arXiv cs.RO Robotics

Zixing Wang, Devesh K. Jha, Ahmed H. Qureshi, Diego Romeres: PPGuide: Steering Diffusion Policies with Performance Predictive Guidance https://arxiv.org/abs/2603.10980 https://arxiv.org/pdf/2603.10980 https://arxiv.org/html/2603.10980

Cenk Cetin, Shreyas Pouli, Gabriella Pizzuto: Learning Adaptive Force Control for Contact-Rich Sample Scraping with Heterogeneous Materials https://arxiv.org/abs/2603.10979 https://arxiv.org/pdf/2603.10979 https://arxiv.org/html/2603.10979

Zixuan Liu, Ruoyi Qiao, Chenrui Tie, Xuanwei Liu, Yunfan Lou, Chongkai Gao, Zhixuan Xu, Lin Shao: Contact Coverage-Guided Exploration for General-Purpose Dexterous Manipulation https://arxiv.org/abs/2603.10971 https://arxiv.org/pdf/2603.10971 https://arxiv.org/html/2603.10971

Sergi Foix, Jaume Oriol, Carme Torras, J\'ulia Borr\`as: A gripper for flap separation and opening of sealed bags https://arxiv.org/abs/2603.10890 https://arxiv.org/pdf/2603.10890 https://arxiv.org/html/2603.10890

Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Nikos G. Tsagarakis: RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion https://arxiv.org/abs/2603.10878 https://arxiv.org/pdf/2603.10878 https://arxiv.org/html/2603.10878

Wenxuan Ma, Chaofan Zhang, Yinghao Cai, Guocai Yao, Shaowei Cui, Shuo Wang: FG-CLTP: Fine-Grained Contrastive Language Tactile Pretraining for Robotic Manipulation https://arxiv.org/abs/2603.10871 https://arxiv.org/pdf/2603.10871 https://arxiv.org/html/2603.10871

Zang, Mannucci, Barz, Schillinger, Lier, H\"onig: GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments https://arxiv.org/abs/2603.10858 https://arxiv.org/pdf/2603.10858 https://arxiv.org/html/2603.10858

Rajitha de Silva, Jonathan Cox, James R. Heselden, Marija Popovi\'c, Cesar Cadena, Riccardo Polvara: Semantic Landmark Particle Filter for Robot Localisation in Vineyards https://arxiv.org/abs/2603.10847 https://arxiv.org/pdf/2603.10847 https://arxiv.org/html/2603.10847

Dongcheng Cao, Jin Zhou, Shuo Li: ASTER: Attitude-aware Suspended-payload Quadrotor Traversal via Efficient Reinforcement Learning https://arxiv.org/abs/2603.10715 https://arxiv.org/pdf/2603.10715 https://arxiv.org/html/2603.10715

Jin Zhou, Dongcheng Cao, Xian Wang, Shuo Li: MAVEN: A Meta-Reinforcement Learning Framework for Varying-Dynamics Expertise in Agile Quadrotor Maneuvers https://arxiv.org/abs/2603.10714 https://arxiv.org/pdf/2603.10714 https://arxiv.org/html/2603.10714

Xiaoxu Xu, Hao Li, Jinhui Ye, Yilun Chen, Jia Zeng, Xinyi Chen, Linning Xu, Dahua Lin, Weixin Li, Jiangmiao Pang: FutureVLA: Joint Visuomotor Prediction for Vision-Language-Action Model https://arxiv.org/abs/2603.10712 https://arxiv.org/pdf/2603.10712 https://arxiv.org/html/2603.10712

Yilin Zou, Zhong Zhang, Fanghua Jiang: Parallel-in-Time Nonlinear Optimal Control via GPU-native Sequential Convex Programming https://arxiv.org/abs/2603.10711 https://arxiv.org/pdf/2603.10711 https://arxiv.org/html/2603.10711

Jonas Merkert, Alexander Blumberg, Jan-Hendrik Pauls, Christoph Stiller: MapGCLR: Geospatial Contrastive Learning of Representations for Online Vectorized HD Map Construction https://arxiv.org/abs/2603.10688 https://arxiv.org/pdf/2603.10688 https://arxiv.org/html/2603.10688

Guiyong Zheng, Yueting Ban, Mingjie Zhang, Juepeng Zheng, Boyu Zhou: OnFly: Onboard Zero-Shot Aerial Vision-Language Navigation toward Safety and Efficiency https://arxiv.org/abs/2603.10682 https://arxiv.org/pdf/2603.10682 https://arxiv.org/html/2603.10682

Peng Ren, Haoyang Ge, Chuan Qi, Cong Huang, Hong Li, Jiang Zhao, Pei Chi, Kai Chen: Cybo-Waiter: A Physical Agentic Framework for Humanoid Whole-Body Locomotion-Manipulation https://arxiv.org/abs/2603.10675 https://arxiv.org/pdf/2603.10675 https://arxiv.org/html/2603.10675

Shriram Hari, M Venkata Sai Nikhil, R Prasanth Kumar: Dynamic Modeling and Attitude Control of a Reaction-Wheel-Based Low-Gravity Bipedal Hopper https://arxiv.org/abs/2603.10670 https://arxiv.org/pdf/2603.10670 https://arxiv.org/html/2603.10670

Bhuiyan, Saswato, Khan, Paul, Dhrubo, Qayum: STM32-Based Smart Waste Bin for Hygienic Disposal Using Embedded Sensing and Automated Control https://arxiv.org/abs/2603.10660 https://arxiv.org/pdf/2603.10660 https://arxiv.org/html/2603.10660

Tosello, Bit-Monnot, Lusuardi, Valentini, Micheli: Interleaving Scheduling and Motion Planning with Incremental Learning of Symbolic Space-Time Motion Abstractions https://arxiv.org/abs/2603.10651 https://arxiv.org/pdf/2603.10651 https://arxiv.org/html/2603.10651

Chen, Zhang, Fang, Zeng, Xu, Hou, Wang, Shi, Huo, Gao: AdaClearGrasp: Learning Adaptive Clearing for Zero-Shot Robust Dexterous Grasping in Densely Cluttered Environments https://arxiv.org/abs/2603.10616 https://arxiv.org/pdf/2603.10616 https://arxiv.org/html/2603.10616

Dongmyoung Lee, Wei Chen, Xiaoshuai Chen, Rui Zong, Petar Kormushev: Learning Bimanual Cloth Manipulation with Vision-based Tactile Sensing via Single Robotic Arm https://arxiv.org/abs/2603.10609 https://arxiv.org/pdf/2603.10609 https://arxiv.org/html/2603.10609

Hao Zhou, Lu Qi, Jason Li, Jie Zhang, Yi Liu, Xu Yang, Mingyu Fan, Fei Luo: Recover to Predict: Progressive Retrospective Learning for Variable-Length Trajectory Prediction https://arxiv.org/abs/2603.10597 https://arxiv.org/pdf/2603.10597 https://arxiv.org/html/2603.10597

Matti Vahs, Joris Verhagen, Jana Tumova: Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control https://arxiv.org/abs/2603.10572 https://arxiv.org/pdf/2603.10572 https://arxiv.org/html/2603.10572

Zirui Zhang, Boyang Zhang, Fumin Zhang, Huan Yin: TacLoc: Global Tactile Localization on Objects from a Registration Perspective https://arxiv.org/abs/2603.10565 https://arxiv.org/pdf/2603.10565 https://arxiv.org/html/2603.10565

Turrisi, Bratta, Minelli, Abati, Rad, Soares, Semini: BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection https://arxiv.org/abs/2603.10529 https://arxiv.org/pdf/2603.10529 https://arxiv.org/html/2603.10529

Yuquan Li, Lianjie Ma, Han Ding, Lijun Zhu: DepthCache: Depth-Guided Training-Free Visual Token Merging for Vision-Language-Action Model Inference https://arxiv.org/abs/2603.10469 https://arxiv.org/pdf/2603.10469 https://arxiv.org/html/2603.10469

Xiao Liu, Prakash Baskaran, Songpo Li, Simon Manschitz, Wei Ma, Dirk Ruiken, Soshi Iba: SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly https://arxiv.org/abs/2603.10459 https://arxiv.org/pdf/2603.10459 https://arxiv.org/html/2603.10459

Yushan Bai, Fulin Chen, Hongzheng Sun, Yuchuang Tong, En Li, Zhengtao Zhang: FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulation https://arxiv.org/abs/2603.10451 https://arxiv.org/pdf/2603.10451 https://arxiv.org/html/2603.10451

Teli Ma, Jia Zheng, Zifan Wang, Chuili Jiang, Andy Cui, Junwei Liang, Shuo Yang: DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control https://arxiv.org/abs/2603.10448 https://arxiv.org/pdf/2603.10448 https://arxiv.org/html/2603.10448

Ding, Luo, Yang, Yu, Tew, Krishnasamy, Loo: KnowDiffuser: A Knowledge-Guided Diffusion Planner with LM Reasoning and Prior-Informed Trajectory Initialization https://arxiv.org/abs/2603.10441 https://arxiv.org/pdf/2603.10441 https://arxiv.org/html/2603.10441

Lianjie Ma, Yuquan Li, Bingzheng Jiang, Ziming Zhong, Han Ding, Lijun Zhu: AsyncMDE: Real-Time Monocular Depth Estimation via Asynchronous Spatial Memory https://arxiv.org/abs/2603.10438 https://arxiv.org/pdf/2603.10438 https://arxiv.org/html/2603.10438