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
2771 storiesPhyAgentOS: A Self-Evolving Operating System for Embodied Agents with Decoupled Cognitive Planning and Physical Execution
arXiv:2607.16636v1 Announce Type: new Abstract: Vision-language-action models, world models, and agentic planners each advance physical intelligence, yet their …
Online sparse Bayesian identification of nonlinear time-varying systems
arXiv:2601.10379v2 Announce Type: replace Abstract: Sparse regression provides a compact and interpretable route for nonlinear system modeling by selecting a sm…
Disturbance-Aware Flight for Aerial Robots in Narrow Space
arXiv:2607.17476v1 Announce Type: new Abstract: Autonomous flight of aerial robots in narrow space remains challenging due to strong aerodynamic disturbances an…
Stability and Comfort in Mobile Robot-Pedestrian Interactions
arXiv:2607.17604v1 Announce Type: new Abstract: Mobile robots in public spaces must ensure pedestrians' comfort, and yet empirical studies of walkers' subjectiv…
Interactive world simulator for robot policy training and evaluation
Imagine you want to teach a robot to push an object on a table. The standard recipe in robot learning is to collect hundreds of expert demonstrations on a real …
VTAP Gripper: Synergizing Fingertip Sensing and a Visuo-Tactile Active Palm for Dexterous In-Hand Manipulation
arXiv:2607.15448v1 Announce Type: new Abstract: This paper presents a tactile-reactive gripper that integrates a Visuo-Tactile Active Palm (VTAP) and compliant,…
SLAC: Safe and Efficient Real-Robot Reinforcement Learning via Unsupervised Simulation Pre-Training
arXiv:2506.04147v5 Announce Type: replace Abstract: Building capable household and industrial robots requires mastering the control of versatile, high-degree-of…
AC-VLA: Robust Out-of-Distribution Action Execution via Compositional Learning
arXiv:2607.15714v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models excel at end-to-end robotic manipulation but struggle with out-of-distributi…
ContactFusion: Stochastic Poisson Surface Maps from Visual and Contact Sensing
arXiv:2503.16592v2 Announce Type: replace Abstract: Robust and precise robotic assembly entails insertion of constituent components. Insertion success is hinder…
Environment Design for Reliable Shared Autonomy with Probabilistic Guarantees
arXiv:2607.15487v1 Announce Type: new Abstract: Shared autonomy enables humans and robots to collaboratively perform tasks by combining human input with autonom…
Continuously Stable Structure through Plastic Deformation
arXiv:2607.15659v1 Announce Type: new Abstract: Soft robots have seen widespread adoption in interactive tasks due to their inherent compliance and adaptability…
MindDrive: A Vision-Language-Action Model for Autonomous Driving via Online Reinforcement Learning
arXiv:2512.13636v4 Announce Type: replace-cross Abstract: Current Vision-Language-Action (VLA) paradigms in autonomous driving primarily rely on Imitation Learn…
Learning Reach-Avoid Task with Reinforcement Learning: Vectorized Simulation and Benchmark
arXiv:2607.15935v1 Announce Type: new Abstract: Deep reinforcement learning (DRL) has a longstanding tradition in addressing the reach-avoid task problem, espec…
CASAband: Easy-to-Wear Textile Wristband using Shape Memory Alloy Actuators for Spatial and Temporal Haptic Feedback
arXiv:2607.15533v1 Announce Type: cross Abstract: Haptic interfaces for the wrist and forearm offer an attractive alternative to hand-worn devices as they are s…
Variable Aerodynamic Damping Actuation via Co-Contraction: A Structural Analogy with Variable Stiffness Actuation
arXiv:2605.07292v2 Announce Type: replace Abstract: This work identifies a passive aerodynamic damping effect induced by co-contraction in antagonistic redundan…
NeuroCommitSSM: Decision-Centric Shared Autonomy for Safe Assistive Manipulation via EEG-EMG-ET Commit Readiness
arXiv:2607.15395v1 Announce Type: new Abstract: We present NeuroCommitSSM, a decision-centric framework that models when to execute, not just what to do, for sa…
Interactive 3D Tangible Display with a High-Speed Stiffness-Variable Jamming Module
arXiv:2607.15325v1 Announce Type: cross Abstract: Multisensory integration, particularly through visual and tactile feedback, plays a crucial role in enhancing …
EgoExoMoCap: Distributed Ego-Exo Human Motion Capture
arXiv:2607.15868v1 Announce Type: cross Abstract: Human motion capture from head-mounted devices (HMDs) offers a scalable way to acquire real-world human motion…
Embodied Active Learning under Limited Annotation and Navigation Budget for Object Detection
arXiv:2607.15974v1 Announce Type: new Abstract: This paper studies how to adapt a computer vision object detector to an unknown environment under both a robot n…
Dichotomous Diffusion Policy Optimization
arXiv:2601.00898v3 Announce Type: replace-cross Abstract: Diffusion-based policies have gained growing popularity in solving a wide range of decision-making tas…
A Generative Partially Specified Finite State Machine Approach to Complex Behaviour Planning
arXiv:2607.15674v1 Announce Type: new Abstract: Autonomous robots operating in dynamic environments require behaviour planning systems that combine reactivity, …
EGO: a Recursive and Self-Referential Cognitive Architecture for Artificial General Intelligence
arXiv:2507.14011v2 Announce Type: replace-cross Abstract: Artificial General Intelligence (AGI) is interpreted as an emergent property of autonomous and self-or…
Towards Artificial Nerves: Biomimetic Optical-Fiber Tactile Sensing for Robots
arXiv:2607.15746v1 Announce Type: new Abstract: Robotic systems increasingly demand tactile sensing that approaches the adaptability and resolution of human ski…
Beyond Frontiers: Scene-Anomaly Guided Autonomous Exploration
arXiv:2607.15828v1 Announce Type: new Abstract: Autonomous exploration of unknown 3D environments is traditionally driven by coverage-maximizing geometric heuri…
ImprovedVBGS: Real-time Continual Variational Bayes Gaussian Splatting
arXiv:2607.15542v1 Announce Type: cross Abstract: On-the-fly reconstruction is a key requirement for many applications in robotics and autonomous navigation. Va…
BayesContact: Uncertain Pose Estimation via Visuo-Tactile Proposals and Simulation-based Inference
arXiv:2607.16123v1 Announce Type: new Abstract: Contact-rich manipulation requires pose estimates that are often more accurate than what depth-only sensing prov…
RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC
arXiv:2607.15701v1 Announce Type: new Abstract: Humanoid navigation in dynamic environments requires long-horizon planning while respecting short-horizon dynami…
PIXIE: A Zero-Shot texture-invariant 6D pose estimation framework for unseen objects with assembly defects
arXiv:2607.16015v1 Announce Type: cross Abstract: 6D pose estimation remains a key challenge in robotics and computer vision, particularly in industrial environ…
VTLoc: Learning-based Tactile Contact Localization in Visual Point Clouds
arXiv:2607.16146v1 Announce Type: new Abstract: Vision and touch are complementary modalities essential for robotic perception and manipulation. While vision pr…
Vessel Trajectory Prediction using COLREGs-aware Optimal Planning
arXiv:2607.15969v1 Announce Type: cross Abstract: This paper presents a trajectory prediction method for marine vessels based on optimal planning. Crude initial…