Robot Motion Planning

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31 papers in the last four weeks, up 343% on the four weeks before. 0.3% of all new papers.

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  1. Post-Grasp Kinematic Repair for Robotic Insertion via Object-in-Gripper Reorientation

    Oct 6, 2026Haegu Lee, Christoffer SlothIn-Hand ManipulationRobotic Insertion

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

  2. HiWE: Hierarchical World Knowledge Model with Visual Keypoint Enhancement for Zero-Shot 3D Path Planning

    Sep 30, 2026Guoqing Ma, Mingqi Yuan, Chen Gao +2Zero-Shot Robotic ManipulationLanguage-Conditioned Robot Manipulation

    Institute of Automation, Chinese Academy of Sciences, Beijing, China · School of Future Technology, University of Chinese Academy of Sciences · State Key Laboratory of Brain Cognition and Brain-inspired Intelligence Technology, CAS +2

  3. Executor-aware Candidate Selection via a Feasibility Certificate

    Sep 29, 2026Sooin Choi, Soonwoong Hwang, Wansoo KimConstrained Motion PlanningModular Robotics

    Department of Robotics, Hanyang University, Seoul, Republic of Korea · Department of Robotics, Hanyang University ERICA, Ansan, Republic of Korea

  4. SAKI: Skill Assembly and Kinematic Imitation from Human Videos for Long-Horizon Mobile Manipulation

    Sep 28, 2026Yijie Lu, James Zhao, Weiming ZhiLong-Horizon Robotic ManipulationMobile Manipulation

    School of Computer Science, The University of Sydney, Australia · Australian Centre for Robotics, The University of Sydney, Australia

  5. Revision, Not Restart: Revisable Visual Plans for Closed-Loop World-Action Models

    Sep 28, 2026Pengyiang Liu, Junbo Niu, Wenhao Zheng +5World Models for RoboticsWorld Model-Based Planning

    Beihang University · Peking University

  6. QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning

    Sep 28, 2026Rui Jin, Ruiyang Liu, Xinhang Xu +4Signed Distance FunctionsWhole-Body Robotic Manipulation

    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798 · NTU–VinUni Joint Research Laboratory for Embodied AI and Robotics, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, and VinUniversity, Hanoi, Vietnam

  7. Graph-Based Simultaneous Path and Foothold Planning for Multi-Limbed Intra-Vehicular Robots in Space Stations

    Sep 28, 2026Masazumi Imai, Kentaro Uno, Toshinori Kuwahara +1Space RoboticsRobot Locomotion

    Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai 980-8579, Japan · New Industry Creation Hatchery Center (NICHe), Tohoku University, Sendai 980-8579, Japan · Research Center for Green X-Tech and Research Center for Space Cross-Tech, Green Goals Initiative, Tohoku University, Sendai 980-8579, Japan

  8. Body-Grounded Replanning for Physically Adaptive Manipulation

    Sep 24, 2026Namiko Saito, Hiroshi KeraRobotic ManipulationDynamic Robotic Manipulation

    Microsoft Research Asia - Tokyo · Waseda University · Chiba University +1

  9. Planning Trajectories that Bounce: Reflection Classes for Collision-Tolerant Robots

    Sep 22, 2026Subhadeep Koley, Subhrajit Bhattacharya, David SaldañaTrajectory GenerationRobot Navigation

    Lehigh University, Bethlehem, PA 18015, USA

  10. Skill Sequence Planning for Collaborative Multi-Robot Construction

    Sep 22, 2026Xi Wang, Bo Fu, Carol C. Menassa +2Robotic ConstructionMulti-Robot Coordination

    Department of Construction Science, Texas A&M University, College Station, TX 77843, USA · Amazon Robotics, North Reading, MA 01864, USA · Department of Civil and Environmental Engineering, University of Michigan, MI 48109, USA +1

  11. SE(3) Neural Potential Fields for 6-DoF Trajectory Planning Directly from Images Without Explicit 3D Reconstruction

    Sep 21, 2026Jeffrey Eiyike, Masoud Ataei, Elvis Gyaase +1Robotic GraspingRobot Motion Planning

    Department of Electrical and Computer Engineering, University of Maine, Orono, Maine, 04469, USA

  12. ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation

    Sep 21, 2026Zilong Wang, Yuzhou Chen, Xinyue He +2Motion PlanningRobot Motion Planning

  13. Phrase-Level Robotic Guqin Performance: Bimanual Motion Planning and Audio-Tactile Interaction Monitoring

    Sep 21, 2026Zhen Wang, Zhiheng Chen, Tianyuan Bao +1Bimanual Robotic ManipulationRobotics

    The Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China · The Chinese University of Hong Kong - Shenzhen, Shenzhen, China

  14. Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations

    Sep 20, 2026Zhiquan Zhang, Melkior OrnikRobotic ControlSafe Motion Planning

    University of Illinois Urbana-Champaign, IL, 61801 USA

  15. Receding-Horizon Pushing with Composable Object-Centric Policies

    Sep 20, 2026Zhiyi Yuan, Tianrun Hu, Anxing Xiao +3Long-Horizon Robotic ManipulationSequential Decision Making

    School of Computing and Smart Systems Institute, National University of Singapore, Singapore · Shanghai Innovation Institute, Shanghai, China

  16. SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulation

    Sep 17, 2026Kaivalya Agrawal, Md Ashiqur Rahman, Raymond A. Yeh +1Long-Horizon Robotic ManipulationEfficient VLA Model Inference

    Department of Computer Science, Purdue University

  17. Time-Efficient Iterative Learning Planning for Safety-Critical Dynamic Obstacle Avoidance

    Sep 17, 2026Zhiyi Chen, Shuli Lv, Chen Min +3Control Barrier FunctionsSafe Robot Navigation

    National Key Laboratory of Autonomous Intelligent Unmanned Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China · School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

  18. Resilient Motion Planning for Free-Flying Space Robots under Actuator Failures

    Sep 17, 2026Nicolas de Maddalena, Joris Verhagen, Jana TumovaSpace RoboticsRobotics

    Institute for Dynamic Systems and Control, ETH Zürich, 8092 Zürich, ZH, Switzerland · Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden, and also affiliated with Digital Futures.

  19. Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement

    Sep 17, 2026Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2Robotic GraspingRobotics

    Deakin University, Australia

  20. Kinematics-Grounded Agentic AI for Robotic Additive Manufacturing Process Planning

    Sep 16, 2026Jingzhan Ge, Ruimin Chen, Azadeh Haghighi +2Large Language Model-Based Robot PlanningRobotics

    School of Mechanical, Aerospace, and Manufacturing Engineering, University of Connecticut, Storrs, Connecticut, USA · Department of Mechanical and Industrial Engineering, University of Illinois Chicago, Chicago, IL 60608, USA

  21. PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments

    Sep 16, 2026Yuxuan Ma, Zicheng Zeng, Chunlin Peng +17Humanoid Robot LocomotionImitation Learning

    Galbot · Shanghai Qi Zhi Institute · ShanghaiTech University +5

  22. An Efficient Algorithm for Minimum-Pressure Growth Planning of Vine Robots

    Sep 16, 2026Andres C. Torres, Tobia Marcucci, Elliot W. HawkesRobot Motion PlanningSoft Robotics

    Department of Mechanical Engineering, University of California Santa Barbara, CA 93106, USA · Department of Electrical and Computer Engineering, University of California Santa Barbara, CA 93106, USA

  23. VCTP: Vehicle-Conditioned Terrain Planning for Off-Road Navigation

    Sep 15, 2026Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1Constrained Motion PlanningOff-Road Robot Navigation

    University of Illinois Urbana-Champaign, Urbana, IL, USA: 1Department of Electrical and Computer Engineering · University of Illinois Urbana-Champaign, Urbana, IL, USA: 2Department of Industrial and Enterprise Systems Engineering · U.S. Army Engineer Research and Development Center, Construction Engineering Research Laboratory, Champaign, IL, USA

  24. Volumetric Harmonic Field Navigation for Quadrotors

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

    Hong Kong Polytechnic University, Hong Kong · Department of Applied Mathematics, University of Waterloo, Waterloo, Ontario, Canada

  25. Global Path Planner with Multi-Model Switching

    Sep 14, 2026Pietro Gori, Francesco Iotti, Eduard Zelenay +5Robot Trajectory TrackingFeedback Control

    Centro di Ricerca “Enrico Piaggio” and the Dipartimento di Ingegneria dell’Informazione, Universit`a di Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy · Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovicova 3, 812 19 Bratislava, Slovakia · Panza Robotics, National Center of Robotics, Ilkovicova 3, 841 04 Bratislava, Slovakia +1

  26. Topological Necessities: Mechanism-Invariant Strategic Subgoals for Cross-Embodiment Goal-Conditioned Control

    Sep 12, 2026Hao Shi, Xi LiHierarchical RLCross-Embodiment Robot Learning

    Army Engineering University of PLA (Shijiazhuang Campus), Shijiazhuang, China

  27. ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations

    Sep 10, 2026Jiawen Wang, Kevin Yao, Khalid JawedDiffusion-Based PlanningGeneralization in Robotic Manipulation

    Department of Mechanical and Aerospace Engineering, University of California, Los Angeles · Department of Computer Science, University of California, Los Angeles

  28. What Symmetry Buys a Learned Motion Planner

    Sep 9, 2026Andrea Emir SevincelEquivariant Neural NetworksMotion Planning

    Shanghai Jiao Tong University

  29. HiRAD: A Flexible Large-Scale AGV Routing System

    Sep 9, 2026Yunjie Huang, Ruizhong Wu, Mengxuan Zhang +3Hierarchical RLVehicle Routing

  30. PccDiffuser: Multi-solution Motion Planning for Continuum Robots

    Sep 9, 2026Ke Qiu, Sifan Chen, Si Wang +3Constrained Motion PlanningDiffusion-Based Planning

    Department of Control Science and Engineering, Zhejiang University, Hangzhou, China

  31. TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model

    Sep 8, 2026Anqi Li, Yuxin Chen, Zhaobo Li +4Robot NavigationHumanoid Robot Control

    University of California, Berkeley · Peking University · Tsinghua University +2

  32. Model Predictive Control of Tensegrity Robots via Contact-Aware Graph Neural Dynamics Model

    Sep 8, 2026Nelson Chen, Patrick Meng, Charles Tang +5Robotic ControlRobot Dynamics Identification

    Computer Science, Rutgers University, Piscataway, NJ, USA. · Mechanical Engineering, Yale University, New Haven, CT, USA.

  33. Local Path Planning and Obstacle Avoidance for an Omnicopter Platform

    Sep 3, 2026Mikolaj Helinski, Spilios Theodoulis, Mahmoud Hamandi +3UAV NavigationRobot Motion Planning

    Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands · Mohamed Bin Zayed University of Artificial Intelligence, Abu Dhabi, UAE · Center for Artificial Intelligence and Robotics, New York University Abu Dhabi, Abu Dhabi, UAE

  34. Dual Process Motion Planning

    Sep 1, 2026Jiayi Yan, Francesco Fabiano, Alessandro AbateSymbolic PlanningMotion Planning

    The Chinese University of Hong Kong, Shenzhen · University of Oxford

  35. Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations

    Aug 15, 2026Ananya Trivedi, Sarvesh Prajapati, Zhexin Xu +3Constrained Motion PlanningTrajectory Optimization

    Northeastern University, Boston, Massachusetts, USA. · University of Maryland, College Park, Maryland, USA. · Northeastern University

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

    Aug 10, 2026Carlos Gonzalez, Luis SentisConstrained Motion PlanningHumanoid Robot Locomotion

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

  37. Energy-Structured Latent World Models with Neural Time Fields for Physically Constistent Open-World Motion Planning

    Aug 10, 2026Yapeng Liu, Yuanzhao Zhai, Bo Ding +2World Model LearningWorld Models

    PDL Lab, College of Computer Science and Technology, National University of Defense Technology

  38. Entanglement-Free Trajectory Planning for Tethered Mobile Robots with a Slack Tether

    Aug 10, 2026Gianpietro Battocletti, Dimitris Boskos, Bart De SchutterConstrained Motion PlanningKinodynamic Motion Planning

    Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands

  39. Particle-Based Conformal Prediction for Contact-Aware Uncertainty Calibration in Stratified Configuration Spaces

    Aug 10, 2026Luís Marques, Kristian Popov, Dmitry BerensonContact-Rich Robotic ManipulationConformal Prediction

    Department of Robotics, University of Michigan, Ann Arbor, MI, 48109, USA · Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, 48109, USA

  40. Hierarchical Topology-Aware Planning and Control of Underwater Vehicle-Manipulator Systems in Confined Environments

    Aug 9, 2026Mohamed Abdelwahab, Ruggero Carli, Damiano Varagnolo +1Underwater RoboticsSafe Motion Planning

    Department of Information Engineering, University of Padova, Via Gradenigo 6/B, 35131 Padova, Italy · Department of Electrical and Information Engineering, Polytechnic University of Bari, Via Orabona 4, 70125 Bari, Italy · Department of Engineering Cybernetics, Norwegian University of Science and Technology, O. S. Bragstads plass 2D, 7034 Trondheim, Norway

  41. Hölder Signed Distance: A Differentiable, Signed, Parallelizable Metric for Robotics

    Aug 7, 2026Felipe Bartelt, Ali Umut Kaypak, Anthony Tzes +3Signed Distance FunctionsDifferentiable Optimization

  42. Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF

    Aug 7, 2026Yisheng Li, Longji Yin, Tingrui Zhang +6Signed Distance FunctionsMobile Manipulation

    Department of Mechanical Engineering, University of Hong Kong · Institute for Interdisciplinary Information Sciences, Tsinghua University

  43. PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds

    Aug 6, 2026Kunal S. Narkhede, Abhijeet M. Kulkarni, Guoquan Huang +1Robot Motion Planning

    Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA · Robotics Institute, Athena Research Center, Marousi, Greece; School of Mechanical Engineering, National Technical University of Athens, Greece; HERON–Center of Excellence in Robotics, Athens, Greece

  44. GASP: GPU-Accelerated Safe Planner for Real-Time Collision-Aware Motion Generation with Latent Trajectory Sampling

    Aug 5, 2026Colin Merk, Stefanos Charalambous, Peter Dürr +1Constrained Motion PlanningTrajectory Generation

    Sony, Zurich, Switzerland.

  45. Complete Motion Planning using Workspace-Fibered Decomposition for nR-Planar Manipulator

    Aug 2, 2026Aayush Rath, Antony ThomasConstrained Motion PlanningHierarchical Planning

    Robotics Research Center, IIIT Hyderabad, Hyderabad 500032, India.

  46. FlowPilot: Real-Time World-Action Modeling for Agile UAV Navigation

    Aug 1, 2026Runqing Wang, Ding Yu, Pengyuan Min +6World Models for RoboticsUAV Navigation

  47. Homotopy-Aware Corridor Generation without Predefined Reference Paths

    Jul 31, 2026Haoze Dong, Minghan Li, Meng Guo +1Roadmap-Based Motion PlanningSafe Motion Planning

    School of Advanced Manufacturing and Robotics, Peking University, Beijing 100871, China

  48. Reactive 3D Motion Planning for a Franka Arm via Star-World Workspace Reshaping

    Jul 27, 2026Gia Dcosta, Saayuj Deshpande, Samhitha VedireRobot Motion PlanningRobot Collision Avoidance

    University of Pennsylvania, Philadelphia, PA, USA

  49. Motion Generation With Environmental Constraints

    Jul 27, 2026Előd Páll, Oliver BrockConstrained Motion PlanningMotion Planning

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

  50. Learning Spatiotemporal Decision Priors for Efficient Path Planning under Partial Observability

    Jul 24, 2026Yi Liu, Hongda Zhang, Leyao Zou +7Imitation LearningRobot Motion Planning

    College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, 200433, China · School of Information Science and Technology, Fudan University, Shanghai, 200433, China · Department of Information Technology, Old Dominion University, Norfolk, 23529, VA, USA

  51. GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation

    Jul 22, 2026Leesai Park, Jiho HOng, Sanghyun KimDiffusion GuidanceDiffusion Policy

    School of Mechanical Engineering, Kyung Hee University, Yongin, Republic of Korea. · Advanced Institute of Convergence Technology (AICT), Suwon, Republic of Korea.

  52. Self-Supervised Bio-Inspired Robotic Trajectory Planning with Obstacle Avoidance

    Jul 22, 2026Miroslav Krupa, Miroslav Cibula, Kristína MalinovskáRobot Motion PlanningRobot Collision Avoidance

    Faculty of Mathematics, Physics and Informatics, Comenius University Bratislava, Bratislava, Slovakia

  53. From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs

    Jul 21, 2026Jason Stanley, Zhirui Dai, Qihao Qian +6Trajectory GenerationSigned Distance Functions

    UC San Diego, La Jolla, USA · Electrical and Computer Engineering Department, UC San Diego, 9500 Gilman Dr, La Jolla, 92093, CA, USA. · Shield AI, San Diego, USA +1

  54. STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets

    Jul 21, 2026Nicola De Carli, Gregorio Marchesini, Dimos V. DimarogonasRobot Trajectory TrackingConstrained Motion Planning

  55. Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom

    Jul 21, 2026Mehdi Heydari Shahna, Tuomo Kivelä, Jouni MattilaConstrained Motion PlanningControl Barrier Functions

    Faculty of Engineering and Natural Sciences, Tampere University, 33720 Tampere, Finland. · Sandvik Mining and Construction Oy, Tampere, Finland.

  56. Leveraging Two Robotic Arms for Tight Assembly Performance Gains

    Jul 20, 2026Dror Livnat, Yuval Lavi, Michael M. Bilevich +1Bimanual Robotic ManipulationRobotic Assembly

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

  57. Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots

    Jul 20, 2026Zhouru Xiao, Sha Luo, Yang Lu +5Constrained Motion PlanningMobile Robotics

    School of Artificial Intelligence and Robotics, Hunan University. China. · College of Information Science and Engineering, Hunan Normal University, China. · College of Systems Engineering and the State Key Laboratory of Digital Intelligent Modeling and Simulation, National University of Defense Technology, China. +1

  58. Learning Reach-Avoid Task with Reinforcement Learning: Vectorized Simulation and Benchmark

    Jul 17, 2026Jonas Weihing, Shahram EivaziRobotics SimulationRobotic RL

    *Tübingen university

  59. Catch, Throw, Repeat: Planning for Human-Robot Partner Juggling

    Jul 16, 2026Jonathan Rainer Lippert, Kai Ploeger, Abir Chowdhury +3Dynamic Robotic ManipulationHuman-Robot Interaction

    Technical University of Darmstadt · Justus-Liebig University Gießen · German Research Center for AI (DFKI), 4Robotics Institute Germany +3

  60. BridgeFlow: Fast and Robust SE(2)-Equivariant Motion Planning with Flow Matching

    Jul 16, 2026Xinzhe Zhou, Xuyang Wang, Xiaoming Duan +1Flow MatchingMotion Planning

    †All authors are with the School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai, China.