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 storiesA Wearable Pneumatic Device for Continuous, Closed-Loop, Bidirectional Tactile Interaction
arXiv:2609.00612v1 Announce Type: new Abstract: We present a system of two wearable pneumatic haptic devices that supports continuous, closed-loop, bidirectiona…
Potential-Guided Particle Steering for Negation-Constrained Dexterous Grasping
arXiv:2609.00555v1 Announce Type: new Abstract: Language-driven dexterous grasp models, such as DextER, perform well when instructions specify where to grasp, b…
Geometric analysis of generic 3R robots, and necessary and sufficient conditions for a class of orthogonal robots to have four IKS
arXiv:2609.00316v1 Announce Type: new Abstract: The kinematic analysis of a generic 3R robot has been investigated with multiple approaches in the past. The alg…
Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra
arXiv:2609.00311v1 Announce Type: new Abstract: The inverse kinematics of generic 3R robots has been investigated through multiple approaches, mainly algebraic …
Beyond Object Selection:Markerless Gaze-based Robot Placement at Arbitrary Position
arXiv:2609.00478v1 Announce Type: new Abstract: Gaze-based assistive manipulation typically supports object selection, while arbitrary-position placement requir…
Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits
arXiv:2609.00539v1 Announce Type: new Abstract: Animals' body morphology shapes the gait patterns they can perform, where mechanical resonance reduces the need …
Fleets Need a Context Plane: Rethinking Cooperative Perception for Autonomous Drones
arXiv:2609.00659v1 Announce Type: new Abstract: Cooperative perception allows a drone fleet to combine observations from multiple viewpoints. However, existing …
A Compact Robotic Finger with 2-DoF MCP Joint Embedding DoF-Selective Passive Continuously Variable Transmission for Wide Force-Speed Operating Range
arXiv:2609.00769v1 Announce Type: new Abstract: This letter presents a compact two-degree-of-freedom (DoF) robotic finger with a flexion-selective passive conti…
Connectivity-Aware Graph Extension for Decentralized Multi-Robot Exploration
arXiv:2609.00804v1 Announce Type: new Abstract: Exploring unknown environments with multiple UAVs requires coordination under intermittent communication, making…
Non-Prehensile Throwing: A Reinforcement Learning Perspective
arXiv:2609.00771v1 Announce Type: new Abstract: Robotic throwing enables fast object transport and extends a robot's reachable workspace beyond traditional pick…
One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems
arXiv:2609.00751v1 Announce Type: new Abstract: Conventional soft robot actuators excel in compliance, but their uncontrolled deformations compromise accuracy a…
Context-Aware Intelligent Vehicles
arXiv:2609.00682v1 Announce Type: new Abstract: Intelligent vehicles increasingly support adaptive applications beyond driving themselves, ranging from context-…
ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control
arXiv:2609.00677v1 Announce Type: new Abstract: We present ADAPT, an end-to-end framework for interactive, text-conditioned humanoid whole-body control. Unlike …
Human-robot conversation with multiple participants in noisy public spaces
arXiv:2609.00648v1 Announce Type: new Abstract: For noisy real-world environments such as those in open public spaces, spoken dialogue systems for both autonomo…
Risk-Aware Decision-Making for Autonomous Overtaking: A World Model-Based Mixture-of-Experts Framework
arXiv:2609.00385v1 Announce Type: new Abstract: Autonomous highway overtaking demands foresighted decision-making to handle complex interactions, stochastic tra…
Visko launches Orbis live model and closes pre-seed funding round
Visko says Orbis streams 4K video at 24 frames per second, responds to user intervention, and sustains hour-scale generation without drift. The post Visko launc…
Scale-Plan: Scalable Language-Enabled Task Planning for Heterogeneous Multi-Robot Teams
arXiv:2603.08814v2 Announce Type: replace Abstract: Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative te…
TriPilot-FF: Coordinated Whole-Body Teleoperation with Force Feedback
arXiv:2602.09888v2 Announce Type: replace Abstract: Mobile manipulators broaden the operational envelope for robot manipulation. However, the whole-body teleope…
Cross-Modal Visuo-Tactile Representation Learning with Action Chunking Transformers for Contact-Rich Manipulation
arXiv:2602.00514v3 Announce Type: replace Abstract: Tactile feedback is important for contact-rich robotic manipulation, yet effective use of tactile observatio…
Open-Source Autonomous Driving System Analysis and Multi-Disciplinary Hardware-in-the-Loop Research Paradigm with Reinforcement-Learning Testing and Large Language Models
arXiv:2608.30179v1 Announce Type: cross Abstract: Open-source autonomous driving systems provide an inspectable software foundation for intelligent vehicle rese…
Asynchronous Cooperative Online Learning for Multi-Robot Control under Computational Delays
arXiv:2608.29562v1 Announce Type: cross Abstract: Ensuring the safe operation of multi-agent systems (MASs) under uncertain environments is crucial for cooperat…
Generalizable Multi-Agent Planning from Signal Temporal Logic Specifications via Diffusion
arXiv:2608.29490v1 Announce Type: cross Abstract: Multi-agent systems in the real-world (e.g., drone swarms, autonomous cars, warehouse robots) must satisfy ric…
CGFM-Nav: Cognitive Graph-Field Memory for Semantic-Guided Lifelong Multimodal Embodied Navigation
arXiv:2608.29114v1 Announce Type: new Abstract: Vision-and-Language Navigation (VLN) requires agents to reason over accumulated observations while continuously …
Agri-Sim: Agricultural Simulation Platform for Embodied Intelligence Evaluation in Greenhouse Robotics
arXiv:2608.29100v1 Announce Type: new Abstract: Agricultural-robot development requires simulation environments that can jointly support realistic scene constru…
DREAM: Deployment-Time Demonstration Generation via Real-to-Sim for Scalable Policy Adaptation
arXiv:2608.29078v1 Announce Type: new Abstract: Vision-language-action (VLA) models have made strong progress in language-conditioned robot manipulation, but im…
LARC: Lazy Adaptive Reachability Certification of Robot Manipulator Trajectories
arXiv:2608.29767v1 Announce Type: new Abstract: Discrete trajectory checks can miss collisions between sampled robot states. Reachability-based certification bo…
SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies
arXiv:2608.31167v1 Announce Type: new Abstract: Bridging model-based control and learned policies in long-horizon manipulation has harbored a silent disagreemen…
DARP: A Calibrated Dual-Arm RGB-D-IR Dataset for Multi-View Robotic Perception
arXiv:2608.31002v1 Announce Type: new Abstract: Robotic perception from a single viewpoint is often limited by self-occlusion and incomplete surface visibility.…
A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles
arXiv:2608.30832v1 Announce Type: new Abstract: To improve torque capacity and energy efficiency of humanoid ankles, this paper proposes a 2-DoF parallel elasti…
Learning to infer and manipulate through distributed whole-arm interaction in a soft robot
arXiv:2608.30773v1 Announce Type: new Abstract: In animals such as elephants and octopuses, acquiring non-visual information about an object and physically enga…