Research
Frontier robotics research: arXiv cs.RO papers, embodied AI, VLA models, manipulation, navigation and learning systems.
Frontier robotics research: arXiv cs.RO papers, embodied AI, VLA models, manipulation, navigation and learning systems.
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Soft robotic heart offers new way to study disease and test life-saving devices
The soft robotic model of the human heart, developed at UNSW. Credit: UNSW/Richard Freeman. UNSW researchers have developed a soft robotic model of the human he…
Sling2Sim2Real: One-Shot Elastic System Identification for Non-Destructive Slingshot Policy Learning
arXiv:2607.23268v1 Announce Type: new Abstract: Elastic object manipulation (EOM) involves highdimensional, nonlinear, and elastic deformations. The diverse def…
Continual-RL for Generalization in Autonomous Racing on the RoboRacer Platform
arXiv:2607.24320v1 Announce Type: new Abstract: A key challenge in modern robotics is to adapt to changing environments, a challenge that is exacerbated when si…
A Case Study on the Acceptance of a Humanoid Robotic Head Employed in Three Public Spaces
arXiv:2607.24113v1 Announce Type: new Abstract: Previous research has shown that a human-like robot's acceptance heavily depends on the setting in which it oper…
Concurrent Prehensile and Nonprehensile Manipulation: A Practical Approach to Multi-Stage Dexterous Tasks
arXiv:2603.11655v3 Announce Type: replace Abstract: Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object whil…
MSG-Loc: Multi-Label Likelihood-based Semantic Graph Matching for Object-Level Global Localization
arXiv:2512.03522v3 Announce Type: replace Abstract: Robots are often required to localize in environments with unknown object classes and semantic ambiguity. Ho…
The Curse of Precision: A Data Scaling Law for High-Precision Robotic Manipulation
arXiv:2607.23108v1 Announce Type: new Abstract: While scaling laws for imitation learning have primarily focused on generalization in open-world settings, the r…
FeelWorld: Visuo-Tactile World Model for Hierarchical Contact Prediction and Planning
arXiv:2607.24267v1 Announce Type: new Abstract: Humans plan physical interactions by imagining the possible outcomes of candidate actions. However, existing vis…
Accuracy potential of visual localization exploiting high-end street-level imagery
arXiv:2607.24409v1 Announce Type: cross Abstract: Accurate and reliable pose information with respect to a reference frame is increasingly demanded across appli…
Stein Variational Uncertainty-Adaptive Model Predictive Control
arXiv:2604.01034v3 Announce Type: replace Abstract: We propose a Stein variational distributionally robust controller for nonlinear dynamical systems with laten…
A Replay-Constrained Simulation Framework for Personalization of Powered Knee--Ankle Prosthesis Controllers
arXiv:2607.22858v1 Announce Type: new Abstract: Personalization of impedance controllers for powered prosthetic legs is critical to accommodating individual gai…
Multi-Domain Physics-Based MDO of Multirotor UAVs: A Deterministic Framework for Discrete COTS Sizing
arXiv:2607.22768v1 Announce Type: cross Abstract: Multirotor Unmanned Aerial Vehicle (UAV) design is governed by a tightly coupled system of non-linear equation…
Model Predictive Planner for UAV Navigation in Non-Convex Air Corridors
arXiv:2607.24369v1 Announce Type: new Abstract: This work presents a motion planning framework for UAV navigation in non-convex urban air corridors. The planner…
Self-Supervised Consistency Enhanced Disentangled Learning for Neural Decoding Generalization in Brain-Machine Interface
arXiv:2607.24023v1 Announce Type: cross Abstract: Brain-Machine Interfaces (BMIs) provide a direct communication pathway between the brain and external devices,…
CoopReflect: Towards Natural Language Communication for Cooperative Autonomous Driving via Multi-Agent Learning
arXiv:2505.18334v2 Announce Type: replace Abstract: Past work has demonstrated that autonomous vehicles can drive more safely if they communicate with each othe…
Semantic Semi-Incremental Data-Association-Free Object SLAM
arXiv:2607.23384v1 Announce Type: new Abstract: Data association between landmark measurements and landmark variables has long been a central challenge in SLAM,…
Bridging Reinforcement Learning and Optimal Control via Feasible Action Mapping
arXiv:2607.23930v1 Announce Type: cross Abstract: Operating constrained dynamical systems requires controllers to efficiently solve complex tasks while enforcin…
KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation
arXiv:2607.24493v1 Announce Type: new Abstract: Articulated object manipulation requires an understanding of kinematic structure that is difficult and costly to…
Imitation Learning for Robot Assistance in Open Surgery: A Multi-Policy Evaluation on Suture Following
arXiv:2605.28736v2 Announce Type: replace Abstract: This study presents the first evaluation of general-purpose imitation learning for surgeon-robot collaborati…
DeVA: Decoupled Video-Action Model with physical guidance for robot policy learning
arXiv:2607.24159v1 Announce Type: new Abstract: Generalizable robot manipulation requires policies that can anticipate how visual scenes evolve while executing …
WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots
arXiv:2607.24036v1 Announce Type: new Abstract: While reinforcement learning for legged robots has achieved high motor performance, it has been constrained by t…
Variational Neural Belief Parameterizations for Robust Dexterous Grasping under Multimodal Uncertainty
arXiv:2604.25897v2 Announce Type: replace Abstract: Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expecte…
VLASH: Real-Time VLAs via Future-State-Aware Asynchronous Inference
arXiv:2512.01031v2 Announce Type: replace Abstract: Vision-Language-Action models (VLAs) are becoming increasingly capable across diverse robotic tasks. However…
Actuator-Aware Spatiotemporal Tube Synthesis for Temporal Reach-Avoid-Stay Tasks
arXiv:2607.23040v1 Announce Type: cross Abstract: This work proposes an actuator-aware spatiotemporal tube (STT) synthesis framework to accomplish temporal reac…
VL-LN Bench: Towards Long-horizon Goal-oriented Navigation with Active Dialogs
arXiv:2512.22342v5 Announce Type: replace Abstract: In most existing embodied navigation tasks, instructions are well-defined and unambiguous, such as instructi…
Surgical Re-enactment for Operating Room Workflow Datasets
arXiv:2607.24206v1 Announce Type: new Abstract: The introduction of new technologies, such as surgical robots, is driving the vision of a connected, smart opera…
Effective Parameters, Real Behavior: Renormalization for Robotics -- From Infinite Electron Mass to Sim-to-Real Gap
arXiv:2607.24079v1 Announce Type: new Abstract: Bridging the sim-to-real gap is a central problem in robotics, and the prevailing approach is to build increasin…
RRTrack: Robust and Recoverable Object 6D Pose Tracking for Dynamic Scenes
arXiv:2607.23669v1 Announce Type: cross Abstract: Robust object 6D pose tracking is critical for robotic systems operating in dynamic and occluded scenes. Per-f…
Not Forgotten: Implementation and Evaluation of a Personalized Episodic Memory for the Humanoid Robot Head Kim
arXiv:2607.24190v1 Announce Type: new Abstract: Social robots that rely on large language models for conversation are unable to retain information across sessio…
LeapBot-WA: World-Anchor Action Models via Predictive Latent Alignments
arXiv:2607.23969v1 Announce Type: new Abstract: World Action Models (WAMs) have emerged as a powerful paradigm for embodied intelligence, yet the prevailing rel…