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 storiesAnomaly Detection on Small Industrial Components via Vision-Based Tactile Sensing
arXiv:2608.30506v1 Announce Type: new Abstract: Automated inspection of small industrial components, including sub-centimetre-scale parts where defects are geom…
PAVE: Predictive Alignment and Value-Guided Evolution for World-Action Policies
arXiv:2608.30378v1 Announce Type: new Abstract: Direct vision-language-action policies generate continuous robot actions efficiently, but standard behavior clon…
SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing
arXiv:2608.30368v1 Announce Type: new Abstract: Tactile sensing is essential for physical interaction in robotics and human--machine systems. However, combining…
Contrast-Free Autonomous Navigation of Untethered Endovascular Microrobots Using Single-Plane Fluoroscopy
arXiv:2608.30220v1 Announce Type: new Abstract: Reliable three-dimensional (3D) navigation of magnetically actuated untethered microrobots remains a major barri…
Rethinking Language's Role in Efficient VLA for Autonomous Vehicles: Toward Smarter, Trustworthy Driving
arXiv:2608.30144v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models are reshaping autonomous driving (AD) by unifying perception, reasoning, and…
Training-Free Action Correction for VLA Model Failures via Language Feedback
arXiv:2608.29967v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models demonstrate strong semantic understanding yet exhibit systematic failures du…
SmoothRL: Online Reinforcement Learning During Asynchronous Execution
arXiv:2608.29768v1 Announce Type: new Abstract: Deploying robot policies in the physical world requires satisfying two fundamental desiderata: reliability and s…
DriftingVLA: Native One-Step Vision-Language-Action Generation via Per-Dimension Temporal Drifting
arXiv:2608.29749v1 Announce Type: new Abstract: Conventional flow-based vision-language-action (VLA) models support expressive continuous action generation but …
Task-Relevant Feature-Dynamics Fidelity Enables Zero-Shot Sim-to-Real Transfer for Robotic Ultrasound Scanning
arXiv:2608.29516v1 Announce Type: new Abstract: Robotic ultrasound policies operating directly on B-mode images require extensive interaction data, whereas real…
A Sliding Window Filter on the Galilean Group for Consistent Aided Inertial Navigation with Unknown Measurement Delays
arXiv:2608.29514v1 Announce Type: new Abstract: We study aided inertial navigation when the aiding sensor measurements are subject to an unknown constant delay.…
Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception
arXiv:2608.29487v1 Announce Type: new Abstract: We present blind, whole-body manipulation skills on a Unitree G1 humanoid using only onboard proprioception, wit…
AdaVLA: Adaptive Step Flow Matching for Training-free Acceleration of Vision-Language-Action Models
arXiv:2608.29208v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models, built upon Vision-Language Models (VLMs), have significantly enhanced robot…
SMILE: Smooth Motion for Improved Long-Horizon VLA Execution
arXiv:2608.29432v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models reduce inference cost by executing multiple actions per call, but longer hor…
NGD-SLAM: Towards Real-Time Dynamic SLAM without GPU
arXiv:2405.07392v4 Announce Type: replace Abstract: Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveragi…
The Potential of Haptic Foundation Models
arXiv:2608.28664v1 Announce Type: new Abstract: Despite the success of foundation models in language and vision, their expansion into embodied AI is bottlenecke…
Cognitively-Grounded On-Device Runtime Learning for Ground Robots in Unknown Physical Environments
arXiv:2608.28677v1 Announce Type: new Abstract: This paper presents \ul{CogRun}, a framework that enables safety-critical ground robots to perform cognitively-g…
Adversarial Calibration Attack on Autonomous Vehicles
arXiv:2608.28778v1 Announce Type: new Abstract: Autonomous vehicles (AVs) rely on accurate camera-LiDAR calibration for multimodal sensor fusion. In practice, c…
Coding What Matters: A Semantic-Aware Memory Interface for Energy-Efficient Perception in Autonomous Vehicles
arXiv:2608.29000v1 Announce Type: new Abstract: Autonomous vehicles stream high-resolution surround-camera frames into memory before perception runs. This senso…
A Degradation-Tolerance Benchmark for Camera-Only End-to-End Driving
arXiv:2608.29005v1 Announce Type: new Abstract: Camera-only end-to-end (E2E) driving models are nearing deployment, where the camera stream is degraded by blur,…
Teaching Robot Policies to Humans Using Erroneous Examples
arXiv:2608.29023v1 Announce Type: new Abstract: Human-robot collaboration describes the process of humans and autonomous agents working together to accomplish c…
World Model Control by Trajectory Reachability Metrics
arXiv:2605.22164v2 Announce Type: replace-cross Abstract: Latent world models can learn representations that contain information needed for control, while the d…
On Adversarial Attacks In Acoustic Drone Localization
arXiv:2502.20325v3 Announce Type: replace-cross Abstract: Multi-rotor aerial autonomous vehicles (MAVs, more widely known as "drones") have been generating incr…
Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems
arXiv:2608.30874v1 Announce Type: cross Abstract: This paper considers decentralized contingency MPC for multi-agent control under a state-only information patt…
A Hybrid PEM-GP Framework for Uncertainty-Aware System Identification of Quadcopters
arXiv:2608.30433v1 Announce Type: new Abstract: Accurate dynamic models play a central role in achieving reliable control of quadcopters. Classical system ident…
Behavior-Skill: A Fine-Grained Benchmark for Evaluating Vision-Language-Action Policies in Long-Horizon Tasks
arXiv:2608.30536v1 Announce Type: new Abstract: Reliable execution of long-horizon mobile manipulation tasks remains challenging because overall task success de…
CIG-RL: Curiosity-Driven Information-Guided Reinforcement Learning for Source Term Estimation in Uncertain Environments
arXiv:2608.30673v1 Announce Type: new Abstract: Source term estimation (STE), which aims to estimate key properties of the gas source, is essential for identify…
Zeva: In-Context Causal Learning for Generalizable Embodied Manipulation
arXiv:2608.30880v1 Announce Type: new Abstract: Generalizable embodied manipulation remains difficult to achieve through pretraining alone, due to unseen physic…
Autonomously Acquiring Robot Manipulation Skills with Language-Driven Quality-Diversity
arXiv:2608.30983v1 Announce Type: new Abstract: Quality-diversity (QD) algorithms have been gaining traction in robot learning, where diverse motion primitive l…
Goal Staying Makes Sum-of-Costs Anonymous Multi-Agent Path Finding NP-Hard
arXiv:2608.28658v1 Announce Type: cross Abstract: Anonymous Multi-Agent Path Finding (AMAPF) admits polynomial-time network-flow algorithms for several objectiv…
PrefMoE: Robust Preference Modeling with Mixture-of-Experts Reward Learning
arXiv:2605.00384v2 Announce Type: replace Abstract: Preference-based reinforcement learning offers a scalable alternative to manual reward engineering by learni…