Robot Motion Generation

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

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  1. Unleashing Infinite Motion: Scaling Expressive Quadrupedal Motion via Generative Video Priors

    Jun 26, 2026Youzhi Liu, Li Gao, Yifei Qian +3Synthetic Data Generation for RoboticsRobot Motion Generation

    Amap, Alibaba Group

  2. Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies

    Jun 26, 2026Penghui Chen, Tinglong Zheng, Yufeng Zhang +1Humanoid Robot LocomotionRobot Skill Learning

    Department of Automation, Tsinghua University, Beijing, China · Booster Robotics Technology Co., Ltd, Beijing, China · School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing, China

  3. Emcar: Embodied Controller for Animating Robots

    Jun 24, 2026Carlos Gomez Cubero, Elizabeth JochumRoboticsRobot Motion Generation

    CREATE, Aalborg University, Aalborg, Denmark · CyPhy Life, Robotics and AI Lab, School of Science & Technology, IE University, Madrid, Spain · Department of Communication and Psychology, Aalborg University, Aalborg, Denmark

  4. iFLYTEK-Embodied-Omni Technical Report

    Jun 24, 2026Yuan Zhang, Jingfei Ni, Guanchen Lu +12Unified Multimodal ModelsRobot Motion Generation

    1iFLYTEK · University of Science and Technology of China · 2LindenBot

  5. Flow as Flow: Modeling Robot Velocity Fields as Probability Velocity Fields for Flow-Based Object Manipulation

    Jun 22, 2026Koki Seno, Daichi Yashima, Yusuke Takagi +2Flow MatchingCross-Embodiment Robot Learning

    Keio University, Japan

  6. TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation

    Jun 22, 2026Jianuo Cao, Yuxin Chen, Yuzhen Song +3Humanoid Robot ControlTest-Time Scaling

    Nanjing University · University of California, Berkeley · Southern University of Science and Technology

  7. Frequency-Aware Flow Matching for Continuous and Consistent Robotic Action Generation

    Jun 18, 2026Jianing Guo, Fangzheng Chen, Zihao Mao +12Robotic ControlFlow Matching

    Beihang University · PKU-Psibot Lab · The Chinese University of Hong Kong +3

  8. PhysDrift: Bridging the Embodiment Gap in Humanoid Co-Speech Motion Generation

    Jun 18, 2026Zhangzhao Liang, Xiaofen Xing, Mingyue Yang +2Human Motion GenerationRobot Motion Generation

    South China University of Technology · DexForce Technology · Foshan University

  9. Co-policy: Responsive Human-Robot Co-Creation for Musical Performances

    Jun 18, 2026Xuetao Li, Wenke Huang, Mang Ye +4Policy OptimizationRobot Motion Generation

    School of Computer Science, Wuhan University, Wuhan, China · College of Computing and Data Science, Nanyang Technological University, Singapore · School of Automation, Wuhan University of Technology, Wuhan, China +2

  10. Generating Natural and Expressive Robot Gestures through Iterative Reinforcement Learning with Human Feedback using LLMs

    Jun 17, 2026Chris Lee, Flora Salim, Benjamin Tag +1Language Model-Based ControlHuman Motion Generation

    School of Computer Science and Engineering, University of New South Wales, Sydney, Australia · Universidad Central de Chile, Santiago, Chile

  11. Ghost Attractor Networks: Basin-Structured Dynamical Decoders for Closed-Loop Sequential Generation

    Jun 16, 2026Tianyu Wang, Ying Wang, Zhihao Liu +2Latent Dynamics ModelingRobot Motion Generation

    Department of Production Engineering, KTH Royal Institute of Technology, Stockholm, Sweden · Department of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden

  12. WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots

    Jun 15, 2026Thang Tran Viet, Thanh Nguyen Canh, Gia Huy Uong +4Human Motion GenerationAudio-Visual Synchronization

    University of Engineering and Technology, Vietnam National University, 10000, Hanoi, Vietnam. · School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, 923-1211, Ishikawa, Japan. · School of Electronics and Computer Science, University of Southampton, SO17 1BJ Southampton, United Kingdom. +1

  13. GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training

    Jun 11, 2026Zhihai Bi, Qiang Zhang, Guoyang Zhao +8Contact-Rich Robotic ManipulationRobot Motion Generation

    The Hong Kong University of Science and Technology (Guangzhou) · Artificial General Intelligence Institute, University of Science and Technology of China · The University of Hong Kong +1

  14. G-MAPP: GPU-accelerated Multi-Agent Planning and Perception for Reactive Motion Generation

    Jun 10, 2026Tanmay Bishnoi, Riddhiman Laha, Tobias Löw +3World Models for RoboticsRobot Motion Generation

    Department of Electrical, Computer, and Biomedical Engineering, Toronto Metropolitan University, Toronto, Canada · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Munich, Germany · Institute for Experiential Robotics, Northeastern University, Boston, USA +4

  15. OMG: Omni-Modal Motion Generation for Generalist Humanoid Control

    Jun 9, 2026Siqiao Huang, Kun-Ying Lee, Dongming Qiao +5Robot Foundation ModelsHumanoid Robot Control

    Tsinghua University

  16. Motion planning for hundreds of floating robots

    Jun 8, 2026Jan Kamm, Antonio Terpin, Raffaello D'Andrea +1Multi-Robot Motion PlanningTrajectory Generation

    Institute for Dynamic Systems and Control, ETH Zürich

  17. Safe, Fluent and Acceptable Motion Generation and Execution for Human--Robot Interaction in Manufacturing Environments

    Jun 7, 2026Thibaut Lopez, Olivier Aycard, Pierre-Brice Wieber +2Robot Motion GenerationSafe Motion Planning

    GIPSA Lab and Grenoble Institute of Technology, 38000 Grenoble, France · Inria, 38000 Grenoble, France · LIP/PC2S and Univ. Grenoble Alpes, Univ. Savoie Mont Blanc, 38000 Grenoble, France

  18. Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain

    Jun 6, 2026Zifan Wang, Yizhao Li, Teli Ma +5Humanoid Robot LocomotionRobot Foundation Models

    1Mondo Robotics · 2The Hong Kong University of Science and Technology (Guangzhou) · 4Artificial General Intelligence Institute, University of Science and Technology of China +2

  19. Spline Policy: A Structured Representation for Robot Policies

    Jun 5, 2026Mengze Tian, Yiming Li, Sichao Liu +2Robot Policy LearningRobot Skill Learning

    Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland · Idiap Research Institute, Martigny, Switzerland

  20. T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion

    Jun 5, 2026Junhong Guo, Hao Hu, Chen Chen +6Humanoid Robot LocomotionRobot Motion Generation

    Harbin Institute of Technology · Leju Robotics

  21. Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator

    Jun 4, 2026Joel Ramadani, Vasilije Rakčević, Riddhiman Laha +4Contact-Rich ManipulationNon-Prehensile Manipulation

    Technical University of Munich · Technical University of Munich, Munich, Germany. · DLR Oberpfaffenhofen +3

  22. Learning from Demonstrations over Riemannian Manifolds using Neural ODEs: An Extended Abstract

    Jun 3, 2026Diana Cuervo Espinosa, Mahathi Anand, Angela P. SchoelligRobot Motion GenerationLearning from Demonstration

    Chair of Robotics and System Intelligence, Technical University of Munich, Germany · Learning Systems and Robotics Lab, Technical University of Munich, Germany

  23. Unified Video-Action Joint Denoising for Dexterous Action and Data Generation

    Jun 2, 2026Dingrui Wang, YuAn Wang, Jinkun Liu +4Action-Conditioned Video GenerationVideo Diffusion Models

    1Technical University of Munich · 2ByteDance · 3Tsinghua University

  24. Let the Dynamics Flow: Stable Flow Matching Dynamical Systems

    Jun 2, 2026Rodrigo Pérez-Dattari, Francisco Leiva, Andrea Testa +3Flow MatchingLyapunov Stability

    Department of Robotics, Perception, and Learning, KTH Royal Institute of Technology, Stockholm, Sweden. · Advanced Mining Technology Center (AMTC) and Department of Electrical Engineering, Universidad de Chile, Santiago, Chile. · Bosch Center for Artificial Intelligence, Renningen, Germany. +1

  25. Extreme Motion Generation via Hybrid Null-Space Control for Straight-Line Path Following

    Jun 2, 2026Xinyi Yuan, Weiwei Wan, Kensuke HaradaRobotic ControlRL Control

    Graduate School of Engineering Science, The University of Osaka, Japan.

  26. FlipItRight: Stable Pose-Targeted Throw-Flip Across Diverse Objects

    Jun 1, 2026Axel Dawne, Shinkyu ParkNon-Prehensile ManipulationRobot Motion Generation

    King Abdullah University of Science and Technology (KAUST), Saudi Arabia

  27. Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills

    May 29, 2026Shuai Ke, Jiexin Zhang, Huan Zhao +4Contact-Rich Robotic ManipulationDiffusion Policy

    State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China

  28. Building Generalization Into Behavior Generation Via Adaptive Compositions of Regularities

    May 29, 2026Aravind Battaje, Malte Bernhard, Vito Mengers +1Robot Motion GenerationRobot Policy Generalization

    Robotics and Biology Laboratory, Technische Universität Berlin, Germany · Science of Intelligence, Research Cluster of Excellence, Berlin, Germany · Robotics Institute Germany

  29. SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprints

    May 27, 2026Yantong Wei, Kaihong Huang, Hainan Pan +6Humanoid Robot LocomotionRobot Motion Generation

    College of Intelligence Science and Technology, National University of Defense Technology, China · School of Artificial Intelligence and Robotics, Hunan University, China

  30. Learning Transferable Motor Skills for Geometry-Aware Robotic Surface Tasks

    May 24, 2026Miroslav David, Karla Stepanova, Robert BabuskaRobot Skill LearningRobot Motion Generation

    Department of Robotics and Machine Perception, Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Czech Republic. · Cognitive Robotics, Faculty of 3mE, Delft University of Technology, The Netherlands.

  31. MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots

    May 23, 2026Yusen Feng, Xiang Wang, Heyuan Yao +7Latent Action LearningHumanoid Robot Locomotion

    Peking University

  32. Sparse Compositional Flow Matching by geometric assembly from motion primitives

    May 22, 2026Yan Tang, Yuanbo Tang, Tingyu Cao +2Flow MatchingRobot Motion Generation

    Tsinghua Shenzhen Graduate School, Tsinghua University, Shenzhen, China · School of AI, Chinese University of Hong Kong (Shenzhen)

  33. Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors

    May 21, 2026Jiahe Chen, ZiRui Wang, Feiyu Jia +7Robot Motion GenerationRobotic Manipulation

    Zhejiang University · Shanghai AI Laboratory · The Chinese University of Hong Kong

  34. GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation

    May 20, 2026Kaichen Zhou, Yuzhen Chen, Fangneng Zhan +8Physical Consistency in Video GenerationRobot Motion Generation

    Harvard AI and Robotics Lab, Harvard University · Media Lab and EECS, MIT · MIT-IBM Watson AI Lab +1

  35. Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum

    May 20, 2026Zhizhao Liang, Yi-Lin Wei, Xuhang Chen +6Humanoid Loco-ManipulationLarge Language Model-Based Robot Planning

    School of Computer Science and Engineering, Sun Yat-sen University, China · Peng Cheng Laboratory, China · Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, China

  36. Mechanisms of Misgeneralization in Physical Sequence Modeling

    May 19, 2026Kento Nishi, Raphael Tang, Karun Kumar +2Robot Motion GenerationGenerative Modeling

    1Harvard College · 2Harvard John A. Paulson School of Engineering and Applied Sciences · 3Comcast AI +3

  37. Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control

    May 14, 2026Haozhe Jia, Honglei Jin, Yuan Zhang +9Robotic ControlLatent Action Learning

    The Hong Kong University of Science and Technology (Guangzhou). · LimX Dynamics Technology Co., Ltd. · Shandong University. +3

  38. Action Emergence from Streaming Intent

    May 12, 2026Pengfei Jing, Victor Shea-Jay Huang, Hengtong Lu +3End-to-End Autonomous DrivingRobot Motion Generation

    1Li Auto · 3CUHK · 2Tsinghua University

  39. Closing the Motion Execution Gap: From Semantic Motion Task Constraints to Kinematic Control

    May 12, 2026Simon Stelter, Vanessa Hassouna, Malte Huerkamp +1Robotic ControlRobot Motion Generation

    University of Bremen

  40. Constraint-Aware Diffusion Priors for High-Fidelity and Versatile Quadruped Locomotion

    May 9, 2026Jianhui Chen, Ruixin Zhan, Liu Liu +2Sim-to-Real TransferConstrained RL

    Amap, Alibaba Group

  41. HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks

    May 6, 2026Nandiraju Gireesh, Yuanliang Ju, Chaoyi Xu +3Hierarchical PlanningLong-Horizon Robotic Manipulation

    1Peking University · University of Toronto. · 2Galbot

  42. A Principled Approach for Creating High-fidelity Synthetic Demonstrations for Imitation Learning

    May 2, 2026Moniruzzaman Akash, Momotaz BegumSynthetic Data Generation for RoboticsRobot Motion Generation

    Department of Computer Science · University of New Hampshire

  43. Reactive Motion Generation via Phase-varying Neural Potential Functions

    Apr 29, 2026Ahmet Tekden, Dimitrios Kanoulas, Aude Billard +1Robotic ControlRobot Motion Generation

    Chalmers University of Technology, Sweden · University College London, UK · Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland

  44. MotionBricks: Scalable Real-Time Motions with Modular Latent Generative Model and Smart Primitives

    Apr 27, 2026Tingwu Wang, Olivier Dionne, Michael De Ruyter +13Human Motion GenerationRobot Motion Generation

    NVIDIA, USA · NVIDIA, Canada · NVIDIA, Switzerland and ETH Zürich, Switzerland +6

  45. CF-VLA: Efficient Coarse-to-Fine Action Generation for Vision-Language-Action Policies

    Apr 27, 2026Fan Du, Feng Yan, Jianxiong Wu +8Robotic ControlEfficient VLA Model Inference

    1Southern University of Science and Technology · 2Xi’an Jiaotong University · 3United Nova Technology +1

  46. QDTraj: Exploration of Diverse Trajectory Primitives for Articulated Objects Robotic Manipulation

    Apr 24, 2026Mathilde Kappel, Mahdi Khoramshahi, Louis Annabi +2Trajectory GenerationRobot Motion Generation

    Institute of Intelligent Systems and Robotics, CNRS, Sorbonne University, Paris, F-75005, France

  47. From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges

    Apr 23, 2026Yiming Zhong, Yaoyu He, Zemin Yang +5Diffusion PolicyRobot Motion Generation

    ShanghaiTech University, Shanghai, China · Morphic Robotics, Shenzhen, China · The Chinese University of Hong Kong, Hong Kong, China.

  48. Multimodal embodiment-aware navigation transformer

    Apr 21, 2026Louis Dezons, Quentin Picard, Rémi Marsal +2Off-Road Robot NavigationRobot Navigation

    AMIAD Pˆole Recherche, Palaiseau, France · U2IS, ENSTA, Institut Polytechnique de Paris, Palaiseau, France

  49. Locomotion of an Elastic Snake Robot via Natural Dynamics

    Apr 20, 2026Tristan Ehlert, Arne Sachtler, Annika Schmidt +2Dynamical SystemsEnergy-Efficient Robot Locomotion

    German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Münchner Str. 20, 82234 Weßling, Germany · Technical University of Munich (TUM), Department of Computer Engineering; Boltzmannstraße 3, 85748 Garching, Germany

  50. Safer Trajectory Planning with CBF-guided Diffusion Model for Unmanned Aerial Vehicles

    Apr 19, 2026Peiwen Yang, Shiyu Bai, Weisong Wen +2Diffusion Model GuidanceUAV Navigation

    Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong

  51. SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating

    Mar 25, 2026Hanbyel Cho, Sang-Hun Kim, Jeonguk Kang +1Robotic ControlHumanoid Robot Control

    Physical AI Lab, RX, Samsung Electronics

  52. PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking

    Mar 13, 2026Jiacheng Bao, Haoran Yang, Yucheng Xin +7Robot Trajectory TrackingHumanoid Robot Control

    Shanghai AI Laboratory · University of Science and Technology of China · Tsinghua University +3

  53. Online Generation of Collision-Free Trajectories in Dynamic Environments

    Feb 28, 2026Nermin Covic, Bakir LacevicConstrained Motion PlanningTrajectory Optimization

    Faculty of Electrical Engineering, University of Sarajevo, Bosnia and Herzegovina

  54. Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control

    Dec 29, 2025Zhe Li, Yangyang Wei, Boan Zhu +9Humanoid Robot LocomotionHuman Motion Generation

    Nanyang Technological University · BAAI · Harbin Institute of Technology +4

  55. EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation

    Dec 2, 2025Iana Zhura, Sausar Karaf, Faryal Batool +7Visual NavigationTrajectory Generation

    Intelligent Space Robotics Laboratory, Center for Digital Engineering, Skolkovo Institute of Science and Technology.

  56. Few-Shot Demonstration-Driven Task Coordination and Trajectory Execution for Multi-Robot Systems

    Oct 17, 2025Taehyeon Kim, Vishnunandan L. N. Venkatesh, Byung-Cheol MinRobot Motion GenerationImitation Learning

    Purdue University, West Lafayette, IN, USA · Astemo Americas, Inc., Farmington Hills, MI, USA · Indiana University Bloomington, Bloomington, IN, USA

  57. A Three-Stage Offline SDRE-Based Control Framework for Human Motion Reproduction on a Suspended Bipedal Robot

    Jun 5, 2025Ping-Kong Huang, Chien-Wu Lan, Chin-Tien Wu +1Robotic ControlRobot Trajectory Tracking

    Department of Applied Mathematics, National Yang Ming Chiao Tung University, Hsinchu 30010, Taiwan · Department of Electrical Engineering, National Central University, Taoyuan City 320317, Taiwan

  58. Captivity-Escape Games as a Means for Safety in Online Motion Generation

    Jun 2, 2025Christopher Bohn, Manuel Hess, Sören HohmannTrajectory GenerationSafety-Critical Control

    Institute of Control Systems, Karlsruhe Institute of Technology, 76131 Karlsruhe, Germany

  59. Prior Reinforce: Goal-Conditioned Dynamic Manipulation with Limited Trials

    May 28, 2025Yihang Hu, Pingyue Sheng, Yuyang Liu +2Robot Policy AdaptationRobot Skill Learning

    IIIS, Tsinghua University. · Shanghai Qi Zhi Institute. · Spirit AI.

  60. Multi-Embodiment Robotic Retargeting via Guided Diffusion Model

    May 27, 2025Zhefeng Cao, Ben Liu, Shunpeng Yang +3Diffusion GuidanceCross-Embodiment Robot Learning

    Southern University of Science and Technology, Shenzhen, China · The Hong Kong University of Science and Technology, HongKong, China · LimX Dynamics, Shenzhen, China. +1