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 Terrain-Adaptive epsilon-Constraint MPC for Uneven Terrain Kinodynamic Planning
arXiv:2605.21188v2 Announce Type: replace Abstract: Kinodynamic planning for car-like vehicles on uneven terrain requires simultaneously optimizing competing ob…
T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion
arXiv:2606.06944v2 Announce Type: replace Abstract: Achieving both anthropomorphic naturalness and rich motion diversity during terrain traversal remains a fund…
Perturbation-Based Epistemic Uncertainty for Failure Detection in Vision-Language-Action Models
arXiv:2606.20754v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have shown strong performance in robotic manipulation, but reliable unce…
BikeScenes: LiDAR Semantic Segmentation for Bicycles
arXiv:2510.25901v2 Announce Type: replace-cross Abstract: The vulnerability of cyclists, exacerbated by the rising popularity of faster e-bikes, motivates adapt…
AGM: Achievement-Grounded Memory for Closed-Loop Agents with Frozen VLA Policies
arXiv:2608.29537v1 Announce Type: new Abstract: Frozen vision-language-action (VLA) policies offer broad manipulation skills but execute open-loop action chunks…
Module Number Adaptive Visual Shape Control for Serial Modular Soft Robots
arXiv:2608.29547v1 Announce Type: new Abstract: Image based shape control provides a simple means of controlling the whole body configuration of soft robots. Ho…
Background-Free Objectness Learning for Class-Agnostic Detection
arXiv:2608.29232v1 Announce Type: cross Abstract: Object detectors are typically trained under closed-set supervision, where unlabeled regions are implicitly tr…
PathBridger: Subgoal Bridges for Offline Goal-Conditioned Reinforcement Learning
arXiv:2608.29061v1 Announce Type: cross Abstract: Offline goal-conditioned reinforcement learning (GCRL) aims to learn policies for reaching diverse goals entir…
Understanding Temporal Semantic Stability in Open-Vocabulary UAV Perception through Metric 3D Fusion
arXiv:2608.28665v1 Announce Type: cross Abstract: Recent open-vocabulary segmentation models have advanced semantic perception for UAVs, but predictions from mo…
LightNav-0: Eliciting VLM Spatial Intelligence for Generalist Embodied Navigation
arXiv:2608.30935v1 Announce Type: new Abstract: Embodied navigation requires agents to translate heterogeneous goals and visual observations into actions across…
SleepWalking: Privileged Representation Shaping for End-to-End Blind Locomotion in Legged Robots
arXiv:2608.30883v1 Announce Type: new Abstract: Partially observable locomotion requires a policy to act when task-relevant properties of the robot--environment…
GAFT: Geo-Anchored Fine-Tuning for Hazard Identification from Rare Failures
arXiv:2608.30858v1 Announce Type: new Abstract: Off-road navigation can fail when physical structures induce irrecoverable states such as high-centering or entr…
Temporal Forcing: 4D Representation Alignment for Vision-Language-Action Models
arXiv:2608.30643v1 Announce Type: new Abstract: Recent vision-language-action (VLA) methods improve manipulation performance by aligning their representations w…
Motus2: A Self-Evolving General World Model for Dexterous Manipulation
arXiv:2608.30237v1 Announce Type: new Abstract: General embodied agents should perceive, predict, act, evaluate, and improve within a unified system. World mode…
EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy
arXiv:2608.29896v1 Announce Type: new Abstract: A robot's effective ``mind'' need not reside in a single policy. It can emerge when specialized components perce…
Self-Aware Active Learning Enables Continual Improvement in Autonomous Driving
arXiv:2608.29772v1 Announce Type: new Abstract: Learning-based autonomous driving (AD) systems can perform reliably in familiar conditions, yet rare distributio…
Sampling-based Certified Planning with Graphs of Convex Sets
arXiv:2608.29770v1 Announce Type: new Abstract: Planners on graphs of convex sets return trajectories that are collision-free by construction, provided the conv…
$\mathcal{N}_0$-Foundation: Towards the Age of Tactile Intelligence
arXiv:2608.29601v1 Announce Type: new Abstract: We present $\mathcal{N}_0$-Foundation, a paradigm for tactile-enabled embodied manipulation, which integrates ta…
Bridging Semantics and Physics with Constrained LLMs for Safe and Trustworthy Robotic Manipulation
arXiv:2608.29379v1 Announce Type: new Abstract: A language-guided robot operating in a real kitchen must do more than produce a plan that appears correct. It mu…
SGE: Semantically-Guided Exploration for Unstructured Environments via Image-Space Waypoint Sampling
arXiv:2608.29315v1 Announce Type: new Abstract: This work introduces Semantically-Guided Exploration (SGE), a modular exploration framework for ground vehicles …
AnyWorld: Factorized Egocentric World Models for Cross-Embodiment Generalization
arXiv:2608.29242v1 Announce Type: new Abstract: Collecting contact-rich robot experiences at scale remains a major bottleneck for generalizable manipulation. Be…
Robust Semi-passive Velocity Field Control with Boundedness Guarantees for Safe Interaction between Mechanical Systems and Physical Environment
arXiv:2608.30193v1 Announce Type: cross Abstract: Controllers that guarantee energetic passivity with respect to the pair of external force and velocity realize…
Proximity3D: Shape from Capacitive Proximity on Sensing Manifold
arXiv:2608.30344v1 Announce Type: cross Abstract: Most shape reconstruction methods assume measurements defined over planar sensing domains, such as RGB images …
Scaffolding Foundation Models into Physical-World Agents Pushes the Frontier of Long-Horizon Navigation
arXiv:2608.30396v1 Announce Type: cross Abstract: Long-horizon physical-world agents must reason over distant goals while grounding decisions in reliable closed…
HorizonNet for visual terrain navigation
arXiv:2608.30471v1 Announce Type: cross Abstract: This paper investigates the problem of position estimation of unmanned surface vessels (USVs) operating in coa…
Failure or Drift? Evaluating Monocular SLAM under Synthetic and Real-World Corruptions
arXiv:2608.30690v1 Announce Type: cross Abstract: Visual SLAM is commonly evaluated on clean trajectories, although deployment failures are often caused by adve…
Driving on Memory
arXiv:2608.31029v1 Announce Type: cross Abstract: End-to-end autonomous driving models plan future trajectories from raw sensor input. While earlier driving ben…
D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations
arXiv:2503.12204v3 Announce Type: replace Abstract: This work presents an optimization method for generating kinodynamically feasible and collision-free multi-r…
Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey
arXiv:2508.13073v3 Announce Type: replace Abstract: Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimo…
Neural 3D Object Reconstruction with Small-Scale Unmanned Aerial Vehicles
arXiv:2509.12458v3 Announce Type: replace Abstract: Miniaturized Uncrewed Aerial Vehicles (UAVs) can access indoor and hard-to-reach spaces, but severe constrai…