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 storiesOne Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies
arXiv:2606.19586v1 Announce Type: new Abstract: Visuomotor policies for manipulation have demonstrated remarkable potential in modeling complex robotic behavior…
DF-ExpEnse: Diffusion Filtered Exploration for Sample Efficient Finetuning
arXiv:2606.19656v1 Announce Type: new Abstract: A natural recipe for intelligent robotic decision-making is initializing from pretrained generative control poli…
Pose6DAug: Physically Plausible Multi-view Object Swapping for Robot Data Augmentation
arXiv:2606.20118v1 Announce Type: new Abstract: Vision-language-action (VLA) policies have shown strong potential for general-purpose manipulation, yet they oft…
SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation
arXiv:2606.19555v1 Announce Type: new Abstract: Quadruped robots are increasingly expected to navigate through narrow passages, cluttered indoor scenes, and lar…
A Categorial and Sheaf-Theoretic Semantics for Autonomic Component Ensembles
arXiv:2606.19525v1 Announce Type: new Abstract: The proliferation of large-scale, decentralized systems of autonomous agents, such as swarms of robots and netwo…
SWAP: Symmetric Equivariant World-Model for Agile Robot Parkour
arXiv:2606.19928v1 Announce Type: new Abstract: While latent world models enable the proactive predictions required for extreme parkour, their purely data-drive…
World Engine: Towards the Era of Post-Training for Autonomous Driving
arXiv:2606.19836v1 Announce Type: new Abstract: Autonomous vehicles must operate safely in the real world, where errors can have severe consequences. Although m…
TIDY: Thermal Infrared Image Denoising via Wavelet Domain Entropy and Directional Stripe Index
arXiv:2606.19813v1 Announce Type: new Abstract: Thermal infrared (TIR) imaging has been a popular choice for field robotics due to its robust perception capabil…
Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground
arXiv:2606.19512v1 Announce Type: new Abstract: This paper presents an invariant extended Kalman filtering (InEKF) approach for real-time state estimation of hu…
DADP: Domain Adaptive Diffusion Policy
arXiv:2602.04037v3 Announce Type: replace-cross Abstract: Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundame…
Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking
arXiv:2602.23172v2 Announce Type: replace-cross Abstract: Capturing 4D spatiotemporal scene structure is crucial for the safe and reliable operation of robots i…
Integrated Exploration-Aware UAV Route Optimization and Path Planning
arXiv:2605.28654v2 Announce Type: replace Abstract: Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environ…
The Token Is a Group Element: On Lie-Algebra Attention over Matrix Lie Groups
arXiv:2606.20547v1 Announce Type: cross Abstract: We place the attention token on the group: a token is an element $g_i$ of a matrix Lie group $G$ -- a bare tra…
Agentic AutoResearch forSpace Autonomy: An Auditable, LLM-Driven Research Agent for Aerospace Control Problems
arXiv:2606.20394v1 Announce Type: new Abstract: Spacecraft guidance, navigation, and control functions are increasingly realized as learned policies distilled f…
Towards 3D karst underwater scene reconstruction from rotating sonar data
arXiv:2606.20322v1 Announce Type: new Abstract: Karst aquifers provide critical freshwater resources but pose significant hazards due to their complex and poorl…
Co-VLA: Coordination-Aware Structured Action Modeling for Dual-Arm Vision-Language-Action Systems
arXiv:2606.20285v1 Announce Type: new Abstract: Vision-language-action (VLA) models show strong capabilities in single and dual-arm robotic manipulation. Prior …
EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Models
arXiv:2606.19784v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have emerged as a powerful paradigm for generalist robot manipulation, yet t…
GenTrack2: An Improved Hybrid Approach for Multi-Object Tracking
arXiv:2510.24410v4 Announce Type: replace-cross Abstract: This paper proposes a visual multi-object tracking method that jointly employs stochastic and determin…
GenTrack: A New Generation of Multi-Object Tracking
arXiv:2510.24399v2 Announce Type: replace-cross Abstract: This paper introduces a novel multi-object tracking (MOT) method, dubbed GenTrack, whose main contribu…
CoMo: Learning Continuous Latent Motion from Internet Videos for Scalable Robot Learning
arXiv:2505.17006v3 Announce Type: replace-cross Abstract: Unsupervised learning of latent motion from Internet videos is crucial for robot learning. Existing di…
Immersive and Wearable Thermal Rendering for Augmented Reality
arXiv:2503.20646v3 Announce Type: replace-cross Abstract: We present a proof-of-concept palm-mounted thermal feedback prototype addressing thermal rendering cha…
Superhuman Safe and Agile Racing through Multi-Agent Reinforcement Learning
arXiv:2605.22748v2 Announce Type: replace Abstract: Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle …
Route-Constrained Robust Fusion Estimation for MEMS/GNSS Integrated Navigation of Unmanned Ground Vehicles in GNSS Degraded Environments
arXiv:2606.19687v1 Announce Type: new Abstract: To address cumulative localization drift of unmanned ground vehicles in structured road environments under sever…
Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
arXiv:2510.08807v2 Announce Type: replace Abstract: From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating com…
RoboSSM: Scalable In-context Imitation Learning via State-Space Models
arXiv:2509.19658v2 Announce Type: replace Abstract: In-context imitation learning (ICIL) enables robots to learn tasks from prompts consisting of just a handful…
BIM Informed Visual SLAM for Construction Environments
arXiv:2509.13972v3 Announce Type: replace Abstract: Monitoring building construction sites requires comparing the as-planned design with the as-built state, whi…
Robust Convex Model Predictive Control with collision avoidance guarantees for robot manipulators
arXiv:2508.21677v3 Announce Type: replace Abstract: Industrial manipulators typically operate in cluttered environments, where safe motion planning is critical.…
VFILC: Accurate Frequency Extrapolations in Imitation Learning via Sampling Frequency ILC
arXiv:2606.20056v1 Announce Type: new Abstract: Conventional neural network (NN)-based imitation learning methods for variable-speed motion either restricted th…
Evaluation of Augmented Reality-based Intuitive Interface for Robot-Assisted Transesophageal Echocardiography: A User Study
arXiv:2606.19971v1 Announce Type: new Abstract: TransEsophageal Echocardiography (TEE) is essential for diagnosing and guiding Structural Heart Disease (SHD) in…
Motor Angular Speed Preintegration for Multirotor UAV State Estimation
arXiv:2606.19929v1 Announce Type: new Abstract: A precise state estimate is crucial for a tight feedback control that enables agile and near-obstacle flights of…