Robotic Control

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78 papers in the last four weeks, up 388% on the four weeks before. 0.8% of all new papers.

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Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
May 20, 2026Albert Wu, Riccardo Bonalli, Thomas Lew +1Robotic Control Constrained Motion Planning
Computer Science Department, Stanford University, Stanford, CA 94305, USA. · Laboratory of Signals and Systems, University of Paris-Saclay, CNRS, CentraleSup´elec, France. · Toyota Research Institute, Los Altos, CA 94022, USA.
Motion Design for Grasp-Based Dynamic Locomotion in Microgravity
May 20, 2026Chaerim Moon, Joohyung Kim, Justin K. YimRobotic Control Multibody Dynamics
Department of Mechanical Science and Engineering at the University of Illinois at Urbana-Champaign, USA.
Benchmarking Empirical and Learning-Based Approaches for Feedforward Steering Control in Autonomous Racing
May 20, 2026Georg Jank, Mattia Piccinini, Sebastian Wenk +3Robotic Control Autonomous Racing
Chair of Automatic Control, Department of Engineering Physics and Computation, Technical University of Munich, Boltzmannstraße 15, 85748 Garching bei München, Germany · Professorship of Autonomous Vehicle Systems (AVS), Department of Mobility Systems Engineering, Technical University of Munich, Boltzmannstraße 15, 85748 Garching bei München, Germany
DAG-Based QoS-Aware Dynamic Task Placement for Networked Multi-Stage Control Pipelines
May 19, 2026Thien Tran, Jonathan Kua, Thuong Hoang +3Robotic Control Edge Computing
Deakin University, Australia · RMIT University, Vietnam · University of Navarra, Spain +1
Terrestrial Soft Mobile Robots: A Review
May 19, 2026Dimuthu D. K. ArachchigeRobotic Control Mobile Robotics
School of Computing, DePaul University, Chicago, IL, USA · Department of Computer Science, Hampton University, Hampton, VA, USA
DEFLECT: Temporal Counterfactual Preference Learning for Delay-Robust Asynchronous VLAs
May 19, 2026Yixiang Zhu, Yonghao Chen, Zijie Yang +2Robotic Control Visuomotor Policy Learning
The Hong Kong University of Science and Technology (Guangzhou) · One Robotics
Active Defense Against False Data Injection Attacks in Robotic Manipulators
May 18, 2026Gabriele Gualandi, Carl Mikael Larsson, Alessandro V. PapadopoulosRobotic Control False Data Injection Attacks
Mälardalen University, Väster˚as, Sweden
Rapid Vibration Suppression and Trajectory Tracking of a Serial Manipulator with Multi-Flexible Links
May 17, 2026Chengyi Wang, Yilong Huang, Ji WangRobotic Control Robot Trajectory Tracking
School of Aerospace Engineering, Xiamen University, Xiamen 361102, P. R. China
Task Capability Improvement Algorithm for Collaborative Manipulators
May 17, 2026Keshab Patra, Arpita Sinha, Anirban GuhaRobotic Control Multi-Robot Coordination
Department of Mechanical Engineering, Indian Institute of Technology Bombay, Mumbai, Maharashtra, India · Center for Systems and Control, Indian Institute of Technology Bombay, Mumbai, Maharashtra, India
SSTL: Self-Sensing Tendon Loop for Hysteresis Modeling and Compensation in Tendon-Sheath Mechanisms
May 16, 2026Myeongbo Park, Junhyun Park, Ihsan Ullah +2Robotic Control Mechanism Design
Nori Bot: A Sub-$1,000 Floor-to-Counter Mobile Manipulator
May 15, 2026Antonio Li, Sungjoon Park, Wen Ni ChewRobotic Control Mobile Manipulation
Department of Computer Science, Columbia University
Health-Conditioned Vision-Language-Action Models for Malfunction-Aware Robot Control
May 15, 2026Hüseyin Arslan, Özgür ErkentRobotic Control Language-Conditioned Robot Manipulation
*Computer Engineering, Hacettepe University, Ankara, Turkey
Residual Reinforcement Learning for Robot Teleoperation under Stochastic Delays
May 14, 2026Kaize Deng, Zewen YangRobotic Control RL Control
Technical University of Munich, 80333 Munich, Germany
Behavioral Data-Driven Optimal Trajectory Generation for Rotary Cranes
May 14, 2026Iskandar Khemakhem, Manuel Zobel, Johannes Schüle +3Robotic Control Trajectory Optimization
Institute for Adaptive Mechanical Systems, University of Stuttgart, Stuttgart, 70569, Germany · Institute for System Dynamics, University of Stuttgart, Stuttgart, 70563, Germany · Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, 441-8580, Japan +1
SeaVis: Modeling and Control of a Remotely Operated Towed Vehicle for Seabed Visualization and Mapping
May 14, 2026Abdelhakim Amer, Aske Alstrup, Frederik Rasmussen +3Robotic Control Robust Control
Artificial Intelligence in Robotics Laboratory (AiR Lab), Department of Electrical and Computer Engineering, Aarhus University, 8000 Aarhus C, Denmark · EIVA a/s, 8660 Skanderborg, Denmark · Automatic Control Group (RAT), Department of Electrical Engineering and Information Technology, Paderborn University, Paderborn, Germany
Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control
May 14, 2026Haozhe Jia, Honglei Jin, Yuan Zhang +9Robotic Control Latent Action Learning
The Hong Kong University of Science and Technology (Guangzhou). · LimX Dynamics Technology Co., Ltd. · Shandong University. +3
Towards Robotic Dexterous Hand Intelligence: A Survey
May 13, 2026Weiguang Zhao, Tian Liang, Xihao Guo +3Robotic Control Robotic Hand Design
University of Liverpool · Xi’an Jiaotong-Liverpool University · Duke Kunshan University +1
Guide, Think, Act: Interactive Embodied Reasoning in Vision-Language-Action Models
May 13, 2026Yiran Ling, Qing Lian, Jinghang Li +6Robotic Control Robot Policy Learning
Faculty of Computing, Harbin Institute of Technology · International Digital Economy Academy (IDEA) · National Key Laboratory of Smart Farm Technologies and Systems +4
Object Manipulation of the Variable Topology Truss system
May 13, 2026Andrew Jang-Ho Bae, Myeongjin Choi, Haorui Li +2Robotic Control Robotics
Department of Mechanical Engineering University of Nevada, Las Vegas Las Vegas, NV 89154 · Advanced Robotics Research Center Research Institute of AI Robotics Korea Institute of Machinery and Materials Daejeon 34103 · RealMan Robotics Co., Ltd. Beijing, 100043 +2
MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots
May 13, 2026Yuqi Li, Peng Zhai, Yueqi Zhang +5Robotic Control Robot Locomotion
College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai 200433, China · Power China Huadong Engineering Corporation Limited, Hangzhou, China
BiPneu: Design and Control of a Bipolar-Pressure Pneumatic System for Soft Robots
May 12, 2026Yu Mei, Xinyu Zhou, Vedant Naik +2Robotic Control Robust Control
Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA
3D RL-DWA: A Hybrid Reinforcement Learning and Dynamic Window Approach for Goal-Directed Local Navigation in Multi-DoF Robots
May 12, 2026Chiara Castellani, Enrico Turco, Domenico PrattichizzoRobotic Control Robot Navigation
Humanoids and Human Centered Mechatronics Istituto Italiano di Tecnologia 16163, Genoa, Italy · Dept. of Information Engineering and Mathematics University of Siena 53100, Siena, Italy
OrbiSim: World Models as Differentiable Physics Engines for Embodied Intelligence
May 12, 2026Jiajian Li, Jingyuan Huang, Junru Gong +3Robotic Control Robotics Simulation
MoE Key Lab of Artificial Intelligence, AI Institute, School of Computer Science Shanghai Jiao Tong University
Closing the Motion Execution Gap: From Semantic Motion Task Constraints to Kinematic Control
May 12, 2026Simon Stelter, Vanessa Hassouna, Malte Huerkamp +1Robotic Control Robot Motion Generation
University of Bremen
Overcoming Dynamics-Blindness: Training-Free Pace-and-Path Correction for VLA Models
May 12, 2026Yanyan Zhang, Chaoda Song, Vikash Singh +6Robotic Control Vision-Language-Action Models
Case Western Reserve University · The Hong Kong Polytechnic University · Tsinghua University +1
VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
May 11, 2026Lingwei Zhang, Jiaming Wang, Tianlin Zhang +5Robotic Control
Department of Mechanical and Automation Engineering; Hong Kong Embodied AI Lab, The Chinese University of Hong Kong
Drift is a Sampling Error: SNR-Aware Power Distributions for Long-Horizon Robotic Planning
May 10, 2026Kewei Chen, Yayu Long, Mingsheng ShangRobotic Control Inference-Time Scaling
Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences · Chongqing School, University of Chinese Academy of Sciences
High Precision Hydraulic Excavator Control for Heavy-Duty Grading
May 10, 2026Lennart Werner, Pol Eyschen, Sean Costello +2Robotic Control Robotics
ETH Zürich, Robotic Systems Lab, Zürich, Switzerland · Hexagon AB, Heerbrugg, Switzerland
A low-cost mockup to simulate robotic laser cutting in nuclear decommissioning
May 9, 2026Frederico Fernandes Afonso Silva, Murilo Marques Marinho, Bruno Vilhena AdornoRobotic Control Robot Trajectory Tracking
Department of Electrical and Electronic Engineering and the Manchester Centre for Robotics and AI, The University of Manchester, United Kingdom
CSR: Infinite-Horizon Real-Time Policies with Massive Cached State Representations
May 8, 2026Robin Karlsson, Go SuzuiRobotic Control Language Model-Based Control
1GODOT Inc, Hyogo, Japan · 2Graduate School of Informatics, Nagoya University, Aichi, Japan.

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

Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation

Albert Wu, Riccardo Bonalli, Thomas Lew, C. Karen Liu

Computer Science Department, Stanford University, Stanford, CA 94305, USA. · Laboratory of Signals and Systems, University of Paris-Saclay, CNRS, CentraleSup´elec, France. · Toyota Research Institute, Los Altos, CA 94022, USA.

Robotic Control Constrained Motion Planning Robotic Grasping Dexterous Manipulation In-Hand Manipulation Control Barrier Functions+3

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Robotic dexterous manipulation requires continuously reconciling objectives and constraints defined on heterogeneous geometric spaces: a robot controlled on a

\mathbb{R}^7

configuration manifold may need to track end effector poses on

\mathrm{SE}(3)

while satisfying obstacle avoidance margins in

\mathbb{R}

. We present Safe Pullback Bundle Dynamical Systems (SafePBDS), a geometrically consistent framework that computes optimal, certifiably safe configuration manifold accelerations from objectives and safety requirements on arbitrary task manifolds. SafePBDS builds on prior work that combines predefined task manifold dynamical systems to produce autonomous motion. Its first innovation is a pullback control barrier function construction, which converts task manifold safety conditions into linear constraints on configuration manifold accelerations. The second innovation is a task manifold action interface that allows a high-level policy to inject low dimensional residual motions; zero input recovers the autonomous behavior, while safety is preserved under arbitrary inputs. This lets high-level policies efficiently steer exploration while leaving precise motion to the autonomous behavior. We validate SafePBDS in simulation and on a 23-DOF Franka Panda-Allegro Hand platform. On dexterous grasping, SafePBDS achieves a

92.5\%

success rate across 20 household objects and 120 trials. Using the action interface, the method can exclude any one of the four fingers during grasping via a one-dimensional action, achieving

94.4\%

3-finger grasp success across 3 objects and 36 trials. The efficient planning and safety guarantee of SafePBDS also enables the first model-based, fully actuated palm-down in-hand reorientation, exceeding

360^\circ

of yaw rotation in both directions under varying object weight and wrist motion. Demo video and details: https://tml.stanford.edu/safe-pbds

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