

    NVIDIA · University of California San Diego · Work completed during an internship at NVIDIA +1

  13. Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface

    Sep 21, 2026Andrew Nguyen, Yonghyeon Lee, Sangbae KimRobotic GraspingProprioception

    University of Michigan, Ann Arbor, MI, USA. · Department of Mechanical Engineering, MIT, Cambridge, MA, USA. · Department of AI, Yonsei University, Seoul, South Korea.

  14. PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control

    Sep 21, 2026Lei Ye, Haibo Gao, Yitang Li +10Diffusion PoliciesFull-Body Humanoid Control

    Harbin Institute of Technology · Shanghai Innovation Institute · RoboParty Lab +2

  15. A Monolithic Force-Proprioception Soft Acutuator Enabled by Single-Material 3D printing

    Sep 21, 2026Nan Huang, Lele Liu, Junfeng Lu +3Soft Pneumatic ActuatorsAsymmetric Origami Bending

    Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China · Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, China

  16. UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains

    Sep 20, 2026Sicen Li, Zhen Chu, Chao Li +2Event-Guided Sensor-Level FusionRobotic Perception

    College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China · Yunshenchu Technology Co., Ltd., Hangzhou, China · Zhejiang Key Laboratory of Additive Manufacturing Technology and Equipment, Hangzhou, China

  17. PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots

    Sep 20, 2026Xu Han, Angsong Li, Shaopeng Zhang +5OdometryProprioception

    Wuhan University · Agibot

  18. Feeling Terrain Before Crossing: World Models for Off-Road Navigation

    Sep 17, 2026E-In Son, Dong-Wook Kim, Ji-Hoon Hwang +4ProprioceptionWorld Models

    Department of Electrical & Computer Engineering, Seoul National University, Republic of Korea

  19. FASA: Feedback-Aware Sampling Adaptation for Efficient Diffusion-Based VLA Models

    Sep 16, 2026Yuchen Han, Jianhan Wu, Xiaoyang Qu +3Diffusion-Based Vision-Language-ActionsAdaptive Sampling

    South China University of Technology Guangzhou, China · Ping An Technology (Shenzhen) Co., Ltd. Shenzhen, China · Harbin Institute of Technology Shenzhen, China

  20. SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation

    Sep 15, 2026Tingcong Liu, Aye Phyu Phyu Aung, Junjie Xiong +4Soft RoboticsEmbodied Artificial Intelligence

    Nanyang Technological University, Singapore · Institute of Advanced Intelligence and Computing, A*STAR, Singapore · Mohamed bin Zayed University of Artificial Intelligence, Abu Dhabi, United Arab Emirates +1

  21. Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation

    Sep 14, 2026Guo Ning Sue, Zheng Cao, Junzhe Hu +5Soft RoboticsProprioception

    Carnegie Mellon University

  22. IMPACT-VLA: Interaction-aware Multimodal Propagation Attribution via Counterfactual Trajectories for Vision-Language-Action Policies

    Sep 14, 2026Jinwoong Kim, Sangjin ParkProprioception

    Department of Industrial Data Engineering, Hanyang University, Seoul, Republic of Korea.

  23. DWMP: Leveraging Dual World Models for Humanoid Obstacle Traversal

    Sep 14, 2026Rongjun Jin, Jianming Ma, Yue GaoEfficient World-Action ModelObstacle Avoidance

  24. CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned Denoising

    Sep 11, 2026Hongjin Chen, Zijun Xu, Shihao Ma +8ProprioceptionVisuomotor Policy

    Fudan University · TARS Robotics · Shanghai Innovation Institute +2

  25. Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly

    Sep 7, 2026Yuhan Wang, Yurou Chen, Hongye Jiang +2Sim-To-Real Reinforcement LearningProprioception

    Shanghai Jiao Tong University · University of Sussex

  26. MulDP: Multimodal Diffusion Policy for Autonomous Quadruped Parkour Navigation across Complex Terrains

    Sep 3, 2026Kangmai Hu, Yueqi Zhang, Peng Zhai +5Autonomous NavigationTerrain

    College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai 200433, China

  27. FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation

    Sep 3, 2026Yutian Zhang, Siyuan Ma, Liwen Yang +6Humanoid Loco-ManipulationWhole-Body Control

    1Zhejiang University · 3Tsinghua University · 2Shanghai Artificial Intelligence Laboratory +3

  28. Learning to infer and manipulate through distributed whole-arm interaction in a soft robot

    Aug 31, 2026Chuhan Zhang, Ebrahim Shahabi, Kseniia Khomenko +2Soft RoboticsProprioception

    Cognitive Robotics Department, Faculty of Mechanical Engineering, Delft University of Technology, Delft 2628 CD, The Netherlands. · School of Engineering, Newcastle University, UK.

  29. SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion

    Aug 27, 2026Pihai Sun, Gang Han, Jingkai Sun +17TerrainRobot State

    1Artificial General Intelligence Institute, University of Science and Technology of China · 2X-Humanoid · 4The University of Hong Kong +5

  30. TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

    Aug 6, 2026Taehyeon Kong, Woojin Kim, Jemin HwangboOdometryProprioception

    Korea Advanced Institute of Science and Technology (KAIST), Yuseong-gu, Daejeon 34141, Republic of Korea

  31. Nonvisual Classification of Ground-Condition by Artificial Proprioception in an Amoeba-Inspired Autonomous Walking Robot

    Aug 6, 2026Hyoto Yamaguchi, Zenji Yatabe, Seiya KasaiProprioceptionRobot Systems

    RCIQE and Graduate School of IST

  32. Transcutaneous Spinal Cord Stimulation Disrupts Conscious Ankle Proprioception and Produces a More Constrained Locomotor Pattern in Unimpaired Adults

    Aug 6, 2026Christopher A. Johnson, Andria J. Farrens, Parastoo Ali Pour +4ProprioceptionLocomotion

    University of California, Irvine

  33. Sliding Sensors: Configurable Confidence in State Estimation for Continuum Robots

    Aug 5, 2026Ella Walsh, Spencer Teetaert, Eric Diller +2State EstimationSoft Robotics

    University of Toronto Robotics Institute, Toronto, ON, Canada

  34. How Should Vision-Language-Action Models Use Proprioceptive State?

    Aug 4, 2026Yiren Zhao, Ziyang Chen, Ziyang Rao +5Proprioception

    1The Hong Kong University of Science and Technology (Guangzhou) · 3AI2 Robotics X-Lab · 2Multimedia Laboratory (MMLab), The Chinese University of Hong Kong

  35. Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation

    Aug 3, 2026Mihaela Popescu, Dennis Mronga, Shivesh Kumar +1Extended Kalman FilterLegged Robots

  36. KING: Embodiment-Aware Kinematic Graph Neural Network for Unified Motion Representation of Legged and Wheeled Robots

    Aug 2, 2026Taku Okawara, Aoki Takanose, Kenji Koide +2KinematicsOdometry

    Department of Information Technology and Human Factors, the National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan

  37. A Causality-aware Infer-diagnose-refine Framework for Test-time Modality Adaptation in VLA Models

    Jul 28, 2026Haoyu Zhang, Yuwei Wu, Jin Chen +6Diffusion-Based Vision-Language-ActionsDiagnostic Framework

    1Beijing Institute of Technology · 2AInnovation Co. Ltd. · 3Beijing Innovation Center of Humanoid Robotics

  38. Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation

    Jul 27, 2026Valerio Belli, Valerio Modugno, Enrico Mingo Hoffman +1Motion ImitationFull-Body Humanoid Control

    UNIROMA, UCL · Sapienza University of Rome, Rome, Italy · University College London, London, UK +3

  39. FutureRTC: Real-Time Robot Execution with Anticipatory-Conditioned Action Chunking

    Jul 27, 2026Hai Jiang, Yixian Zou, Binbin Liang +3Action PredictionRobot Systems

    School of Aeronautics and Astronautics, Sichuan University · University of Electronic Science and Technology of China · University of Alberta

  40. Koopman Dreamer: Spectrally Constrained Latent Dynamics for Stable World-Model Imagination

    Jul 22, 2026Jiaqi Li, Xinglong Zhang, Haibin Xie +3Latent DynamicsDream

    College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China

  41. Deployment-Ready UWB Localization for Industrial Ground Robots with Automatic Anchor Calibration and Terrain-Aware Fusion

    Jul 17, 2026Alexander Raab, Giulio Delama, Roland Jung +1Indoor LocalizationEvent-Guided Sensor-Level Fusion

    AGILOX Services GmbH, Austria · Control of Networked Systems Group, University of Klagenfurt, Austria

  42. Towards Artificial Nerves: Biomimetic Optical-Fiber Tactile Sensing for Robots

    Jul 17, 2026Laura E. Butcher, Chris J. Ford, Nathan F. Lepora +1TactileProprioception

    School of Engineering Mathematics and Technology, University of Bristol, Bristol, BS8 1QU, UK

  43. Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots

    Jul 17, 2026Wenzhe Tong, Jonathan Mi, Xili Yi +2TactileContact Wrench Estimation

    Robotics Department, University of Michigan, Ann Arbor, MI, 48109, USA

  44. A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator

    Jul 17, 2026Francesco Stella, Annan Zhang, Cosimo Della Santina +2Soft RoboticsProprioception

    Embodied AI SA, Lausanne, Switzerland · CREATE Lab, STI, EPFL, CH-1015 Lausanne, Switzerland · MIT Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA +2

  45. Kepler-Encoder-v0.1: Towards a Multimodal Embedding Model for Robots

    Jul 15, 2026Ishneet Sukhvinder Singh, Dhanoosh Pooranakumaran, Alex Nguyen +1Robot StateUnimodal Encoders

    Menlo Research

  46. Stop to Decide: Latency-Aware Proprioceptive Navigation Primitives for Mapping-Free Quadruped Inspection

    Jul 13, 2026Hanting Suo, Haonan Yan, Liang Wang +1ProprioceptionOdometry

    School of Instrument Science and Engineering, Southeast University, Nanjing, China. · School of Electrical Engineering, Southeast University, Nanjing, China. · School of Mechanical Engineering, Southeast University, Nanjing, China.

  47. GeoProp: Grounding Robot State in Vision for Generalist Manipulation

    Jul 8, 2026Guoyang Zhao, Quanhao Qian, Gongjie Zhang +5Robotic ManipulationProprioception

    Tongji University · DAMO Academy, Alibaba Group · HuPan Lab +2

  48. Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation

    Jul 3, 2026Chenyang Ma, Yunchao Yao, Zhenyu Wei +3Contact-Rich Dexterous ManipulationProprioception

    University of North Carolina at Chapel Hill

  49. DynaWM: A Base-VLA-Guided World Foundation Model for Moving-Object Manipulation

    Jul 1, 2026Chongkei Chang, Zhidong DengEfficient World-Action ModelReal-World Manipulation Tasks

    Department of Computer Science and Technology, THUAI, Tsinghua University, Beijing 100084, China

  50. Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing

    Jun 30, 2026Jiale Fan, Connor Flynn, Tianao Xu +4ProprioceptionLegged Robots

    All authors are with the Robotic Systems Lab, ETH Zurich.

  51. NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulation

    Jun 23, 2026Soham Patil, Avirup Das, Sourabh Bhosale +1Contact-Rich Dexterous ManipulationTactile

    Robotics Research Center (RRC), International Institute of Information Technology (IIIT), Hyderabad, India · Department of Computer Science, The University of Manchester

  52. PDS Joint: A Parametric Double-Spiral Joint Tailored for Dexterous Hands

    Jun 23, 2026Haoyang Li, Yibo Wen, Yixiang Fan +2Uncertain Joint StiffnessRobotic Hands

    Beijing Institute of Technology, Beijing, China

  53. 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

  54. Online Learning of Robust Legged Odometry with Minimal Exteroceptive Supervision

    Jun 19, 2026Abhijeet M. Kulkarni, Yuze Du, Guoquan HuangOdometryProprioception

    University of Delaware Newark, DE, USA

  55. Long-Distance Real-World Navigation of the Legged-Wheeled Robot Go2-W Using Deep Reinforcement Learning

    Jun 19, 2026Takaaki Matsuzawa, Kiyoshi Irie, Tomoaki Yoshida +3Legged RobotsAutonomous Navigation

    Future Robotics Technology Center (fuRo), Chiba Institute of Technology, Narashino, Chiba, Japan.

  56. A Human-Inspired Thumb-Index Robotic Hand with Strain Gauges Embedded in Soft Joints

    Jun 19, 2026Jonas Papenbrock, Shubhan Patni, Tomaso Lisini Baldi +4Robotic HandsHand

    Department of Information Engineering and Mathematics - University of Siena. · Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague

  57. ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments

    Jun 18, 2026Natapat Kirdwichai, Danesh TaraporeLegged RobotsForests

    Faculty of Engineering and Physical Sciences, University of Southampton, United Kingdom

  58. Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground

    Jun 17, 2026Falak Mandali, Zijian He, Yan GuExtended Kalman FilterProprioception

    Purdue University, West Lafayette, IN 47907, USA.

  59. Damage Adaptation in Seconds for Architected Materials

    Jun 16, 2026James Avtges, Jake Ketchum, Helena Young +3Soft RoboticsActuator

    Northwestern University, Evanston, IL, USA

  60. GAIT: Legged Robot Proprioceptive State Estimation with Attention over Inertial-Leg Tokens

    Jun 12, 2026Young-Rang Seo, Hajun Kim, Sangmin Kim +2ProprioceptionLegged Robots

    Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon 34141, Republic of Korea.