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 storiesDynamic Haven Selection for Multi-Agent Pickup and Delivery in Constrained Warehouses
arXiv:2608.26939v1 Announce Type: cross Abstract: Space-efficient warehouse layouts often contain single-agent-width aisles and dead-end workstations where robo…
TADP: Task-Aware Deformable Prediction for Single-Stage 3D Object Detection
arXiv:2608.27282v1 Announce Type: cross Abstract: Most single-stage 3D object detectors complete different tasks with the same extracted features. Nevertheless,…
A Mechanistic Model for Collective Motion from Sensorimotor Regularities
arXiv:2605.16522v2 Announce Type: replace Abstract: Collective behavior in animals has long been modeled through self-propelled particle models, which reproduce…
No Plan, Yet Human: A Reactive Robotics Model Predicts Human Planning Failures on a Clinical Task
arXiv:2605.16514v2 Announce Type: replace Abstract: Understanding why some sequential planning problems are harder than others requires models that go beyond av…
MOMO: A framework for seamless physical, verbal, and graphical robot skill learning and adaptation
arXiv:2604.20468v3 Announce Type: replace Abstract: Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt f…
Using VLM Reasoning to Constrain Task and Motion Planning
arXiv:2510.25548v3 Announce Type: replace Abstract: In task and motion planning, high-level task planning is done over an abstraction of the world to enable eff…
SpatialCrafter: Single Image World Modeling with Generative 3D Proxies
arXiv:2608.27073v1 Announce Type: cross Abstract: Explorable image-to-scene generation is essential for applications in gaming, robotics, and virtual reality. E…
CGS-SLAM: Collaborative Gaussian Splatting based SLAM for Multi-Agent Reconstruction
arXiv:2608.26868v1 Announce Type: cross Abstract: Recent advances in SLAM have leveraged 3DGS for photorealistic reconstruction and novel view synthesis. Howeve…
Fixed-Haven Reservation for Online Multi-Agent Pickup and Delivery in Dense Warehouses
arXiv:2608.26759v1 Announce Type: cross Abstract: Dense warehouses often contain single-lane aisles, dead ends, and tree-like guidepaths that leave little room …
Arrive and Survive: Scaling Safe Goal-Conditioned Policy Learning from One-Bit Failure Signals
arXiv:2608.26571v1 Announce Type: cross Abstract: Contrastive reinforcement learning (CRL) scales effectively in goal-conditioned tasks by casting policy learni…
Barrier Function Conformal Safety Clearance Certification with CVaR for Driving Trajectory Selection
arXiv:2608.26533v1 Announce Type: cross Abstract: Autonomous driving motion planners generate and select candidate trajectories while accounting for interaction…
Why did My Robot Just Change Personality? Prompting Guidelines for a Grounded Robot Persona in LLM-Based HRI
arXiv:2608.26182v1 Announce Type: cross Abstract: Large language models (LLMs) are increasingly used for verbal interaction in social robots, yet prompt design …
Pass the Bucket: Efficient, Robust, Local Load Balancing for Teams of Heterogeneous Robots
arXiv:2608.27085v1 Announce Type: new Abstract: We study the problem of decentralized, self-organized task sharing for a swarm of heterogeneous robots that coll…
Tensegrity Continuum Robots Enable Task-Adaptive Morphologies for Cooperative Behaviors
arXiv:2608.27221v1 Announce Type: new Abstract: Robots that can change their morphologies and behaviors for different tasks and environments hold great promise …
Planning a Shared Modular Fixture Layout Across Robotic Disassembly Stages
arXiv:2608.27151v1 Announce Type: new Abstract: Stable support remains challenging in robotic disassembly of irregularly shaped products. As components are prog…
Riemann-1.0: An Embodied World Action Model for Physical AI
arXiv:2608.27033v1 Announce Type: new Abstract: We introduce Riemann-1.0, a fully causal autoregressive World Action Model for embodied intelligence. Riemann-1.…
4DSynth: Controllable Procedural World Synthesis for Dynamic Embodied Simulation
arXiv:2608.26947v1 Announce Type: new Abstract: Embodied agents need environments that are visually diverse, physically interactive, and changing over time. Pro…
Beyond Shallow-Water Photorealism: Physically and Sensor-Grounded Simulation for Deep-Sea Robotics
arXiv:2608.26888v1 Announce Type: new Abstract: Many recent underwater simulators emphasize visual realism at the expense of physical fidelity, focusing on shal…
Active Surface-Driven Reconfigurable Gripper: Robust Grasping and Sequential Manipulation of Thin Objects
arXiv:2608.26883v1 Announce Type: new Abstract: Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers r…
PredVLA: A Sub-Million-Parameter Predictive-Coding Policy for Robot Manipulation
arXiv:2608.26673v1 Announce Type: new Abstract: Large pretrained vision-language-action models dominate modern robot-manipulation benchmarks, but it remains unc…
FLARE: A Failure-Aware Framework for Autonomous Correction and Recovery in Visual-Language Robotic Manipulation
arXiv:2608.26645v1 Announce Type: new Abstract: Vision-Language-Action Models~(VLAs) have demonstrated significant promise in generalizing to complex, long-hori…
RTNav: Towards Real-Time Zero-Shot Object Navigation
arXiv:2608.26496v1 Announce Type: new Abstract: Navigation in unknown environments to find unforeseen objects has become increasingly feasible with capable visi…
Cross-Platform Benchmark of Neural 3D Reconstruction for Autonomous Laboratory Robots
arXiv:2608.26383v1 Announce Type: new Abstract: Autonomous robots performing laboratory tasks depend on 3D reconstruction pipelines that can turn raw camera str…
Dispersive Forward Tree Search for Optimal Control: Coverage, Complexity, and Computation
arXiv:2608.26314v1 Announce Type: new Abstract: Steering-based planners require solutions to state-to-state boundary value problems, which can be inaccessible f…
Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions
arXiv:2608.26505v1 Announce Type: new Abstract: The Poppy Humanoid is an open-source, low-cost robot suitable for research and education in artificial intellige…
Memory Anchors for Continual Robot Learning
arXiv:2608.26545v1 Announce Type: new Abstract: Robot policies deployed in the wild should have the capability to continually learn new tasks without forgetting…
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
arXiv:2608.26583v1 Announce Type: new Abstract: Humans traverse complex terrain over long distances without losing balance, whereas perceptive humanoid policies…
Beyond the Proving Ground: Independent Public-Road Testing of Assisted Lane Change Systems using LiDAR
arXiv:2608.26669v1 Announce Type: new Abstract: Testing of commercial Advanced Driver Assistance Systems is essential to ensure safety and compliance during typ…
Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties
arXiv:2608.26739v1 Announce Type: new Abstract: Accurate trajectory tracking in cable-driven lower-limb rehabilitation robots is challenging because model uncer…
A Very Big Video Reasoning Suite
arXiv:2602.20159v3 Announce Type: replace-cross Abstract: Rapid progress in video models has largely focused on visual quality, leaving their reasoning capabili…