Robotic Control

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Overview

Robotic control turns sensor readings and task goals into actions, from steering mobile robots to coordinating humanoid bodies and handling delicate contact. Methods range from feedback control, inverse kinematics, and model predictive control to reinforcement learning, imitation learning, and vision-language-action policies. Current work often combines these approaches, adding force or tactile feedback, safety constraints, and sim-to-real adaptation to improve performance on manipulation, locomotion, and human-robot interaction tasks. A central challenge is achieving safe, stable behavior that generalizes to unfamiliar conditions while meeting real-time limits and retaining task performance.

Latest papers

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587 papers95 papers in the last four weeks, up 10% on the four weeks before. 0.5% of all new papers.

  1. TRIAGE: Type-Routed Interventions via Aleatoric-Epistemic Gated Estimation in Robotic Manipulation and Adaptive Perception -- Don't Treat All Uncertainty the Same

    Mar 9, 2026Divake Kumar, Sina Tayebati, Devashri Naik +4Robotic ControlUncertainty Decomposition

    University of Illinois at Chicago · Intel Labs

  2. Adaptive Vision-Based Control of Redundant Robots with Null-Space Interaction for Human-Robot Collaboration

    Mar 9, 2026Xiangjie Yan, Chen Chen, Xiang LiRobotic ControlHuman-Robot Collaboration

    Department of Automation, Tsinghua University

  3. SMAT: Staged Multi-Agent Training for Co-Adaptive Exoskeleton Control

    Mar 8, 2026Yifei Yuan, Ghaith Androwis, Xianlian ZhouHip Exoskeleton ControlAssistive Robotics

    Department of Biomedical Engineering, New Jersey Institute of Technology, Newark, NJ 07102, USA · Kessler Foundation, West Orange, NJ, 07052, USA

  4. Approximate Imitation Learning for Event-based Quadrotor Flight in Cluttered Environments

    Mar 8, 2026Nico Messikommer, Jiaxu Xing, Leonard Bauersfeld +3Robot Imitation LearningRobotic Control

    Robotics and Perception Group, University of Zurich, Switzerland.

  5. LITHE: Bridging Best-Effort Python and Real-Time C++ for Hot-Swapping Robotic Control Laws on Commodity Linux

    Mar 8, 2026He Kai Lim, Tyler R. ClitesRobotic Control

    All authors are with the Department of Mechanical and Aerospace Engineering, University of California Los Angeles, Los Angeles, CA 90095 USA

  6. CAR: Cross-Vehicle Kinodynamics Adaptation via Mobility Representation

    Mar 6, 2026Tong Xu, Chenhui Pan, Xuesu XiaoRobotic ControlMobile Robotics

    Department of Computer Science, George Mason University

  7. A Multi-Layer Sim-to-Real Framework for Gaze-Driven Assistive Neck Exoskeletons

    Mar 6, 2026Colin Rubow, Eric Brewer, Ian Bales +2Assistive RoboticsRobotic Control

    Dept. of Mechanical Engineering, University of Utah, UT 84112, USA. · Robotics Center, University of Utah, UT 84112, USA. · Kahlert School of Computing, University of Utah, UT 84112, USA.

  8. Underactuated multimodal jumping robot for extraterrestrial exploration

    Mar 6, 2026Neil R. Wagner, Justin K. YimRobot LocomotionLegged Robotics

    Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign

  9. HybridMimic: Hybrid RL-Centroidal Control for Humanoid Motion Mimicking

    Mar 6, 2026Ludwig Chee-Ying Tay, I-Chia Chang, Yan GuHuman-to-Robot Motion ImitationRobotic Control

    Department of Computer Science, Purdue University, West Lafayette, IN 47907, USA. · School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA.

  10. Glance-Say: Multimodal Human-Robot Collaboration and Intent Recognition via Sticky Glance

    Mar 6, 2026Yuzhi Lai, Shenghai Yuan, Peizheng Li +2Robotic ControlHuman-AI Interaction

    University of Tuebingen, Geschwister-Scholl-Platz, 72074 Germany · Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798

  11. Improved hopping control on slopes for small robots using spring mass modeling

    Mar 6, 2026Heston Roberts, Pronoy Sarker, Sm Ashikul Islam +1Robot LocomotionRobotic Control

    Department of Electrical and Computer Engineering, Georgia Southern University, Statesboro, GA, USA

  12. Terrain characterization and locomotion adaptation in a small-scale lizard-inspired robot

    Mar 6, 2026Duncan Andrews, Landon Zimmerman, Evan Martin +2Bioinspired RoboticsRobotics

    Locomotion in Biology and Robotics (LiBR) Lab at Penn State University, University Park, PA 16802

  13. Control Lyapunov Functions for Underactuated Soft Robots

    Mar 5, 2026Huy Pham, Zach J. PattersonRobotic ControlSoft Robotics

    Mechanical and Aerospace Engineering, Case Western Reserve University

  14. RACAS: Controlling Diverse Robots With a Single Agentic System

    Mar 5, 2026Dylan R. Ashley, Jan Przepióra, Yimeng Chen +5Agentic AI for RoboticsRobotic Control

    Center of Excellence in Generative AI, King Abdullah University of Science and Technology (KAUST), Saudi Arabia. · Dalle Molle Institute for Artificial Intelligence Research (IDSIA), Switzerland. · Università della Svizzera italiana (USI), Switzerland. +3

  15. PhysiFlow: Physics-Aware Humanoid Whole-Body VLA via Multi-Brain Latent Flow Matching and Robust Tracking

    Mar 5, 2026Weikai Qin, Sichen Wu, Ci Chen +5Humanoid Robot ControlRobotic Control

    department of Automation Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China · Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University, Shanghai, 200240, China

  16. Accelerating Sampling-Based Control via Learned Linear Koopman Dynamics

    Mar 5, 2026Wenjian Hao, Yuxuan Fang, Zehui Lu +1Robotic ControlRobot Trajectory Tracking

    independent researcher

  17. 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

  18. Data-Driven Control of a Magnetically Actuated Fish-Like Robot

    Mar 5, 2026Akiyuki Koyama, Hiroaki KawashimaRobotic ControlUnderwater Robotics

    Graduate School of Information Science, University of Hyogo, Japan

  19. Compliant In-hand Rolling Manipulation Using Tactile Sensing

    Mar 4, 2026Huan Weng, Yifei Chen, Kevin M. LynchIn-Hand ManipulationRobotic Control

    Center for Robotics and Biosystems and the Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208 USA · Northwestern Institute on Complex Systems (NICO)

  20. Learning Hip Exoskeleton Control Policy via Predictive Neuromusculoskeletal Simulation

    Mar 4, 2026Ilseung Park, Changseob Song, Inseung KangHip Exoskeleton ControlRobotic Control

    Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 15213 USA.

  21. Whole-Body Safe Control of Robotic Systems with Koopman Neural Dynamics

    Mar 4, 2026Sebin Jung, Abulikemu Abuduweili, Jiaxing Li +1Robotic ControlRobot Safety

    Robotics Institute, Carnegie Mellon University, Pittsburgh, PA.

  22. MEM: Multi-Scale Embodied Memory for Vision Language Action Models

    Mar 4, 2026Marcel Torne, Karl Pertsch, Homer Walke +14Memory-Augmented AgentsLong-Term Memory for Embodied Agents

    Physical Intelligence · Stanford University · UC Berkeley +1

  23. ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation

    Mar 3, 2026Xialin He, Sirui Xu, Xinyao Li +4Robotic ControlHumanoid Loco-Manipulation

    University of Illinois Urbana-Champaign

  24. Design, Modeling and Direction Control of a Wire-Driven Robotic Fish Based on a 2-DoF Crank-Slider Mechanism

    Mar 3, 2026Yita Wang, Chen Chen, Yicheng Chen +5Robot LocomotionUnderwater Robotics

    Department of Mechanical Engineering, The University of Tokyo, Tokyo, 113-8656, Japan · Institute of Industrial Science, The University of Tokyo, Tokyo, 153-8505, Japan

  25. Wukong-Omni: Design, Modeling and Control of a Multi-mode Robot for Air, Land, and Underwater Exploration with All-in-One Propulsion Unit

    Mar 3, 2026Yufan Liu, Rixi Yu, Junjie Li +7Robot LocomotionRobotic Control

    School of Automation, Guandong University of Technology, Guangzhou, China · School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China · Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong, China

  26. Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control

    Mar 2, 2026Alexander Schperberg, Yeping Wang, Stefano Di CairanoRobotic Loco-ManipulationRobotic Control

    Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, 02139, USA. · Yeping Wang was with Mitsubishi Electric Research Laboratories (MERL) during part of the work of this paper, Cambridge, MA, 02139, USA.

  27. Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction

    Mar 1, 2026Yuhang Lin, Jiyuan Shi, Dewei Wang +4Robotic ControlHumanoid Loco-Manipulation

    Institute of Artificial Intelligence (TeleAI), China Telecom · Zhejiang University · University of Science and Technology of China +1

  28. HierKick: Hierarchical Reinforcement Learning for Vision-Guided Soccer Robot Control

    Mar 1, 2026Yizhi Chen, Zheng Zhang, Zhanxiang Cao +7Robotic ControlRobotic RL

    Tongji University, Shanghai, China. · Shanghai Innovation Institute, Shanghai, China. · Shanghai Jiao Tong University, Shanghai, China. +2

  29. Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger

    Feb 28, 2026Andreas Gaugenrieder, Hari Hara Balasubramaniam, Jannik Möhrle +1Robotic ControlRobot Task Planning

    Fraunhofer Institute for Casting, Composite and Processing Technology IGCV · Fraunhofer Institute for Casting, Composite and Processing Technology IGCV, Am Technologiezentrum 10, 86159 Augsburg, Germany · Institute for Machine Tools and Industrial Management, Technical University of Munich +1

  30. Test-Driven Agentic Framework for Reliable Robot Controller

    Feb 28, 2026Shivanshu Tripathi, Reza Akbarian Bafghi, Maziar RaissiRobotic ControlCode Generation

    Department of Electrical and Computer Engineering, University of California, Riverside · Department of Computer Science, University of Colorado, Boulder · Department of Mathematics, University of California, Riverside