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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RSC: Decentralized Rigid Formation Flocking for Large-Scale Swarms via Hybrid Predictive Control and Online Reconfiguration
Jun 2, 2026Ganyu Zou, Linhan Wang, Chen Dai +2Robotic Control Multi-Robot Formation Control
OpenEAI-Platform: An Open-source Embodied Artificial Intelligence Hardware-Software Unified Platform
Jun 2, 2026Jinyuan Zhang, Luoyi Fan, Leiyu Wang +4Robotic Control Robotics
1Shanghai Innovation Institute · 2Huazhong University of Science and Technology · 3Shanghai Jiao Tong University +1
Extreme Motion Generation via Hybrid Null-Space Control for Straight-Line Path Following
Jun 2, 2026Xinyi Yuan, Weiwei Wan, Kensuke HaradaRobotic Control RL Control
Graduate School of Engineering Science, The University of Osaka, Japan.
ModuLoop : Low-Level Code Generation using Modular Synthesizer and Closed-Loop Debugger for Robotic Control
Jun 2, 2026Gina Yoon, Sumin Lee, Joo Yong SimRobotic Control Language Model-Based Control
Department of Mechanical Systems Engineering, Sookmyung Women’s University, Cheongpa-ro 47-gil 100, Yongsan-gu, Seoul, 04310, South Korea
World-Task Factorization for Robot Learning
Jun 1, 2026Eduardo Sebastián, Adrian Pfisterer, Vito Mengers +2Robotic Control Robot Policy Learning
Department of Computer Science and Technology, University of Cambridge, United Kingdom · Robotics and Biology Laboratory, Technische Universität Berlin, Germany · Robotics and Biology Laboratory, Technische Universität Berlin +1
Adaptive PD Gains for Energy-Conscious Control in Physical Human-Robot Interaction
May 30, 2026Danyal Saqib, Francisco Andrade Chavez, Marie CharbonneauRobotic Control Human-Robot Interaction
Department of Electrical and Computer Engineering University of British Columbia Vancouver, Canada · Department of Engineering Thompson Rivers University Kamloops, Canada · Department of Mechanical and Manufacturing Engineering University of Calgary Calgary, Canada
Behavior Cloning of MPC for 3-DOF Robotic Manipulators
May 29, 2026Theo Guegan, Dexter Wen Jie TeoRobotic Control Neural Surrogate Modeling
Universite de Technologie de Compiégne, France · Opalin, Redwood City, CA · Nanyang Technological University, Singapore +1
Constrained Whole-Body Tracking for Humanoid Robots
May 29, 2026Daniel Morton, Pranit Mohnot, Marco PavoneRobotic Control Robot Trajectory Tracking
Stanford University · NVIDIA Research
DRL-Based Pose Control for Double-Ackermann Robots Under Actuation Uncertainties
May 29, 2026Oussama Zaim, Mélodie Daniel, Aly Magassouba +2Robotic Control Robotics Simulation
Univ. Bordeaux, CNRS, Bordeaux INP, LaBRI, UMR 5800, F-33400 Talence, France. · School of Computer Science, University of Nottingham, UK. · Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, 50018 Zaragoza, Spain.
Adaptive Artificial Time-Delay Control with Barrier Lyapunov Constraints for Euler-Lagrange Robots
May 29, 2026Saksham Gupta, Rishabh Dev Yadav, Sarthak Mishra +5Robotic Control Feedback Control
Robotics Research Center, International Institute of Information Technology Hyderabad, India · Department of Computer Science, University of Manchester, UK · Autonomous Systems and Automatic Control in School of Engineering, Newcastle University, UK +1
Decoupled Thrust-Axis Attitude Control Using Quaternions for Chandrayaan-3 Lunar Landing Mission
May 28, 2026Aditya Rallapalli, Suraj Kumar, Rijesh M P +2Robotic Control Feedback Control
Controls and Digital Area, U R Rao Satellite Centre, Indian Space Research Organization (ISRO), Bangalore, India
STR Robot: Design of an Autonomous Mobile Robot from Simulation to Reality
May 27, 2026Vinh Nguyen, Gia-Uy Le, Tien-Dat Nguyen +2Robotic Control Mobile Robotics
Faculty of Electrical and Electronic Engineering, Ho Chi Minh City University of Technology, VNU-HCM Ho Chi Minh City, Vietnam
S-Cheetah: A Novel Quadrupedal Robot with a 3-DOF Active Spine Learning Agile Locomotion
May 27, 2026Zimu Li, Weibang BaiRobotic Control RL for Legged Locomotion
School of Information Science and Technology, ShanghaiTech University, Shanghai 201210, China
Resolving Conflicts Where and When They Arise: Reactive Composition of Multi-Goal Behavior
May 26, 2026Vito Mengers, Oliver BrockRobotic Control Robot Navigation
Robotics and Biology Laboratory, Technische Universität Berlin · Science of Intelligence (SCIoI), Cluster of Excellence, Berlin, Germany · Robotics Institute Germany
L-Learning : A Lyapunov-Based Approach Leveraging Lagrangian Mechanics for Efficient and Stable Robot Tracking
May 26, 2026Quan Quan, Hao LiRobotic Control Robot Trajectory Tracking
1Quan Quan and Hao Li are with School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
Multi-Robot Box Transport over Different Surfaces with Decentralized Role-based Proportional Control
May 26, 2026Aditya Bhatt, Himavarshini Yarragangu, Urvish Shah +2Robotic Control Multi-Robot Motion Planning
Mechanical & Aerospace Eng., University at Buffalo, Buffalo, NY
MIND: Multi-Scale Intent Diffusion for Text-Driven Physics-Based Humanoid Control
May 25, 2026Bin Li, Ruichi Zhang, Han Liang +4Robotic Control Humanoid Robot Control
ShanghaiTech University, China · University of Pennsylvania, USA · Bytedance Seed, China +3
When Agents Control Robots: A Zero Trust Policy Model for Agentic Cyber-Physical Systems
May 25, 2026Tharindu Ranathunga, Kavishka Fernando, Susan ReaRobotic Control Cyber-Physical Systems
Nimbus Centre, Munster Technological University, Cork, Ireland
Prior Policy Guided Dual-Agent Coordinated Manipulation Planning of Spacecraft-Manipulator System
May 25, 2026Yuhui Hu, Dong Zhou, Kaihong Ouyang +3Robotic Control Reinforcement Learning
School of Astronautics, Harbin Institute of Technology, Harbin, 150001, China · School of Automation, Chongqing University, Chongqing, 400044, China · School of Information Science and Engineering, Lanzhou University, Lanzhou, 730000, China
Parallel Differentiable Reachability for Learning and Planning with Certified Neural Dynamics and Controllers
May 25, 2026Keyi Shen, Glen ChouRobotic Control Neural Network Verification
Georgia Institute of Technology, Atlanta, GA 30308
Learning High-Frequency Continuous Action Chunks in Latent Space
May 24, 2026Kunyun Wang, Yuhang Zheng, Yupeng Zheng +2Robotic Control Latent Action Learning
School of Computer Science, Shanghai Jiao Tong University, Shanghai, China · TARS Robotics · National University of Singapore, Singapore +2
Dynamic Neural Koopman Distillation for Fast Robot Control Using Diffusion Models
May 24, 2026Lei Zheng, Peiqi Yu, Zengqi Peng +2Robotic Control Koopman Operator Learning
Department of Electrical and Computer Engineering, National University of Singapore, Singapore · Department of Electrical and Computer Engineering, Carnegie Mellon University, USA · Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology, Hong Kong SAR, China
Manifold-Constrained MPPI: Real-Time Sampling-Based Control for Nonlinear Equality-Constrained Robotic Systems
May 24, 2026Seulchan Lee, Sanghyun KimRobotic Control Constrained Motion Planning
School of Mechanical Engineering, Kyung Hee University, Yongin, South Korea
Can Predicted Dynamics Exist in the Physical World?
May 23, 2026Barak OrRobotic Control Model-Based Planning
STATE16 Founder and CEO, STATE16
Towards Low-Gravity Planetary Exploration using Reinforcement Learning for Walking, Jumping, and In-flight Attitude Control
May 23, 2026Jørgen Anker Olsen, Kostas AlexisRobotic Control Space Robotics
The authors are with the Autonomous Robots Lab, NTNU, O.S. Bragstads Plass 2D, 7034, Trondheim, Norway.
Investigating the Effect of a Series Elastic Actuation Retrofit to Black-Box Actuators
May 22, 2026Ivan Tregear, Ayhan Aktas, Ferdinando Rodriguez y BaenaRobotic Control Feedback Control
Imperial College London, Mechanical Engineering Department, UK · KAIKAKU.AI, London, N1 6NG, UK · Imperial College London, Mechanical Engineering Department, SW7 2AZ, UK
TactileReflex: Noise-Statistics-Driven Vision-Tactile Reflex Control for Force-Sensitive Manipulation
May 22, 2026Ziyan Feng, Yulong Fu, Zheng Li +6Robotic Control Vision-Based Tactile Sensing
Thrust of Robotics and Autonomous Systems, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China. · School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.
$π_0$ -EqM: Equilibrium Matching for Closed-Loop Vision-Language-Action Control
May 22, 2026Huanming Liu, Congsheng Xu, Jianmin Ji +1Robotic Control Vision-Language-Action Models
University of Science and Technology of China, China · Shanghai Jiao Tong University, China
Symmetries Here and There, Combined Everywhere: Cross-space Symmetry Compositions in Robotics
May 21, 2026Loizos Hadjiloizou, Rodrigo Pérez-Dattari, Noémie JaquierRobotic Control Robot Learning
Department of Robotics, Perception and Learning, KTH Royal Institute of Technology
Factored Diffusion Policies:Compositionally Generalized Robot Control with a Single Score Network
May 21, 2026Sayan Mitra, Ege Yuceel, Noah Giles +1Robotic Control Diffusion Policy
University of Illinois Urbana-Champaign

Jun 2, 2026, cs.ROJ/K move · Enter open · S save

RSC: Decentralized Rigid Formation Flocking for Large-Scale Swarms via Hybrid Predictive Control and Online Reconfiguration

Ganyu Zou, Linhan Wang, Chen Dai, Siji Chen+1

Robotic Control Multi-Robot Formation Control Aerial Robotics Swarm Robotics Multi-Agent Control Multi-Robot Coordination+1

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Decentralized rigid formation flocking requires a swarm of autonomous agents to maintain a predetermined geometric configuration while moving, relying solely on local sensing and communication. However, existing decentralized control methods struggle to maintain strict inter-agent distance constraints in cluttered environments, often suffering from local minima deadlocks, high frequency control oscillations, or limited flexibility during obstacle navigation, resulting in low success rate. To address these limitations, we propose Rigid Swarm Control (RSC), a decentralized control framework for large-scale rigid formation flocking. To escape local minima via robust long-term planning while ensuring short-term safety, RSC integrates finite-horizon trajectory predictions with a reactive artificial potential field (APF) safety controller within a hybrid architecture. Furthermore, to accelerate formation reassembly after obstacle traversal without interrupting task execution, RSC introduces an online leader-follower reconfiguration mechanism based on stable role exchange. Extensive evaluations in challenging cluttered environments with 25 UAVs demonstrate that RSC reliably unifies rigid formation maintenance, obstacle avoidance, and target tracking. Under strict success criteria - collision-free operation with a maximum relative edge-length error below 10%, RSC achieves an 83% success rate, significantly outperforming existing heuristic and learning-based baselines that fall below 5%.

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Latest papers 367