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 storiesInvertible Neural Network Adapter for One-Step Flow Matching in Robot Manipulation
arXiv:2606.19194v1 Announce Type: new Abstract: This paper presents an invertible neural network adapter for general robotic manipulation, designed to generate …
FAST-LIVGO: A Degeneracy-Robust LiDAR-Inertial-Visual-GNSS Fusion Odometry
arXiv:2606.19190v1 Announce Type: new Abstract: Robust state estimation and mapping in long-term, large-scale, and highly dynamic environments remains a key cha…
Learning to Annotate Delayed and False AEB Events: A Practical System for Extreme Class Imbalance and Asymmetric Label Noise
arXiv:2606.19186v1 Announce Type: new Abstract: Autonomous Emergency Braking (AEB) optimization relies on accurately annotated real-world trigger events, partic…
A High-accuracy Event-based Underwater SLAM System
arXiv:2606.18951v1 Announce Type: new Abstract: While event cameras offer immense potential for underwater SLAM, existing Time Surface (TS)-based methods prove …
C-ARC: Continuous-Adaptive Range Clustering for Non-Repetitive LiDAR Sensors
arXiv:2606.18948v1 Announce Type: new Abstract: Real-time LiDAR clustering identifies structures in point clouds, which is an essential prerequisite for many mo…
TactSpace: Learning a Physics-enriched Shared Latent Space for Tactile Sim-to-Real Transfer
arXiv:2606.18959v1 Announce Type: new Abstract: Tactile sensing provides direct measurements of contact interactions that are essential for robotic manipulation…
ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots
arXiv:2606.18883v1 Announce Type: new Abstract: Load transportation with quadruped robots is strongly affected by the dynamics of the physical interface between…
Space Is Intelligence: Neural Semigroup Superposition for Riemannian Metric Generation
arXiv:2606.18828v1 Announce Type: new Abstract: Traditional approaches place intelligence in the agent, whether as a learned policy or a search procedure. We in…
ART-VS: Adaptive Resolution Tiling for Vision Transformer Visual Servoing
arXiv:2606.19089v1 Announce Type: new Abstract: Visual servoing with self-supervised Vision Transformer (ViT) features enables training-free robotic positioning…
Monocular 3D Occupancy Perception for Robots on Sidewalks via Hybrid 2D-3D Learning
arXiv:2606.19122v1 Announce Type: new Abstract: Sidewalks in the real world are crowded, cluttered, and less structured than roads, making 3D occupancy predicti…
HT-Bench: Benchmarking and Learning Dexterous Full-Hand Tactile Representations with Egocentric Vision
arXiv:2606.19161v1 Announce Type: new Abstract: Establishing a universal benchmark for tactile representation learning in robotic manipulation remains challengi…
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot
arXiv:2606.19233v1 Announce Type: new Abstract: In this letter, we present a hierarchical control framework that enables wheeled bipedal robots to perform plana…
Shape Sensing of Continuum Robots using Direct Laser Writing
arXiv:2606.19265v1 Announce Type: new Abstract: Continuum robots offer a promising approach for minimally invasive and natural-orifice surgical procedures due t…
HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations
arXiv:2606.18772v1 Announce Type: new Abstract: Human demonstrations, which can be collected at scale and naturally capture active hand-eye coordination, are a …
As You Wish: Mission Planning with Formal Verification using LLMs in Precision Agriculture
arXiv:2606.18519v1 Announce Type: new Abstract: Though robotic systems are now being commercialized and deployed in various industries, many of these systems ar…
DREAM-Chunk: Reactive Action Chunking with Latent World Model
arXiv:2606.18589v1 Announce Type: new Abstract: Action chunking has become a common interface for vision-language-action (VLA) models, enabling low-frequency po…
Generating Natural and Expressive Robot Gestures through Iterative Reinforcement Learning with Human Feedback using LLMs
arXiv:2606.18747v1 Announce Type: new Abstract: Expressive gestures are essential for natural and effective communication, complementing speech when verbal cues…
Admittance-Based Surface Alignment for Human-in-the-Loop Robotic Visual Inspection
arXiv:2606.18601v1 Announce Type: new Abstract: Precision visual inspection underpins quality assurance across aerospace, semiconductor, and medical manufacturi…
SC3-Eval: Evaluating Robot Foundation Models via Self-Consistent Video Generation
arXiv:2606.18610v1 Announce Type: new Abstract: Evaluating generalist robot manipulation policies in the real world is expensive, slow, and difficult to scale. …
DNN Koopman-Based Deviation Compensation for UGV Path Tracking Control on Coupled Slope and Potholed Road
arXiv:2606.18630v1 Announce Type: new Abstract: Unmanned ground vehicles (UGVs) operating in off-road scenarios are confronted with complex terrain disturbances…
ROBOSHACKLES: A Safety Dataset for Human-Injury Prevention in Embodied Foundation Models
arXiv:2606.18632v1 Announce Type: new Abstract: Embodied Foundation Models (EFMs) integrate multimodal understanding, future-state reasoning, and executable rob…
Leveraging Energy Features for Surface Classification with Deep Learning: A Comparative Analysis Across Three Independent Datasets
arXiv:2606.18698v1 Announce Type: new Abstract: The energy-based method remains a comparatively underexamined approach for surface classification in mobile robo…
Object-Centric Residual RL for Zero-Shot Sim-to-Real VLA Enhancement
arXiv:2606.18953v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models can generalize across diverse manipulation tasks, but their imitation-learni…
Two-Phase Bilevel Search for the Moving-Target Traveling Salesman Problem with Moving Obstacles
arXiv:2606.18730v1 Announce Type: new Abstract: The Moving-Target Traveling Salesman Problem (MT-TSP) seeks a minimum cost trajectory for an agent that departs …
Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots
arXiv:2606.19067v1 Announce Type: new Abstract: Autonomous navigation of quadrupedal robots in diverse environments fundamentally relies on resilient Simultaneo…
A Scalable Embodied Intelligence Platform for Seamless Real-to-Sim-to-Real Transfer of Household Mobile Manipulation Tasks
arXiv:2606.18646v1 Announce Type: new Abstract: Mobile manipulation is a fundamental capability in embodied intelligence robotics. The growing demand for robust…
EffiNav: Fusing Depth and Vision-Language for Efficient Object Goal Navigation
arXiv:2606.18634v1 Announce Type: new Abstract: To locate a target object while exploring the unknown environment is a fundamental capability for autonomous age…
Self-Supervised Mask-Aware Transformers for Fault-Tolerant FBG Force Sensing in Minimally Invasive Surgical Robotics
arXiv:2606.18628v1 Announce Type: new Abstract: In minimally invasive surgical robotics, catheter-scale Fiber Bragg Grating (FBG) sensors are promising due to t…
HRDX: A Large-Scale Vector HD-Map Dataset
arXiv:2606.17080v1 Announce Type: new Abstract: Reliable autonomous driving requires vectorized HD maps that are geometrically accurate, semantically rich, and …
Contrastive Action-Image Pre-training for Visuomotor Control
arXiv:2606.17256v1 Announce Type: new Abstract: Existing vision encoders for robotics face a fundamental bottleneck: robotic datasets lack the scale necessary f…