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 storiesOpen-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning
arXiv:2607.14183v1 Announce Type: new Abstract: Egocentric videos of human manipulation provide scalable supervision for embodied intelligence, yet existing res…
Interventional Causal Circuits for Safe Robot Action Testing and Failure Recovery
arXiv:2607.14826v1 Announce Type: new Abstract: Safe physical AI for robot actions are required not only likely to succeed but tested to be safe before executio…
NavCMPO: Critic-Guided MeanFlow Policy Optimization for Adaptive Navigation
arXiv:2607.14643v1 Announce Type: new Abstract: End-to-end diffusion-based policies have demonstrated strong performance in mapless visual navigation, but their…
Image-to-Point Cloud Registration Made Easy with Rectified Flow-based LiDAR Upsampling
arXiv:2607.14639v1 Announce Type: new Abstract: Image-to-Point Cloud Registration (I2P) is essential for integrating camera and LiDAR in perception and autonomo…
MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand
arXiv:2607.14487v1 Announce Type: new Abstract: Dexterous manipulation is limited not only by algorithms but by a shortage of accessible hand hardware that comb…
MEMORA: Embodied Action Memory from Egocentric Videos for Reasoning and Planning
arXiv:2607.14252v1 Announce Type: new Abstract: Long-horizon robot planning requires more than predicting what actions will do next; it also requires memory of …
Modeling and Validation of Quality of Control for Edge-Offloaded Collaborative Navigation
arXiv:2607.14853v1 Announce Type: new Abstract: Collaborative control in complex environments is severely challenged by stochastic wireless delay and reliabilit…
AeroAct: Action-Centered World-Action Models for Language-Conditioned Quadrotor Flight
arXiv:2607.14997v1 Announce Type: new Abstract: Language-conditioned quadrotor flight requires a policy to ground semantic goals, anticipate the visual conseque…
KineFuse: Kinematic-Aware Haptic Fusion for In-Hand Occluded-Object Pose Tracking
arXiv:2607.14842v1 Announce Type: new Abstract: Dexterous in-hand manipulation requires continuous 6D pose tracking, yet the manipulating fingers inevitably occ…
VQ-Touch: A Data-Efficient Tactile Generation Framework Across Sensors and Scenarios
arXiv:2607.14728v1 Announce Type: cross Abstract: Tactile image generation significantly reduces the dependency on expensive and wear-prone sensors by synthesiz…
AHEAD: Anticipatory Hand-Driven Teleoperation via Human Intent Prediction
arXiv:2607.15172v1 Announce Type: new Abstract: Direct hand-driven teleoperation maps an operator's hand motion to robot end-effector commands at every frame, e…
Communication-Efficient Relative Pose Estimation with Vision Foundation Models for Ephemeral Collaborative Perception
arXiv:2607.14539v1 Announce Type: new Abstract: Relative pose estimation is a fundamental capability for collaborative perception and coordination in multi-robo…
Safe Execution of RL Policies Via Acceleration-Based CBF-QP Constraint Enforcement for Real-World Robotic Deployments
arXiv:2607.14488v1 Announce Type: new Abstract: Reinforcement Learning (RL) has demonstrated remarkable capabilities for solving complex robotic control problem…
Stigmergic Graph Memory: An Environment-Aware Approach for Many-to-Many Multi-Agent Pickup and Delivery
arXiv:2607.15182v1 Announce Type: cross Abstract: Automated fulfillment warehouses must continuously assign and execute pickup-and-delivery work while avoiding …
Observability-Aware Control for Quadrotor Formation Flight with Range-only Measurement
arXiv:2411.03747v4 Announce Type: replace Abstract: Cooperative Localization is a promising approach to achieving safe quadrotor formation flight through precis…
Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness
arXiv:2607.14177v1 Announce Type: new Abstract: Model-based control of flexible joint robots with position-controlled actuators relies on accurate knowledge of …
Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling
arXiv:2607.14455v1 Announce Type: new Abstract: Single-Robot Motion Planning (SRMP) in highly non-convex constrained environments, where robots must satisfy col…
Reflex: Real-Time VLA Control through Streaming Inference
arXiv:2607.14695v1 Announce Type: new Abstract: Flow matching Vision-Language-Action (VLA) models promise precise continuous control, but their iterative denois…
Representation-Aligned Tactile Grounding for Contact-Rich Robotic Manipulation
arXiv:2607.14609v1 Announce Type: new Abstract: Tactile-enhanced vision-language-action (VLA) policies have been introduced for contact-rich manipulation, where…
OASIS-Map: Object-Level Change Detection in Multi-Session Mapping using Semantic Correspondence Matching
arXiv:2607.14899v1 Announce Type: new Abstract: Map representations which are consistent across repeated visits to a real-world semi-static environment are very…
REST: Receding Horizon Explorative Steiner Tree for Zero-Shot Object-Goal Navigation
arXiv:2603.18624v2 Announce Type: replace Abstract: Zero-shot object-goal navigation (ZSON) requires navigating unknown environments to find a target object wit…
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
arXiv:2607.15016v1 Announce Type: new Abstract: Ensuring robot safety in unknown, dynamic environments is a fundamental requirement. It involves inferring the s…
Flow-aware Optimal Navigation in Unsteady Flows through Reinforcement Learning
arXiv:2607.13553v1 Announce Type: new Abstract: Autonomous robotic navigation in nonstationary time-varying fluid flows remains a fundamental challenge due to p…
Parsimonious disturbance-aware minimum-time planning with parametric uncertainty
arXiv:2607.13312v1 Announce Type: new Abstract: This study presents and validates a minimum-lap-time planning (MLTP) framework for motorsport applications that …
A Comparative Evaluation of Large Vision-Language Models for 2D Object Detection under SOTIF Conditions
arXiv:2601.22830v2 Announce Type: replace-cross Abstract: Reliable environmental perception remains one of the main obstacles for safe operation of automated ve…
Discriminative Barrier Functions for Safe Adversarial Imitation Learning from Observation
arXiv:2607.13938v1 Announce Type: new Abstract: Inverse Reinforcement Learning (IRL) algorithms are powerful tools for learning from and generalizing expert dem…
Visual Place Recognition Using Rate-Encoded Spiking Neural Networks with Discrete STDP Learning
arXiv:2607.13584v1 Announce Type: cross Abstract: Spiking Neural Networks (SNNs) trained through unsupervised Spike-Timing-Dependent Plasticity (STDP) have been…
Deformable State Estimation for Autonomous Surgical Tissue Retraction Under Partial Observability
arXiv:2607.13475v1 Announce Type: new Abstract: Surgical tissue retraction requires effective manipulation planning under partial and noisy perception. We study…
Where to Touch, How to Contact: A Hierarchical RL-MPC Framework for Geometry-Aware Sim-to-Real Manipulation
arXiv:2601.10930v4 Announce Type: replace Abstract: A key challenge in contact-rich dexterous manipulation is the need to jointly reason over global geometry an…
Semantic Anchoring for Robotic Action Representations
arXiv:2607.13597v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models inherit rich semantic representations from pretrained Vision-Language Models…