Robot Motion Generation

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Overview

Robot motion generation studies how to turn goals, observations, language, or demonstrations into trajectories that robots can execute. Approaches range from optimization, model-predictive control, splines, and Dynamic Movement Primitives to learned policies using diffusion, flow matching, and video or vision-language models; many combine these with reinforcement learning or motion retargeting. Work spans manipulation, humanoid locomotion, navigation, and human-robot interaction, with evaluation on benchmarks such as LIBERO and CALVIN as well as real robots. A central challenge is balancing diverse, expressive motions and fast generation with physical feasibility, safety, smooth closed-loop execution, and transfer across robots and changing environments.

Latest papers

CardsList

198 papers40 papers in the last four weeks, up 60% on the four weeks before. 0.2% of all new papers.

  1. CLAW: Composable Language-Annotated Whole-body Motion Generation

    Apr 13, 2026Jianuo Cao, Yuxin Chen, Masayoshi TomizukaRobot Motion GenerationSynthetic Data Generation for Robotics

    Nanjing University · University of California, Berkeley

  2. One Interface, Many Robots: Unified Real-Time Low-Level Motion Planning for Collaborative Arms

    Apr 9, 2026Yue Feng, Weicheng Huang, I-Ming ChenRoboticsRobot Motion Planning

    Robotics Research Center (RRC), Nanyang Technological University, Singapore, 639798. · WinGs Robotics LLC, NY, 10314 USA.

  3. EMMa: End-Effector Stability-Oriented Mobile Manipulation for Tracked Rescue Robots

    Apr 9, 2026Yifei Wang, Hao Zhang, Jidong Huang +2Mobile ManipulationRobot Motion Generation

  4. Flow Motion Policy: Manipulator Motion Planning with Flow Matching Models

    Apr 8, 2026Davood Soleymanzadeh, Xiao Liang, Minghui ZhengRobot Motion PlanningRobot Motion Generation

    J. Mike Walker ’66 Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, USA · Zachry Department of Civil and Environmental Engineering, Texas A&M University, College Station, TX 77843 USA

  5. Rectified Schrödinger Bridge Matching for Few-Step Visual Navigation

    Apr 7, 2026Wuyang Luan, Junhui Li, Weiguang Zhao +3Schrödinger BridgesRobot Policy Learning

    School of Artificial Intelligence, Jilin University, Changchun 130012, China · College of Computer Science, Chongqing University, Chongqing 400044, China · Department of Computer Science, University of Liverpool, Liverpool L69 3BX, UK +1

  6. Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach

    Apr 5, 2026Shibowen Zhang, Jiayang Wu, Guannan Liu +12Robot Motion GenerationHumanoid Robot Control

    Department of Automation, University of Science and Technology of China, Hefei 230027, China. · State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing 100080, China · Department of Automation, Tsinghua University, Beijing 100084, China. +2

  7. DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors

    Mar 31, 2026Sudarshan Harithas, Sangkyung Kwak, Pushkal Katara +6Robot Skill LearningHumanoid Robot Control

    General Robotics, USA · Brown University, USA · University of California, Berkeley, USA

  8. SafeDMPs: Integrating Formal Safety with DMPs for Adaptive HRI

    Mar 31, 2026Soumyodipta Nath, Pranav Tiwari, Ravi PrakashRobot Motion GenerationSafe Motion Planning

    All authors are with the Cyber Physical Systems, Indian Institute of Science, Bengaluru, 560012, India.

  9. Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control

    Mar 29, 2026Zelin Tao, Zeran Su, Peiran Liu +13Humanoid Robot ControlRobotic Control

  10. LILAC: Language-Conditioned Object-Centric Optical Flow for Open-Loop Trajectory Generation

    Mar 26, 2026Motonari Kambara, Koki Seno, Tomoya Kaichi +2Language-Conditioned Robot ManipulationRobot Motion Generation

    Keio University · KDDI Research Inc.

  11. FODMP: Fast One-Step Diffusion of Movement Primitives Generation for Time-Dependent Robot Actions

    Mar 25, 2026Xirui Shi, Arya Ebrahimi, Yi Hu +1Robot Motion GenerationDiffusion Models for Motion Generation

    Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta, Canada. · Jun Jin is also with the Alberta Machine Intelligence Institute(Amii), Edmonton, Alberta, Canada.

  12. QuadFM: Foundational Text-Driven Quadruped Motion Dataset for Generation and Control

    Mar 25, 2026Li Gao, Fuzhi Yang, Jianhui Chen +4Robot Motion GenerationLegged Robotics

    AMAP, Alibaba Group

  13. 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

  14. Trajectory Generation for Underactuated Soft Robot Manipulators using Discrete Elastic Rod Dynamics

    Mar 23, 2026Beibei Liu, Akua K. Dickson, Ran Jing +1Robot Motion GenerationTrajectory Generation

    Division of Systems Engineering, Boston University, Boston MA, USA. · Department of Mechanical Engineering, Boston University, Boston MA, USA.

  15. Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control

    Mar 23, 2026Qingrui Zhao, Kaiyue Yang, Xiyu Wang +6Motion RetargetingRobot Motion Generation

    Nanjing University · Huawei Technologies

  16. The Robot's Inner Critic: Self-Refinement of Social Behaviors through VLM-based Replanning

    Mar 20, 2026Jiyu Lim, Youngwoo Yoon, Kwanghyun ParkSocial RoboticsRobot Motion Generation

    KwangWoon University, Republic of Korea. · ETRI, Republic of Korea.

  17. Morphology-Consistent Humanoid Interaction through Robot-Centric Video Synthesis

    Mar 20, 2026Weisheng Xu, Jian Li, Yi Gu +12Robot Motion GenerationHumanoid Robotics

    Hong Kong University of Science and Technology (Guangzhou) · Harbin Institute of Technology, Shenzhen · Shenzhen University +1

  18. V-Dreamer: Automating Robotic Simulation and Trajectory Synthesis via Video Generation Priors

    Mar 19, 2026Songjia He, Zixuan Chen, Hongyu Ding +5Synthetic Data Generation for RoboticsRobotic Manipulation

    Nanjing University. · Northwestern Polytechnical University.

  19. GMT: Goal-Conditioned Multimodal Transformer for 6-DOF Object Trajectory Synthesis in 3D Scenes

    Mar 18, 2026Huajian Zeng, Abhishek Saroha, Daniel Cremers +1Multimodal TransformerTrajectory Generation

    TU München · MBZUAI · MCML +1

  20. Surface-Constrained Offline Warping with Contact-Aware Online Pose Projection for Safe Robotic Trajectory Execution

    Mar 17, 2026Farong Wang, Sai Swaminathan, Fei LiuRobot Motion GenerationRobot Trajectory Tracking

    All authors are with the Min H. Kao Department of Electrical Engineering and Computer Science (EECS), University of Tennessee, Knoxville (UTK), Knoxville, TN 37996, USA.

  21. ECHO: Edge-Cloud Humanoid Orchestration for Language-to-Motion Control

    Mar 17, 2026Haozhe Jia, Jianfei Song, Yuan Zhang +5Language-Conditioned Robot ControlRobot Motion Generation

    The Hong Kong University of Science and Technology (Guangzhou). · LimX Dynamics Technology Co., Ltd. · Shandong University. +1

  22. See, Learn, Assist: Safe and Self-Paced Robotic Rehabilitation via Video-Based Learning from Demonstration

    Mar 15, 2026Ali Alabbas, Camillo Murgia, Joanne Regan +1Assistive RoboticsRobotic Control

    Faculty of Mechanical Engineering, Atlantic Technological University, Galway, Ireland. · Department of Health and Nutritional Science, Atlantic Technological University, Sligo, Ireland.

  23. PhysMoDPO: Physically-Plausible Humanoid Motion with Preference Optimization

    Mar 13, 2026Yangsong Zhang, Anujith Muraleedharan, Rikhat Akizhanov +5Human Motion GenerationRobot Motion Generation

    Mohamed Bin Zayed University of Artificial Intelligence (MBZUAI) · LIGM, École des Ponts, IP Paris, Univ Gustave Eiffel, CNRS · École polytechnique fédérale de Lausanne (EPFL)

  24. 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

    Northwestern Polytechnical University · Shanghai AI Laboratory · University of Science and Technology of China +4

  25. SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization

    Mar 12, 2026Hanwen Wang, Qiayuan Liao, Bike Zhang +3Motion RetargetingRobot Motion Generation

    University of Wisconsin-Madison · University of California, Berkeley · Shanghai Innovation Institute (SII)

  26. Dance2Hesitate: A Multi-Modal Dataset of Dancer-Taught Hesitancy for Understandable Robot Motion

    Mar 10, 2026Srikrishna Bangalore Raghu, Anna Soukhovei, Divya Sai Sindhuja Vankineni +2Human-Robot CollaborationRobot Motion Generation

    University of Colorado Boulder Boulder, Colorado, United States · Pacific Lutheran University Tacoma, Washington, United States

  27. Stability-Guided Exploration for Diverse Motion Generation

    Mar 6, 2026Eckart Cobo-Briesewitz, Tilman Burghoff, Denis Shcherba +2Robot Motion GenerationLong-Horizon Robotic Manipulation

    Technische Universität Berlin · LAAS-CNRS · Robotics Institute Germany (RIG)

  28. DreamToNav: Generalizable Navigation for Robots via Generative Video Planning

    Mar 6, 2026Valerii Serpiva, Jeffrin Sam, Chidera Simon +4Robot NavigationVisual Robot Navigation

    The authors are with the Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology Moscow, Bolshoy Boulevard 30, bld. 1, 121205, Moscow, Russia.

  29. cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots

    Mar 5, 2026Balakumar Sundaralingam, Adithyavairavan Murali, Stan BirchfieldRobot Motion GenerationKinodynamic Motion Planning

  30. Curve-Induced Dynamical Systems on Riemannian Manifolds and Lie Groups

    Mar 5, 2026Saray Bakker, Martin Schonger, Tobias Löw +2Dynamical SystemsRobot Motion Generation

    Delft University of Technology, The Netherlands · Idiap Research Institute, Switzerland · École Polytechnique Fédérale de Lausanne (EPFL), Switzerland