Robot Papershttps://robotpapers.infoLatest robotics papers and engineering-ready research.<![CDATA[LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies]]>https://robotpapers.info/papers/lieipm-lie-group-interior-point-method-for-direct-trajectory-optimization-of-rigid-bodies<![CDATA[Gradient based Bilevel for Inverse Optimal Control, a Riemannian approach]]>https://robotpapers.info/papers/gradient-based-bilevel-for-inverse-optimal-control-a-riemannian-approach<![CDATA[Resilient Navigation for Autonomous Farm Robots by Leveraging Jerk-Augmented Models with IMU-Only Disturbance Rejection]]>https://robotpapers.info/papers/resilient-navigation-for-autonomous-farm-robots-by-leveraging-jerk-augmented-models-with-imu-only-disturbance-rejection<![CDATA[Free Parametrization of L_2-Bounded Structured State-Space Controllers for Nonlinear Control with Stability Guarantees]]>https://robotpapers.info/papers/free-parametrization-of-l-2-bounded-structured-state-space-controllers-for-nonlinear-control-with-stability-guarantees<![CDATA[A Practical Recipe Towards Improving Sim-and-Real Correlation for VLA Evaluation]]>https://robotpapers.info/papers/a-practical-recipe-towards-improving-sim-and-real-correlation-for-vla-evaluation<![CDATA[Locomotion analysis of a quadruped interacting with the lunar granular surface]]>https://robotpapers.info/papers/locomotion-analysis-of-a-quadruped-interacting-with-the-lunar-granular-surface<![CDATA[On-sky demonstration of reinforcement learning for adaptive optics control]]>https://robotpapers.info/papers/on-sky-demonstration-of-reinforcement-learning-for-adaptive-optics-control<![CDATA[GUIDE: Goal-Initialized Directional Understanding for End-to-End Visual Navigation]]>https://robotpapers.info/papers/guide-goal-initialized-directional-understanding-for-end-to-end-visual-navigation<![CDATA[AllDayNav: Lifelong Navigation via Real-World Reinforcement Learning]]>https://robotpapers.info/papers/alldaynav-lifelong-navigation-via-real-world-reinforcement-learning<![CDATA[MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds]]>https://robotpapers.info/papers/march-model-assisted-reinforcement-learning-for-the-perceptive-control-of-humanoids-over-sparse-footholds<![CDATA[OMG: Omni-Modal Motion Generation for Generalist Humanoid Control]]>https://robotpapers.info/papers/omg-omni-modal-motion-generation-for-generalist-humanoid-control<![CDATA[GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains]]>https://robotpapers.info/papers/guidewalk-learning-unified-autonomous-navigation-and-locomotion-for-humanoid-robots-across-versatile-terrains<![CDATA[AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation]]>https://robotpapers.info/papers/agninav-configuration-driven-cross-embodiment-local-planning-for-robot-navigation<![CDATA[A Spiking Neural Architecture for Coordinating Arm and Locomotor Control]]>https://robotpapers.info/papers/a-spiking-neural-architecture-for-coordinating-arm-and-locomotor-control<![CDATA[RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning]]>https://robotpapers.info/papers/robonaldo-accurate-stable-and-powerful-humanoid-soccer-shooting-via-motion-guided-curriculum-reinforcement-learning<![CDATA[EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots]]>https://robotpapers.info/papers/em-fall-embodied-mmwave-sensing-for-day-and-night-fall-detection-on-humanoid-robots<![CDATA[What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents]]>https://robotpapers.info/papers/what-matters-in-orchestrating-robot-policies-a-systematic-study-of-hierarchical-vla-agents<![CDATA[SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation]]>https://robotpapers.info/papers/sarm2-multi-task-stage-aware-reward-modeling-for-self-improving-robotic-manipulation<![CDATA[HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulation]]>https://robotpapers.info/papers/himem-wam-hierarchical-memory-gated-world-action-models-for-robotic-manipulation<![CDATA[Test-time Adversarial Takeover: A Real-time Hijacking Interface against Robotic Diffusion Policies]]>https://robotpapers.info/papers/test-time-adversarial-takeover-a-real-time-hijacking-interface-against-robotic-diffusion-policies