Tracking Control
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Tracking Control for a Dynamic Model of an Underwater Submersible
arXiv:2606.05709v1 Announce Type: new Abstract: Underwater vehicles are naturally modelled as rigid bodies on SE(3) subjected to added mass effects. The passivity of the Hamiltonian structure of the system can be exploited to design energy-based stabilising controllers, however, the extension of these control designs to tracking control is not trivial since the error system for the classical error formulations is not itself Hamiltonian. In this paper, we show that a novel choice of error...
Motion Tracking with Muscles: Predictive Control of a Parametric Musculoskeletal Canine Model
Announce Type: replace Abstract: We introduce a novel musculoskeletal model of a dog, procedurally generated from accurate 3D muscle meshes. Accompanying this model is a motion capture-based locomotion task compatible with a variety of control algorithms, as well as an improved muscle dynamics model designed to enhance convergence in differentiable control frameworks. We validate our approach by comparing simulated muscle activation patterns with experimentally obtained electromyography...
ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
arXiv:2606.03177v1 Announce Type: new Abstract: Human demonstrations provide strong priors for robot manipulation, yet it is non-trivial to transfer them to execute on real robots due to the kinematic gap. In dexterous manipulation, it remains challenging to track long-horizon, contact-rich sequences even in simulators: a reference-tracking policy must keep objects on their target trajectories while preserving demonstrated joint motion and contact timing. Existing approaches often rely on...
A Predictive Control Strategy to Offset-Point Tracking for Agricultural Mobile Robots
arXiv:2603.28439v2 Announce Type: replace Abstract: Robots are increasingly being deployed in agriculture to support sustainable practices and improve productivity. They offer strong potential to enable precise, efficient, and environmentally friendly operations. However, most existing path-following controllers focus solely on the robot's center of motion and neglect the spatial footprint and dynamics of attached implements.
MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation
arXiv:2606.09215v1 Announce Type: new Abstract: World Action Models (WAMs) couple a video dynamics prior to the policy and have shown encouraging results on tabletop manipulation, but iterative denoising over high-dimensional video-action latents leaves them too slow for real-time humanoid loco-manipulation. The problem is compounded by the dominant hierarchical paradigm, in which a high-level manipulation policy controls only the upper body while a low-level controller tracks coarse base...
HUNT: High-Speed UAV Navigation and Tracking in Unstructured Environments via Instantaneous Relative Frames
arXiv:2509.19452v4 Announce Type: replace Abstract: Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capabilities under degraded sensing and without global localization remains an open challenge. Recent works on relative navigation have shown robust tracking by anchoring planning and control to a visible detected object, but cannot address navigation when no target is...
When Freshness Is Not Enough: Distribution-Aware Age of Information for Networked LQR Control
arXiv:2606.04361v1 Announce Type: new Abstract: Age of Information (AoI) has become a central metric for the design of wireless update systems, especially in applications where fresh measurements support tracking, estimation, and control. Despite its popularity, the use of mean AoI or peak AoI as a surrogate for closed-loop performance is often motivated by intuition rather than by a control-theoretic derivation. This paper examines whether minimizing the mean AoI is in fact optimal for...
Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension
arXiv:2606.06790v1 Announce Type: new Abstract: This paper presents ERNEST, a four-wheeled planetary rover concept equipped with a two-degree-of-freedom Active Gimbal Suspension that combines yaw and roll actuation to enable wheel reconfiguration, steering, and active load redistribution. A single neural network controller, trained to track a desired path across challenging terrain, fully unlocks the capabilities of this actuated suspension system for autonomous obstacle negotiation. A...
Estimating Central, Peripheral, and Temporal Visual Contributions to Human Decision Making in Atari Games
Announce Type: replace Abstract: We study how different visual information sources contribute to human decision making in dynamic visual environments. Using Atari-HEAD, a large-scale Atari gameplay dataset with synchronized eye-tracking, we introduce a controlled ablation framework as a means to reverse-engineer the contribution of peripheral visual information, explicit gaze information in the form of gaze maps, and past-state information from human behavior. We train action-prediction...
Tracking the Effective Surface Area of Non-Convex Satellites
arXiv:2606.09439v1 Announce Type: new Abstract: This paper presents a novel framework to track the effective surface area of non-convex satellites, enabling the use of aerodynamic drag in low Earth orbit for orbital control. The proposed framework enables the satellite to track the effective surface area while simultaneously performing other maneuvers. We introduce this framework through a backstepping control algorithm, and exemplify its advantages with an extension, to simultaneously...