NeuroCommitSSM: Decision-Centric Shared Autonomy for Safe Assistive Manipulation via EEG-EMG-ET Commit Readiness - 2026-07-16 - Research Publication - The authors present NeuroCommitSSM, a decision-centric framework that models when to execute, not just what to do, for safe commit-to-execute control in assistive robotic manipulation. Hardware-in-the-loop (HIL) validation… - source: arxiv.org
One-Shot Multimodal Learning from Demonstration with Force-Constrained Elastic Maps - 2026-07-10 - Research Publication - The authors propose a novel one-shot multimodal LfD framework for the segmentation, encoding, and reproduction of force-inclusive demonstrations. The authors validate their approach on five real-world manipulation tasks… - source: arxiv.org
FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model - 2026-07-01 - Research Publication - The authors introduce FurnitureVLA, the first systematic study of real-scale bimanual furniture assembly using Vision-Language-Action models (VLAs). The authors validate on a real Kinova Gen3 platform with only 16% drop on… - source: arxiv.org
JOIN: Anchor-Grasp-Conditioned Joining via Opposition, Inference, and Navigation for Bimanual Assistive Manipulation - 2026-06-09 - Research Publication - While effective for many basic activities of daily living (ADLs), a significant percentage of everyday tasks such as opening a jar, pouring a liquid, lifting a tray, or basic meal preparation, is fundamentally bimanual and… - source: arxiv.org
muslim-adedamola/finetune-octo-kinova-hybrid - 2026-04-24 - Research Publication - It is pretrained on large-scale robot demonstration data (OpenX Embodiment) and is designed to support flexible task definitions, observations, and action spaces. In this repository, Octo is used in goal-image-conditioned… - source: github.com
Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems - 2026-04-21 - Research Publication - The paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed framework is evaluated on several simulated nonlinear control benchmarks and… - source: arxiv.org
Build on Priors: Vision--Language--Guided Neuro-Symbolic Imitation Learning for Data-Efficient Real-World Robot Manipulation - 2026-04-04 - Research Publication - The authors present a scalable neuro-symbolic framework that autonomously constructs symbolic planning domains and data-efficient control policies from as few as one to thirty unannotated skill demonstrations, without… - source: arxiv.org
Whole-Body Safe Control of Robotic Systems with Koopman Neural Dynamics - 2026-03-04 - Research Publication - The method learns a Koopman embedding that represents nonlinear robot dynamics linearly in a lifted space. It combines the learned model with the Safe Set Algorithm so tracking and safety constraints are solved together in… - source: arxiv.org
RL-Based Coverage Path Planning for Deformable Objects on 3D Surfaces - 2026-03-03 - Research Publication - Currently, manipulation tasks for deformable objects often focus on activities like folding clothes, handling ropes, and manipulating bags. Experiments demonstrate that the method outperforms previous approaches in key… - source: arxiv.org
RoboSubtaskNet: Temporal Sub-task Segmentation for Human-to-Robot Skill Transfer in Real-World Environments - 2026-02-10 - Research Publication - The authors present RoboSubtaskNet, a multi-stage human-to-robot sub-task segmentation framework that couples attention-enhanced I3D features (RGB plus optical flow) with a modified MS-TCN employing a Fibonacci dilation… - source: arxiv.org
Neural Minimum-Distance Estimation for Collision-Aware Operation of Multi-Arm Laparoscopy Surgical Robots Through Learning-from-Simulation - 2026-01-21 - Research Publication - This study presents an integrated framework for enhancing the safety and operational efficiency of robotic arms in laparoscopic surgery by addressing minimum distance estimation between multi-arm manipulators and the… - source: arxiv.org
The Role of Consequential and Functional Sound in Human-Robot Interaction: Toward Audio Augmented Reality Interfaces - 2025-11-20 - Research Publication - Developing a deeper understanding of how robot sounds influence human experience, and how technologies such as augmented reality (AR) modulate these effects, can enable the design of more socially acceptable robots and… - source: arxiv.org
XFlowMP: Task-Conditioned Motion Fields for Generative Robot Planning with Schrodinger Bridges - 2025-11-02 - Research Publication - The study presents XFlowMP, a task-conditioned generative motion planner that models robot trajectory evolution as entropic flows bridging stochastic noises and expert demonstrations via Schrodinger bridges given the… - source: arxiv.org
Reliable Robotic Task Execution in the Face of Anomalies - 2025-10-27 - Research Publication - The study presents a framework that couples a learned policy with a method to detect visual anomalies during policy deployment and to perform recovery behaviours when necessary, thereby aiming to prevent failures. The… - source: arxiv.org
A Cross-Environment and Cross-Embodiment Path Planning Framework via a Conditional Diffusion Model - 2025-10-21 - Research Publication - The primary goal of this research is to develop a path planning framework capable of generalizing to unseen environments and new robotic manipulators without the need for retraining. Furthermore, GADGET provides… - source: arxiv.org
A Bimanual Gesture Interface for ROS-Based Mobile Manipulators Using TinyML and Sensor Fusion - 2025-09-23 - Research Publication - This paper presents a dual-hand gesture interface that integrates TinyML, spectral analysis, and sensor fusion within a ROS framework to address these limitations. This pipeline enables TinyML-based gesture recognition to… - source: arxiv.org
CRISP -- Compliant ROS2 Controllers for Learning-Based Manipulation Policies and Teleoperation - 2025-09-08 - Research Publication - The authors present CRISP, a lightweight C++ implementation of compliant Cartesian and joint-space controllers for the ROS2 control standard, designed for seamless integration with high-level learning-based policies as… - source: arxiv.org
Collision-Free Trajectory Planning and control of Robotic Manipulator using Energy-Based Artificial Potential Field (E-APF) - 2025-08-10 - Research Publication - To address this limitation, an Energy-based Artificial Potential Field (APF) framework is proposed in this paper that integrates position and velocity-dependent potential functions. The entire framework is validated in… - source: arxiv.org
RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation - 2025-07-25 - Research Publication - However, trajectory optimization methods often face challenges due to the hybrid dynamics introduced by contact discontinuities, and tend to neglect leg limitations during planning for computational reasons. The authors… - source: arxiv.org
Task and Joint Space Dual-Arm Compliant Control - 2025-04-29 - Research Publication - To address this, the authors present a real-time, open-source impedance controller that smoothly interpolates between joint-space and task-space compliance. The authors deploy their controller on Frank, a dual-arm platform… - source: arxiv.org
Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm - 2025-04-09 - Research Publication - To overcome this limitation, the authors propose the data-enabled neighboring extremal (DeeNE) framework, which significantly reduces computational cost while preserving control performance. The authors validate its… - source: arxiv.org
Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications - 2025-02-05 - Research Publication - This paper introduces a versatile control framework designed to bridge this gap by incorporating the torque-based control modes: compliance control, null-space compliance, and dual compliance, all in static and dynamic… - source: arxiv.org
Toward Zero-Shot User Intent Recognition in Shared Autonomy - 2025-01-14 - Research Publication - The authors propose and study a zero-shot, vision-only shared autonomy (VOSA) framework designed to allow robots to use end-effector vision to estimate zero-shot human intents in conjunction with blended control to help… - source: arxiv.org
Robustifying Long-term Human-Robot Collaboration through a Multimodal and Hierarchical Framework - 2024-11-24 - Research Publication - To address these challenges, the authors model the long-term HRC task through a hierarchical task graph and presents a novel multimodal and hierarchical framework to enable robots to better assist humans to advance on the… - source: arxiv.org