Robotics Systems

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Robot Systems

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Robotics

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Executable Robot Behavior

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Robocasa

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819 papers

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CMC-Opt: Constraint Manifold with Corners for Inequality-Constrained Optimization
May 20, 2026Yetong Zhang, Frank DellaertInequality Constraints Robotics
Conflict-Aware Active Perception and Control in 3D Gaussian Splatting Fields via Control Barrier Functions
May 19, 2026Amirhossein Mollaei Khass, Athanasios Cosse, Vivek Pandey +1Viewpoint-Dependent Active Perception Control Barrier Functions
Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots
May 19, 2026James Wade, Isaac Weaver, Mihai Stanciu +1Adaptive Controller Fault Tolerance
The Yes-Man Syndrome: Benchmarking Abstention in Embodied Robotic Agents
May 19, 2026Doguhan Yeke, Elif Su Temirel, Ananth Shreekumar +3Embodied Agents Executable Robot Behavior
Multi-Week, In-Class Deployments of Telepresence Robots With Four Homebound K-12 Students: Benefits, Challenges, and Recommendations
May 19, 2026Matthew Rueben, Rhianna Lee, Thomas R. Groechel +4Classrooms Robot Systems
Probing Embodied LLMs: When Higher Observation Fidelity Hurts Problem Solving
May 19, 2026Oussama Zenkri, Oliver BrockEmbodied Agents Large Language Model Performance
Robotics-Inspired Guardrails for Foundation Models in Socially Sensitive Domains
May 19, 2026Rebecca Ramnauth, Drazen Brscic, Brian ScassellatiGuardrail Robotics
Beyond Action Residuals: Real-World Robot Policy Steering via Bottleneck Latent Reinforcement Learning
May 19, 2026Dongjie Yu, Kun Lei, Zhennan Jiang +2Robot Policies Imitation Learning
Trajectory Planning and Control near the Limits: an Open Experimental Benchmark on the RoboRacer Platform
May 19, 2026Mattia Piccinini, Patrick Zambiasi, Aniello Mungiello +3Autonomous Racing Dynamic Replanning
Justifying bio-inspired robotics research: A taxonomy of strategies
May 19, 2026Margaret J. Zhang, Justin Ting, Talia Y. MooreBio-Inspired Framework Intrinsic Motivation
Speed-Weighted Adaptive Flocking for Sailing Swarms under Dynamic Environmental Forcing
May 19, 2026Pranav Kedia, Aaron Gan, Hannah J. Williams +2Swarms Advanced Jet Trainer
Multi-Session Ground Texture SLAM in Low-Dynamic Environments
May 19, 2026Kyle M. Hart, Brendan EnglotSimultaneous Localization And Mapping Robotic Perception
Self-assembling Modular Aerial Robot for Versatile Aerial Tasks
May 19, 2026Junichiro Sugihara, Masaki Kitagawa, Jinjie Li +4Aerial Robots Flight Performance
Neuromorphic Control of a Flapping-Wing Robot on Resource-Constrained Hardware
May 19, 2026Rim El Filali, Chenrui Feng, Chao Gao +1Neuromorphic Hardware Neural Control
Beyond Waypoints: Dual-Heatmap Grounding for Cross-Embodiment Semantic Navigation
May 19, 2026Kaijie Yun, Yue ChenVision-Language Navigation Robocasa
RoboJailBench: Benchmarking Adversarial Attacks and Defenses in Embodied Robotic Agents
May 19, 2026Doguhuan Yeke, Yanming Zhou, Leo Y. Lin +3Robocasa Intelligence
COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphones
May 18, 2026Ayush Agarwal, Ansh Gandhi, Jeremy A. Collins +6Teleoperation Scalable Robot Learning
Robo-Cortex: A Self-Evolving Embodied Agent via Dual-Grain Cognitive Memory and Autonomous Knowledge Induction
May 18, 2026Nga Teng Chan, Yi Zhang, Yechi Liu +9Embodied Agents Self-Evolving Agents
Data-Driven Dynamic Modeling of a Tendon-Actuated Continuum Robot
May 18, 2026Harald Minde Hansen, Bjørn Kåre Sæbø, Kristin Y. Pettersen +2Dynamics Models Soft Robots
Not What You Asked For: Typographic Attacks in Household Robot Manipulation
May 18, 2026Ali Iranmanesh, Peng LiuGeneralizable Robotic Manipulations Robot Systems
Mono-Hydra++: Real-Time Monocular Scene Graph Construction with Multi-Task Learning for 3D Indoor Mapping
May 17, 2026U. V. B. L. Udugama, George Vosselman, Francesco Nex3D Scene Graphs 3D Mapping
From a Single Demonstration to a General Policy for Contact-Rich Manipulation
May 17, 2026Xing Li, Oliver BrockRobotic Manipulation Policies Real-World Manipulation Tasks
Beyond Predefined Learning Objects: A Thinking-Learning Interaction Model for Up-to-Date Autonomous Robot Learning
May 17, 2026Hong SuScalable Robot Learning Adaptive Learning
How to Instruct Your Robot: Dense Language Annotations Power Robot Policy Learning
May 16, 2026Bosung Kim, Ruiyi Wang, David Acuna +5Robot Policies Robot Systems
NORM-Nav: Zero-Shot Mobile Robot Navigation with Natural Language Behavioral Constraints
May 16, 2026Dongjie Huo, Junhui Wang, Chao Gao +3Social Robot Navigation Robot Systems
SADP: Subgoal-Aware Diffusion Policy for Explainable Robots Learned from Foundation Model Generated Demonstrations
May 16, 2026Site Hu, Takato HoriiDiffusion Policies Context-Aware Sub-Goal Generation
Bayesian Networks for Path-Based Sensors: Gathering Information and Path Planning in Communication Denied Environments
May 15, 2026Alkesh K. Srivastava, George P. Kontoudis, Donald Sofge +1Bayesian Networks Coverage Path Planning
Nori Bot: A Sub-$1,000 Floor-to-Counter Mobile Manipulator
May 15, 2026Antonio Li, Sungjoon Park, Wen Ni ChewRobotic Arms Robocasa
No Plan, Yet Human: A Reactive Robotics Model Predicts Human Planning Failures on a Clinical Task
May 15, 2026Michael Migacev, Vito Mengers, Antonia Köngeter +1Robot Planning Planning Methods
Health-Conditioned Vision-Language-Action Models for Malfunction-Aware Robot Control
May 15, 2026Hüseyin Arslan, Özgür ErkentEfficient Vision-Language-Action Models Vision-Language-Action Models
A Reproducible and Physically Feasible Dynamic Parameter Identification Framework for a Low-Cost Robot Arm
May 15, 2026Junji Oaki, Koki Yamane, Koki Inami +1Rigid-Body Dynamics System Identification
Designing for Robot Wranglers: A Synthesis of Literature and Practice
May 15, 2026David Porfirio, Ian McDermott, Hsin-Mei Chen +3Human-Robot Interaction Robot Systems
Propagating Unsafe Actions in LLM Controlled Multi-Robot Collaboration via Single Robot Compromise
May 15, 2026Zhen Huang, Zhihuang Liu, Mengxuan Luo +2Multi-Robot Systems Safety Alignment
Residual Reinforcement Learning for Robot Teleoperation under Stochastic Delays
May 14, 2026Kaize Deng, Zewen YangIterative Reinforcement Learning Teleoperation
Diffusion Policy for Coordinated Control of a Nonholonomic Mobile Base and Dual Arms in Door Opening and Passing
May 14, 2026Shangqun Yu, Matthew En, Daniel Wu +4Visuomotor Policy Diffusion Policies
Let Robots Feel Your Touch: Visuo-Tactile Cortical Alignment for Embodied Mirror Resonance
May 14, 2026Tianfang Zhu, Ning An, Rui Wang +4Tactile Perception Dexterous Robot Hands
When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Execution
May 14, 2026Zilin Zhu, Longteng Guo, Yanghong Mei +5Long-Horizon Planning Embodied Agents
Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments
May 14, 2026Li Tan, Junlin Xiong, Yan Wang +1Obstacle Avoidance Robotics
Safety-Constrained Reinforcement Learning with Post-Training Reachability Verification for Robot Navigation
May 13, 2026Qisong He, Xinmiao Huang, Jinwei Hu +4Social Robot Navigation Safety Constraints
Ergodic Imitation for Adaptive Exploration around Demonstrations
May 13, 2026Ziyi Xu, Cem Bilaloglu, Yiming Li +1Imitation Learning Robot Trajectories
RoboEvolve: Co-Evolving Planner-Simulator for Robotic Manipulation with Limited Data
May 13, 2026Harold Haodong Chen, Sirui Chen, Yingjie Xu +2Robocasa Classical Planning
TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics
May 13, 2026Ishaan Mahajan, Jon Arrizabalaga, Andrea Grillo +4Obstacle Avoidance Robotics
Robot Squid Game: Quadrupedal Locomotion for Traversing Narrow Tunnels
May 13, 2026Amir Hossain Raj, Dibyendu Das, Xuesu XiaoLegged Robots Social Robot Navigation
Guide, Think, Act: Interactive Embodied Reasoning in Vision-Language-Action Models
May 13, 2026Yiran Ling, Qing Lian, Jinghang Li +6Vision-Language-Action Models Executable Robot Behavior
Design of Magnetic Continuum Robots with Tunable Force Response Using Rotational Ring Pairs
May 13, 2026Alex Sayres, Giovanni PittiglioSoft Robots Stress Fields
Calibration-Free Gas Source Localization with Mobile Robots: Source Term Estimation Based on Concentration Measurement Ranking
May 13, 2026Wanting Jin, Agatha Duranceau, İzzet Kağan Erünsal +1Localization Methods Robotics
Towards Long-horizon Embodied Agents with Tool-Aligned Vision-Language-Action Models
May 13, 2026Zixing Lei, Changxing Liu, Yichen Xiong +5Vision-Language-Action Models Executable Robot Behavior
MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots
May 13, 2026Yuqi Li, Peng Zhai, Yueqi Zhang +5Legged Robots Adaptive Locomotion
Occlusion-Based Object Transportation Around Obstacles With a Swarm of Miniature Robots
May 13, 2026Breno Cunha Queiroz, Daniel MacRaeObstacle Avoidance Swarms
Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots
May 12, 2026Navid Feizi, Filipe C. Pedrosa, Rajni V. Patel +1Soft Robots Neural Control
Emotional Expression in Low-Degrees-of-Freedom Robots: Assessing Perception with Reachy Mini
May 12, 2026Amit Rogel, Elmira Yadollahi, Guy LabanAnthropomorphism Sensorimotor Experience
COSMIC: Concurrent Optimization of Structure, Material, and Integrated Control for robotic systems
May 12, 2026Qinsong Guo, Liwei WangCo-Design Topology Optimization
Support-Safe Variational Hybrid Filtering for Contact-Mode and Sparse-Law Recovery
May 12, 2026Marios Papamichalis, Regina RuaneParticle Filters Contact Forces
SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy
May 12, 2026Yibo Liu, Stanko Oparnica, Simon Shewchun-Jakaitis +5Diffusion Policies Robotics
Premover: Fast Vision-Language-Action Control by Acting Before Instructions Are Complete
May 12, 2026Joonha Park, Jiseung Jeong, Taesik GongEfficient Vision-Language-Action Models Robot Systems
Learning What Matters: Adaptive Information-Theoretic Objectives for Robot Exploration
May 12, 2026Youwei Yu, Jionghao Wang, Zhengming Yu +2Efficient Exploration Bayesian Experimental Design
RoboBlockly Studio: Conversational Block Programming with Embodied Robot Feedback for Computational Thinking
May 12, 2026Leyi Li, Chenyu Du, Jiafei Sun +2Robocasa Robot Systems
See What Matters: Differentiable Grid Sample Pruning for Generalizable Vision-Language-Action Model
May 12, 2026Yixu Feng, Zinan Zhao, Yanxiang Ma +4Vision-Language-Action Models Visual Token Pruning
Sampling-Based Follow-the-Leader Motion Planning for Manipulator-Mounted Continuum Robots
May 12, 2026Chengnan Shentu, Nicholas Baldassini, Oluwagbotemi D. Iseoluwa +2Motion Planners Soft Robots
RIO: Flexible Real-Time Robot I/O for Cross-Embodiment Robot Learning
May 12, 2026Pablo Ortega-Kral, Eliot Xing, Arthur Bucker +13Robot Systems Multimodal Dataset

May 20, 2026 · cs.ROJ/K move · Enter open · S save

CMC-Opt: Constraint Manifold with Corners for Inequality-Constrained Optimization

Yetong Zhang, Frank Dellaert

College of Computing Georgia Institute of Technology Atlanta, USA

We introduce a manifold-based framework for addressing optimization problems with equality and inequality constraints found in robotics. Our approach transforms the original problem into an unconstrained optimization problem directly on the constrained state space. To achieve this, we introduce ``constraint manifolds with corners" to represent the state space satisfying mixed nonlinear equality and inequality constraints. We further extend manifold optimization algorithms to operate on this new topological structure. We demonstrate the power and robustness of our framework in the context of a large-scale kinodynamic planning problem, successfully generating dynamically feasible trajectories where standard methods fail.

Inequality Constraints Robotics

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