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 storiesAccurate Measurement of 3D and 2D Circular Centers With Application to LiDAR-Camera Extrinsic Calibration
arXiv:2511.06611v2 Announce Type: replace-cross Abstract: Accurate measurement of circular centers is a fun-damental geometric sensing problem in instrumentatio…
Residual Reward Models: Leveraging Prior Knowledge for Efficient Preference-based Reinforcement Learning in Robotics
arXiv:2507.00611v2 Announce Type: replace-cross Abstract: Preference-based Reinforcement Learning (PbRL) provides a promising alternative to heuristic reward de…
STITCH-OPE: Trajectory Stitching with Guided Diffusion for Off-Policy Evaluation
arXiv:2505.20781v2 Announce Type: replace Abstract: Off-policy evaluation (OPE) estimates the performance of a target policy using offline data collected from a…
Pneumatic-Tomographic Tactile Skin for Multicontact Localization and Force Estimation
arXiv:2503.13036v3 Announce Type: replace Abstract: Tactile skins based on electrical impedance tomography (EIT) enable large-area contact localization with few…
Marine Autonomous Vehicle Fleet Scheduling to Maximise Scientific Impact
arXiv:2608.27271v1 Announce Type: cross Abstract: The marine science community increasingly relies on Marine Autonomous Vehicles (MAVs) to collect the critical …
Generative Semantic Scene Completion
arXiv:2608.26737v1 Announce Type: cross Abstract: Outdoor LiDAR semantic scene completion (SSC) recovers a dense semantic voxel grid from a scan observing 1% of…
CLAP: Cross-Embodiment Video World Models are Zero-Shot Physical Simulators
arXiv:2608.27406v1 Announce Type: new Abstract: State-of-the-art action-conditioned video models are typically restricted to a single robot embodiment, preventi…
Embodied Scene Rearrangement Planning
arXiv:2608.27371v1 Announce Type: new Abstract: This paper introduces Embodied Scene Rearrangement Planning (ESRP), a novel task requiring embodied agents to re…
Active sensing to characterize the heterogeneity of plant stress
arXiv:2608.27088v1 Announce Type: new Abstract: While most phenotyping platforms rely primarily on image-based measurements, advanced plant characterization req…
TemporalFlow-VLA: Learning Physically Grounded Execution History for Long-Horizon Robot Manipulation
arXiv:2608.26821v1 Announce Type: new Abstract: Vision-language-action (VLA) models leverage pretrained vision-language representations for robot control, yet s…
Rapid On-Robot Learning for Dynamic Manipulation Skills: Robot Juggling
arXiv:2608.26800v1 Announce Type: new Abstract: We present an online learning framework that enables a bimanual robot to acquire diverse juggling patterns direc…
Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning
arXiv:2608.26622v1 Announce Type: new Abstract: Achieving stable, sustained grasping with soft robotic hands remains a fundamental challenge. Compliance enables…
TrapVLA: Trapping Vision-Language-Action Models in Configured Failure Modes
arXiv:2608.26578v1 Announce Type: new Abstract: This work introduces Configured Failure Trapping, a novel backdoor attack task against Vision-Language-Action (V…
Constraint-Aware Physics-Informed Neural Networks for Static Shape Estimation of Co-Manipulative Continuum Robots
arXiv:2608.26273v1 Announce Type: new Abstract: Static shape estimation of co-manipulative continuum robots (CCRs) is challenging because the continuum arms and…
WALL-SS: Scaling Long-horizon World Models via Next-Scale Autoregression
arXiv:2608.26239v1 Announce Type: new Abstract: Generative world models provide robots with predictive models of how the world evolves under interaction, with g…
Carbon Robotics partners with iMerit to power instant in-field AI customization
Carbon Robotics introduced a plant foundation AI model and tractor kit, enabling farmers to customize laser weeding. The post Carbon Robotics partners with iMer…
GaussVLA: Geometry-Aware Spatial Reasoning for Vision-Language-Action Model
arXiv:2608.24959v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models encode visual observations as flat 2D patch tokens that carry no intrinsic g…
Generative Action-Chunk Sampling for Adaptive Stiffness Control in Physical Human-Robot Collaboration
arXiv:2608.25284v1 Announce Type: new Abstract: Physical human-robot collaboration requires a robot to provide assistance when human intention is clear while re…
A Tendon-Driven Five-Fingered Hand with Distributed Tactile Perception for Dexterous Manipulation
arXiv:2608.25547v1 Announce Type: new Abstract: To apply the techniques of embodied artificial intelligence to human-oid robots for complex manipulations, dexte…
Leveraging Inter-object Affordances for Efficient Planning in Contact-rich Tasks
arXiv:2608.25641v1 Announce Type: new Abstract: Traditional task-and-motion planning (TAMP) approaches primarily focus on defining sequences of actions along wi…
EgoNav: Bridging Learned Waypoints and Geometry-Aware Local Control for Robust Indoor Navigation
arXiv:2608.25642v1 Announce Type: new Abstract: Image-goal navigation using lightweight topological maps is a practical paradigm for indoor robot deployment: th…
Opportunities of Self Supervised Learning for GNSS: Evaluation of a Deep Learning-Enhanced PVT Algorithm
arXiv:2608.25674v1 Announce Type: new Abstract: This work proposes a Deep Learning Enhanced PVT algorithm to mitigate multipath interference in dense urban area…
Low-Resolution Perception for Robotic Packing
arXiv:2608.25874v1 Announce Type: new Abstract: This work tackles the problem of scalable perception for robotic packing with low-cost, low-resolution depth sen…
DESCENT: Directed Edge Scene Encoding for Airport Surface Movement Prediction
arXiv:2608.26002v1 Announce Type: new Abstract: Advanced automation is a key technology for enhancing the safety of ground operations amidst the increasing dens…
$R^3$: Training Robots to Reason in Natural Language via Reinforcement Learning
arXiv:2608.26053v1 Announce Type: new Abstract: Reasoning in language allows foundation models to spend more test-time compute on hard problems, such as those r…
VirTooS: A ROS 2 - Unity Virtualization Toolkit for Fleet Management of Autonomous Mobile Robots
arXiv:2608.26066v1 Announce Type: new Abstract: In this paper, we present VirTooS, a Python/C# toolkit designed to implement fleet-management tasks on teams of …
Gating Before Commitment: Anticipating Intent Divergence to Prevent Post-Interaction Decision Failures in Autonomous Driving
arXiv:2608.26074v1 Announce Type: new Abstract: Intent misinterpretation during vehicle interactions causes recurring planning failures. We study a decision lay…
PARAssist: A Framework for Personalized and Adaptive Robotic Assistance from Ambiguous User Requests
arXiv:2608.24905v1 Announce Type: cross Abstract: Service robots may encounter ambiguous user requests that require context-aware inference. Users may also have…
Beyond Pairwise Feedback: Listwise Vision-Language Supervision for Preference-Based Reward Learning
arXiv:2608.25350v1 Announce Type: cross Abstract: Vision-language models (VLMs) have emerged as a powerful source of supervision for reinforcement learning, ena…
Trust-Aware Sequential Decision Making and Rollout Planning for Resilient Multi-Robot Systems
arXiv:2608.25690v1 Announce Type: cross Abstract: Sequential decision-making in multi-robot systems typically assumes that planning information is reliable and …