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 Smart-Scheduled Hybrid (SSH) EKF-FGO State Estimation
arXiv:2606.16057v1 Announce Type: new Abstract: Reliable state estimation in robotics and control re quires balancing estimation accuracy against computational …
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models
arXiv:2606.15918v1 Announce Type: new Abstract: Humanoid robots performing in-field manipulation tasks, such as robotic apple harvesting, face severe energy con…
GeoTLM: Geometry-aware Tactile-Language Models for Contact Motion Orientation Reasoning of Dynamic Objects
arXiv:2606.15909v1 Announce Type: new Abstract: Modern tactile-language models (TLMs) have shown potential for robot learning tasks, such as material and textur…
LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors
arXiv:2606.15896v1 Announce Type: new Abstract: Learning-based quadrupedal locomotion typically relies on complex reward formulations that entangle task specifi…
Can Causal Models Enhance Robot Navigation? Online Causal Adaptation for Real-Robot Navigation
arXiv:2606.15691v1 Announce Type: new Abstract: Causality in robotics aims to produce more interpretable and flexible robot behaviours by enabling robots to pre…
Pixels to Proofs: Probabilistically-Safe Latent World Model Control via Parallel Conformal Robust MPC
arXiv:2606.15594v1 Announce Type: new Abstract: We present SLS^2, a framework for safe feedback motion planning from pixels using robust model predictive contro…
Retrieve, Don't Retrain: Extending Vision Language Action Models to New Tasks at Test Time
arXiv:2606.15631v1 Announce Type: new Abstract: Extending a vision-language-action (VLA) policy to a new task typically requires task-specific teleoperated demo…
FD-SLAM: Fast Dense Radar-Inertial SLAM with Frequency-Domain Loop Closure and Pose Graph Optimization
arXiv:2606.15491v1 Announce Type: new Abstract: Radar SLAM is attractive for autonomous ground vehicles operating in visually degraded environments, however, sc…
FARM: Find Anything using Relational Spatial Memory
arXiv:2606.15476v1 Announce Type: new Abstract: Robots operating in homes, warehouses, and other object-rich environments need memory systems that can find spec…
A Corridor-Scale CARLA-VISSIM Co-Simulation Framework for Multi-Intersection Urban Traffic
arXiv:2606.15431v1 Announce Type: new Abstract: This paper presents an implemented CARLA-VISSIM co-simulation framework for an urban corridor comprising approxi…
SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
arXiv:2606.15338v1 Announce Type: new Abstract: RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We pre…
Acting While Understanding: Asynchronous Semantic-Action Decoupling for Real-Time Vision-Language-Action Models
arXiv:2606.15285v1 Announce Type: new Abstract: Vision-Language-Action models (VLAs) have demonstrated strong task understanding and generalization in robotic m…
Co-Creating Buildable and Open Social Robot Study Companions with University Students
arXiv:2606.15239v1 Announce Type: new Abstract: Open-source social robots offer accessibility, repairability, and student empowerment, yet the build itself ofte…
Rethinking Implicit Spatial Representation in Visuomotor Policy Learning
arXiv:2606.15232v1 Announce Type: new Abstract: Generative model-based imitation learning has become a widely adopted paradigm for robotic manipulation, where p…
Task-Aware Environment Augmentation for Reliable Navigation via Shielded Conditional Diffusion
arXiv:2606.15154v1 Announce Type: new Abstract: Reliable trajectory planning under partial observability depends not only on computing a feasible geometric path…
MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency
arXiv:2606.15148v1 Announce Type: new Abstract: Inverse kinematics (IK) remains a critical bottleneck for real-time robot manipulation. Classical numerical solv…
Exact, Efficient, and Safe Occlusion-Aware Planning Using AH-Polyhedrons
arXiv:2606.15046v1 Announce Type: new Abstract: Safely handling occlusions is a fundamental challenge for autonomous mobile robots operating in dynamic environm…
Steering Autoregressive Vision-Language-Action Policies via Action Token Intervention
arXiv:2606.15021v1 Announce Type: new Abstract: We present Token Steering (TS), a method for dynamically steering trajectories generated by an autoregressive vi…
DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models
arXiv:2606.14882v1 Announce Type: new Abstract: Large language models (LLMs) provide robots with richer task understanding and adaptability, making them promisi…
TacStyle: Personalizing Tactile Robot Policies using Structured Behavior Representations
arXiv:2606.14862v1 Announce Type: new Abstract: Robotic systems that assist humans should be capable of adapting their behaviors to individual user preferences.…
GenZ-LIO: Generalizable LiDAR-Inertial Odometry Beyond Confined--Open Boundaries
arXiv:2603.16273v2 Announce Type: replace Abstract: For field robotic missions such as inspection, search-and-rescue, and exploration, light detection and rangi…
Evidence of an Emergent "Self" in Continual Robot Learning
arXiv:2603.24350v3 Announce Type: replace Abstract: A key challenge to understanding self-awareness has been a principled way of quantifying whether an intellig…
An Ergonomic, Customizable Soft Robotic Glove toward Personalized Hand Rehabilitation
arXiv:2604.00768v2 Announce Type: replace Abstract: Hand impairment following neurological disorders substantially limits independence in activities of daily li…
A Hybrid Model-Based and Model-Free Framework for Active Multi-View Viewpoint Optimization in Sonar Target Recognition
arXiv:2606.15373v1 Announce Type: new Abstract: This paper presents a hybrid model-based and model-free framework for active multi-view target recognition using…
Driving, Fast or Slow? Neuro-Symbolic Guidance for Motion Prediction in Multi-Modal Ground Mobility
arXiv:2606.15251v1 Announce Type: new Abstract: Accurate and interpretable motion prediction for heterogeneous traffic spaces, including pedestrians, bicycles, …
Seam-to-Graph Reconstruction for Garment Configuration Alignment
arXiv:2606.15171v1 Announce Type: new Abstract: Seams encode rich structural information about garments but are frequently partially observable in robotic manip…
DragMesh-2: Physically Plausible Dexterous Hand-Object Interaction with Articulated Objects
arXiv:2606.15133v1 Announce Type: new Abstract: Dexterous interaction with articulated objects is important for household, assistive, and humanoid manipulation,…
Deep Learning-Based Lunar Crater Terrain Relative Navigation
arXiv:2606.14776v1 Announce Type: new Abstract: Accurate position estimation is crucial for the successful implementation of future lunar landings using autonom…
From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges
arXiv:2604.21391v2 Announce Type: replace Abstract: Bridging high-level semantic understanding with low-level physical control remains a persistent challenge in…
Action with Visual Primitives
arXiv:2605.22183v3 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have emerged as a promising paradigm for generalist robotic manipulation…