Self-Distilling Future Video Representations for World Action Models - 2026-10-21 - Research Publication - FRED improves world action models by self-distilling future video representations and conditioning them on observation history. The KAIST and RLWRLD team evaluates robot manipulation on Franka Research 3 and OpenArm… - source: arxiv.org
PaceVLA: Adaptive Temporal Action Quantization in Vision-Language-Action Models - 2026-10-19 - Research Publication - PaceVLA lets a vision-language-action policy select action granularity and prediction horizon during execution. Three simulation benchmarks and six physical tasks test faster manipulation across multiple robot embodiments. - source: arxiv.org
Embodied Playground: A Long-Horizon Agentic Robotics Benchmark for Physical, Strategic, and Spatial Reasoning - 2026-10-19 - Research Publication - Embodied Playground tests long-horizon robotic reasoning across 410 simulated task environments. Its EP-100 subset contains 100 tasks in five suites and 16 task types, with separate goal, rule-compliance and… - source: arxiv.org
BiDex-100: A Comprehensive Benchmark for Bimanual Dexterous Manipulation Across 100+ Simulation Tasks - 2026-10-18 - Research Publication - BiDex-100 is a simulation benchmark with 106 bimanual dexterous tasks across five capability axes. It supplies8,080 validated teleoperated demonstrations across dual-Franka and Astribot S1 simulation embodiments. - source: arxiv.org
CusADi2: Latency-Optimized Batch Computation of Robot Kinematics, Jacobians, and Hessians on the GPU - 2026-10-18 - Research Publication - CusADi2 reduces batch-computation latency by parallelizing both across and within robot-model evaluations on GPUs. The authors benchmark kinematics, Jacobians and Hessians across67 MuJoCo Menagerie robots and report lower… - source: arxiv.org
LIBERO-Dynamic: Benchmarking Robotic Manipulation in Dynamic Environments - 2026-10-17 - Research Publication - LIBERO-Dynamic extends forty manipulation tasks to moving targets while accounting for policy inference latency. Simulation experiments compare six policies, supplemented by a small physical study using Franka Research 3. - source: arxiv.org
ORD-WM: Learning Object-Centric Rigid Dynamics for 3D World Modeling in Robotic Manipulation - 2026-10-16 - Research Publication - ORD-WM learns object-level rigid transformations in a geometry-aware 3D latent space, separating persistent object shape from pose changes. Simulated and Franka Research 3 experiments examine multi-step prediction and… - source: arxiv.org
YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation - 2026-10-13 - Research Publication - YUBI-Real 2 Sim studies whether Gaussian-splatting scene reconstructions preserve robot-policy rankings under moving fisheye wrist cameras. It reproduces real ordering in eight of nine scene–task comparisons, then tests… - source: arxiv.org
Beyond the End-Effector: Learning Whole-Arm Contact Manipulation from Human Demonstrations - 2026-10-13 - Research Publication - WACL transfers human demonstrations into whole-arm contact manipulation, including tasks with constrained end-effector objectives. Physical evaluations use UFACTORY xArm 7 and zero-shot transfer to Franka Research 3. - source: arxiv.org
StreamingWAM: Streaming World Action Modeling via Chunk-Wise Staircase Flow Matching - 2026-10-11 - Research Publication - StreamingWAM uses chunk-wise staircase flow matching, prefix rollout and video-history memory to produce smoother continuous robot control. Author-reported tests span LIBERO, LIBERO-Plus, RoboTwin 2.0 and physical Franka… - source: arxiv.org
Dynin-Robotics: Omnimodal Unified Diffusion Vision-Language-Action Model - 2026-09-11 - Research Publication - Dynin-Robotics uses a shared masked-diffusion model for robot policy generation, future visual states, goal prediction and instruction reconstruction. It reports 78.4% average success across four manipulation conditions on… - source: arxiv.org
Axis Sim Dataset V1 - 2026-09-04 - Research Publication - Axis Sim Dataset V1 provides diverse simulation demonstrations, training code and reproducible benchmarks for continual pretraining of robot policies. - source: huggingface.co
Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation - 2026-07-01 - Research Publication - Redundant robotic manipulators operating in constrained and human-interactive environments require accurate task-space tracking together with rigorous safety guarantees under dynamic uncertainties. Classical operational… - source: arxiv.org
Sequential Planning via Anchored Robotic Keypoints - 2026-06-29 - Research Publication - We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation system that reaches 43.7% on six LIBERO-PRO position \& task cells, more than doubling CaP-Agent0 and… - source: arxiv.org
WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation - 2026-06-24 - Research Publication - A robot working alongside people must reason about what they have done, in what order, and with what intent. Video carries the spatial layouts, object histories, and gestures that language leaves underspecified, yet… - source: arxiv.org
Backpropagating Through Simulation: Analytic Policy Gradients for Sample and Learning Efficient Differentiable Continuous Control - 2026-06-19 - Research Publication - Model-free reinforcement learning algorithms such as Proximal Policy Optimization (PPO) treat the environment as a black box, estimating policy gradients from sampled rewards; this process demands millions of interactions… - source: arxiv.org
Object-Centric Residual RL for Zero-Shot Sim-to-Real VLA Enhancement - 2026-06-17 - Research Publication - Vision-Language-Action (VLA) models can generalize across diverse manipulation tasks, but their imitation-learning-based policies remain brittle in precise physical interactions due to compounding execution errors; Can a… - source: arxiv.org
Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation - 2026-06-16 - Research Publication - Sampling-based Model Predictive Control (SMPC) is a promising strategy for contact-rich robotic manipulation, combining gradient-free optimization with massively parallel GPU simulation. Yet, most prior work relies on… - source: arxiv.org
WangLei-ZJU-CSC/pi05-fr3-reproduction - 2026-05-28 - Research Publication - Local reproduction of π0.5 on real Franka Research 3 robots with VR teleoperation and LoRA fine-tuning. - source: github.com
PhAIL: A Real-Robot VLA Benchmark and Distributional Methodology - 2026-05-28 - Research Publication - Launches a real-robot VLA benchmark on Franka FR3 with distributional metrics beyond binary success rates. - source: phail.ai
Rethinking Muon Beyond Pretraining: Spectral Failures and High-Pass Remedies for VLA and RLVR - 2026-05-19 - Research Publication - Muon is a matrix-aware optimizer that leverages Newton-Schulz (NS) iterations to enforce spectral gradient orthogonalization by driving all singular values of the momentum matrix toward 1. While this uniform spectral… - source: arxiv.org
XingxinHE/franka_moveit_camera_calibration - 2026-05-05 - Research Publication - RealSense camera hand-eye calibration with a Franka Research 3 robot using ROS 2 and MoveIt. No Docker required. - source: github.com
EmbodiedForge/droid-fr3 - 2026-04-29 - Research Publication - DROID robot platform adapted for Franka Research 3 (FR3) - replaces polymetis with Franky SDK - source: github.com
Passive iFIR filters for data-driven velocity control in robotics - 2026-03-31 - Research Publication - We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design complexity. Using only three minutes of… - source: arxiv.org
Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection - 2026-03-24 - Research Publication - We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated before use. Using computer aided design… - source: arxiv.org
Learning Adaptive Force Control for Contact-Rich Sample Scraping with Heterogeneous Materials - 2026-03-11 - Research Publication - Their work proposes an adaptive control framework to address this, relying on a low-level Cartesian impedance controller for stable and compliant physical interaction and a high-level reinforcement learning agent that… - source: arxiv.org
Learning-Based Robust Control: Unifying Exploration and Distributional Robustness for Reliable Robotics via Free Energy - 2026-03-06 - Research Publication - Inspired by the free energy principle in computational neuroscience, to address these challenges, the authors propose a model for policy computation that jointly learns environment dynamics and rewards, while ensuring… - source: arxiv.org
GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins - 2026-03-05 - Research Publication - Digital twins promise to enhance robotic manipulation by maintaining a consistent link between real-world perception and simulation. However, most existing systems struggle with the lack of a unified model, complex dynamic… - source: arxiv.org
Design, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors - 2026-03-05 - Research Publication - Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates tactile and proximity sensing for contact… - source: arxiv.org
VLAD-Grasp: Zero-shot Grasp Detection via Vision-Language Models - 2025-11-08 - Research Publication - Towards this, the authors present VLAD-Grasp, a Vision-Language model Assisted zero-shot approach for Detecting Grasps. - source: arxiv.org
Dual-Stream Diffusion for World-Model Augmented Vision-Language-Action Model - 2025-10-31 - Research Publication - To address this, the authors propose DUal-STream diffusion (DUST), a world-model augmented VLA framework featuring a multimodal diffusion transformer that maintains separate modality streams while enabling cross-modal… - source: arxiv.org
How Well Do Latent World Models Understand Partially Observable Safety Constraints? - 2025-10-07 - Research Publication - The authors introduce two diagnostics for these gaps: a mutual-information-based measure of safety observability and a rollout-based measure of future safety predictability. - source: arxiv.org
Gaussian Process-Based Active Exploration Strategies in Vision and Touch - 2025-07-07 - Research Publication - This work proposes fusing visual and tactile observations into a unified Gaussian Process Distance Field (GPDF) representation for active perception of object properties. - source: arxiv.org
Proactive Hierarchical Control Barrier Function-Based Safety Prioritization in Close Human-Robot Interaction Scenarios - 2025-05-21 - Research Publication - This paper presents a hierarchical control framework based on Control Barrier Functions (CBFs) designed to ensure safe and adaptive operation of autonomous robotic manipulators during close-proximity human-robot interaction. - source: arxiv.org
Safe Multi-Robotic Arm Interaction via 3D Convex Shapes - 2025-03-14 - Research Publication - The authors present an online collision avoidance methodology leveraging High-Order Control Barrier Functions (HOCBFs) constructed for safe interactions among 3D convex shapes to address this issue. - source: arxiv.org
Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis - 2025-02-02 - Research Publication - The authors propose Latent Safety Filters, a latent-space generalization of HJ reachability that tractably operates directly on raw observation data (e.g., RGB images) to automatically compute safety-preserving actions… - source: arxiv.org
GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins - 2024-12-01 - Research Publication - Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail to account for the robot's specific shape… - source: arxiv.org
Goal-oriented Semantic Communication for Robot Arm Reconstruction in Digital Twin: Feature and Temporal Selections - 2024-11-13 - Research Publication - To this end, the authors propose a novel goal-oriented semantic communication (GSC) framework to extract the GSC information for the robot arm reconstruction task in the DT, with the aim of minimising the communication… - source: arxiv.org
Collision Avoidance for Convex Primitives via Differentiable Optimization Based High-Order Control Barrier Functions - 2024-10-24 - Research Publication - This work addresses these challenges by introducing a high-order CBF (HOCBF) framework for collision avoidance among convex primitives. - source: arxiv.org
Learning Tactile Insertion in the Real World - 2024-05-01 - Research Publication - The study proposes to use Reinforcement Learning to learn an end-to-end policy, mapping directly from tactile sensor readings to actions. - source: arxiv.org
Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators - 2024-03-14 - Research Publication - Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible… - source: arxiv.org
Grounding LLMs For Robot Task Planning Using Closed-loop State Feedback - 2024-02-13 - Research Publication - The study introduces a novel approach to task planning that utilizes two separate LLMs for high-level planning and low-level control, improving task-related success rates and goal condition recall. - source: arxiv.org
Gavin1129/franka_haptic_teleoperate - 2023-12-18 - Research Publication - Franka research 3 robot arm teleoperated by sigma 7 Haptic device - source: github.com
Domain Randomization for Sim2real Transfer of Automatically Generated Grasping Datasets - 2023-10-06 - Research Publication - To avoid constraining the operational space, an increasing number of works propose grasping datasets to learn from. - source: arxiv.org
Toward a Plug-and-Play Vision-Based Grasping Module for Robotics - 2023-10-06 - Research Publication - This paper introduces a vision-based grasping framework that can easily be transferred across multiple manipulators. - source: arxiv.org
Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance - 2023-09-29 - Research Publication - Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based methods to systematically construct CBFs for… - source: arxiv.org
BolunDai0216/fr3_ros - 2022-11-17 - Research Publication - ROS package for Franka Research 3 robot. - source: github.com