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Bibliographic Details
Main Authors:	Lin, Nan, Zhang, Linrui, Chen, Yuxuan, Chen, Zhenrui, Zhu, Yujun, Chen, Ruoxi, Wu, Peichen, Chen, Xiaoping
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2512.02022
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Gradient-based Regularization for Action Smoothness in Robotic Control with Reinforcement Learning
by: Lee, I, et al.
Published: (2024)

Cable-driven Continuum Robotics: Proprioception via Proximal-integrated Force Sensing
by: Zhang, Gang, et al.
Published: (2026)

Learning-based Force Sensing and Impedance Matching for Safe Haptic Feedback in Robot-assisted Laparoscopic Surgery
by: Aiden, et al.
Published: (2026)

Zero Shot Deformation Reconstruction for Soft Robots Using a Flexible Sensor Array and Cage Based 3D Gaussian Modeling
by: Shou, Linrui, et al.
Published: (2026)

HierKick: Hierarchical Reinforcement Learning for Vision-Guided Soccer Robot Control
by: Chen, Yizhi, et al.
Published: (2026)

POMDP-Guided Active Force-Based Search for Robotic Insertion
by: Wang, Chen, et al.
Published: (2024)

SafeFall: Learning Protective Control for Humanoid Robots
by: Meng, Ziyu, et al.
Published: (2025)

RLRC: Reinforcement Learning-based Recovery for Compressed Vision-Language-Action Models
by: Chen, Yuxuan, et al.
Published: (2025)

Robots that Suggest Safe Alternatives
by: Jeong, Hyun Joe, et al.
Published: (2024)

A Unified Interaction Control Framework for Safe Robotic Ultrasound Scanning with Human-Intention-Aware Compliance
by: Yan, Xiangjie, et al.
Published: (2024)

Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing
by: Sun, Zhanyi, et al.
Published: (2023)

Disturbance Compensation for Safe Kinematic Control of Robotic Systems with Closed Architecture
by: Zhang, Fan, et al.
Published: (2025)

Safe Reinforcement Learning via Hierarchical Adaptive Chance-Constraint Safeguards
by: Chen, Zhaorun, et al.
Published: (2023)

Construction of a Multiple-DOF Under-actuated Gripper with Force-Sensing via Deep Learning
by: Li, Jihao, et al.
Published: (2025)

Adaptive Visuo-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation
by: Li, Jinzhou, et al.
Published: (2025)

Training Tactile Sensors to Learn Force Sensing from Each Other
by: Chen, Zhuo, et al.
Published: (2025)

Accelerating Robotic Reinforcement Learning with Agent Guidance
by: Chen, Haojun, et al.
Published: (2026)

Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres
by: Michaux, Jonathan, et al.
Published: (2024)

Scalable Hierarchical Reinforcement Learning for Hyper Scale Multi-Robot Task Planning
by: Zhou, Xuan, et al.
Published: (2024)

Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning
by: Lin, Xi, et al.
Published: (2024)

Benchmarking Model Predictive Control and Reinforcement Learning Based Control for Legged Robot Locomotion in MuJoCo Simulation
by: Akki, Shivayogi, et al.
Published: (2025)

Robot Safe Planning In Dynamic Environments Based On Model Predictive Control Using Control Barrier Function
by: Lu, Zetao, et al.
Published: (2024)

Time as a Control Dimension in Robot Learning
by: Jia, Yinsen, et al.
Published: (2025)

Passivity-Centric Safe Reinforcement Learning for Contact-Rich Robotic Tasks
by: Zhang, Heng, et al.
Published: (2025)

Safety-aware Goal-oriented Semantic Sensing, Communication, and Control for Robotics
by: Wu, Wenchao, et al.
Published: (2026)

Long and Short-Term Constraints Driven Safe Reinforcement Learning for Autonomous Driving
by: Hu, Xuemin, et al.
Published: (2024)

Learning Bimanual Cloth Manipulation with Vision-based Tactile Sensing via Single Robotic Arm
by: Lee, Dongmyoung, et al.
Published: (2026)

Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm
by: Chen, Rui, et al.
Published: (2025)

Integrated Shape-Force Estimation for Continuum Robots: A Virtual-Work and Polynomial-Curvature Framework
by: Zhang, Guoqing, et al.
Published: (2025)

TOPP-DWR: Time-Optimal Path Parameterization of Differential-Driven Wheeled Robots Considering Piecewise-Constant Angular Velocity Constraints
by: Li, Yong, et al.
Published: (2025)

Time-optimal Flight in Cluttered Environments via Safe Reinforcement Learning
by: Xiao, Wei, et al.
Published: (2024)

Hierarchical Large Language Models in Cloud Edge End Architecture for Heterogeneous Robot Cluster Control
by: Luan, Zhirong, et al.
Published: (2024)

Web-Gewu: A Browser-Based Interactive Playground for Robot Reinforcement Learning
by: Chen, Kaixuan, et al.
Published: (2026)

Causal World Modeling for Robot Control
by: Li, Lin, et al.
Published: (2026)

Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles
by: Kiemel, Jonas, et al.
Published: (2024)

Booster Gym: An End-to-End Reinforcement Learning Framework for Humanoid Robot Locomotion
by: Wang, Yushi, et al.
Published: (2025)

Chemistry3D: Robotic Interaction Benchmark for Chemistry Experiments
by: Li, Shoujie, et al.
Published: (2024)

BronchoCopilot: Towards Autonomous Robotic Bronchoscopy via Multimodal Reinforcement Learning
by: Zhao, Jianbo, et al.
Published: (2024)

UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors
by: Chen, Zhuo, et al.
Published: (2026)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

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