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 storiesSuper4DR: 4D Radar-centric Self-supervised Odometry and Gaussian-based Map Optimization
arXiv:2512.09608v2 Announce Type: replace Abstract: Conventional odometry and mapping methods using visual or LiDAR data often struggle under poor illumination …
RLinf-USER: A Unified and Extensible System for Real-World Online Policy Learning in Embodied AI
arXiv:2602.07837v4 Announce Type: replace Abstract: Online policy learning directly in the physical world is a promising yet challenging direction for embodied …
Drift-Based Policy Optimization: Native One-Step Policy Learning for Online Robot Control
arXiv:2604.03540v4 Announce Type: replace Abstract: Diffusion policies effectively model multimodal action distributions for robotic manipulation, but their ite…
RedLight-VLA: Models for traffic-rule grounding and behavioral emphasis in driving policies
arXiv:2608.28656v1 Announce Type: new Abstract: Behavior-cloned Vision-Language-Action (VLA) driving policies struggle with rare rule-governed maneuvers at sign…
RoboGesture: Real-Time Semantic-aligned Co-Speech Gestures Generation for Humanoid Interaction
arXiv:2608.28693v1 Announce Type: new Abstract: Enabling humanoid robots to respond to human speech with synchronized and semantically meaningful gestures is fu…
Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines
arXiv:2608.28697v1 Announce Type: new Abstract: Additive manufacturing (AM) enables compact hydraulic components whose internal fluid channels can follow free-f…
RoboPhys-3D: A Comprehensive Embodied World Model Evaluation via 3D Reconstruction
arXiv:2608.28718v1 Announce Type: new Abstract: Video world models increasingly serve as data engines, action planners, and simulators for embodied AI, but conv…
Vehicle Drift Emergence: Continuous Evolution from Grip Driving to the Handling Limit via Boundary Exploration Learning Model Predictive Control
arXiv:2608.28723v1 Announce Type: new Abstract: Automated drift controllers commonly track a prescribed drift equilibrium, sideslip reference, or trajectory. Th…
Generation of High-Level Concepts in 3D Scene Graphs via Autoregressive Diffusion
arXiv:2608.28733v1 Announce Type: new Abstract: Indoor 3D Scene Graphs (3DSGs) represent environments as multi-layer hierarchies that connect observed geometric…
Dual Park-Ravani Interpolation of Rigid Motions: Acceleration-Field Continuity and Holonomic Hermite Repair
arXiv:2608.28826v1 Announce Type: new Abstract: The Park-Ravani construction generates a twice continuously differentiable, frame-invariant spline on SO(3) by e…
Brain-Language-Action (BLA) Models: Language-Conditioned EEG for Robotics Control
arXiv:2608.28967v1 Announce Type: new Abstract: Electroencephalography (EEG)-based robotic control is commonly formulated as a direct classification problem, in…
Hydra: A Navigation World Action Model with Discrete Latent Planning and Continuous Flow-Matching Execution
arXiv:2608.28995v1 Announce Type: new Abstract: World models let robots imagine possible futures, but exploiting this capability for real-time control is bottle…
GHOST in the Robots: Real-Time Exocentric Dual-Robot VR Teleoperation from Onboard Cameras
arXiv:2608.29080v1 Announce Type: new Abstract: Teleoperating multiple robots simultaneously enables additional views and coordinated control. Yet, it poses fun…
From Multi-Modal Paths to Executable Trajectories: A Trajectory Planning Framework for 4WIS Robots
arXiv:2608.29108v1 Announce Type: new Abstract: Four-wheel independent steering (4WIS) mobile robots support multiple motion modes, offering high maneuverabilit…
Systematic Lightweight Method for Robotics Based on Strain Energy Distribution Optimization
arXiv:2608.29146v1 Announce Type: new Abstract: Service robots work with people and are highly expected to be lightweight for safety, agility and energy conserv…
A Cognitive Architecture for Shared Autonomy in AUV Operations
arXiv:2608.29347v1 Announce Type: new Abstract: Operators remain essential to Remotely Operated Vehicle (ROV) operation, yet often suffer from low situational a…
Toward Trustworthy Robot-Assisted Sliding Palpation for Shallow Vessel Localisation with a Calibrated Digital Twin
arXiv:2608.29396v1 Announce Type: new Abstract: Reliable localisation of shallow subsurface vessels is important for safe robot-assisted venous access and vesse…
HybridWorldSim: A Scalable and Controllable High-fidelity Simulator for Autonomous Driving
arXiv:2511.22187v4 Announce Type: replace-cross Abstract: Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet exi…
Constrained Group Relative Policy Optimization
arXiv:2602.05863v3 Announce Type: replace-cross Abstract: Group Relative Policy Optimization (GRPO) remains the dominant critic-free approach for fine-tuning LL…
RoboTrustBench: Benchmarking the Trustworthiness of Video World Models for Robotic Manipulation
arXiv:2606.01600v2 Announce Type: replace-cross Abstract: Video world models are increasingly used in robotic manipulation, yet existing benchmarks mostly evalu…
A Kinematic Framework for Screening Candidate Pinch Configurations in Robotic Hand Design without Object or Contact Models
arXiv:2604.20692v2 Announce Type: replace Abstract: Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. H…
The Structure of Merging Turbulent Jets Beneath a Small Quadrotor
arXiv:2608.30900v1 Announce Type: cross Abstract: The downwash wake of a hovering quadrotor governs both the vehicle's own performance and the safe spacing of m…
VeloBins: Learning Velocity and Its Uncertainty via Bins and Error-Conditioned Gaussian Labels for Aerial Inertial Odometry
arXiv:2608.29720v1 Announce Type: new Abstract: Inertial odometry (IO) is critical for aerial robots, where aggressive maneuvers and poor lighting degrade visua…
Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids
arXiv:2608.29769v1 Announce Type: new Abstract: Traversing sparse 3D structures requires humanoid robots to perceive thin, overhanging geometry while executing …
System Identification of Admittance Models for Large Real-World Objects
arXiv:2608.29935v1 Announce Type: new Abstract: Simulation of admittance-type models requires physically consistent dynamic models that are rarely available for…
MiBOT: A head-worn robot that modulates cardiovascular responses through human-like soft massage
arXiv:2608.30055v1 Announce Type: new Abstract: Massage therapy is helpful for the rehabilitation of various diseases, such as headaches caused by migraines and…
Optimized Modular Design and Development of a Tilt-Rotor Bicopter Drone
arXiv:2608.30222v1 Announce Type: new Abstract: Hybrid systems like tilt-rotor bicopter drones combine the beneficial characteristics of both fixed-wing and rot…
CanonNav: Disentangling Navigation Behavior from Camera Geometry in Cross-Platform Visual Navigation
arXiv:2608.30242v1 Announce Type: new Abstract: While visual navigation has advanced through imitation learning from cross-platform demonstrations, fully levera…
CometVLA: Co-Training on an Embodied Data Pyramid towards Physical Understanding
arXiv:2608.30289v1 Announce Type: new Abstract: Vision-language-action (VLA) models remain brittle in manipulation tasks that require physical commonsense. Curr…
Data-Centric Neuromotor Interfaces for Portable Human-Machine Interaction
arXiv:2608.30301v1 Announce Type: new Abstract: Dexterous human-machine interaction requires intuitive and expressive interfaces that can be efficiently deploye…