Passive counterweights are simple gravity compensators, but a counterweight selected from a single pose is not generally optimal for the configurations and tasks a manipulator actually executes. This...
The paper introduces a capacity‑aware extension of aerodynamic promptness for redundant multirotors with heterogeneous rotors. It defines the symmetric acceleration capacity (SAC) as the largest zero‑centered rotor‑acceleration interval under bounded torque and drag, and uses SAC to induce a Riemannian metric that yields a state‑attached task‑rate capability matrix and ellipsoid. The resulting drag‑aware aerodynamic manipulability (DAAM) index and its fiberwise maximization provide a task‑coordinate‑invariant criterion for selecting actuator states, demonstrated in low‑dimensional rotor studies and a two‑rotor allocation case that improves force‑tracking performance compared to the pseudoinverse.
arXiv:2503. 08394v5 Announce Type: replace-cross Abstract: Multi-task optimization is typically characterized by a fixed and finite set of tasks.
arXiv:2606. 17317v1 Announce Type: cross Abstract: Real-time trajectory generation for on-orbit robotic servicing is challenging due to the nonlinear coupling between spacecraft bus motion, manipulator dynamics, visibility cone, and trajectory-level safety constraints.
arXiv:2609.26420v1 Announce Type: cross Abstract: Text-to-motion models generate plausible human motion but do not model a robot's dynamics; whole-body tracking controllers execute robot references r...
arXiv:2606. 06218v1 Announce Type: cross Abstract: A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robot.
arXiv:2610.00360v1 Announce Type: cross Abstract: Reinforcement learning (RL) for dexterous manipulation must discover finger-object contacts and then control the object precisely; the action noise t...
arXiv:2606. 12728v2 Announce Type: replace-cross Abstract: Most learned dexterous grasp generators relegate contact forces to a downstream verification step, so a kinematically-plausible pose can still violate the conditions for a stable physical grasp.
arXiv:2503. 05226v2 Announce Type: replace-cross Abstract: Monte Carlo tree search is attractive for robotic manipulation because it can improve action selection through simulation without requiring a fully differentiable policy.
arXiv:2606. 11266v1 Announce Type: new Abstract: The cost signal that constrained-RL algorithms optimize against is almost always reactive: the simulator emits a non-zero cost only after a collision has begun, and the Lagrange multiplier of PPO-Lagrangian grows only after the episode budget has been exceeded.
arXiv:2606. 12502v1 Announce Type: cross Abstract: We propose that value -- the quantity goal-directed agents create, destroy, and exchange -- is a lawful structural quantity in the same category as information.
arXiv:2607. 16981v1 Announce Type: new Abstract: An agent acting under partial observability must decide when to gather information and which observations are worth their cost.