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 storiesTrajGenAgent: A Hierarchical LLM Agent for Human Mobility Trajectory Generation
arXiv:2606.12657v1 Announce Type: cross Abstract: Human mobility data is important for transportation, urban planning, and epidemic control, but large-scale tra…
Individual Control Barrier Functions-Guided Diffusion Model for Safe Offline Multi-Agent Reinforcement Learning
arXiv:2606.12640v1 Announce Type: cross Abstract: Offline reinforcement learning allows control policies to be learned directly from data without online interac…
WOMBET: World Model-Based Experience Transfer for Robust and Sample-efficient Reinforcement Learning
arXiv:2604.08958v3 Announce Type: replace-cross Abstract: Reinforcement learning (RL) in robotics is often limited by the cost and risk of data collection, moti…
GAE: Unleashing Physical Potential of VLM with Generalizable Action Expert
arXiv:2510.03896v2 Announce Type: replace-cross Abstract: Vision-language models demonstrate strong reasoning and planning abilities, yet grounding these predic…
DiffCoord: Differentiable Coordination for Distributed Multi-Agent Trajectory Optimization
arXiv:2509.01630v3 Announce Type: replace-cross Abstract: Integrating the Alternating Direction Method of Multipliers (ADMM) with Differential Dynamic Programmi…
Safety Case Patterns for VLA-based driving systems: Insights from SimLingo
arXiv:2603.16013v3 Announce Type: replace Abstract: Vision-Language-Action (VLA)-based driving systems represent a significant paradigm shift in autonomous driv…
PROBE: Probabilistic Occupancy BEV Encoding with Analytical Translation Robustness for 3D Place Recognition
arXiv:2603.05965v3 Announce Type: replace Abstract: We present PROBE (PRobabilistic Occupancy BEV Encoding), a learning-free LiDAR place recognition descriptor …
Lyapunov-Based PI-Like Control for Robust Trajectory Tracking of a Four-Wheel Independently Driven and Steered Robot: Design and Experimental Validation
arXiv:2602.15424v2 Announce Type: replace Abstract: In this paper, a Lyapunov-based synthesis of a PI-like controller is proposed for robust trajectory tracking…
Extending the Law of Intersegmental Coordination: Implications for Powered Prosthetic Controls
arXiv:2602.02181v2 Announce Type: replace Abstract: Powered prostheses are capable of providing net positive work to amputees and have advanced in the past two …
DiskChunGS: Large-Scale 3D Gaussian SLAM Through Chunk-Based Memory Management
arXiv:2511.23030v2 Announce Type: replace Abstract: Recent advances in 3D Gaussian Splatting (3DGS) have demonstrated impressive results for novel view synthesi…
Learning Visually Interpretable Oscillator Networks for Soft Continuum Robots from Video
arXiv:2511.18322v4 Announce Type: replace Abstract: Learning soft continuum robot (SCR) dynamics from video offers flexibility but existing methods lack interpr…
Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory
arXiv:2508.12681v3 Announce Type: replace Abstract: Dynamic control of soft continuum robots (SCRs) holds great potential for expanding their applications, but …
Heterogeneous LiDAR Early Fusion and Learned Re-Ranking Strategy for Robust Long-Term Place Recognition in Unstructured Environments
arXiv:2606.13503v1 Announce Type: cross Abstract: Robust localization in unstructured environments, such as agricultural fields, is a critical challenge for aut…
Diffusion Transformer World-Action Model for AV Scene Prediction
arXiv:2606.12987v1 Announce Type: cross Abstract: Action-conditioned world models let an autonomous vehicle predict future camera scenes from its own planned co…
SemanticXR: Low Power and Real-time Queryable Semantic Mapping with an Object-Level Device-Cloud Architecture
arXiv:2606.12849v1 Announce Type: cross Abstract: Semantic mapping is a core service that enables grounded interactions in emerging Extended Reality (XR) applic…
$\mu$VLA: On Recurrent Memory for Partially Observable Manipulation in VLA Models
arXiv:2606.12497v1 Announce Type: cross Abstract: Vision-language-action (VLA) models predict chunks of future actions from the current observation, an assumpti…
Mana: Dexterous Manipulation of Articulated Tools
arXiv:2606.13677v1 Announce Type: new Abstract: Articulated tool manipulation remains a major challenge in dexterous robotics due to the need to coordinate inte…
Improving Robotic Generalist Policies via Flow Reversal Steering
arXiv:2606.13675v1 Announce Type: new Abstract: Generalist policies can learn a wide range of skills from diverse robot datasets. In order to solve or improve o…
SPARC: Reliable Spatial Annotations from Robot Demonstrations at Scale
arXiv:2606.13497v1 Announce Type: new Abstract: This work introduces Spatial Annotations from Robot Demonstrations with Reliability Calibration (SPARC), a risk-…
GIVE: Grounding Human Gestures in Vision-Language-Action Models
arXiv:2606.13435v1 Announce Type: new Abstract: Human communication is inherently multimodal, where language is often accompanied by non-verbal cues such as ges…
GeoHAT: Geometry-Adaptive Hybrid Action Transformer for Mobile Manipulation
arXiv:2606.13394v1 Announce Type: new Abstract: Whole-body mobile manipulation requires coordinating mobile base and manipulator under shifting viewpoints, posi…
Real-Time Execution with Autoregressive Policies
arXiv:2606.13355v1 Announce Type: new Abstract: Real-time execution, enabled by asynchronous inference that ensures both smooth action trajectories and fast rea…
Low cost, easily manufactured, highly flexible strain and touch sensitive fiber for robotics applications
arXiv:2606.13352v1 Announce Type: new Abstract: Existing stretch and touch sensors for robots are generally expensive with respect to at least one of material c…
EMG-Based Adaptation of Anisotropic Virtual Fixtures for Robot-Assisted Surgical Resection and Dissection
arXiv:2606.13340v1 Announce Type: new Abstract: In this paper, we address the development of an adaptive assistance system for robot-assisted laparoscopic surge…
See Selectively, Act Adaptively: Dual-Level Structural Decomposition for Bimanual Robot Manipulation
arXiv:2606.13279v1 Announce Type: new Abstract: In bimanual robotic manipulation, task-relevant visual information varies with the task stage and context, while…
Proprioceptive-visual correspondence enables self-other distinction in humanoid robots
arXiv:2606.13222v1 Announce Type: new Abstract: Distinguishing self from others is a prerequisite for social intelligence, yet humanoid robots that increasingly…
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
arXiv:2606.13102v1 Announce Type: new Abstract: Despite the success of vision-based generalist robotic policies, existing tactile-based policies remain tied to …
RoboProcessBench: Benchmarking Process-Aware Understanding in Vision-Language Robotic Manipulation
arXiv:2606.13040v1 Announce Type: new Abstract: Vision-language models (VLMs) are increasingly explored as visual critics, reward generators, and failure detect…
GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training
arXiv:2606.12995v1 Announce Type: new Abstract: Humanoid-Object Interaction (HOI) is a fundamental capability for humanoid robots, yet it remains challenging du…
Trajectory-Level Redirection Attacks on Vision-Language-Action Models
arXiv:2606.12978v1 Announce Type: new Abstract: Vision-language-action (VLA) policies bring natural language into closed-loop robot control, enabling robots to …