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. 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

  2. What Symmetry Buys a Learned Motion Planner

    Sep 9, 2026Andrea Emir SevincelEquivariant Neural NetworksMotion Planning

    Shanghai Jiao Tong University

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

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

  4. 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

  5. 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

  6. 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.

  7. 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

  8. Dual Process Motion Planning

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

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

  9. 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

  10. 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.

  11. 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

  12. 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

  13. 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

  14. 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

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

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

  16. 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

  17. 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

  18. 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.

  19. 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.

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

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

  21. 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

  22. 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

  23. 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

  24. 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

  25. 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.

  26. 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

  27. 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

  28. 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

  29. 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.

  30. 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.