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 storiesLights, Camera, Malfunction: When Illumination Robustness Leaves VLA Models Blind to Color
arXiv:2607.14698v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have emerged as a powerful paradigm for general-purpose robot manipulation; …
Learning Agile Navigation in Crowded Environments for Quadruped Robots
arXiv:2607.15036v1 Announce Type: new Abstract: Navigating dynamic and crowded environments presents significant challenges for quadruped robots due to severe s…
Catch, Throw, Repeat: Planning for Human-Robot Partner Juggling
arXiv:2607.15129v1 Announce Type: new Abstract: Dynamic object exchange between humans and robots remains a challenging problem due to uncertainty in perception…
Hybrid Rigid-Soft Robotic Gripper with Shape Adaptation, Uniform Force Distribution, and Self-Locking Capabilities
arXiv:2607.14730v1 Announce Type: new Abstract: Conventional robotic grippers face a significant challenge in agricultural automation: the trade-off between com…
Temporal Cascading of Planning and Control for Quadrotor MPC
arXiv:2512.12427v2 Announce Type: replace Abstract: Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning for obstacle…
Towards Human-like Physical Intelligence: LifelongVision-Language-Action Learning for Robotic Manipulation
arXiv:2607.14852v1 Announce Type: new Abstract: Similar to the natural capabilities of humans to sequentially learn new tasks, robots with Vision-Language-Actio…
Information-Theoretic Adaptive Cooling for Deterministic MPPI via Entropy Feedback
arXiv:2607.14245v1 Announce Type: cross Abstract: This paper investigates deterministic optimal control using Model Predictive Path Integral (MPPI) control, a s…
Scaling Behavior Foundation Model for Humanoid Robots
arXiv:2607.15163v1 Announce Type: new Abstract: Humanoid control requires natural whole-body coordination, precise real-time responses to control signals, and r…
Captivity-Escape Games as a Means for Safety in Online Motion Generation
arXiv:2506.01399v3 Announce Type: replace-cross Abstract: This paper addresses conservatism, limited numerical accuracy, and high computational effort in existi…
Mixed-Agent Museum Tour Guide Design Improves Gendered Learning Outcomes and Visitor Preferences
arXiv:2607.14468v1 Announce Type: new Abstract: Robots are increasingly integrated into everyday contexts, including museums, where they can both entertain and …
An offline approach to fNIRS-guided reinforcement learning for robot behavior
arXiv:2607.14393v1 Announce Type: new Abstract: Human-in-the-loop Reinforcement Learning has become a popular approach to training, finetuning, and aligning rob…
BadWAM: When World-Action Models Dream Right but Act Wrong
arXiv:2607.15207v1 Announce Type: cross Abstract: World-action models (WAMs) are emerging as a promising foundation for embodied control: rather than predicting…
PanoAffordanceNet: Towards Holistic Affordance Grounding in 360{\deg} Indoor Environments
arXiv:2603.09760v2 Announce Type: replace-cross Abstract: Global perception is essential for embodied agents in 360{\deg} spaces, yet current affordance groundi…
ConFlow: Constraints-Guided Learning with Flow Matching for Motion Generation
arXiv:2607.14424v1 Announce Type: new Abstract: In recent years Flow Matching has become a prominent method for generative modeling robot motion generation. In …
Active Real-World Factor-Based Evaluation for Generalist Robot Policies
arXiv:2607.14439v1 Announce Type: cross Abstract: Generalist robot manipulation policies trained on large, diverse datasets have shown remarkable promise across…
Curvature-Constrained and Constant-Speed Distributed Simultaneous Arrival Control for Multi-Robot Systems
arXiv:2607.14781v1 Announce Type: new Abstract: The simultaneous arrival of multiple mobile robots at a target point is crucial for cooperation tasks such as co…
Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution
arXiv:2607.14341v1 Announce Type: new Abstract: Robust robotic grasping remains a fundamental challenge for complex real-world applications. Recent advances in …
DriftWorld: Fast World Modeling through Drifting
arXiv:2607.15065v1 Announce Type: new Abstract: Predictive world models enable robots to plan by imagining the outcomes of their actions, but their value for co…
DRIFT: Drift and Aggregation for Motion Planning
arXiv:2607.14507v1 Announce Type: new Abstract: End-to-end trajectory planners need to represent multiple plausible driving behaviors while producing a single e…
Action QFormer: Structured Representation Shaping under Action Supervision in Vision-Language-Action Models
arXiv:2607.14635v1 Announce Type: cross Abstract: Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learn…
Stochastic Filtering for Quorum Sensing in Robot Swarms under Anonymous Communication
arXiv:2607.14262v1 Announce Type: new Abstract: Quorum Sensing (QS) is a key capability for robot swarms, useful for coordination of activities at the group lev…
DiMaS: Distribution Matching for Steering Vision-Language-Action Models
arXiv:2607.14280v1 Announce Type: new Abstract: Flow-matching-based vision-language-action (VLA) models have emerged as powerful policies for robotic manipulati…
G$^2$SR: Geometric Methods for Fast and Memory-Efficient Gaussian-based Surface Reconstruction
arXiv:2607.14470v1 Announce Type: cross Abstract: Few-view surface reconstruction recovers the visible surfaces of a scene from a few posed RGB images, providin…
Octopus-inspired Distributed Control for Soft Robotic Arms: A Graph Neural Network-Based Attention Policy with Environmental Interaction
arXiv:2603.10198v2 Announce Type: replace Abstract: This paper proposes SoftGM, an octopus-inspired distributed control architecture for segmented soft robotic …
Bringing Network Coding into Multi-Robot Systems: Interplay Study for Autonomous Systems over Wireless Communications
arXiv:2603.17472v2 Announce Type: replace Abstract: Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots …
Human-Robot Interaction in GenAI Architectures via the Agent-Client Protocol
arXiv:2607.14919v1 Announce Type: new Abstract: Recent advances in Generative Artificial Intelligence (GenAI), particularly Large Language Models (LLMs), are dr…
Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation
arXiv:2603.05754v2 Announce Type: replace Abstract: Current Vision-Language-Action (VLA) models rely primarily on RGB perception, preventing them from capturing…
Human Motion Data Alone Does Not Guarantee Plausible Gait Biomechanics
arXiv:2603.12408v2 Announce Type: replace Abstract: Motion imitation learning (IL) is increasingly used in robotics and human gait modeling, yet its ability to …
An Intelligent-Cloud Edge Multimodal Interaction System for Robots
arXiv:2607.14675v1 Announce Type: new Abstract: Robust human-robot interaction in complex environments requires accurate gesture perception, semantic scene unde…
Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers
arXiv:2607.14578v1 Announce Type: new Abstract: Contact-rich manipulation requires policies to infer interaction state from signals that are often weakly observ…