We propose a new Stein self-repulsive dynamics for obtaining diversified samples from intractable un-normalized distributions.

Personal use of this material is permitted. Abstract-- Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid possible collisions. This framework is focused on three design considerations: kinematics, motion profiles, and virtual constraints. Additionally, the analysis in this work relies on verification of robot behaviors using fundamental robot-obstacle experimental scenarios. T o showcase the effectiveness of our method we compare three representative object-aware controllers. The comparison uses metrics originating from the design considerations. From the analysis, we find that the design of object-aware controllers often lacks kinematic considerations, continuity of control points, and stability in movement profiles. We conclude that this framework can be used in the future to design, compare, and benchmark obstacle avoidance methods.

Robotic arms are increasingly deployed in uncertain environments, yet conventional control pipelines often become rigid and brittle when exposed to perturbations or incomplete information. Virtual Model Control (VMC) enables compliant behaviors by embedding virtual forces and mapping them into joint torques, but its reliance on fixed parameters and limited coordination among virtual components constrains adaptability and may undermine stability as task objectives evolve. To address these limitations, we propose Adaptive VMC with Large Language Model (LLM)- and Lyapunov-Based Reinforcement Learning (RL), which preserves the physical interpretability of VMC while supporting stability-guaranteed online adaptation. The LLM provides structured priors and high-level reasoning that enhance coordination among virtual components, improve sample efficiency, and facilitate flexible adjustment to varying task requirements. Complementarily, Lyapunov-based RL enforces theoretical stability constraints, ensuring safe and reliable adaptation under uncertainty. Extensive simulations on a 7-DoF Panda arm demonstrate that our approach effectively balances competing objectives in dynamic tasks, achieving superior performance while highlighting the synergistic benefits of LLM guidance and Lyapunov-constrained adaptation.

We propose an efficient motion planning method designed to efficiently find collision-free trajectories for multiple manipulators. While multi-manipulator systems offer significant advantages, coordinating their motions is computationally challenging owing to the high dimensionality of their composite configuration space. Conflict-Based Search (CBS) addresses this by decoupling motion planning, but suffers from subsequent conflicts incurred by resolving existing conflicts, leading to an exponentially growing constraint tree of CBS. Our proposed method is based on repulsive trajectory modification within the two-level structure of CBS. Unlike conventional CBS variants, the low-level planner applies a gradient descent approach using an Artificial Potential Field. This field generates repulsive forces that guide the trajectory of the conflicting manipulator away from those of other robots. As a result, subsequent conflicts are less likely to occur. Additionally, we develop a strategy that, under a specific condition, directly attempts to find a conflict-free solution in a single step without growing the constraint tree. Through extensive tests including physical robot experiments, we demonstrate that our method consistently reduces the number of expanded nodes in the constraint tree, achieves a higher success rate, and finds a solution faster compared to Enhanced CBS and other state-of-the-art algorithms.

Neighbour embeddings (NE) allow the representation of high dimensional datasets into lower dimensional spaces and are often used in data visualisation. In practice, accelerated approximations are employed to handle very large datasets. Accelerating NE is challenging, and two main directions have been explored: very coarse approximations based on negative sampling (as in UMAP) achieve high effective speed but may lack quality in the extracted structures; less coarse approximations, as used in FIt-SNE or BH-t-SNE, offer better structure preservation at the cost of speed, while also restricting the target dimensionality to 2 or 3, limiting NE to visualisation. In some variants, the precision of these costlier accelerations also enables finer-grained control on the extracted structures through dedicated hyperparameters. This paper proposes to bridge the gab between both approaches by introducing a novel way to accelerate NE, requiring a small number of computations per iteration while maintaining good fine-grained structure preservation and flexibility through hyperparameter tuning, without limiting the dimensionality of the embedding space. The method was designed for interactive exploration of data; as such, it abandons the traditional two-phased approach of other NE methods, allowing instantaneous visual feedback when changing hyperparameters, even when these control processes happening on the high-dimensional side of the computations. Experiments using a publicly available, GPU accelerated GUI integration of the method show promising results in terms of speed, flexibility in the structures getting extracted, and show potential uses in broader machine learning contexts with minimal algorithmic modifications. Central to this algorithm is a novel approach to iterative approximate nearest neighbour search, which shows promising results compared to nearest neighbour descent.

--Recent advances in autonomous vehicle (A V) behavior planning have shown impressive social interaction capabilities when interacting with other road users. However, achieving human-like prediction and decision-making in interactions with vulnerable road users remains a key challenge in complex multi-agent interactive environments. Existing research focuses primarily on crowd navigation for small mobile robots, which cannot be directly applied to A Vs due to inherent differences in their decision-making strategies and dynamic boundaries. Moreover, pedestrians in these multi-agent simulations follow fixed behavior patterns that cannot dynamically respond to A V actions. T o overcome these limitations, this paper proposes a novel framework for modeling interactions between the A V and multiple pedestrians. In this framework, a cognitive process modeling approach inspired by the Free Energy Principle is integrated into both the A V and pedestrian models to simulate more realistic interaction dynamics. Specifically, the proposed pedestrian Cognitive-Risk Social Force Model adjusts goal-directed and repulsive forces using a fused measure of cognitive uncertainty and physical risk to produce human-like trajectories. Meanwhile, the A V leverages this fused risk to construct a dynamic, risk-aware adjacency matrix for a Graph Convolutional Network within a Soft Actor-Critic architecture, allowing it to make more reasonable and informed decisions. Simulation results indicate that our proposed framework effectively improves safety, efficiency, and smoothness of A V navigation compared to the state-of-the-art method. N recent years, rapid advancements in autonomous driving technology have enabled autonomous vehicles (A V) to expand beyond simple, structured highway environments and to be increasingly deployed in more complex urban environments [1]. They are expected to become a key component of future urban transportation systems [2]. Unlike structured roads with clear traffic rules and physical lane separations, shared spaces in cities such as squares, campuses, and residential areas usually lack right-of-way regulations and explicit physical boundaries [3] between vehicles and pedestrians. Y afei Wang is with the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China (email: wyfjlu@sjtu.edu.cn) The high uncertainty and dynamic nature of human behavior [5], especially when multiple pedestrians are moving at the same time, significantly complicate the A V's decision-making process. To ensure both safety and efficiency, A Vs must make real-time decisions and continuously adapt their strategies in response to surrounding pedestrian behaviors.

Reactive intelligence remains one of the cornerstones of versatile robotics operating in cluttered, dynamic, and human-centred environments. Among reactive approaches, potential fields (PF) continue to be widely adopted due to their simplicity and real-time applicability. However, existing PF methods typically oversimplify environmental representations by relying on isotropic, point- or sphere-based obstacle approximations. In human-centred settings, this simplification results in overly conservative paths, cumbersome tuning, and computational overhead -- even breaking real-time requirements. In response, we propose the Geometric Potential Field (GeoPF), a reactive motion-planning framework that explicitly infuses geometric primitives -- points, lines, planes, cubes, and cylinders -- their structure and spatial relationship in modulating the real-time repulsive response. Extensive quantitative analyses consistently show GeoPF's higher success rates, reduced tuning complexity (a single parameter set across experiments), and substantially lower computational costs (up to 2 orders of magnitude) compared to traditional PF methods. Real-world experiments further validate GeoPF reliability, robustness, and practical ease of deployment, as well as its scalability to whole-body avoidance. GeoPF provides a fresh perspective on reactive planning problems driving geometric-aware temporal motion generation, enabling flexible and low-latency motion planning suitable for modern robotic applications.

Path planning is crucial for the navigation of autonomous vehicles, yet these vehicles face challenges in complex and real-world environments. Although a global view may be provided, it is often outdated, necessitating the reliance of Unmanned Ground Vehicles (UGVs) on real-time local information. This reliance on partial information, without considering the global context, can lead to UGVs getting stuck in local minima. This paper develops a method to proactively predict local minima using Dynamic Bayesian filtering, based on the detected obstacles in the local view and the global goal. This approach aims to enhance the autonomous navigation of self-driving vehicles by allowing them to predict potential pitfalls before they get stuck, and either ask for help from a human, or re-plan an alternate trajectory.

The current era is characterized by a deluge of high-dimensional data. Dimensionality reduction (DR) techniques have emerged as tools for exploratory analysis of such data by visualizing the underlying structure. The most popular methods, t-distributed stochastic neighbor embedding [1] and uniform manifold approximation and projection (UMAP) [2] are grounded in the attraction-repulsion dynamics that bring similar data points closer while pushing dissimilar ones apart. As unsupervised algorithms, these do not rely on labeled data; instead, they identify and preserve the intrinsic structure of high-dimensional data by leveraging local (attractive) and global (repulsive) relationships (forces). This makes these algorithms particularly well-suited for tasks such as clustering [3], exploratory data analysis [4], anomaly detection in semiconductor manufacturing [5], visual search [6], time series analysis [7], studying representation convergence [8], and outlier image detection [9], where visualizing hidden patterns in unlabeled data is critical and meaningful.