arXiv:2604.06133v1 Announce Type: new
Abstract: Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under collisi…
arXiv:2604.05610v1 Announce Type: new
Abstract: Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the…
arXiv:2604.05672v1 Announce Type: new
Abstract: Vision–Language–Action (VLA) models have emerged as a powerful paradigm for open-world robot manipulation, but their practical deployment is often constrained by \emph{cost}: billion-scale VLM backbone…
arXiv:2402.01370v4 Announce Type: replace
Abstract: Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot’s action space. We introduce Chance-Constrained V…
arXiv:2604.05697v1 Announce Type: new
Abstract: Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the obj…
arXiv:2604.05749v1 Announce Type: new
Abstract: Robotic and embodied-AI systems have the potential to improve accessibility and quality of care in clinical settings, but their deployment in close physical contact with vulnerable patients introduces si…
arXiv:2604.05828v1 Announce Type: new
Abstract: Precise aggressive maneuvers with lightweight onboard sensors remains a key bottleneck in fully exploiting the maneuverability of drones. Such maneuvers are critical for expanding the systems’ accessible…
arXiv:2512.04415v4 Announce Type: replace
Abstract: Physical feasibility in 3D bin packing is a key requirement in modern industrial logistics and robotic automation. With the growing adoption of industrial automation, online bin packing has gained in…
arXiv:2601.06748v3 Announce Type: replace
Abstract: Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into execut…
arXiv:2604.05896v1 Announce Type: new
Abstract: As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human ro…