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82 papers in the last four weeks, up 413% on the four weeks before. 0.8% of all new papers.

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Adversarial Stress Testing of SPARK Humanoid Safety Filters
May 18, 2026Saurav Ghosh, Abdou Sow, Luke ZhangAdversarial Robustness Robotics
aDepartment of Computer Science and Engineering, Washington University in St. Louis, Missouri, United States
Confidence-Gated Robot Autonomy: When Does Uncertainty Actually Help?
May 18, 2026Johannes A. Gaus, Jhon P. F. Charaja, Daniel HaeufleUncertainty Quantification Selective Prediction
Hertie Institute for Clinical Brain Research & Center for Integrative Neuroscience, University of Tübingen, Germany
A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
May 18, 2026William Su, Jordan Kam, Yixiao Wang +1Dexterous Manipulation Space Robotics
Aerospace Engineering Program, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, National University of Singapore, Singapore 117575.
SADP: Subgoal-Aware Diffusion Policy for Explainable Robots Learned from Foundation Model Generated Demonstrations
May 16, 2026Site Hu, Takato HoriiRobot Policy Learning Long-Horizon Robotic Manipulation
Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Osaka, Japan
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
Designing for Robot Wranglers: A Synthesis of Literature and Practice
May 15, 2026David Porfirio, Ian McDermott, Hsin-Mei Chen +3Robotics Human-Robot Interaction
Computer Science Department George Mason University Fairfax, VA, USA · Department of Computer Science/Department of Art University of Maryland College Park, MA, USA · Houston Methodist Houston, TX, USA +3
Lamarckian Inheritance in Dynamic Environments: How Key Variables Affect Evolutionary Dynamics
May 15, 2026K. Ege de Bruin, Kyrre Glette, Kai Olav EllefsenRobotics Evolutionary Robotics
Department of Informatics, University of Oslo, Norway · RITMO, University of Oslo, Norway
Combinatorial Optimization of Robotic Hand Kinematic Structures Using a Potential-Dexterity-Based QUBO Formulation
May 15, 2026HyoJae Kang, Yeong Jae Park, Jeongdo Ahn +1Robotic Hand Design Quantum Annealing
Advanced Robotics Research Center, Korea Institute of Machinery & Materials (KIMM) · Mechanical Engineering, University of Science & Technology (UST)
Hybrid LLM-based Intelligent Framework for Robot Task Scheduling
May 15, 2026Swayamjit Saha, Subhabrata Das, Haonan Duan +1Robotic Construction Large Language Model-Based Robot Planning
Department of Computer Science and Engineering, Mississippi State University, Starkville, MS, USA · 2Graduate School of Arts and Sciences, Columbia University, New York, NY, USA · 3Consumer and Community Banking, JPMorgan Chase, New York, NY, USA +2
MR-SLAM: Immersive Spatial Supervision for Multi-Robot Mapping via Mixed Reality
May 14, 2026Prakash Aryan, Cem Erdogdu, Kavinaya Kumarchokkappan +2Simultaneous Localization and Mapping Multi-Robot Systems
University of Bern, Bern, Switzerland · AI4I – The Italian Institute of Artificial Intelligence, Turin, Italy
Manipulation Planning for Construction Activities with Repetitive Tasks
May 13, 2026Wangyi Liu, Dasharadhan Mahalingam, Fanru Gao +2Robotic Construction Long-Horizon Robotic Manipulation
Department of Mechanical Engineering, Stony Brook University, NY, USA. · Department of Civil Engineering, Stony Brook University, NY, USA.
TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics
May 13, 2026Ishaan Mahajan, Jon Arrizabalaga, Andrea Grillo +4Semidefinite Programming Constrained Motion Planning
Columbia University, USA · Massachusetts Institute of Technology, USA · ´Ecole Polytechnique F´ed´erale de Lausanne (EPFL), Switzerland +1
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
Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots
May 12, 2026Navid Feizi, Filipe C. Pedrosa, Rajni V. Patel +1Robotics Physics-Informed ML
Canadian Surgical Technologies and Advanced Robotics (CSTAR), London Health Sciences Centre (LHSC), and with the Department of Electrical and Computer Engineering, Western University, London, Ontario, Canada
The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
May 12, 2026Mihir Dharmadhikari, Nikhil Khedekar, Mihir Kulkarni +7Robotics Safe Robot Navigation
Autonomous Robots Lab, Norwegian University of Science and Technology (NTNU), Trondheim, Norway · Department of Engineering Cybernetics, Norwegian University of Science and Technology, Høgskoleringen 1, Trondheim 7034, Norway
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
COSMIC: Concurrent Optimization of Structure, Material, and Integrated Control for robotic systems
May 12, 2026Qinsong Guo, Liwei WangTopology Optimization Robot Morphology-Control Co-Design
Dept. of Mechanical Engineering Carnegie Mellon University Pittsburgh, PA 15213
Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
May 12, 2026Max Siebenborn, Daniel Ordoñez Apraez, Sophie Lueth +4Flow Matching Mobile Manipulation
PEARL Lab, Dept. of Computer Science, TU Darmstadt, Germany · 2Istituto Italiano di Tecnologia, 3Hessian.AI, 4Robotics Institute Germany
DreamAvoid: Critical-Phase Test-Time Dreaming to Avoid Failures in VLA Policies
May 12, 2026Xianzhe Fan, Yuxiang Lu, Shenyuan Gao +4Robotics Robotic Manipulation
HKU · HKUST · Northwestern University
Rainbow Deep Q-Learning with Kinematics-Aware Design for Cooperative Delta and 3-RRS Parallel Robot Insertion
May 12, 2026Hassen Nigatu, Gaokun Shi, Jituo Li +2Dexterous Manipulation Deep Q-Learning
RIO: Flexible Real-Time Robot I/O for Cross-Embodiment Robot Learning
May 12, 2026Pablo Ortega-Kral, Eliot Xing, Arthur Bucker +13Cross-Embodiment Robot Learning Robotics
Carnegie Mellon University · TU Delft · Lavoro AI +1
Computational Design of a Low-Visibility UAV Using a Human-Aligned Perceptual Metric
May 11, 2026Jingxian Wang, Chen Yu, David Matthews +3Aerial Robotics Robotics
Northwestern University, Evanston, Illinois, USA
SABER: A Scalable Action-Based Embodied Dataset for Real-World VLA Adaptation
May 10, 2026Narsimha Menga, Parikshit Sakurikar, Amirreza Rouhi +6Robot Skill Learning Robotic Data Collection
DreamVu1
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
RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models
May 10, 2026Weijia Liufu, Xiaoyu Guo, Ruiyi Chen +16VLM Robustness Robot Failure Recovery
1Sun Yat-sen University · 2South China University of Technology · 3Peng Cheng Laboratory +3
HyDRA Scorpion: A Cost-effective and Modular ROV for Real-Time Underwater Inspection, Intervention, and Object Detection
May 9, 2026Anika Tabassum Orchi, Md Farhan Zaman, Md Darain Khan +16Robotics Robotic Manipulation
Department of Computer Science and Engineering, United International University, United City, Madani Ave, Dhaka 1212, Bangladesh · Department of Electrical and Electronic Engineering, United International University, United City, Madani Ave, Dhaka 1212, Bangladesh
Octopus Protocol: One-Shot Hardware Discovery and Control for AI Agents via Infrastructure-as-Prompts
May 9, 2026Quilee Simeon, Justin M. Wei, Yile FanRobotics AI Control
MIT · Harvard
Omni-scale Learning-based Sequential Decision Framework for Order Fulfillment of Tote-handling Robotic Systems
May 9, 2026Jiaxin Liu, Peng Yang, Yuping Li +1Combinatorial Optimization Robotics
Institution of Data and Information, Shenzhen International Graduate School, Tsinghua University, Nanshan District, Shenzhen 518055, China
FactoryBench: Evaluating Industrial Machine Understanding
May 8, 2026Yanis Merzouki, Coral Izquierdo, Matei Ignuta-Ciuncanu +8Manufacturing LLM Evaluation
1ETH Zurich · 2Forgis · 3UC3M +4
Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
May 7, 2026Ahmed Ali, Chiara Gabellieri, Antonio FranchiMultibody Dynamics Robotics
Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty, University of Twente, 7500 AE Enschede, The Netherlands. · Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy.

May 18, 2026, cs.ROJ/K move · Enter open · S save

Adversarial Stress Testing of SPARK Humanoid Safety Filters

Saurav Ghosh, Abdou Sow, Luke Zhang

aDepartment of Computer Science and Engineering, Washington University in St. Louis, Missouri, United States

Adversarial Robustness Robotics Robot Safety Safety Filtering AI Safety Evaluation Humanoid Robotics+1

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Humanoid robots are difficult to deploy safely because they have high-dimensional bodies, many collision constraints, and must operate near people and obstacles. Safety filters help by modifying a nominal control action when it may violate collision-avoidance constraints. Still, nominal benchmark scores do not fully show how these filters behave in harder environments. In this work, we study the robustness of SPARK humanoid safety filters through replication and stress testing. We replicate the SPARK benchmark case G1SportMode_D1_WG_SO_v1 in MuJoCo and evaluate RSSA, RSSS, SSA, CBF, PFM, and SMA under controlled random seeds. We also built a post-processing pipeline that converts raw SPARK logs into goal-tracking, minimum-distance, and collision-step metrics. Our results show that some methods track the goal more closely, while others reduce collision steps more effectively. The stress tests further indicate that safety behavior can change under obstacle crowding, noisy distance estimates, and delayed obstacle information. These findings suggest that humanoid autonomy should be evaluated beyond nominal performance, using metrics that expose failure modes before deployment.

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Latest papers 488