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
2771 storiesGuide, Think, Act: Interactive Embodied Reasoning in Vision-Language-Action Models
arXiv:2605.13632v2 Announce Type: replace Abstract: In this paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework …
Interacting Multiple Model Proprioceptive Odometry for Legged Robots
arXiv:2603.29383v2 Announce Type: replace Abstract: State estimation for legged robots remains challenging because legged odometry generally suffers from limite…
Hazard or Anomaly? Evaluating VLMs for Understanding Dangers and Discrepancies
arXiv:2607.18325v1 Announce Type: cross Abstract: Modern safety-critical systems increasingly rely on human-robot interaction to reduce disaster risk and suppor…
MVP-Tac: A Miniaturized Dual-Modal Vision and Photoelastic Tactile Sensor for Robot-Assisted Minimally Invasive Surgery
arXiv:2607.18660v1 Announce Type: new Abstract: Robot-assisted minimally invasive surgery (RMIS) offers major benefits over open and conventional laparoscopic p…
DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control
arXiv:2607.18527v1 Announce Type: new Abstract: We present a novel and minimalistic design of an aerial-terrestrial robot DASH: Ducted Aerial Spring Hopper. The…
On the Limits of Sampling-Based Reachability: Geometry, Dynamics, and Sample Complexity
arXiv:2607.18606v1 Announce Type: new Abstract: Reachability analysis is central to safety-critical control, robotics, and neural network verification, but clas…
Intelligent Multi-UAV Navigation in ITNTNs: A Hierarchical LLM Approach
arXiv:2607.18604v1 Announce Type: new Abstract: The deployment of high-speed Uncrewed Aerial Vehicles (UAVs) in 3D aerial highways necessitates robust coordinat…
Two-Stage Extrinsic Calibration of a Static Line-Scanning Lidar with a Rotary Platform
arXiv:2607.18578v1 Announce Type: new Abstract: A line-scanning lidar yields range and azimuth values in a fixed plane. To perceive surrounding objects in 3D, t…
EquiBim: Learning Symmetry-Equivariant Policy for Bimanual Manipulation
arXiv:2603.08541v3 Announce Type: replace Abstract: Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from d…
Eversion-based robots can enable safe access,steering and endoscopic imaging within the spinal subarachnoid space
arXiv:2607.19274v1 Announce Type: new Abstract: Safe navigation within the spinal subarachnoid space is constrained by its narrow, compliant, and delicate anato…
Beyond Fixed Goal Delivery: Online POMDP Planning for Target Interception in Crowds
arXiv:2607.18517v1 Announce Type: new Abstract: Target interception in crowded environments requires reaching a moving objective while navigating among multiple…
Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom
arXiv:2607.18855v1 Announce Type: new Abstract: Long-reach drilling booms must reach successive poses without self-collision. Moving from operator-supervised co…
TransDex: Pre-training Visuo-Tactile Policy with Point Cloud Reconstruction for Dexterous Manipulation of Transparent Objects
arXiv:2603.13869v2 Announce Type: replace Abstract: Dexterous manipulation enables complex tasks but suffers from self-occlusion, severe depth noise, and depth …
Design and stability analysis of an underactuated hand with passively rotating fingers
arXiv:2607.18950v1 Announce Type: new Abstract: This paper presents an innovative design and stability analysis of an underactuated robotic finger with spatial …
AnchorRefine: Synergy-Manipulation Based on Trajectory Anchor and Residual Refinement for Vision-Language-Action Models
arXiv:2604.17787v2 Announce Type: replace Abstract: Precision-critical manipulation requires both global trajectory organization and local execution correction,…
Teaching Robots to Interpret Social Interactions through Lexically-guided Dynamic Graph Learning
arXiv:2604.10895v4 Announce Type: replace-cross Abstract: For a robot to be called socially intelligent, it must be able to infer users internal states from the…
Bridging the Sim-to-Real Gap under Real-Time Constraints in Autonomous Racing
arXiv:2607.18586v1 Announce Type: new Abstract: Autonomous racing exposes the sim-to-real gap under extreme operating conditions characterized by high speed, ti…
No Training, Better Flights: Test-Time Scaled VLMs for UAV Navigation
arXiv:2607.19288v1 Announce Type: cross Abstract: Test-time scaling offers a promising method to improve the inference performance of Vision-Language Models (VL…
NGPS: GPS-Denied Aerial Geo-Localization and 2.5D Reconstruction via Deep Satellite Image Matching and Multi-Rate Sensor Fusion
arXiv:2607.18936v1 Announce Type: new Abstract: We present NGPS (Next-Generation Positioning System), a visual geo-localization framework for high-altitude UAVs…
ImplicitRDP: An End-to-End Visual-Force Diffusion Policy with Structural Slow-Fast Learning
arXiv:2512.10946v2 Announce Type: replace Abstract: Human-level contact-rich manipulation relies on the distinct roles of two key modalities: vision provides sp…
Assistax: A Multi-Agent Hardware-Accelerated Reinforcement Learning Benchmark for Assistive Robotics
arXiv:2507.21638v3 Announce Type: replace-cross Abstract: As embodied autonomous systems capable of assisting humans in daily activities remain a major goal for…
Evaluating Uncertainty and Quality of Visual Language Action-enabled Robots
arXiv:2507.17049v3 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA)-enabled robots integrate visual perception, natural language understandin…
Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion
arXiv:2607.18365v1 Announce Type: new Abstract: Reinforcement learning (RL) for legged robots is advancing locomotion, demonstrating its ability to adapt to new…
STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
arXiv:2607.18580v1 Announce Type: new Abstract: Vision-language-action (VLA) models have shown impressive generalization, but often lack interpretability and ca…
SKETCH: Semantic Key-Point Conditioning for Long-Horizon Vessel Trajectory Prediction
arXiv:2601.18537v4 Announce Type: replace Abstract: Accurate long-horizon vessel trajectory prediction remains challenging due to compounded uncertainty from co…
RoboInter1.5: A Holistic Intermediate Representation Suite for Embodied World Modeling and Robotic Manipulation
arXiv:2607.18709v1 Announce Type: new Abstract: Existing robot datasets remain expensive to curate, embodiment-specific, and insufficiently annotated with the f…
Predictive Training with Latent Imagination for Visual Quadruped Navigation
arXiv:2607.17574v1 Announce Type: new Abstract: Reinforcement-learning navigation policies for legged robots select actions reactively from current observations…
Path Planning Optimisation for SParse, AwaRe and Cooperative Networked Aerial Robot Teams (SpArC-NARTs): Optimisation Tool and Ground Sensing Coverage Use Cases
arXiv:2602.14247v2 Announce Type: replace Abstract: A networked aerial robot team (NART) comprises a group of agents (e.g., unmanned aerial vehicles (UAVs), gro…
World Translation: Minimizing Sim-to-Real Gap with Backward Dynamics Extraction and Unpaired Domain Translation
arXiv:2607.18154v1 Announce Type: new Abstract: The gap between simulation and reality remains a fundamental challenge in deploying simulation-trained robotic p…
Articulated Humanoid Head for a Robot Receptionist Capable of Natural Human Interaction
arXiv:2607.17042v1 Announce Type: new Abstract: Humanoid robots have become increasingly popular in applications such as social interaction, education, and serv…