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 storiesMANGO: Automated Multi-Agent Test Oracle Generation for Vision-Language-Action Models
arXiv:2606.24815v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models are emerging robotic control systems that integrate perception, language u…
Reliability-Asymmetric Spacecraft Autonomy: Co-Designing a Capable Learned GNC Stack with a Verified, Adaptation-Aware Runtime Shield
arXiv:2606.25366v1 Announce Type: new Abstract: Deep-space missions need onboard autonomy that is both capable and certifiable. Rule-based autonomy is certifiab…
ReaDy-Go: Real-to-Sim Dynamic 3D Gaussian Splatting Simulation for Environment-Specific Visual Navigation with Moving Obstacles
arXiv:2602.11575v3 Announce Type: replace Abstract: Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the …
GROVE: Grounded Pedestrian Simulation via Natural Language for Interactive Social Robot Navigation
arXiv:2606.25504v1 Announce Type: new Abstract: Pedestrian simulation is a critical component for training and deploying social robot navigation approaches, yet…
SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling
arXiv:2606.25699v1 Announce Type: new Abstract: Tightly coupled LiDAR-visual-inertial odometry (LIVO) fuses precise geometric depth with complementary visual me…
BFMTrack: Latent Sequence Optimization for Physics-Based Motion Tracking with Behavioral Foundation Models
arXiv:2606.25056v1 Announce Type: new Abstract: Behavioral Foundation Models (BFMs) offer a promising path toward universal physics-based character control by o…
DeformGen: Dynamics-Based Topology Augmentation for Deformable Manipulation Policy Learning
arXiv:2606.25939v1 Announce Type: new Abstract: Demonstration augmentation is proposed for cost-efficient data acquisition, but existing methods are fundamental…
WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning
arXiv:2606.25591v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have recently demonstrated strong generalization in robotic manipulation, ye…
RGB: RL Guided Whole-Body MPPI for Humanoid Control
arXiv:2606.25123v1 Announce Type: new Abstract: Humanoid robots require whole-body controllers that are both robust and precise in contact-rich environments. Wh…
Deep Reinforcement Learning-Enhanced Event-Triggered Data-Driven Predictive Control for a 3D Cable-Driven Soft Robotic Arm
arXiv:2606.26048v1 Announce Type: new Abstract: Soft robots are challenging to control due to their nonlinear and time-varying dynamics. Data-enabled predictive…
Swarm-Inspired Generation of Collective Behaviors in Graph Dynamical Systems
arXiv:2606.24958v1 Announce Type: cross Abstract: Collective behavior arises when locally interacting units produce coordinated global organization, from synchr…
Beyond Topology: A Morphological Symmetry Graph Representation for Locomotion Policy Learning
arXiv:2512.00727v2 Announce Type: replace Abstract: Reinforcement learning has enabled impressive locomotion skills on articulated robots, but common policy rep…
Reflective VLA: In-Context Action Consequences Make VLAs Generalize
arXiv:2606.25215v1 Announce Type: cross Abstract: Most vision-language-action (VLA) models are reactive: they predict the next action from the current instructi…
SurveilNav: Collaborative Object Goal Navigation with Robot and Surveillance System
arXiv:2606.25119v1 Announce Type: new Abstract: With the growing deployment of surveillance systems in factories, offices, and homes, integrating them with robo…
Power-Budgeted Underwater Vehicle Control via Constrained Reinforcement Learning
arXiv:2606.25680v1 Announce Type: new Abstract: Underwater vehicles operate from a fixed onboard energy budget that propulsion rapidly depletes, so a controller…
Swazure: Swarm Measurement of Pose for Flying Light Specks
arXiv:2606.25222v1 Announce Type: new Abstract: One may construct a 3D multimedia display using miniature drones configured with light sources, Flying Light Spe…
Self Capacitive Tactile Sensor System designed for Companion Robots
arXiv:2606.25348v1 Announce Type: new Abstract: Tactile sensing is essential for humanoid robots to achieve safe physical interaction, dexterous manipulation, a…
Event-Adaptive Motion Planning with Distilled Vision-Language Model in Safety-Critical Situations
arXiv:2606.25629v1 Announce Type: new Abstract: Robot navigation in safety-critical scenarios faces significant challenges from unforeseen semantic events, wher…
From Rubble Simulation to Active Magnetic Mapping: Quantum Sensing for Disaster Response
arXiv:2606.25957v1 Announce Type: new Abstract: Locating survivors of building collapses within the first 72 hours is a critical challenge in disaster response,…
RN-D: Discretized Categorical Actors for On-Policy Reinforcement Learning
arXiv:2601.23075v2 Announce Type: replace-cross Abstract: On-policy Reinforcement Learning (RL) remains a dominant paradigm for continuous control, yet standard…
DynaMOMA: Instantaneous Prediction of Grasp Poses for Mobile Manipulation of Dynamic Objects
arXiv:2606.25295v1 Announce Type: new Abstract: Mobile manipulation is a fundamental robotics task and has advanced rapidly in recent years, enabling robots to …
Action ControlNet: A Lightweight Delay-Aware Adapter for Smooth Asynchronous Control in Vision-Language-Action Models
arXiv:2606.25985v1 Announce Type: new Abstract: Vision-language-action (VLA) models have shown strong potential for general-purpose robot manipulation, but thei…
Sampling Strategies for Robust Universal Quadrupedal Locomotion Policies
arXiv:2510.07094v2 Announce Type: replace Abstract: This work focuses on sampling strategies of configuration variations for generating robust universal locomot…
Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control
arXiv:2606.24208v1 Announce Type: new Abstract: Diffusion models sample effectively from high-dimensional, multimodal distributions, but their outputs may viola…
SlipSense: Multimodal Sensing for Online Slip Detection in Legged Robots
arXiv:2606.24350v1 Announce Type: new Abstract: Legged robots rely on accurate ground interaction awareness to traverse variable terrains, such as slippery surf…
PDS Joint: A Parametric Double-Spiral Joint Tailored for Dexterous Hands
arXiv:2606.24377v1 Announce Type: new Abstract: Compliant joints can embed safety and adaptability into dexterous hands, but achieving large-stroke anthropomorp…
Varying Bundle Size Reactive Multi-Task Assignment using Selective Cost Estimation for Multi-Agent Systems
arXiv:2606.24462v1 Announce Type: new Abstract: This paper presents a scalable framework for multi-robot task allocation in complex environments where estimatin…
Supervise What Survives: Geometry-Guided VLA Adaptation from Synthetic Robot Videos
arXiv:2606.24448v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models require large-scale video-action pairs, yet real teleoperation remains scarc…
G$^3$VLA: Geometric inductive bias for Vision-Language-Action Models
arXiv:2606.24472v1 Announce Type: new Abstract: Vision-language-action (VLA) models have made rapid progress in generalist robot manipulation by harnessing sema…
Explaining Failures of Cyber-Physical Systems with Actual Causality
arXiv:2606.24546v1 Announce Type: new Abstract: Modern autonomous Cyber-Physical Systems (CPSs), such as self-driving cars, face increasingly complex demands, a…