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Main Authors:	Kwak, Dongwook, Cho, Geonhee, Chung, Jiook, Yang, Jinkyu
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2601.10225
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A Unified Calibration Framework for High-Accuracy Articulated Robot Kinematics
by: Tobuschat, Philip, et al.
Published: (2026)

A Bionic Blind‐Guiding Robot Based on Wheeled‐Legged Foldable Structure
by: Guangrong Chen, et al.
Published: (2025)

From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach
by: Carpentier, Justin, et al.
Published: (2024)

Adaptive Attitude Control for Foldable Quadrotors
by: Patnaik, Karishma, et al.
Published: (2022)

On Enhancing Structural Resilience of Multirobot Coverage Control with Bearing Rigidity
by: Pant, Kartik A., et al.
Published: (2025)

On Solving the Dynamics of Constrained Rigid Multi-Body Systems with Kinematic Loops
by: Tsounis, Vassilios, et al.
Published: (2025)

ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation
by: Yan, Rui, et al.
Published: (2025)

Collision Recovery Control of a Foldable Quadrotor
by: Patnaik, Karishma, et al.
Published: (2021)

Surface-Based Manipulation with Modular Foldable Robots
by: Wang, Ziqiao, et al.
Published: (2025)

Design and Control of an Actively Morphing Quadrotor with Vertically Foldable Arms
by: Yeh, Tingyu, et al.
Published: (2025)

GRIP: A General Robotic Incremental Potential Contact Simulation Dataset for Unified Deformable-Rigid Coupled Grasping
by: Ma, Siyu, et al.
Published: (2025)

MineRobot: A Unified Framework for Kinematics Modeling and Solving of Underground Mining Robots in Virtual Environments
by: Hou, Shengzhe, et al.
Published: (2026)

PyRoki: A Modular Toolkit for Robot Kinematic Optimization
by: Kim, Chung Min, et al.
Published: (2025)

SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion
by: He, Qu, et al.
Published: (2025)

A Helping (Human) Hand in Kinematic Structure Estimation
by: Pfisterer, Adrian, et al.
Published: (2025)

Prismatic-Bending Transformable (PBT) Joint for a Modular, Foldable Manipulator with Enhanced Reachability and Dexterity
by: Zhou, Jianshu, et al.
Published: (2025)

A Unified Complementarity-based Approach for Rigid-Body Manipulation and Motion Prediction
by: Huang, Bingkun, et al.
Published: (2026)

IK-Geo: Unified Robot Inverse Kinematics Using Subproblem Decomposition
by: Elias, Alexander J., et al.
Published: (2022)

UniMotion: A Unified Motion Framework for Simulation, Prediction and Planning
by: Song, Nan, et al.
Published: (2026)

Singularity Avoidance in Inverse Kinematics: A Unified Treatment of Classical and Learning-based Methods
by: Rudrasamudram, Vishnu, et al.
Published: (2026)

InfiniteWorld: A Unified Scalable Simulation Framework for General Visual-Language Robot Interaction
by: Ren, Pengzhen, et al.
Published: (2024)

Unified Manipulability and Compliance Analysis of Modular Soft-Rigid Hybrid Fingers
by: Zhou, Jianshu, et al.
Published: (2025)

A QUBO Formulation Framework for Kinematic Structure-Based Robot Design Optimization: A Robotic Hand Case Study
by: Kang, HyoJae, et al.
Published: (2026)

A Framework for Combining Optimization-Based and Analytic Inverse Kinematics
by: Cohn, Thomas, et al.
Published: (2026)

Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
by: Abderezaei, Ava, et al.
Published: (2026)

Comparison and Evaluation of Different Simulation Environments for Rigid Body Systems
by: Shao, Longxiang, et al.
Published: (2025)

Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks
by: Thompson, Jordan, et al.
Published: (2024)

Flexible and Foldable: Workspace Analysis and Object Manipulation Using a Soft, Interconnected, Origami-Inspired Actuator Array
by: Dacre, Bailey, et al.
Published: (2025)

PhysX-Omni: Unified Simulation-Ready Physical 3D Generation for Rigid, Deformable, and Articulated Objects
by: Cao, Ziang, et al.
Published: (2026)

Forward Kinematics Solution For A General Stewart Platform Through Iteration Based Simulation
by: Karmakar, Sourabh, et al.
Published: (2025)

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments
by: Mittal, Mayank, et al.
Published: (2023)

Compositional Conservatism: A Transductive Approach in Offline Reinforcement Learning
by: Song, Yeda, et al.
Published: (2024)

Few-Shot Neural Differentiable Simulator: Real-to-Sim Rigid-Contact Modeling
by: Huang, Zhenhao, et al.
Published: (2026)

Grasp Synthesis Matching From Rigid To Soft Robot Grippers Using Conditional Flow Matching
by: Parulekar, Tanisha, et al.
Published: (2026)

A Foldable and Agile Soft Electromagnetic Robot for Multimodal Navigation in Confined and Unstructured Environments
by: Lv, Zhihao, et al.
Published: (2026)

Uni-Mapper: Unified Mapping Framework for Multi-modal LiDARs in Complex and Dynamic Environments
by: Kang, Gilhwan, et al.
Published: (2025)

A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation
by: Yu, Chang, et al.
Published: (2025)

Analytical Derivatives for Efficient Mechanical Simulations of Hybrid Soft Rigid Robots
by: Mathew, Anup Teejo, et al.
Published: (2024)

RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
by: Murooka, Masaki, et al.
Published: (2025)

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// 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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