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 storiesMulti-Touch and Bending Sensing Using Electrical Impedance Tomography for Robotics
arXiv:2503.13048v4 Announce Type: replace Abstract: Electrical Impedance Tomography (EIT) offers a promising solution for distributed tactile sensing with minim…
Performance-guided Task-specific Optimization for Multirotor Design
arXiv:2510.04724v2 Announce Type: replace Abstract: This paper introduces a methodology for task-specific design optimization of multirotor Micro Aerial Vehicle…
Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition
arXiv:2510.24069v2 Announce Type: replace Abstract: To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneous…
Learning to Accelerate Vision-Language-Action Models through Adaptive Visual Token Caching
arXiv:2602.00686v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have demonstrated remarkable generalization capabilities in robotic mani…
Tutorial on Aided Inertial Navigation Systems: A Modern Treatment Using Lie-Group Theoretical Methods
arXiv:2603.07143v2 Announce Type: replace Abstract: This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-grou…
Symmetries Here and There, Combined Everywhere: Cross-space Symmetry Compositions in Robotics
arXiv:2605.22639v3 Announce Type: replace Abstract: Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of th…
Point2Pose: Occlusion-Recovering 6D Pose Tracking and 3D Reconstruction for Multiple Unknown Objects Via 2D Point Trackers
arXiv:2604.10415v2 Announce Type: replace-cross Abstract: We present Point2Pose, a model-free method for causal 6D pose tracking of multiple rigid objects from …
Three-Way Open-Set Detection for Robust Autonomous Navigation
arXiv:2511.15343v2 Announce Type: replace-cross Abstract: Autonomous navigation in complex scenes requires reliable perception across scenarios that the model d…
Model-Agnostic Open-Set Air-to-Air Visual Object Detection for Reliable UAV Perception
arXiv:2509.09297v2 Announce Type: replace-cross Abstract: Open-set detection is crucial for robust UAV autonomy in air-to-air object detection under real-world …
ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM
arXiv:2606.00307v2 Announce Type: replace Abstract: Recent works have explored unifying SLAM with geometric foundation models (GFMs). However, directly using GF…
Human vs. Teleoperated Robots in Vineyard Management: A Simulation-Based Analysis of Travel Speed, Routing, and Task Performance
arXiv:2507.04167v2 Announce Type: replace Abstract: Rising labor costs and narrow treatment windows have made teleoperated robots a proposed tool for vineyard s…
VBVR-Pro: A Scalable and Verifiable Suite for Native Visual Reasoning
arXiv:2608.26105v1 Announce Type: cross Abstract: Native visual reasoning treats visual generation as the medium of reasoning itself: visual states (i.e. images…
SonicNudge: Controlled Displacement of Hovering UAVs via Estimator-Controller Coupling
arXiv:2608.25319v1 Announce Type: cross Abstract: UAV displacement attacks have traditionally relied on spoofing sensors that directly report position or transl…
One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation
arXiv:2608.26058v1 Announce Type: new Abstract: Scaling generalist vision-language-action (VLA) policies is severely bottlenecked by the inherent heterogeneity …
When Obstacles Bend: Modeling Vegetation Deformation in the context of Field Robotics
arXiv:2608.26050v1 Announce Type: new Abstract: Autonomous robots operating in natural environments must often interact with vegetation rather than simply avoid…
VISTA: Visually Inferred Spatial ConTact Attention for Contact-Rich Manipulation
arXiv:2608.25872v1 Announce Type: new Abstract: Contact-rich manipulation requires precise interaction feedback. While vision-centric imitation learning is prev…
MA-VLA: Multi-Arm Vision-Language-Action Model for Collaboration and Compositional Generalization
arXiv:2608.25864v1 Announce Type: new Abstract: Multi-arm collaboration is becoming a core capability in embodied manipulation. Recent vision-language-action (V…
Anytime Global Tensor Motion Planning
arXiv:2608.25830v1 Announce Type: new Abstract: Global Tensor Motion Planning (GTMP) solves motion planning with batched tensor operations over a layered multip…
AGRO-Nav: Autonomous Graph-based Orchard Navigation
arXiv:2608.25799v1 Announce Type: new Abstract: Orchards form semi-structured environments in which parallel tree rows create natural driving corridors, yet nar…
Advantage-Driven Explicit Memory for Social Navigation
arXiv:2608.25610v1 Announce Type: new Abstract: Robot policies are predominantly learned with classical parametric variants of imitation learning or RL, where t…
ConfAL-WM: Confidence-Guided Active Learning for Action-Conditioned World Models
arXiv:2608.25572v1 Announce Type: new Abstract: Action-conditioned world models have become an important foundation for embodied prediction, planning, and synth…
Dynamic Modeling of a Welding Torch Umbilical and Its Impact on Robot Dynamics
arXiv:2608.25509v1 Announce Type: new Abstract: Robotic welding is widely used in industrial manufacturing, where the welding torch is often connected to the ge…
SUPER ODOMETRY 2.0: Resilient Odometry via Hierarchical Adaptation
arXiv:2608.25427v1 Announce Type: new Abstract: Resilient and robust odometry is crucial for autonomous systems operating in complex and dynamic environments. E…
LAC: Linear and Angular Compliance for Humanoid Whole-body Control
arXiv:2608.25405v1 Announce Type: new Abstract: Real-world humanoid tasks involve physical interaction with objects and humans, yet current controllers either r…
CRESSim-Neo: A Batched GPU Simulation Engine for Surgical Robotics and Robot Learning
arXiv:2608.25192v1 Announce Type: new Abstract: We introduce CRESSim-Neo, a batched GPU simulation engine for surgical robotics and robot learning. CRESSim-Neo …
Longitudinal Robot Learning from Demonstration with Care Providers in a Home Environment
arXiv:2608.25196v1 Announce Type: new Abstract: Learning from demonstration (LfD) methods enable non-expert end users to teach robots novel skills without expli…
Control-Oriented Learning for Dynamic Tracking and Stability Analysis of Soft Pneumatic Actuators
arXiv:2608.25171v1 Announce Type: new Abstract: Soft pneumatic actuators offer inherent compliance and safe interaction but remain difficult to model and contro…
Sequential Object Placement Optimization with Convex Decomposition
arXiv:2608.25162v1 Announce Type: new Abstract: Robotic object packing has been a core challenge for robotic deployment in logistics, industry, etc., due to the…
SkyDrive: Learning to Drive in a New City from Aerial Traffic Monitoring
arXiv:2608.25142v1 Announce Type: new Abstract: Autonomous driving has made remarkable progress through imitation learning with massive human demonstration data…
Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework
arXiv:2608.25135v1 Announce Type: new Abstract: This paper presents a novel method that extends targetless LiDAR-IMU calibration for ground vehicles to non- fla…