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 storiesA Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators
arXiv:2603.24357v2 Announce Type: replace Abstract: Robotic manipulation in unstructured environments requires end-effectors that combine kinematic dexterity wi…
SHAPE: Simultaneous Water Hydraulic Actuation and Position Estimation of a Sensorless Remote Actuator through a Thin and Long Flexible Tube
arXiv:2607.17054v1 Announce Type: new Abstract: Robot sensors and electronic equipment are prone to failure in harsh environments. With water hydraulic drive, t…
RobustVLA: On Robustness of Vision-Language-Action Model against Multi-Modal Perturbations
arXiv:2510.00037v5 Announce Type: replace-cross Abstract: In Vision-Language-Actionf(VLA) models, robustness to real-world perturbations is critical for deploym…
UMCP: A Unified Multi-Task Collaborative Perception Network for Luggage Trolley Pose Estimation
arXiv:2607.17950v1 Announce Type: new Abstract: In robotic autonomous luggage trolley collection, robots must continuously localize scattered luggage trolleys i…
Foresight Residual RL for Long-Horizon Robot Manipulation with Vision-Language-Action Models
arXiv:2607.16506v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies offer strong general-purpose manipulation priors, but often fail on tight-…
Control Design for a Rideable Animatronic Two-Wheeled Robot with Quadruped Form
arXiv:2607.16302v1 Announce Type: new Abstract: In recent years, motorcycle popularity has been declining, particularly among the younger generations. To rekind…
AI-Augmented Model Predictive Control for Safe and Adaptive Rendezvous and Proximity Operations
arXiv:2607.16630v1 Announce Type: new Abstract: Autonomous rendezvous and proximity operations (RPO) in adversarial orbital environments require guidance archit…
FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation
arXiv:2607.18231v1 Announce Type: new Abstract: Vision-language-action (VLA) models have achieved impressive generalization in robotic manipulation, and recent …
HiMemVLN: Enhancing Reliability of Open-Source Zero-Shot Vision-and-Language Navigation with Hierarchical Memory System
arXiv:2603.14807v2 Announce Type: replace-cross Abstract: LLM-based agents have demonstrated impressive zero-shot performance in vision-language navigation (VLN…
Compositional Diffusion with Guided Search for Long-Horizon Planning
arXiv:2601.00126v3 Announce Type: replace Abstract: Generative models have emerged as powerful tools for planning, with compositional approaches offering partic…
HCPG-Flow:Hierarchical Contact-Progress Guidance for Flow-Policy Robot Manipulation
arXiv:2607.17651v1 Announce Type: new Abstract: Flow policies can represent multimodal action distributions for robot manipulation, yet a robot must execute one…
Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion
arXiv:2607.17257v1 Announce Type: new Abstract: Diffusion policies have shown strong potential for robotic imitation learning, and recent extensions incorporate…
Motion-aware Event Suppression for Event Cameras
arXiv:2602.23204v4 Announce Type: replace-cross Abstract: Event cameras report asynchronously per-pixel brightness changes with microsecond latency, encoding dy…
VIDAR: Visual-Inertial Dense Alignment and Reconstruction via a Geometric Foundation Model
arXiv:2607.17171v1 Announce Type: new Abstract: Monocular foundation models provide dense geometry but usually lack a stable metric scale. This paper presents V…
Semilinear single-track vehicle models with distributed tyre friction dynamics
arXiv:2601.06854v3 Announce Type: replace Abstract: This paper introduces a novel family of single-track vehicle models that incorporate a distributed represent…
Geometrically Approximated Modeling for Emitter-Centric Ray-Triangle Filtering in Arbitrarily Dynamic LiDAR Simulation
arXiv:2605.10457v2 Announce Type: replace-cross Abstract: Real-time Light Detection And Ranging (LiDAR) simulation must find, per emitted ray, the closest inter…
Generalist AI Control: Towards Multi-purpose Adaptive Algorithms
arXiv:2607.16313v1 Announce Type: cross Abstract: Traditional controllers are designed for specific systems and do not transfer across different system orders a…
Thermopneumatic Pixels: Fast, Localized, Robust, Low-Voltage Touch Feedback
arXiv:2603.16750v2 Announce Type: replace-cross Abstract: We present thermopneumatic pixels (TPPs) -- low-profile pixels and arrays that generate dynamic tactil…
Retriever: Composing Closed-Loop Asynchronous Robot Programs
arXiv:2607.17213v1 Announce Type: new Abstract: Building long-horizon robot agents requires composing closed-loop pipelines -- perception, belief update, planni…
Imitation of Arm Gestures by the Semi-Humanoid Robot NICO
arXiv:2607.18197v1 Announce Type: new Abstract: Seamless human-robot interaction (HRI) requires a number of perceptual and motor abilities from the robot, one o…
Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds
arXiv:2607.18135v1 Announce Type: new Abstract: Learning-based approaches to locomotion have risen in popularity in recent years, showing the capability for com…
Predicting Grasping Compliance in Robotic Hands through Analytical-Model-Informed Neural Networks
arXiv:2607.17541v1 Announce Type: new Abstract: In robotic manipulation studies, grasping is often treated as a binary success or failure problem, usually defin…
Manifold-Guided Motion Planning for Tight Assemblies
arXiv:2607.17898v1 Announce Type: new Abstract: Motion planning for rigid-body assembly poses a fundamental challenge in robotics due to tight geometric constra…
Move First, Commit Later: Selective LiDAR-to-BIM Global Initialization via Sequential Consensus with Symmetry-Aware Abstention
arXiv:2607.17103v1 Announce Type: new Abstract: Global LiDAR-to-BIM initialization must place a robot within an as-designed building model without a prior pose.…
Optimal Safety Control using High-Order Control Barrier Functions
arXiv:2607.17032v1 Announce Type: cross Abstract: This paper investigates the optimal safety control problem of nonlinear control systems by proposing novel hig…
An Indoor Navigation System for the Visually Impaired based on UWB Positioning and D* Lite Path Planning Algorithm
arXiv:2607.16614v1 Announce Type: new Abstract: This paper proposes an indoor navigation system for the visually impaired, leveraging Ultra-Wideband (UWB) posit…
Digital-physical testbed for ship autonomy studies in the Marine Cybernetics Laboratory basin
arXiv:2505.06787v5 Announce Type: replace Abstract: The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actua…
What Do They See? Interpreting Complex Road Scenarios Through the Eyes of Vision-Language-Action Models for Safe and Trustworthy Autonomous Vehicle Learning
arXiv:2607.16938v1 Announce Type: cross Abstract: End-to-end autonomous driving models are now able to navigate complex road scenarios, mapping raw sensor obser…
Seg2Grasp: A Robust Modular Suction Grasping in Bin Picking
arXiv:2607.17757v1 Announce Type: new Abstract: Current bin picking methods that rely heavily on end-to-end learning often falter when confronted with unfamilia…
SinD 2.0: A Multi-City UAV Dataset with Semantic Risk Annotations for SOTIF-Oriented Safety Validation at Signalized Intersections
arXiv:2607.16943v1 Announce Type: new Abstract: Safety validation at signalized intersections remains a critical bottleneck for the deployment of autonomous dri…