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#Motion control
Oct 19Mon
  1. arXiv cs.RO58

    Learning Robot Metareasoning: Adaptive Computation Budgets for Real-Time Control

    The arXiv paper Learning Robot Metareasoning proposes modeling the determination of the optimal computation budget as a semi-Markov decision process (SMDP), in which a single decision jointly determines the robot's action commitment duration and the time allocated to the solver. The authors trained a reinforcement learning policy conditioned on the current state, the executing plan, and low-cost planner statistics. Across three task types—ground robot navigation, agile quadrotor flight, and contact-rich manipulation—the policy adjusts its budget according to scene demands and outperforms fixed-budget baselines.

  2. arXiv cs.RO55

    Reinforcement Learning-Based Multi-Terrain Whole-Body Control for a Quadruped Mobile Manipulator

    The paper proposes a reinforcement learning-based whole-body control framework for quadruped loco-manipulation on complex terrain. The framework combines a hybrid task representation with task-prioritized whole-body learning to coordinate locomotion and manipulation while preserving task-consistent end-effector behavior. The authors also developed a lightweight quadruped mobile manipulation platform for validation, and real-world experiments successfully deployed on complex terrains including slopes up to 30 degrees, stairs, and deformable terrain.

  5. arXiv cs.RO43

    Simultaneous Force and Motion Control of Robot Manipulators in Generalized Coordinates

    An arXiv paper proposes using Gauss's principle of least constraint to formulate simultaneous force and motion control of a robot manipulator as a quadratic programming (QP) problem in generalized coordinates (joint space), so that inequality constraints such as joint limits, collision avoidance, and singularity avoidance can be incorporated directly into the solution. Simulations were run in MuJoCo and compared with an operational-space (task-space) method; the results show that the method can simultaneously maintain the desired contact force, reduce trajectory tracking error, and satisfy the inequality constraints. The paper is 8 pages with 5 figures and has been submitted to IEEE ICRA 2027.

  7. 机器人全球资讯 · 微信公众号62

    Westlake Robotics WR1 demonstrates full-body coordinated autonomous clothes folding and cross-area household chores

    Westlake Robotics has upgraded its general-purpose brain WR1, adopting a dual pretraining architecture of a general-purpose large brain and cerebellum, integrating a world model with VLA to generate action sequences, and executing full-body control through its self-developed general action model GAE. In the demonstration, WR1 completed a continuous task sequence: taking clothes from a drying rack, folding pants with two machines working together, and across the kitchen, living room, and bedroom, fetching corn, storing dolls, and tidying a quilt. The system introduces long- and short-term motion state review and a real-time action chunking mechanism to reduce pauses and abrupt changes in long-horizon tasks.

Oct 18Sun
  1. Reddit r/robotics45

    How wrist geometry determines industrial robot production performance: differentiated selection analysis under the same payload and reach

    An analysis aimed at robot selection points out that wrist geometry (inline wrist, offset wrist, collaborative robot layout) determines the behavioral differences in production among robots with the same payload and the same reach. In an inline wrist, joints 4, 5, and 6 intersect at a single point, supporting analytical inverse kinematics and offline programming; an offset wrist provides a larger orientation envelope for long tools (spray guns, welding guns, grinding heads), but increases the complexity of inverse kinematics and singularity analysis.

  2. 芯东西57

    Robots at the Canton Fair Move From a One-Off Show to Sustained Use

    Smart China reported on October 18 that Dongyi Technology arranged human-versus-robot badminton and table tennis matches, boxing demonstrations, and bilingual Chinese-English guided tours at the 140th Canton Fair, and showcased heavy-load transport, special inspection, and dexterous manipulation solutions at its booth, with services planned to continue until November 4.

  3. Guyuehome36

    StochasticNCBF: Safe Control of an Inverted Pendulum Based on Stochastic Neural Control Barrier Functions

    StochasticNCBF uses stochastic neural control barrier functions to achieve safe control of an inverted pendulum, analyzing the stochastic generator, safety control correction, and second-order neural barrier propagation. Reproduction experiments compare the safety performance of three schemes: no correction, deterministic correction, and retaining the stochastic term.

  4. Guyuehome46

    Humanoid Robot Motion Control Based on Model Predictive Control and Whole-Body Control: A Case Study of the Qinglong Configuration

    Using the Qinglong configuration as a case study, this work derives the construction methods for the center-of-mass model, zero-moment point constraints, receding-horizon quadratic programming, and task-priority force distribution in humanoid robot motion control. The method was validated in real physics simulation for locomotion performance in walking, speed variation, stair climbing, jumping, and disturbance-rejection scenarios.

  5. Reddit r/robotics58

    Open-source tool SONAR: an analysis of SGD-based online one-class joint anomaly detection

    The Dense-Armor project has open-sourced the SONAR (SGD-based One-Class Novelty detection with Approximate RBFs) module, which uses random Fourier features (RFF) to approximate an RBF kernel and adds strongly convex regularization, allowing the one-class boundary to be updated per sample via online SGD to detect whether robot joint residuals deviate from a healthy state.

  6. Reddit r/humanoidrobotics41

    Petoi founder converts Quaddle quadruped robot to walk on two legs

    RZ Li, founder of Petoi and creator of the open-source OpenCat quadruped framework (started in 2016), modified the Quaddle with a 3D-printed base and adjusted its gait so it walks on two legs, without changing the robot body or software. The author asks developers of small bipedal robots whether gait is tuned manually or first trained in simulation.

  7. Reddit r/robotics31

    Robot dog keeps discovering new ways to move across gravel terrain

    A small quadruped robot tested its mobility on loose gravel terrain and, through continuous trial and error, discovered new ways of moving, including rolling across gravel patches. When a maneuver fails, it can rely on the built-in IMU's Auto Mode to automatically right itself; this mode uniformly handles tilting, falling, being lifted or set down, and impact detection.

  8. Guyuehome58

    Self-Balancing Reinforcement Learning for Wheeled-Legged Robots Based on MuJoCo and PPO

    Starting from the instability mechanism of a rolling inverted pendulum, the article explains why two-wheeled-legged robots must rely on wheel rolling to maintain balance, and presents the complete mathematical formulation of proximal policy optimization (PPO). Using a real training experiment of three million steps, the author shows the policy's progression from random jitter to standing in place and moving toward a target.

  10. Guyuehome46

    asRoBallet: Dynamic Balance Control of Spherical Underactuated Robots via Friction-Aware Reinforcement Learning

    asRoBallet achieves dynamic balance control of spherical underactuated robots through friction-aware reinforcement learning. Starting from underactuated dynamics and the two-layer contact friction among wheel, ball, and ground, it derives the kinematic mapping and dynamic balance mechanism of the spherical chassis. The method uses proximal policy optimization (PPO) to train position-holding and velocity-tracking policies, and applies friction domain randomization to improve policy adaptability under different friction conditions.

  11. Guyuehome47

    A General Control Policy for Humanoid Robots Based on Whole-Body Motion Tracking: Closed-Loop Validation of the SONIC Method on G1 in MuJoCo

    The SONIC method performs deterministic closed-loop runs in MuJoCo simulation on released checkpoints for the G1 humanoid robot, reproducing general control with whole-body motion tracking as the base task. The method unifies motion representation, adopts a tokenized conditional policy and Gaussian kernel rewards, and presents real footage and error metrics for multiple skill entries.

  12. Guyuehome51

    TD-MPC2: Model-Predictive Reinforcement Learning Control Practice with Latent World Models

    The author uses official pretrained weights to drive a quadruped canine model through real running inference on a local CPU, reconstructing item by item the mathematical construction of the latent world model, the consistency learning objective, symlog two-hot encoding, and MPPI-style sampling-based planning, and records observed phenomena such as planning distribution contraction and the gap between estimates and realized outcomes.

  13. Guyuehome56

    Simulation Analysis of Dynamic Balancing and Motion Control for the Upkie Wheeled Biped Robot

    This article runs the Upkie wheeled biped robot's control system entirely in simulation, starting from the wheeled inverted pendulum model and constrained predictive control to explain the hierarchical structure of balancing and steering, and covering scenarios such as standing in place, acceleration and deceleration, differential steering, push recovery, and instability boundaries.

  14. Guyuehome45

    G1 Double Spin Kick: Whole-Body Angular Momentum Control in a Humanoid Robot's Spinning Kick

    Running a real ONNX policy in physics simulation, whole-body angular momentum is computed per body for the humanoid robot G1's Double Spin Kick, breaking down spin and revolution, the scheduling of each body group, and landing impact. The analysis notes that after the double spin kick leaves the ground, total angular momentum is locked, and the ground-contact phase is the window for momentum injection and absorption.

  15. Guyuehome48

    RB-Y1: Redundant Whole-Body Control and Compliant Mobile Manipulation for a Wheeled Dual-Arm Robot

    The RB-Y1 wheeled dual-arm robot demonstrates redundant whole-body control based on generalized coordinates and the Jacobian, including null-space utilization for manipulability maximization and joint-limit avoidance. The experiments show push-disturbance recovery under task-space impedance control, as well as mobile manipulation in which base movement expands the workspace.

  16. Guyuehome46

    Humanoid Robot Shooting and Goalkeeping Control Based on Motion-Prior Reinforcement Learning

    A G1 shooter based on motion-prior reinforcement learning scored on all 60 penalty kicks, and a goalkeeper using historical encoding saved 85% of shots. However, when the two models were placed in the official adversarial scenario, they scored zero goals across 20 matches; the article uses frame-by-frame data to identify a two-layer distribution-boundary mechanism.

Oct 17Sat
  1. GitHub Robotics Topic36

    LiYan1919810/yuegang5-robotic-arm v0.4.0 — Task pause/resume, speed adjustment, and action group refactor

    LiYan1919810/yuegang5-robotic-arm released v0.4.0, adding pause/resume and serial-port speed adjustment for drawing/straight-line tasks (H/L keys adjust TURN_INTERVAL by ±5ms). Button one changed from looped execution to one playback per press; action groups A/B/C refactored into a two-stage handoff; teaching z compensation changed to per-point independent compensation based on the first point. The program grew from 1211 lines to 1298 lines; pause stability and handoff smoothness still await real-world testing.

  2. Reddit r/robotics38

    2-hour reinforcement learning simulation of a quadruped robot dog in MuJoCo

    In a training platform built on a self-made MuJoCo physics simulator, the developer trained a quadruped robot dog simulation using reinforcement learning with motion imitation (style reference motions). Trained for only 2 hours on a MacBook Air CPU (no GPU), it learned a keyframe trot gait and balance. Joints are limited by a realistic hobby servo model in torque, speed curve, backlash, and latency, making the gait smoother than pure reinforcement learning. The simulation supports WASD-driven multidirectional control.

  3. 优宝特 · 微信公众号43

    Yobotics' "Xingzhe Taishan" E2 humanoid robot debuts at 2026 AI Industry Conference

    Yobotics released its new-generation humanoid robot "Xingzhe Taishan" E2 at the main forum of the 2026 AI Industry Conference. Chairman Fan Yong presented it, saying it has undergone a systematic reconstruction of its body structure, motion system, and intelligent architecture, achieving 6 core breakthroughs, including a one-brain-multi-form general motion control base, self-developed high-dynamic motion control algorithms, and a domestic-chip "large brain and small brain" integrated controller.

Oct 16Fri
  1. OFweek Robotics60

    Rokae Robotics Showcases at 2026 CIIF, Humanoid Force-Controlled Arms Deliveries Surpass 10,000 Units

    From October 12 to 16, 2026, Rokae Robotics showcased its full lineup of industrial robots, flexible collaborative robots, and embodied intelligent robots at the CIIF held at the National Exhibition and Convention Center (Shanghai). The Zhuxing H-series wheeled humanoid robot has 23 degrees of freedom and integrates dual 7-axis AR humanoid force-controlled arms with the Xuanhe iNex control system; on-site demonstrations included intangible cultural heritage lacquer fan making and bin handling, the latter already deployed at a Schaeffler factory. In September 2026, Rokae's 10,000th humanoid force-controlled arm rolled off the line and was delivered, and the company has established cooperation with more than 80 industry partners.

  2. 高工咨询 · 微信公众号38

    After AUBO Robotics' collaborative robot deliveries exceed 50,000 units, it puts embodied intelligence to work in factories

    AUBO Robotics' cumulative collaborative robot deliveries have exceeded 50,000 units, and at the 2026 Industry Expo it showcased an automotive flexible intelligent manufacturing production line and an embodied intelligence matrix. The production line consists of the G series, iS series, and explosion-proof series, covering gluing, spraying, grinding, inspection, assembly, and welding processes; the G40, with a 40 kg payload, demonstrated active constant-force grinding. The embodied intelligence section displayed the S series dual-arm sorting robot, which integrates 3D vision and force feedback, as well as RS/RP joint modules and a debut embodied controller, paired with the self-developed ARCS operating system and ARAL algorithm library.

  4. 量子位39

    DeepMotion Badminton Robot Sets Guinness World Record with 1,452 Consecutive Shots

    A DeepMotion badminton robot rallied 1,452 consecutive shots with a human player, earning Guinness World Record certification. According to public reports, the robot can recognize an incoming shuttlecock in about 0.5 milliseconds, swing at 30 meters per second, and smash at over 250 kilometers per hour; its ICRA 2025 paper reports a 94.5% return success rate against a shuttle-launching machine and a 90.7% success rate in consecutive rallies with real people. The system is built on a reusable general-purpose physical motion platform, consisting of a multi-degree-of-freedom racket arm, a mobile chassis, and a self-developed robot brain.

Oct 15Thu
  3. 甲子光年 · 微信公众号70

    Shenyi Robotics launches Sculptor loading/unloading robot and SEEN·E SE-1 embodied foundation model

    Tsinghua-affiliated startup Shenyi Robotics unveiled its end-to-end model-driven single-arm loading/unloading robot Sculptor, its embodied foundation model SEEN·E SE-1, and its dual-arm fine-manipulation robot Edge at the 2026 Industry Expo. Sculptor has a working radius of 1.8 m, a maximum payload of 35 kg, handles cartons of 10–80 cm, runs continuously for 8 hours, and operates at 400–800 boxes per hour; the team completed a new mixed palletizing task demo after about three days of data collection and two days of reinforcement learning.

  5. 中国机器人网 · 微信公众号36

    FA Robotics validates embodied intelligence deployment capabilities with full-scale production line at the Industrial Fair

    At the 26th China International Industry Fair Robotics Show (RS2026), FA Robotics presented its embodied intelligence deployment results and reached strategic cooperation agreements with five partners: Boyin Hechuang, Aitu Technology, Yingshen Intelligence, Xingyuanzhi, and Lingqiao Intelligence. The industrial-grade embodied intelligence robot BW10-Lite, equipped with FA Robotics' ART series force-controlled humanoid robotic arms and Boyin Hechuang's "Bozhi-Bolt" industrial vertical large model, autonomously completes cycles of material grasping, transport, and placement; the AIRLab welding agent uses 3D vision to automatically generate welding trajectories without teaching.