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 storiesMulti-Objective Kinodynamic Motion Planning with Asymptotic Pareto Optimality
arXiv:2607.15508v1 Announce Type: new Abstract: In this paper, we address the challenge of multi-objective motion planning for systems under kinodynamic constra…
Minimum Time Dubins Airplane Paths with Asymmetric Climb Rates
arXiv:2607.15863v1 Announce Type: new Abstract: Dubins airplane paths approximate the limited maneuverability of fixed-wing vehicles with minimum curvature and …
MuxGel: Simultaneous Dual-Modal Visuo-Tactile Sensing via Spatially Multiplexing and Deep Reconstruction
arXiv:2603.09761v2 Announce Type: replace Abstract: High-fidelity visuo-tactile sensing is important for precise robotic manipulation, yet most vision-based tac…
On the Use of AI-Driven Immersive Digital Technologies for Designing and Operating UAVs
arXiv:2407.16288v4 Announce Type: replace Abstract: Uncrewed Aerial Vehicles (UAVs) offer agile, cost-effective, and efficient solutions for communication relay…
Deployment-Ready UWB Localization for Industrial Ground Robots with Automatic Anchor Calibration and Terrain-Aware Fusion
arXiv:2607.15807v1 Announce Type: new Abstract: Ultra-Wideband (UWB) ranging has become a viable option for industrial Autonomous Mobile Robot (AMR) localizatio…
Data and Learning Where it Matters for Contact-Rich Manipulation
arXiv:2607.15982v1 Announce Type: new Abstract: Learned policies trained end-to-end on large datasets often remain brittle in high-precision tasks and struggle …
Robust Silicone Pour Casting and Sensor Embedding Procedures for Soft Robotic Actuators
arXiv:2607.15422v1 Announce Type: new Abstract: Soft robots are well-suited for applications such as rehabilitation and surgery that require adaptable and safe …
DPNeXt: A Lightweight Multi-Scale Feature Fusion Framework for Efficient ViT-Based Multi-Task Dense Prediction
arXiv:2607.16012v1 Announce Type: cross Abstract: Multi-Task Learning (MTL) in robotics perception systems supports comprehensive 3D spatial scene understanding…
Difference-Based Relational Learning for Zero-Shot Object-Goal Visual Navigation With Direct Sim-to-Real Transfer
arXiv:2607.15642v1 Announce Type: new Abstract: End-to-end deep reinforcement learning (DRL) for zero-shot object-goal visual navigation remains challenged by t…
ReLink: Computational Circular Design of Planar Linkage Mechanisms Using Available Standard Parts
arXiv:2506.19657v3 Announce Type: replace-cross Abstract: The Circular Economy framework emphasizes sustainability by reducing resource consumption and waste th…
A New Implementation of NeoSLAM and a Comparative Evaluation with RatSLAM
arXiv:2607.16143v1 Announce Type: new Abstract: This paper presents a new implementation of the NeoSLAM algorithm. The proposed version is a complete rewrite of…
Vision-Language-Motion Maps: An Open-Vocabulary, Uncertainty-Aware, Queryable Motion Attribute for 3D Scene Maps
arXiv:2607.16173v1 Announce Type: new Abstract: Open-vocabulary 3D maps let robots answer language queries about what and where, but they assume a static world …
Energy-Aware Collaborative Exploration for a UAV-UGV Team
arXiv:2603.22507v2 Announce Type: replace Abstract: We present an energy-aware collaborative exploration framework for a UAV-UGV team operating in unknown envir…
A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
arXiv:2607.15582v1 Announce Type: new Abstract: Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors…
Interaction-Aware Whole-Body Control for Compliant Object Transport
arXiv:2603.03751v2 Announce Type: replace Abstract: Cooperative object transport in unstructured environments remains challenging for assistive humanoids becaus…
A Systematic Study of Large Language Models for Task and Motion Planning With PDDLStream
arXiv:2510.00182v2 Announce Type: replace Abstract: While we know that large language models (LLMs) can solve some planning problems, we do not understand the e…
Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization
arXiv:2510.11539v5 Announce Type: replace Abstract: Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environme…
Implicit Virtual Leader: Decentralized Vision-Only Relative Pose Estimation for Multi-Robot Formations
arXiv:2607.15708v1 Announce Type: new Abstract: Classical leader-follower formation control suffers from single points of failure and error propagation, and rel…
Sym2Real: Symbolic Dynamics with Residual Learning for Data-Efficient Adaptive Control
arXiv:2509.15412v2 Announce Type: replace Abstract: We present Sym2Real, a fully data-driven framework for highly data-efficient adaptation of low-level control…
See, Learn, Assist: Safe and Self-Paced Robotic Rehabilitation via Video-Based Learning from Demonstration
arXiv:2603.14160v2 Announce Type: replace Abstract: In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation ex…
Xiaomi-Robotics-1: Scaling Vision-Language-Action Models with over 100K Hours of Real-World Trajectories
arXiv:2607.15330v1 Announce Type: new Abstract: We present Xiaomi-Robotics-1, a foundational vision-language-action (VLA) model capable of (1) following diverse…
Human-Inspired Neuro-Symbolic World Modeling and Logic Reasoning for Interpretable Safe UAV Landing Site Assessment
arXiv:2510.22204v3 Announce Type: replace Abstract: Reliable assessment of safe landing sites in unstructured environments is essential for deploying Unmanned A…
Orbis 2: A Hierarchical World Model for Driving
arXiv:2607.15898v1 Announce Type: cross Abstract: Current world models operate at a single level of abstraction, with most prioritizing perceptual fidelity whil…
SkillNav: Score-Level Skill Intervention for Zero-Shot Object Goal Navigation
arXiv:2607.15758v1 Announce Type: new Abstract: Vision-Language Model (VLM) agents have advanced zero-shot object-goal navigation, yet single-frame reasoning le…
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
arXiv:2607.15633v1 Announce Type: new Abstract: This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-a…
Think at 5 Hz, Act at 20 Hz: Asynchronous Fast-Slow Vision-Language-Action Inference for Closed-Loop Driving
arXiv:2607.15621v1 Announce Type: new Abstract: Large language models bring instruction following and scene reasoning to end-to-end driving, but their inference…
MemoGuard: An Adaptive Runtime for Guarding Against Memory Traps in Communication-Limited Robot Navigation
arXiv:2607.15589v1 Announce Type: new Abstract: Communication-limited robots in mission-critical scenarios such as disaster inspection and search-and-rescue mus…
EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation
arXiv:2512.02851v4 Announce Type: replace Abstract: Visual traversability estimation is central to autonomous navigation, yet most approaches either rely on pro…
A Morphing-Designed Hexarotor Prototype combining Practical Resilience and Efficiency
arXiv:2607.16002v1 Announce Type: new Abstract: This work demonstrates experimentally the existence of a hexarotor prototype, termed Opti-Hexa, that simultaneou…
Risk-Aware Preference Learning for Stochastic Outcomes
arXiv:2607.15483v1 Announce Type: new Abstract: Learning reward functions from human preferences is a widely used approach for aligning robot behavior with user…