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 storiesVerNav: Verifier-First Low-Latency Vision-and-Language Navigation
arXiv:2609.00920v1 Announce Type: new Abstract: Vision-and-Language Navigation (VLN) requires an agent to navigate through unseen 3D environments according to n…
DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments
arXiv:2609.00619v1 Announce Type: new Abstract: In indoor environments, object positions frequently change due to human activities or embodied-agent interaction…
Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion
arXiv:2609.00906v1 Announce Type: new Abstract: High-precision insertion remains a fundamental challenge in robotic manipulation due to the strict alignment req…
Vision-Based Leader-Follower Formation Control for Cooperative UAVs in GPS-Degraded Environments
arXiv:2609.01420v1 Announce Type: new Abstract: Cooperation in multi-UAV systems requires reliable relative perception so that follower vehicles can maintain fo…
Optimal UGV-UAV Cooperative Partitioning and Inspection of Shortest Paths
arXiv:2604.25284v3 Announce Type: replace Abstract: We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aer…
DynSSM: A Physics-Aware State-Space Memory Framework for Learning Vehicle Dynamics
arXiv:2605.08489v2 Announce Type: replace Abstract: Accurate modeling of nonlinear vehicle dynamics is essential for high-speed autonomous racing, where control…
EAAE: Energy-Aware Autonomous Exploration for UAVs in Unknown 3D Environments
arXiv:2603.15604v2 Announce Type: replace Abstract: Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission…
From Legible to Inscrutable Trajectories: (Il)legible Motion Planning Accounting for Multiple Observers
arXiv:2602.09227v2 Announce Type: replace Abstract: In cooperative environments, such as in factories or assistive scenarios, it is important for a robot to com…
MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robots
arXiv:2511.16949v2 Announce Type: replace Abstract: Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environmen…
Hydra: Marker-Free RGB-D Hand-Eye Calibration
arXiv:2504.20584v2 Announce Type: replace Abstract: This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel impleme…
Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration
arXiv:2409.20184v3 Announce Type: replace Abstract: What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in…
REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs
arXiv:2609.01215v1 Announce Type: cross Abstract: Most vision-language-action (VLA) models -- OpenVLA, $\pi_0$, RT-2, RDT-1B -- are monolithic: they emit raw mo…
Design and Implementation of a Kalman Filter-Infused Algorithm for Tilt Estimation
arXiv:2609.00730v1 Announce Type: cross Abstract: Accurate tilt angle estimation is important in many engineering applications, such as robotics, motion trackin…
Mudskippers use tail thrusting to help crutching to move on mud of various wetness
arXiv:2609.00564v1 Announce Type: cross Abstract: At the water-land interface, amphibious fishes encounter wet flowable substrates made of granular solid-water …
CoLT-Drive: Counterfactual Long-Tail Benchmarking and Knowledge-Preserving Adaptation for Driving Affordance Prediction
arXiv:2609.00242v1 Announce Type: cross Abstract: Long-tail autonomous driving failures are often framed as rare-object recognition errors. We argue that this v…
IMPACT: Attention Is the Interaction Map for Scalable Interaction-Aware World Model Training
arXiv:2609.00161v1 Announce Type: cross Abstract: World models have made remarkable progress in action-conditioned future prediction for embodied agents, yet st…
Deploying and Evaluating a Smart-Agriculture Agentic Engine for Full-Season Soybean Farm Operations
arXiv:2609.00106v1 Announce Type: cross Abstract: This paper presents FAIRY, a full-stack smart-agriculture agent system developed for and deployed to an operat…
Evaluating Multimodal LLMs as Generalist Vision-Language-Action Agents for Drone Control: Commanding, Approaching, Tracking and Searching
arXiv:2609.01404v1 Announce Type: new Abstract: Multimodal Large Language Models (MLLMs) are strong perceivers of images and video. We ask how far that reach ex…
TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
arXiv:2603.12665v3 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. Howeve…
Parallel Reference-Centric Continuous-Time Relative Localization with Augmented Clamped Non-Uniform B-Splines
arXiv:2602.22006v3 Announce Type: replace Abstract: Accurate relative localization is critical for multi-robot cooperation. In robot groups, measurements from d…
Dual Process Motion Planning
arXiv:2609.01260v1 Announce Type: cross Abstract: Robotic systems are deeply embedded in both industry and everyday life, where they are expected to act with sp…
Federated Trust for Embodied Robot Capability Marketplaces
arXiv:2609.00404v1 Announce Type: cross Abstract: Robot capability marketplaces, the "app store for robot skills," are emerging as the deployment vector for LLM…
Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation
arXiv:2609.01596v1 Announce Type: new Abstract: Real-world robotic assembly at sub-millimeter tolerances demands spatial precision, compliant interaction, and r…
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots
arXiv:2609.01518v1 Announce Type: new Abstract: There is tremendous value in humanoid robots taking on physically demanding, hazardous, and repetitive work in s…
Does Imitation Learning Preserve Temporal Robustness in Dexterous Manipulation? An Expert-Learner Comparison Across Task Execution Speeds
arXiv:2609.01453v1 Announce Type: new Abstract: Dexterous manipulation policies learned by imitation are typically evaluated for robustness to variation in scen…
HitMem: Hierarchical Temporal 3D Memory with Multi-Modal Context-Aware Retrieval for Dynamic Environments
arXiv:2609.00950v1 Announce Type: new Abstract: Executing long-term tasks in dynamic environments requires embodied agents to maintain robust and adaptive 3D sc…
On Global Regulatability of Robot Manipulators by Classical PID
arXiv:2609.01207v1 Announce Type: new Abstract: This paper studies a class of uncertain multi-input multi-output (MIMO) nonlinear systems using extended PID (EP…
Knowing When to Stop: Adaptive Action Chunking via Internal Cross-Attention Dynamics in VLAs
arXiv:2609.00908v1 Announce Type: new Abstract: Action chunking is a standard execution strategy in modern Vision-Language-Action (VLA) frameworks, but fixed ex…
Behavior--Realization Separation for Constrained Physical Human--Robot Interaction
arXiv:2609.00669v1 Announce Type: new Abstract: Physical human--robot interaction software often couples desired-behavior specification with constrained realiza…
AM-Bench: A Modular Simulation Suite and Benchmark for Aerial Manipulation Policy Learning
arXiv:2609.00641v1 Announce Type: new Abstract: Standardized benchmarks have played a central role in advancing robot manipulation learning, yet most focus on g…