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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PPO-EAL: Exact Augmented Lagrangian Proximal Policy Optimization for Safe Robotic Control
Jun 26, 2026Jiatao Ding, Songqun Gao, Andrea Del Prete +1Robotic Control Constrained RL
Department of Industrial Engineering, University of Trento, Via Sommarive 9, 38123, Trento, Italy
SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
Jun 25, 2026Sirui Chen, Shibo Zhao, Zhen Wu +3Robotic Control Humanoid Robot Locomotion
Stanford, Amazon FAR United States · Amazon FAR United States · CMU, Amazon FAR United States
Action ControlNet: A Lightweight Delay-Aware Adapter for Smooth Asynchronous Control in Vision-Language-Action Models
Jun 24, 2026Tiecheng Guo, Meng GuoRobotic Control Language-Conditioned Robot Manipulation
The authors are with the School of Advanced Manufacturing and Robotics, Peking University, Beijing 100871, China.
Morphology-Specific Closed-Loop Control of Logarithmic-Spiral Continuum Arms via Online Jacobian Error Compensation
Jun 24, 2026Partha Datta, Yi Jin, Wei Lin +1Robotic Control Robot Trajectory Tracking
Laboratory for Soft Machines and Electronics, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA · Department of Electrical, Computer and Systems Engineering, Case Western Reserve University, Cleveland, OH, USA · Laboratory for Soft Machines and Electronics, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USA +3
WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning
Jun 24, 2026Melya Boukheddimi, Omar Adjali, Daniel Sontag +1Robotic Control Humanoid Robot Locomotion
Robotics Innovation Center, DFKI, 28359 Bremen, Germany · Interactive Machine Learning, DFKI, 26129 Oldenburg, Germany · University of Oldenburg, 26129 Oldenburg, Germany +1
FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation
Jun 23, 2026Yudong Zhong, Pengfei Mai, Sikai Guo +6Robotic Control Legged Robotics
1The Hong Kong University of Science and Technology (Guangzhou) · 2The University of Hong Kong
SPACE: Enabling Learning from Cross-Robot Data Toward Generalist Policies
Jun 23, 2026Haeone Lee, Byeongguk Jeon, Suchae Jeong +2Robotic Control Robot Policy Adaptation
1KAIST · 2Config · 3Yonsei University
Safe and Generalizable Hierarchical Multi-Agent RL via Constraint Manifold Control
Jun 22, 2026Zihao Guo, Jianing Zhao, Ling Li +3Robotic Control Multi-Agent Coordination
1King’s College London · University of California, Berkeley · 3The Alan Turing Institute
A Relaxed Quadratic-Program-based Framework for Trajectory Tracking of Unicycle Robots with Singularity Avoidance
Jun 22, 2026Hamza Tariq, Usman Ali, Adeel AkhtarRobotic Control Robot Trajectory Tracking
Department of Mechanical & Industrial Engineering at the New Jersey Institute of Technology, Newark, NJ 07102, USA · School of Engineering and Sustainable Development at the De Montfort University, Leicester, LE1 9BH, UK
A Unified Benchmark for RCM-Constrained Visual Servoing: Modeling-Controller Interaction and Robustness Analysis in Laparoscopic Robots
Jun 22, 2026Jing Zhang, Mengtang LiRobotic Control Robotics Simulation
School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China
EmbodiedUS-FS: Fast Slow Intelligence for Ultrasound Robotics
Jun 21, 2026Fangzhuo Zhang, Xinyu Wang, Xiao Yang +1Robotic Control Robotics
independent researcher · University of Wyoming · Shanghai World Foreign Language Academy +1
A Multimodal Tiltwing Framework for Bioinspired Aerial Robots
Jun 20, 2026Krispin C. V. Broers, Sophie F. ArmaniniRobotic Control Aerial Robotics
Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
Temporal logics and formal synthesis for robot planning and control
Jun 19, 2026Jana Tumova, Joris Verhagen, Matti VahsRobotic Control Signal Temporal Logic
KTH Royal Institute of Technology
Overcoming Imperfect Kinematics in Surgical Robotics Through Sim-to-Real Visuomotor Learning
Jun 19, 2026Zhaoxuan Yan, Kaizhong Deng, Zhaoyang Jacopo Hu +2Robotic Control Visuomotor Policy Learning
Hamlyn Centre for Robotic Surgery, Institute of Global Health Innovation, Imperial College London, Exhibition Road, London, SW7 2AZ, UK. · Department of Surgery and Cancer, Imperial College London. · Department of Mechanical Engineering, Imperial College London.
Frequency-Aware Flow Matching for Continuous and Consistent Robotic Action Generation
Jun 18, 2026Jianing Guo, Fangzheng Chen, Zihao Mao +12Robotic Control Flow Matching
Beihang University · PKU-Psibot Lab · The Chinese University of Hong Kong +3
Start Right, Arrive Right: Asynchronous Execution via Initial Noise Selection
Jun 18, 2026Trong-Bao Ho, Quang-Tan Nguyen, Thien-Loc Ha +7Robotic Control Robot Policy Learning
VinRobotics · VinUniversity · DFKI +2
Constant Time-Delay Leader Following with Neural Networks and Invariant Extended Kalman Filters for Arbitrary Trajectories
Jun 17, 2026Luka Antonyshyn, Paulo Ricardo Marques de Araujo, Sidney GivigiRobotic Control Intelligent Transportation Systems
University of Toronto Institute for Aerospace Studies, Toronto, Canada · School of Computing, Queen’s University, Kingston, Canada
ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots
Jun 17, 2026Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol +1Robotic Control Feedback Control
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT).
Admittance-Based Surface Alignment for Human-in-the-Loop Robotic Visual Inspection
Jun 17, 2026Antara Banerjee, Colin Acton, Xu ChenRobotic Control Robotic Inspection
Department of Electrical and Computer Engineering, University of Washington, Seattle · Department of Mechanical Engineering, University of Washington, Seattle
LAGO Policy: Latency-Aware Asynchronous Diffusion Policies with Goal-Directed Collision-Free Planning for Smooth Manipulation
Jun 16, 2026Guowei Shi, Xupeng Xie, Yiming Luo +3Robotic Control Trajectory Optimization
The Hong Kong University of Science and Technology (Guangzhou) · International Digital Economy Academy · Southern University of Science and Technology +1
Continual Online Personalization of Exoskeleton Control via Manifold-Aware Experience Replay
Jun 16, 2026Changseob Song, Inseung KangRobotic Control Ankle Exoskeleton Control
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
Task-Error Residual Learning for Real-Robot Five-Ball Juggling
Jun 15, 2026Kai Ploeger, Jan PetersRobotic Control Robot Skill Learning
Technical University of Darmstadt, Germany · German Research Center for AI (DFKI), Germany · Hessian Center for Artificial Intelligence (hessian.AI), Germany
Unified Motion-Action Modeling for Heterogeneous Robot Learning
Jun 15, 2026Yunhao Cao, Shitong Liu, Chao Feng +4Robotic Control Robot Dynamics Learning
Cornell University
VENOM: Versatile Embodied Network for Omni-bodied Motion tracking
Jun 15, 2026Siddharth Padmanabhan, Kazuki Miyazawa, Takato HoriiRobotic Control Humanoid Robot Control
Graduate School of Engineering Science, University of Osaka, 1-3 Machikaneyama-cho, Toyonaka-shi, Osaka 560-8531, Japan
Elastic ODYN: Differentiable Optimization for Infeasible Control and Learning in Robotics
Jun 15, 2026Aristotelis Papatheodorou, Jose Rojas, Ioannis Havoutis +1Robotic Control Primal-Dual Optimization
Department of Engineering Science, University of Oxford, Oxford, UK · Robot Motor Intelligence (RoMI) Lab, Heriot-Watt University, Edinburgh, UK
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion
Jun 15, 2026Bofan Lyu, Jindou Jia, Kuangji Zuo +7Robotic Control Humanoid Robot Locomotion
1MARS Lab, Nanyang Technological University
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models
Jun 14, 2026Nestor N. Deniz, Simon Parsons, Fernando Auat CheeinRobotic Control Humanoid Robot Control
Engineering Department at Harper Adams University, Newport, Shropshire TF10 8NB, UK · Lincoln Institute for Agri-Food Technology and Lincoln Centre for Autonomous Systems
Contact-Consistent Interaction Dynamics Normalization for Predictive Physical Human--Robot Interaction
Jun 12, 2026Yongyan CaoRobotic Control Robust Control
Voryx Robotics, San Jose, CA 95136, USA
Sensitivity Shaping for Latent Modeling
Jun 12, 2026Hongzhan Yu, Chenghao Li, Ruipeng Zhang +2Robotic Control Latent Dynamics Modeling
University of California San Diego
Development of a 3 in Sewer Pipe Inspection Robot with an Articulated Differential Mechanism using X-shaped Linkages
Jun 12, 2026Shoya Umemura, Ryota Taniguchi, Atsushi KakogawaRobotic Control Mobile Robotics
Department of Robotics, Faculty of Science and Engineering, Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu, Shiga, 525-8577, JAPAN

Jun 26, 2026, cs.ROJ/K move · Enter open · S save

PPO-EAL: Exact Augmented Lagrangian Proximal Policy Optimization for Safe Robotic Control

Jiatao Ding, Songqun Gao, Andrea Del Prete, Matteo Saveriano

Department of Industrial Engineering, University of Trento, Via Sommarive 9, 38123, Trento, Italy

Robotic Control Constrained RL Robot Safety Proximal Policy Optimization Safe RL

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Reinforcement learning (RL) has emerged as a promising solution to accomplish complex robotic control tasks; however, most of the current work ignores the safety requirements. Safe RL seeks to maximize task performance while satisfying explicit physical constraints, but current algorithms struggle to learn the policy efficiently with precise constraint satisfaction. This work proposes PPO-EAL, a novel first-order constrained policy optimization framework that integrates exact augmented Lagrangian optimization into proximal policy optimization for safe robotic control. By combining clipped policy updates with exact quadratic penalty terms, PPO-EAL achieves theoretically grounded constraint enforcement without requiring impractically large penalty factors. A momentum-regulated multiplier update further improves dual-variable stability, reducing constraint oscillation and unsafe behavior while preserving task performance. We provide exactness and convergence analysis under standard stochastic approximation assumptions. Extensive validation across diverse GPU-accelerated robotic benchmarks-including cart-pole balancing, cart-double-pendulum stabilization, 7-DoF Franka end-effector reaching, and quadrupedal locomotion-demonstrates superior safety precision and reward performance compared with state-of-the-art first-order safe RL baselines. Finally, we demonstrate zero-shot sim-to-real deployment in a contact-rich gear assembly task, where PPO-EAL substantially improves task success, reduces peak contact force, and enhances operational robustness. These results establish PPO-EAL as a general and practically deployable safe RL framework for diverse safety-critical robotic systems.

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