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 storiesModular Kinematic Reduction of Closed-Chain Mechanisms Using Path Assembly and Defect Homotopy
arXiv:2609.11338v1 Announce Type: new Abstract: Closed kinematic chains complicate modular modeling by coupling active and passive coordinates through nonlinear…
Safety-aware Skill Adaptation for Reinforcement Learning in Dynamic Environments
arXiv:2609.11433v1 Announce Type: new Abstract: Skill adaptation frameworks based on reinforcement learning often require restrictive assumptions to maintain st…
Harness Robotic OS: A Unified Embodied-Agent Runtime for Closed-Loop Quadruped Inspection
arXiv:2609.11225v1 Announce Type: new Abstract: Autonomous property inspection requires more than robust robot navigation: a deployable system must connect hete…
RIDE: Relocalization-Informed Depth Estimation with 3D Gaussian Splatting
arXiv:2609.11079v1 Announce Type: new Abstract: Render--match--PnP relocalization establishes correspondences between query image pixels and 3D map points for c…
LTLDiff: Finite Linear Temporal Logic-Guided Data Generation and Diffusion Policies for Multi-agent Robotic Manipulation
arXiv:2609.11043v1 Announce Type: new Abstract: Multi-agent robotic manipulation tasks require coordination among agents to satisfy task-level temporal, logical…
Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers
arXiv:2609.10905v1 Announce Type: new Abstract: Planning trajectories for robot manipulators under kinematic equality constraints restricts feasible motions to …
ReactHuman: A Physics-Grounded Benchmark for Human-Like Reactive Decision-Making in Embodied Multimodal LLMs
arXiv:2609.10895v1 Announce Type: new Abstract: Reacting to sudden physical hazards (catching a slipping plate, dodging a falling knife) is both a meaningful te…
Lie-Algebraic Bell Recurrences for Arbitrary-Order Twist Jets and Parallel-Mechanism Closure
arXiv:2609.10748v1 Announce Type: new Abstract: This paper develops an arbitrary-order kinematic construction that links serial propagation, parallel-mechanism …
IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies
arXiv:2609.10915v1 Announce Type: new Abstract: Vision-language-action (VLA) policies leverage pretrained vision-language backbones to achieve strong cross-task…
Testing Between the Test Cases: Proving End-to-End Steering in Conditions You Never Drove
arXiv:2609.10951v1 Announce Type: new Abstract: AI-based automated vehicle testing is challenging because a model that passes every test condition can still fai…
Quasi-static analysis of passive stability in a novel underactuated multi-finger hand
arXiv:2609.11579v1 Announce Type: new Abstract: Underactuated robotic hands achieve adaptive and robust grasping with a reduced number of actuators, but predict…
Topological Necessities: Mechanism-Invariant Strategic Subgoals for Cross-Embodiment Goal-Conditioned Control
arXiv:2609.11014v1 Announce Type: cross Abstract: Long-horizon goal-conditioned reinforcement learning delegates control to a high-level module that proposes su…
Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
arXiv:2603.02856v3 Announce Type: replace Abstract: Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collab…
DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
arXiv:2509.06285v3 Announce Type: replace Abstract: LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degener…
ORCH: Organizational Principles Enable Collective Intelligence in Embodied AI
arXiv:2609.11737v1 Announce Type: cross Abstract: Collective intelligence depends not only on the capabilities of individual members, but also on how those memb…
MC-DeTra: Motion-Consistent Joint Object Detection and Socially-Aware Trajectory Forecasting in Bird's-Eye-View Images
arXiv:2609.11717v1 Announce Type: cross Abstract: Unified models for object detection and trajectory forecasting aim to merge perception and prediction for auto…
Visual-SLAM for the detection of hidden tomatoes in greenhouses by Hierarchical Localization and GLOMAPfor robotized harvesting
arXiv:2609.11766v1 Announce Type: new Abstract: Advanced crop monitoring inside greenhouses is becoming one of the primary objectives of research centers. High-…
Reflex-Informed Neuromuscular Reinforcement Learning for Muscle-Driven Locomotion
arXiv:2609.11733v1 Announce Type: new Abstract: Muscle-driven locomotion provides a physically grounded approach to generating realistic human movement. However…
Aerodynamic Prior-Free Coordinated Trajectory Generation and Tracking Control for a Tail-Sitter UAV
arXiv:2609.11698v1 Announce Type: new Abstract: This paper presents a coordinated trajectory generation and tracking control framework for a tail-sitter unmanne…
ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies
arXiv:2609.11697v1 Announce Type: new Abstract: Vision-Language-Action (VLA) and World-Action Models (WAMs) have demonstrated strong capabilities in general-pur…
SwarmNxt: Open-source Software-Hardware Platform for Fast and Agile Aerial Swarms
arXiv:2609.11382v1 Announce Type: new Abstract: Aerial robot swarms have the potential to transform time-critical safety, security, and search-and-rescue operat…
GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives
arXiv:2609.11361v1 Announce Type: new Abstract: Reconfigurable robots can change their contact geometry when a fixed body cannot negotiate an obstacle. A variab…
Freehand Sketching for End-User Programming of Robot Swarms
arXiv:2609.11078v1 Announce Type: new Abstract: Robot swarms are increasingly used in applications where accessible interaction with non-expert users is desirab…
ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations
arXiv:2609.10918v1 Announce Type: new Abstract: Imitation learning has achieved impressive results in robotic manipulation, yet most existing approaches assume …
Expressive Robotic Pianist: Mastering Complex Piano Repertoire with Graph-Mimic and Musical Dynamics
arXiv:2609.10844v1 Announce Type: new Abstract: Enabling robots to perform musical instruments with human-level expressivity represents a frontier in bridging t…
When Information is Worth the Risk: Behavioral Valuation for Hazardous Robotic Exploration
arXiv:2609.10726v1 Announce Type: new Abstract: Hazardous robotic exploration requires robots to map spatial risks, such as unsafe terrain, radiation, fire, min…
Decision Transformer for UAV-Mounted RIS-Assisted Dynamic D2D Communications
arXiv:2609.09885v1 Announce Type: cross Abstract: This paper studies unmanned aerial vehicle (UAV)-mouted reconfigurable intelligent surface (RIS)-assisted devi…
No Free Checker: A Survey of Verifiers for Robot Policies
arXiv:2609.09250v1 Announce Type: new Abstract: A verifier for robot policies reads a candidate behavior and returns a score for how well it did, used both to e…
Learning to Fly: Stable Vision-Guided UAV Servoing with Compact Target-Centric Cues and Reinforcement Learning
arXiv:2609.09234v1 Announce Type: new Abstract: Vision-guided reinforcement learning for Unmanned Aerial Vehicles (UAVs) remains challenging due to unstable pol…
Design and Attitude Control of an Underwater Quadruped Robot
arXiv:2609.09217v1 Announce Type: new Abstract: Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadrup…