MetaPose: A meta-learned framework with dual-branch frequency-aware network for fast and accurate 2D/3D image registration
Available online 3 June 2026
During pelvic fracture reduction surgery, fast and accurate 2D/3D image registration is of great clinical importance for intraoperative navigation and bone fragment reduction. However, conventional...
Multi-goal dexterous hand manipulation using probabilistic model-based reinforcement learning
Available online 3 June 2026
This paper tackles the challenge of learning multi-goal dexterous hand manipulation tasks using model-based Reinforcement Learning. We propose Goal-Conditioned Probabilistic Model Predictive Control...
Adaptive robust control for a parallel orthopedic rehabilitation robot with guaranteed healing-safety
Available online 3 June 2026
In orthopedic rehabilitation, ensuring both safety and precision of the mechanical stimulation is paramount for effective bone healing. This study proposes a safety-guaranteed control strategy for a...
A B-spline based trajectory generation and optimization approach of a tendon-driven aerial grasper with logarithmic spiral grippers
Available online 23 May 2026
This paper improves the structure of a four-finger tendon-driven aerial grasper (TAG) and proposes an effective grasping and delivering strategy. Oriented by grasping tasks, four logarithmic spiral-based...
RT-K: A key point-aware transformer framework for efficient vision-language robot control
Available online 20 May 2026
While Vision Language Models (VLMs) offer transformative potential for adaptive robot decision-making, their practical deployment is severely hindered by a critical mismatch between high computational...
A robust agricultural LiDAR-inertial SLAM system with heterogeneous registration and neural noise adaptation
Available online 30 April 2026
To address the challenges of unstructured terrain, repetitive geometric structures, and significant inertial disturbances in agricultural environments, this paper proposes a robust LiDAR-inertial simultaneous...
Model-based gait planning rather than gait rewards: An enhanced reinforcement learning for bipedal locomotion over challenging terrains
Available online 30 April 2026
Model-free Reinforcement Learning (RL) typically relies on reward functions to develop robotic behavior; however, fine-tuning reward coefficients is often time-consuming and requires repeated adjustments,...
Force-Aware Multimodal Imitation Learning: Transformer-driven CVAE for long-horizon contact-rich manipulation
Available online 23 April 2026
Accurately and safely performing long-horizon, contact-rich manipulation tasks remains a fundamental challenge in robotic imitation learning. We propose Force-Aware Multimodal Imitation Learning (FAMIL),...
Exploring the physical principles of cell collective behaviors using robot swarms
Available online 22 April 2026
The convergence of systems biology, mechanobiology, and artificial intelligence has driven increasing interest in understanding how physical mechanisms govern collective cellular behaviors during physiological...
VTLA: Vision-Tactile-Language-Action model with preference learning for insertion manipulation
Available online 17 April 2026
While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks that extend beyond...
D-RMGPT: Robot-assisted collaborative tasks driven by large multimodal models
Available online 17 April 2026
Collaborative robots are increasingly popular for assisting humans at work and daily tasks. However, designing and setting up interfaces for human–robot collaboration is challenging, requiring the integration...
HDCAR: A 3D-2D registration network for abdominal aortic vessels based on CTA vessel models and DSA images
March 2026
Multimodal image registration is a crucial prerequisite for the automation and intelligence of interventional surgical medical robots. In endovascular aneurysm repair, due to limitations in imaging...
Large language model-based task planning for service robots: A review
March 2026
With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments....
Enhanced reasoning and task planning for surgical autonomy using multi-modal large language models with gradual learning
March 2026
Large language models (LLMs) have been widely adopted in robotic applications in recent years, but their ability in task planning of long-horizon and complex tasks remains a challenge. In this work,...
A feedforward tendon-elongation compensator for tendon-sheath mechanisms with arbitrary and time-varying transmission routes in three-dimensional space
March 2026
Tendon-sheath mechanisms (TSMs) are widely used for position transmission in robotic systems that require compactness and adaptability to complex environments. However, friction-induced tendon-elongation...
YOLO-FOA: A lightweight rotational target detection algorithm based on improved YOLO for optical fiber robot
March 2026
In fiber optic communication, as networks expand, precise detection and alignment of fiber optic adapters are crucial for enhancing system stability and transmission quality. Traditional target detection...
End-to-end replay-based trajectory planning for autonomous vehicles under multi-weather scenarios
March 2026
Autonomous driving systems face challenges from perception degradation and kinematic coupling in adverse weather. This paper introduces an end-to-end trajectory prediction framework integrating multi-weather...
Design and testing of an orthopedic robot for deformity correction
March 2026
Deformity correction has positive significance for limb function reconstruction. To reduce the workload of the physicians and enhance the intelligence level of deformity correction, a wearable orthopedic...
A vision-based humanoid compliant skill transfer framework: Application to robotic cutting tasks
March 2026
Autonomously completing a contact-rich task for multiple manipulation objects remains a challenging problem for robots. To achieve this goal, learning from demonstration has emerged as an efficient...
Improved PRM algorithm based on dynamic partitioning and adaptive sampling
March 2026
The Probabilistic Roadmap (PRM) algorithm has been widely employed in robotic manipulator path planning tasks due to its rapid exploration capabilities, particularly in high-dimensional configuration...
Investigation of efficient creeping locomotion for snake-like robots with compliant passive joints
March 2026
Snake-like robots leverage their slender bodies to navigate confined spaces by coordinating the multiple actuated joints, which enable effective movement through constrained pathways. However, their...
A bio-inspired intestine robot utilizing soft origami Kresling structures to imitate peristaltic wave motion and transport
March 2026
This paper presents a single-drive bio-inspired intestine robot that leverages the coupled rotational-contraction dynamics of Kresling origami structures and unidirectional valves to replicate intestinal...
Trajectory tracking and jumping control of quadruped via phase-aware iLQR controller
March 2026
Jumping is a critical capability for quadruped robots, especially for navigating obstacles and gaps in complex environments. For successful jump, accurate trajectory tracking and robust feedback mechanism...
Robust visual semantic perception for flexible grinding of complex welds
March 2026
Semantic segmentation methods based on RGB images exhibit notable limitations in complex industrial scenarios, particularly in addressing interference factors such as dynamic lighting variations and...
From knowing to doing: Learning diverse motor skills through instruction learning
March 2026
Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation...
