Robot Motion Generation

Momentum

25 papers in the last four weeks, up 733% on the four weeks before. 0.2% of all new papers.

Jul 13Week of Sep 28

Latest papers 119

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  1. From Legs to Wheels: Embodiment-Aware Human Motion Retargeting for Mobile-Base Humanoids

    Oct 6, 2026Jiyeon Koo, Eunseom Pyo, Jeonghee Seo +2Cross-Embodiment Robot LearningMotion Retargeting

  2. Talk, Render, Act: Integrating Social Gesture and Digital Face with Synchronized Speech for Conversational Humanoid Robot

    Oct 5, 2026Jin Jiang, Kun Li, Jiancong Ma +1Robot Motion GenerationCo-Speech Gesture Generation

  3. Execution-Aligned Progressive Noise for Consistent Asynchronous Replanning in Generative Robot Policies

    Oct 5, 2026Di Wu, Ping Liu, Xuhua Chen +3Robot Policy LearningDiffusion-Based Planning

  4. Robot Learning on Discrete Surfaces: Theory and Applications

    Oct 1, 2026Matteo Dalle Vedove, Fares J. Abu-Dakka, Luigi Palopoli +2Geometric Representation LearningRobot Motion Generation

  5. Interaction-Stiffness-Guided Basis Allocation in Dynamic Movement Primitives for Efficient Skill Transfer

    Oct 1, 2026Chan Xu, Silu Chen, Dehao Wang +6Robot Motion GenerationRobot Imitation Learning

  6. Kinematic MeanFlow: One-Step Action Generation Policy for Robotic Foundation Models

    Oct 1, 2026Jiawei Fan, Sifeng Wang, Yuqing Hou +1Flow MatchingRobot Foundation Models

  7. SplineWAM: Adaptive Action Horizons for World Action Models via B-Spline Representations

    Sep 30, 2026Jun Guo, Xiaoshen Han, Qiwei Li +7Robot Motion GenerationWorld Action Models

  8. DiffWAM: A Fast and Efficient Navigation World Action Model

    Sep 30, 2026Mo Zhu, Yuze Wu, Xijie Huang +3Trajectory GenerationWorld Models for Robotics

  9. ECHO-G: Embodied Co-speech Humanoid mOtion Generation

    Sep 30, 2026Yizhao Li, Pusen Gao, Ming Wang +3Text-to-Motion GenerationHuman Motion Generation

  10. Dense Temporal Motion Retargeting for Legged Robots

    Sep 29, 2026Jaeryeong Kim, Taerim Yoon, Jin Cheng +2Legged RoboticsHumanoid Robot Locomotion

  11. GestAdapt: Workspace-Conditioned Co-Speech Gesture Generation for Humanoid Robots

    Sep 29, 2026Bosong Ding, Xianglin Zhang, Miao Xin +2Robot Motion GenerationCo-Speech Gesture Generation

  12. Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations

    Sep 29, 2026Hyojae Park, Arjun S. Lakshmipathy, Nancy S. PollardDynamic Time WarpingDexterous Manipulation

  13. Faster Visuomotor Policy Learning on Action Manifolds via Riemannian MeanFlow

    Sep 24, 2026S. Talha Bukhari, Austin Garrett, Yi Wei +3Visuomotor Policy LearningRiemannian Flow Matching

  14. BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video

    Sep 24, 2026Tianyu Xiong, Yi Lu, Jinrui Wang +6Human Motion GenerationCross-Embodiment Robot Learning

  15. CAMP: Cooperative Arm-Hand Motion Planning in Constrained Spaces

    Sep 24, 2026Ziyuan Wang, Yunlong Shan, Fei Mo +6Constrained Motion PlanningRobot Motion Generation

  16. Sample, Simulate, Select: Physics-in-the-Loop Text-to-Motion for Humanoids Without Training

    Sep 22, 2026Raphael Memmesheimer, Sven BehnkeHuman Motion GenerationRobot Motion Generation

  17. DynaForge: Planning-Guided Residual Learning for Dynamic Manipulation Demonstration Generation

    Sep 22, 2026Yiyang Jin, Yu Zheng, Xiao He +1Synthetic Data Generation for RoboticsRobot Motion Generation

  18. Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation

    Sep 19, 2026Yuxuan Nai, Leixin Chang, Liangjing Yang +2Whole-Body Robotic ManipulationRobot Motion Generation

  19. Feedback-Modulated Harmonic Policies for Quadruped Locomotion

    Sep 16, 2026Yixuan Jia, Steven Roche, Jonathan P. HowRobotic ControlRobot Policy Learning

  20. ConGraspXL: Controllable Constraint-Conditioned Dexterous Grasping Motion Synthesis

    Sep 14, 2026Hui Zhang, Mirko Meboldt, Jie SongRobotic GraspingDexterous Manipulation

  21. Volumetric Harmonic Field Navigation for Quadrotors

    Sep 14, 2026Shuxiu Jia, Amartya Mukherjee, Yating YuanUAV NavigationRobot Motion Generation

  22. LieSpline-DP: Lie-Group B-Spline Diffusion Policy for Smooth Robot Manipulation

    Sep 14, 2026Erxuan Xie, Bang Liu, Pingyun Nie +3Trajectory GenerationDiffusion Policy

  23. EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion

    Sep 13, 2026Yi Lu, Tianhao Jiang, Honglong Tian +6Humanoid Robot LocomotionHuman Motion Generation

  24. Frequency-Conditioned Flow Matching for Vision-Language-Action Models

    Sep 9, 2026Haochen Niu, Shengye Dong, Hao Liu +2Flow MatchingRobot Motion Generation

  25. Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits

    Sep 1, 2026Annika Schmidt, Davide Calzolari, Arne Sachtler +13Dynamical SystemsRobot Motion Generation

  26. Autonomously Acquiring Robot Manipulation Skills with Language-Driven Quality-Diversity

    Aug 31, 2026Émiland Garrabé, Mahdi Khoramshahi, Stéphane DoncieuxRobot Policy LearningRobot Skill Learning

  27. PAMoR: Parameterized Affective Motion Generation in Real Time for Humanoid Robots

    Aug 28, 2026Yan Pan, Lingfan Bao, Tianhu Peng +1Robot Motion GenerationValence-Arousal Modeling

  28. Robot Learning from Human Demonstrations: Handwritten Alphabet Trajectories and Human-Likeness Evaluation

    Aug 6, 2026Alperen Kenan, Paul Bremner, Manuel GiulianiRobot Skill LearningGaussian Mixture Models

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

    Aug 3, 2026Yuwei Wu, Vijay KumarTrajectory OptimizationTrajectory Generation

  30. GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking

    Aug 2, 2026Zeyu Ling, Xinyao Yu, Renye Yan +4Zero-Shot LearningHumanoid Robot Control

  31. Hermite Curves as Trajectory Priors for Vision-Language-Action Models

    Aug 2, 2026Qi Lv, Jianming Xing, Zhao Yang +5Robot Motion GenerationRobotic Manipulation

  32. Vision-TL-Action: Neuro-Symbolic Trajectory Generation from Visual Observations and Temporal Logic

    Jul 29, 2026Zezhi Liu, Zhiwei Zheng, Hanqian Luo +3Trajectory GenerationRobot Motion Generation

  33. Tri-Manual Visuomotor Imitation Learning of Robot Policies

    Jul 28, 2026James Zhao, Mingyuan Ba, Weiming ZhiRobot TeleoperationVisuomotor Policy Learning

  34. FARO: Feasibility-Aware Robot Motion Optimization

    Jul 20, 2026Michal Ciebielski, Shafeef Omar, Aaron Johnson +1Humanoid Loco-ManipulationKinodynamic Motion Planning

  35. User-Driven Learning from Demonstration: A Trajectory and Impedance Learning Method

    Jul 18, 2026Zi-Qi Yang, Mehrdad R. KermaniRobotic ControlRobot Motion Generation

  36. ConFlow: Constraints-Guided Learning with Flow Matching for Motion Generation

    Jul 15, 2026Nutan Chen, Jianxiang Feng, Marvin Alles +1Constrained Generative ModelingFlow Matching

  37. Learning Forward & Reverse Skills from a Single Unfinished Demonstration for Constrained Manipulation Tasks

    Jul 15, 2026Yexin Hu, Haoyi Zheng, Johannes Heidersberger +1Robot Skill LearningContact-Rich Robotic Manipulation

  38. Anatomy of Uncertainty: Expressive Descriptors of Robotic Manipulator Motion for Non-verbal Communication in Human-Robot Collaboration

    Jul 15, 2026Ridhima Bector, Souravik Dutta, Poornima Ramachandran +4Robot Motion GenerationHuman-Robot Collaboration

  39. PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings

    Jul 13, 2026Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4Normalizing FlowsWhole-Body Robotic Manipulation

  40. GenVid2Robot: From Video Generation to Robot Manipulation via Rigid-Geometric Consistency

    Jul 10, 2026Haohui Huang, Xi Yuan, Panpan Liao +4Robot Motion GenerationRobotic Manipulation

  41. TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging

    Jul 10, 2026Shengzhuo Yang, Ronghao Yu, Chuanjie Lv +5Robot Motion GenerationRobotic Manipulation

  42. A New Human-Likeness and Comfort Index for Robot Movements Along Prescribed Paths

    Jul 9, 2026Rosanna Coccaro, Enrico Ferrentino, Antonio Parziale +2Robot Motion GenerationHuman-Robot Interaction

  43. Compositional Motion Generation from Demonstration with Object-Centric Neural Fields

    Jul 8, 2026Ahmet Ercan Tekden, Yasemin BekirogluGeneralization in Robotic ManipulationRobot Motion Generation

  44. SPECTRA: Context-Conditioned Spectral Movement Primitives for Robot Skill Generalization

    Jul 8, 2026Boxuan Zhang, Sheng Liu, Chenlin Ming +1Generalization in Robotic ManipulationRobot Motion Generation

  45. Dynamic Evaluation of Classical and Control-Aware Optimal Trajectory Planning in Robot Manipulators

    Jul 6, 2026Bhanuka Dayawansa, Rohan MunasingheRobotic ControlTrajectory Optimization

  46. ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control

    Jun 29, 2026Xiao Chen, Weishuai Zeng, Xiaojie Niu +12Roadmap-Based Motion PlanningHumanoid Robot Control

  47. HJ-SafeDMP: Hamilton-Jacobi Reachability-Guided Dynamic Movement Primitives for Provably Safe Robot Motion

    Jun 27, 2026Siddhanth Ramesh, Ravi PrakashReachability AnalysisControl Barrier Functions