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 storiesValue-Aware Prediction for Robust Multi-Agent Coordination Under Communication Loss
arXiv:2607.17914v1 Announce Type: cross Abstract: Robust multi-agent coordination relies heavily on inter-agent communication, which is frequently disrupted by …
Relative Entropy-Bounded Ambiguous Chance Constraints for Robust Planning in Nonlinear Systems
arXiv:2607.16977v1 Announce Type: cross Abstract: We consider defining risk probability in stochastic control problems under distribution ambiguity. Current app…
User-Driven Learning from Demonstration: A Trajectory and Impedance Learning Method
arXiv:2607.16998v1 Announce Type: new Abstract: This paper presents a method for user-driven robot Learning from Demonstration (LfD) that reduces user effort wh…
InLiER: Learning-Free Heterogeneous LiDAR Place Recognition via Intermediate Mixed-Radix Structural Keypoint Tokenization
arXiv:2607.16862v1 Announce Type: cross Abstract: LiDAR place recognition supports loop closure, relocalization, and multi-agent map management. As robotic plat…
PRO-SPECT: Probabilistically Safe Scalable Planning for Energy-Aware Coordinated UAV-UGV Teams in Stochastic Environments
arXiv:2604.02142v2 Announce Type: replace Abstract: We consider energy-aware planning for an unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) tea…
ConceptTree: Bringing Semantic Transparency to Black-Box Decision Making for Robotic Manipulation
arXiv:2607.17861v1 Announce Type: new Abstract: Establishing interpretable decision-making processes in long-horizon robotic manipulation is critical for enabli…
Importance Sampling and PCA for Finding Failures in Commercial Autonomous Vehicles
arXiv:2607.18106v1 Announce Type: new Abstract: Methods for discovering rare failures in autonomous systems have so far been demonstrated almost exclusively in …
A Vendor-Agnostic LiDAR Data Conversion System with Multi-Signal Detection and Multi-Format Output
arXiv:2606.22881v2 Announce Type: replace Abstract: LiDAR (Light Detection and Ranging) sensors capture the surrounding environment as dense 3D point clouds by …
Stochastic Entanglement of Deterministic Origami Tentacles For Robust Robotic Grasping
arXiv:2604.26897v2 Announce Type: replace Abstract: Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their …
GLidE-SLAM: GL-Accelerated Indirect-Direct Embedded SLAM
arXiv:2607.16897v1 Announce Type: new Abstract: With the growing demand for robotics, autonomous drones, and wearable extended reality systems, the deployment o…
Approximate Relative Entropy Constraints for Nonlinear Covariance Steering Under Distribution Ambiguity
arXiv:2607.16914v1 Announce Type: new Abstract: Covariance steering provides an efficient framework for designing linear stochastic feedback policies, but its e…
Unsupervised Discovery of Failure Taxonomies from Deployment Logs
arXiv:2506.06570v4 Announce Type: replace Abstract: As robotic systems become increasingly integrated into real-world environments, ranging from autonomous vehi…
Algorithmic Accuracy as a Motivational Driver in Robot-Mediated Learning: A Comparative Study of Cross-Correlation and CNN-Based Sound Detection in an Interactive Quiz Game
arXiv:2607.16299v1 Announce Type: cross Abstract: In competitive learning activities, inaccurate robot decisions may reduce students' perceptions of fairness an…
PRISM: Multimodal Terrain Mapping for Rover Navigation in Unstructured Environments
arXiv:2607.16366v1 Announce Type: new Abstract: Robotic navigation in unstructured environments requires robust situational awareness to safely traverse hazards…
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion
arXiv:2509.23185v2 Announce Type: replace Abstract: We present an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen…
Certifiable Safe Model-Based Reinforcement Learning with Control-Affine Dynamics Approximation
arXiv:2607.16501v1 Announce Type: new Abstract: Safe model-based reinforcement learning (RL) often bridges control-theoretic analysis and RL for robots to safel…
From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulation
arXiv:2607.17323v1 Announce Type: new Abstract: Teleoperating a robotic manipulator in industrial environments demands precision that camera-based interfaces al…
RT-SHCUA: Real-Time Self-Hosted Computer-Use Agent for UAV Control
arXiv:2607.17951v1 Announce Type: cross Abstract: Natural-language control offers a promising interface for unmanned aerial vehicles (UAVs), but directly applyi…
Active Tracking of Marine Pollution Sources: An Uncertainty-Aware Categorical Bayesian Framework for Unmanned Surface Vehicles
arXiv:2509.20593v3 Announce Type: replace Abstract: This paper presents an uncertainty-aware framework for the active tracking of marine pollution sources using…
xperception -- Making Robotic Grasping Easier
arXiv:2607.16312v1 Announce Type: cross Abstract: The transition toward high-mix low-volume manufacturing demands flexibility in robotic manipulation. However, …
Logic-Guided Socially-aware Robot Navigation World Model
arXiv:2510.23509v3 Announce Type: replace Abstract: Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabl…
From Sign Language Generation to Humanoid Execution: Vision-Language Guided Retargeting with Collision Mitigation
arXiv:2607.17769v1 Announce Type: new Abstract: Recent sign language generation (SLG) systems increasingly output dense 3D body representations, which better pr…
Distilling Global Traversability Priors for Image-based Affordance Prediction in Off-road Environments
arXiv:2607.17984v1 Announce Type: new Abstract: Standard methods for autonomous navigation in unstructured terrain are prone to myopic behaviors in long-horizon…
RynnBrain 1.1: Towards More Capable and Generalizable Embodied Foundation Model
arXiv:2607.17977v1 Announce Type: new Abstract: We present RynnBrain 1.1, a family of embodied foundation models spanning 2B, 9B, and 122B-A10B scales. Trained …
3D and 4D World Modeling: A Survey
arXiv:2509.07996v4 Announce Type: replace-cross Abstract: World modeling has become a cornerstone in AI research, enabling agents to understand, represent, and …
Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry
arXiv:2607.17332v1 Announce Type: new Abstract: Incorporating prior maps significantly enhances the accuracy and robustness of pose estimation in visual-inertia…
Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots
arXiv:2512.05292v3 Announce Type: replace Abstract: In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not u…
VLN-AVP: Zero-Shot Vision-Language Navigation with Hybrid Long-Short-Term Memory for Autonomous Valet Parking
arXiv:2607.17767v1 Announce Type: new Abstract: Existing methods in Autonomous Valet Parking (AVP) typically rely on pre-built maps, which severely restricts th…
Patch Policy: Efficient Embodied Control via Dense Visual Representations
arXiv:2607.18236v1 Announce Type: new Abstract: Pretrained dense visual features from Vision Transformers (ViTs) are powerful yet have been underutilized in rob…
A BIM-enabled, Agent-based Discrete-event Simulation Platform for Robotic Studies: A Method based on Graph Theory
arXiv:2607.16920v1 Announce Type: new Abstract: Indoor robots are increasingly employed for facility management tasks such as cleaning and inspection. These app…