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.
Latest in Research
4787 storiesHuRo: Robotizing Human Videos for Scalable VLA Pretraining
arXiv:2609.10706v1 Announce Type: new Abstract: Human video datasets have emerged as a compelling alternative to expensive real-robot data, offering rich divers…
Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism
arXiv:2609.11059v1 Announce Type: new Abstract: Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload car…
Beyond Noise Steering: Dual-Latent Space Reinforcement Learning for Generative Robot Policy
arXiv:2609.11270v1 Announce Type: new Abstract: Pretrained generative robot policies learn expressive action priors from demonstrations. However, existing reinf…
2AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulation
arXiv:2609.11308v1 Announce Type: new Abstract: Long-horizon robot manipulation requires memory, but not necessarily inside the action policy. To address such t…
Morphology-Aware Human Motion Retargeting for Wheeled-Humanoid Loco-Manipulation
arXiv:2609.11357v1 Announce Type: new Abstract: Human-to-humanoid retargeting has largely been studied on legged platforms, while comparatively few wheeled-huma…
FARM: Reading Failure Signals from the Internal Predictive States of a Frozen Robotic World Model
arXiv:2609.11445v1 Announce Type: new Abstract: Reliable robot deployment requires online failure monitoring, yet existing monitors mainly derive risk from prox…
Memory as Plans: World-Action Modeling with Memory-Grounded Planning
arXiv:2609.11561v1 Announce Type: new Abstract: Mainstream robotic policies often adopt a Markovian formulation, but many complex real-world manipulation tasks …
Contact-Aware Incremental Model Predictive Control for an Underactuated Aerial Manipulator
arXiv:2609.11661v1 Announce Type: new Abstract: We present a robust contact-aware control framework for aerial writing on an underactuated platform. The framewo…
SEED-UMI: Sharing the Exoskeleton between human and robot for onE-to-one Dexterous demonstration
arXiv:2609.11753v1 Announce Type: new Abstract: Imitation learning for dexterous hands is bottlenecked by the difficulty of collecting contact-rich demonstratio…
UniMPA: A Unified Memory-Prediction-Action Model via Action-Grounded Transition Modeling
arXiv:2609.11875v1 Announce Type: new Abstract: Recent advances in Vision-Language-Action (VLA) models have improved robotic manipulation, yet observation-to-ac…
GRADE: Single-Frame Generative Radar Depth Estimation Under Visual Degradation
arXiv:2609.10756v1 Announce Type: cross Abstract: Dense 3D depth perception fails under smoke, fog, and darkness because optical sensors cannot penetrate airbor…
A Mathematical Theory of Pragmatic Information
arXiv:2609.10986v1 Announce Type: cross Abstract: We propose a pragmatic information theory unifying communication, control, and decision-making. Its core is th…
FastMap: Real-Time Semantic Map Completion via Bitwise Masked Modeling
arXiv:2506.07350v2 Announce Type: replace Abstract: Semantic map completion, which predicts the layout of unobserved regions from partial observations, is a cri…
MIMIC-D: Multi-modal Imitation for MultI-agent Coordination with Decentralized Diffusion Policies
arXiv:2509.14159v4 Announce Type: replace Abstract: As robots become more integrated in society, their ability to coordinate with other robots and humans on mul…
Kalman Filtering Based Flight Management System Modeling for AAM Aircraft
arXiv:2602.14948v2 Announce Type: replace Abstract: Advanced Air Mobility (AAM) operations are planned to utilize strategic flight planning services that predic…
CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots
arXiv:2603.03067v2 Announce Type: replace Abstract: For effective deployment in real-world environments, humanoid robots must autonomously navigate a diverse ra…
Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
arXiv:2604.22102v2 Announce Type: replace Abstract: Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or u…
A Multi-Modal Perception Pipeline for Object Detection and Tracking in Autonomous Racing
arXiv:2609.08338v2 Announce Type: replace Abstract: Object detection and tracking are fundamental components of perception systems for autonomous driving. Achie…
Diagnosing and Dynamically Filtering Occupancy World Models for Active Mapping
arXiv:2609.06820v2 Announce Type: replace Abstract: Active mapping requires a robot to select camera viewpoints that efficiently reconstruct an unknown 3D scene…
GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning
arXiv:2609.05927v2 Announce Type: replace Abstract: Robot manipulation foundation models require scalable evaluation and data generation across diverse scenario…
A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry
arXiv:2604.02387v3 Announce Type: replace Abstract: Precision reducers couple contact geometry, bearing support, structural deformation, and loading history. Th…
DefVINS: Visual-Inertial Odometry for Deformable Scenes
arXiv:2601.00702v3 Announce Type: replace Abstract: Deformable scenes violate the rigidity assumptions underpinning classical visual--inertial odometry (VIO), o…
Evaluation of Vision-Language Models Across Diverse Coastal Environments
arXiv:2609.10855v1 Announce Type: cross Abstract: Vision-language models (VLMs) enable robotic per- ception by associating visual observations with natural-lang…
EVPeriscope: Extended Perception across Aerial and Ground Vehicles with Event-based Propeller Tracking
arXiv:2609.11920v1 Announce Type: new Abstract: Reliable relative localization between aerial and ground robots is a key requirement for tightly coordinated het…
Learning Agent-based Model Predictive Control for Holistic Vehicle Performance
arXiv:2609.11871v1 Announce Type: new Abstract: Agent-based model predictive control (AMPC) has recently been proposed as a distributed scheme that collaborates…
Rapid Learning of Dexterous In-Hand Pen Writing through Real-Time Jacobian Estimation
arXiv:2609.11775v1 Announce Type: new Abstract: Dexterous in-hand manipulation of a grasped object with an anthropomorphic hand is an unsolved frontier for robo…
CARLAverse: A Highly Modular, Distributed, and Multimodal Framework for Human-in-the-Loop Simulation
arXiv:2609.11478v1 Announce Type: new Abstract: The development of autonomous driving demands comprehensive testing in mixed-traffic scenarios involving vulnera…
3D Euler-Angle Orientation Control for Two-Ray Fading Mitigation in Maritime Air-to-Sea Communications
arXiv:2609.11476v1 Announce Type: new Abstract: Maritime Air-to-Sea links are dominated by a line-of-sight ray and a sea-surface reflected ray whose destructive…
CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned Denoising
arXiv:2609.11553v1 Announce Type: new Abstract: Humanoid locomotion across complex terrain demands forward-looking exteroception to anticipate obstacles, yet th…
Using Automated Vehicles Operational Data to Confirm Safety and Anticipate Threats
arXiv:2609.11549v1 Announce Type: new Abstract: European Union (EU) policymakers adopted revolutionary data collection provisions for Automated Driving Systems …