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. - source: arxiv.org
Safe Execution of RL Policies via Acceleration-based CBF-QP Constraint Enforcement for Real-World Robotic Deployments - 2026-07-16 - Research Publication - A physical H1 deployment reports 92% fewer constraint violations under the safety layer. - 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. - source: arxiv.org
FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model - 2026-07-01 - Research Publication - Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We introduce FurnitureVLA, the first systematic study of real-scale bimanual furniture assembly using… - source: arxiv.org
JOIN: Anchor-Grasp-Conditioned Joining via Opposition, Inference, and Navigation for Bimanual Assistive Manipulation - 2026-06-09 - Research Publication - Assistive mobility and manipulation platforms have received increasing attention as a means of restoring independence to individuals with disabilities. - source: arxiv.org
muslim-adedamola/finetune-octo-kinova-hybrid - 2026-04-24 - Research Publication - Finetuning and deploying Octo, a VLA on a Kinova Gen3 (7-DoF) robot for goal-image-conditioned bottle pick-and-lift using diffusion arm actions, a BCE gripper head, and latency-aware receding-horizon control. - source: github.com
Efficient Reinforcement Learning using Linear Koopman Dynamics for Nonlinear Robotic Systems - 2026-04-21 - Research Publication - This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopman operator theory 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 - Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions… - source: arxiv.org
Whole-Body Safe Control of Robotic Systems with Koopman Neural Dynamics - 2026-03-04 - Research Publication - Controlling robots with strongly nonlinear, high-dimensional dynamics remains challenging, as direct nonlinear optimization with safety constraints is often intractable in real time. The Koopman operator offers a way to… - 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. However, research on contact-rich tasks involving deformable objects remains… - source: arxiv.org
RoboSubtaskNet: Temporal Sub-task Segmentation for Human-to-Robot Skill Transfer in Real-World Environments - 2026-02-10 - Research Publication - Temporally locating and classifying fine-grained sub-task segments in long, untrimmed videos is crucial to safe human-robot collaboration. Unlike generic activity recognition, collaborative manipulation requires sub-task… - 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. - 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. - 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. - 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. - 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. - 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. - 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. - 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
AmirhosseinSoltan/Robot-Learning - 2024-10-27 - Research Publication - Learning-based Dynamic Motion Primitives of a Kinova Gen3 robotic arm using behavior cloning and PPO in Gazebo simulation with ROS and Gymnasium. - source: github.com
A Neuromorphic Approach to Obstacle Avoidance in Robot Manipulation - 2024-04-08 - Research Publication - To investigate the utility of brain-inspired sensing and data processing, the authors developed a neuromorphic approach to obstacle avoidance on a camera-equipped manipulator. - source: arxiv.org
The Grasp Reset Mechanism: An Automated Apparatus for Conducting Grasping Trials - 2024-02-28 - Research Publication - Towards the goal of more advanced grasping, the authors present the Grasp Reset Mechanism (GRM), a fully automated apparatus for conducting large-scale grasping trials. - source: arxiv.org
Learning Lyapunov-Stable Polynomial Dynamical Systems through Imitation - 2023-10-31 - Research Publication - To mitigate this problem, the authors present an approach for learning a globally stable nonlinear dynamical system as a motion planning policy. - source: arxiv.org
Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas - 2023-09-19 - Research Publication - Mobile manipulators have been used for inspection, maintenance and repair tasks over the years, but there are some key limitations. - source: arxiv.org
Proactive Human-Robot Co-Assembly: Leveraging Human Intention Prediction and Robust Safe Control - 2023-06-20 - Research Publication - This paper presents an integrated framework for proactive HRC. - source: arxiv.org
Robust and Context-Aware Real-Time Collaborative Robot Handling via Dynamic Gesture Commands - 2023-04-12 - Research Publication - To address these challenges, the authors introduce Conditional Collaborative Handling Process (CCHP) to encode a contextaware cobot handling policy and a procedure to learn such policy from human-human collaboration. - source: arxiv.org
Sample-Efficient Reinforcement Learning with Symmetry-Guided Demonstrations for Robotic Manipulation - 2023-04-12 - Research Publication - The authors introduce Demo-EASE, a novel training framework using a dual-buffer architecture that stores both demonstrations and RL-generated experiences. - source: arxiv.org
Condition-based Design of Variable Impedance Controllers from User Demonstrations - 2022-09-21 - Research Publication - This paper presents an approach to ensure conditions on Variable Impedance Controllers through the off-line tuning of the parameters involved in its description. - source: arxiv.org
Task-Agnostic Adaptation for Safe Human-Robot Handover - 2022-09-20 - Research Publication - Human-robot interaction (HRI) is an important component to improve the flexibility of modern production lines. However, in real-world applications, the task (\ie the conditions that the robot needs to operate on, such as… - source: arxiv.org
Kinova Gemini: Interactive Robot Grasping with Visual Reasoning and Conversational AI - 2022-09-03 - Research Publication - Kinova Gemini combines conversational dialogue and visual reasoning on a Kinova Gen3 lite robot for object retrieval and perception-based pick-and-place tasks. - source: arxiv.org
Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR - 2022-02-28 - Research Publication - The study presents preliminary results suggesting that the Iterative Linear Quadratic Regulator (iLQR) algorithm together with the recently proposed pressure-field-based hydroelastic contact model enables reliable and… - source: arxiv.org
Learn from Human Teams: a Probabilistic Solution to Real-Time Collaborative Robot Handling with Dynamic Gesture Commands - 2021-12-11 - Research Publication - The study proposes a Real-Time Collaborative Robot Handling (RTCoHand) framework that allows the control of cobot via user-customized dynamic gestures. - source: arxiv.org
Learning Visual-Audio Representations for Voice-Controlled Robots - 2021-09-07 - Research Publication - Inspired by sensorimotor theory, the authors propose a novel pipeline for task-oriented voice-controlled robots. - source: arxiv.org
Kinova Gen3-Lite manipulator inverse kinematics: optimal polynomial solution - 2021-02-01 - Research Publication - A polynomial solution to the inverse kinematic problem of the Kinova Gen3 Lite robot is proposed in this paper. - source: arxiv.org
Real-Time Deep Learning Approach to Visual Servo Control and Grasp Detection for Autonomous Robotic Manipulation - 2020-10-13 - Research Publication - The developed controller was able to achieve a millimeter accuracy in the final position considering a target object seen for the first time. - source: arxiv.org
vincentzhang/gen3-mujoco - Research Publication - MuJoCo model of the Kinova Gen3 robot. - source: github.com