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 storiesEnhancing RL Generalizability in Robotics through SHAP Analysis of Algorithms and Hyperparameters
arXiv:2605.02867v3 Announce Type: replace-cross Abstract: Despite significant advances in Reinforcement Learning (RL), model performance remains highly sensitiv…
IMAC-AgriVLN: Can Agricultural Vision-and-Language Navigation Agents be Aware of Instruction Mistakes?
arXiv:2606.02519v3 Announce Type: replace Abstract: Agricultural robots are playing as important roles across a wide range of tasks, nevertheless, they are stil…
From Dialogue to Execution: Mixture-of-Agents Assisted Interactive Planning for Behavior Tree-Based Long-Horizon Robot Execution
arXiv:2603.01113v2 Announce Type: replace Abstract: Interactive task planning with large language models (LLMs) lets robots generate high-level action plans fro…
Analytical Covariance Propagation for DVL-Aided Loosely Coupled SINS Under Attitude Uncertainty
arXiv:2601.19509v2 Announce Type: replace Abstract: In loosely coupled strapdown inertial navigation system/Doppler velocity log (SINS/DVL) integration, the bod…
AURASeg: Attention-Guided Upsampling with Residual-Assisted Boundary Refinement for Drivable-Area Segmentation
arXiv:2510.21536v5 Announce Type: replace Abstract: Free-space segmentation is essential for autonomous robots to identify drivable regions and navigate safely …
Do Robotic World Models Really Follow Actions? Diagnosing and Aligning Action-Conditioned Generation for Policy Learning
arXiv:2608.24885v1 Announce Type: new Abstract: Action-conditioned world models are increasingly used as learned simulators for policy evaluation and improvemen…
Latent Action as Intention Enables Efficient Future Imagination for World Action Models
arXiv:2608.24882v1 Announce Type: new Abstract: World action models (WAMs) improve robot control by modeling how observations evolve, but generating future obse…
One-Shot Learning from Demonstration of Contact-Rich Robotic Manipulation by Identifying Physical Interactions
arXiv:2608.24741v1 Announce Type: new Abstract: Learning from Demonstration (LfD) allows robots to learn manipulation tasks directly from humans, thereby suppor…
Fiber Optic Sensing Glove for High Performance Dexterous Manipulation Capture
arXiv:2608.24572v1 Announce Type: new Abstract: Capturing hand pose during dexterous manipulation remains difficult: vision-based methods degrade under occlusio…
NeuralParker: A Reinforcement Learning Planner for Irregular Parking Environments
arXiv:2608.24485v1 Announce Type: new Abstract: Automated parking commonly assumes marked slots and short approach maneuvers. Delivery and service vehicles, how…
NVIDIA Cosmos-H-Dreams: Real-Time Generative Physics Simulation for Surgical Robotics
arXiv:2608.24199v1 Announce Type: new Abstract: Generative simulation for surgical robotics still lacks real-time interaction. Physical-robot experiments, often…
Coverage Planning for Robotic Tooth Preparation in Densely Constrained Environments
arXiv:2608.24155v1 Announce Type: new Abstract: Tooth preparation refers to the controlled removal of tooth structure to create an optimal substrate for fixed r…
PonderPounce: A Pretrained MLLM as an Episode Context Engine for Robot Control
arXiv:2608.24115v1 Announce Type: new Abstract: Multimodal large language models (MLLMs) can integrate long visual histories, reason under partial observability…
SIREN-Bench: Behavior-Driven Generation and Evaluation of Emergency-Vehicle Interactions
arXiv:2608.24094v1 Announce Type: new Abstract: Emergency vehicles (EMVs) can reorganize surrounding traffic as civilian vehicles brake, change lanes, or form r…
Hierarchical Skill Retrieval for Data-Efficient Adaptation of Vision-Language-Action Models
arXiv:2608.24042v1 Announce Type: new Abstract: While Vision-Language-Action (VLA) models pretrained on large-scale robot datasets provide a strong foundation f…
NeurRAFT: Robot Motion Planning via Anchor-Level Flow Matching with Clearance-Aware Preference Tuning
arXiv:2608.24026v1 Announce Type: new Abstract: Recent end-to-end neural motion planners generate trajectories from raw sensor observations, avoiding the privil…
Learning to Act While Waiting: RL Finetuning of Generalist Robot Policies Under Inference Latency
arXiv:2608.23831v1 Announce Type: new Abstract: While reinforcement learning (RL) allows generalist robot policies to continually improve during deployment, the…
Concept-Guided Exploration: Building Persistent, Actionable Scene Graphs
arXiv:2608.23650v1 Announce Type: new Abstract: The perception of 3D space by mobile robots is rapidly moving from flat metric grid representations to hybrid me…
DreamLedger: Execution-Settled Credit Files for World-Model Imagination in Robot Decision Loops
arXiv:2608.23863v1 Announce Type: new Abstract: Robots are beginning to act on world-model predictions, yet reliability is still expressed through instantaneous…
Sensorless damage-safe grasping
arXiv:2608.23983v1 Announce Type: new Abstract: Robotic fruit harvesting must hold produce securely without bruising it, yet compression stiffness varies severa…
Bridging Teacher Expectations and Robot Learning via Coupling Dynamics
arXiv:2608.23994v1 Announce Type: new Abstract: Human-robot teaching focuses on enabling nontechnical experts to customize robots according to their needs after…
Design-to-Plan: A Large Language Model-Based Multi-Agent Framework for Manufacturing Process Planning from 3D CAD Models and 2D Engineering Drawings
arXiv:2608.24039v1 Announce Type: new Abstract: Manufacturing process planning transforms heterogeneous design information into coherent manufacturing decisions…
Trajectory-Level Continuous Action Representation for Robotic Manipulation
arXiv:2608.24111v1 Announce Type: new Abstract: We propose CAT, a trajectory-level continuous action representation framework for robotic manipulation. Existing…
VLANeXt: Recipes for Building Strong VLA Models
arXiv:2602.18532v3 Announce Type: replace-cross Abstract: Following the rise of large foundation models, Vision-Language-Action models (VLAs) emerged, leveragin…
Observability Engineering: From Measurement to Information Generation in Active Sensing Systems
arXiv:2602.13554v2 Announce Type: replace-cross Abstract: This article develops a four stage observability engineering framework for interaction driven sensing.…
Adaptive Multi-Mode Out-of-Distribution Detection for Trajectory Prediction in Autonomous Vehicles
arXiv:2509.13577v3 Announce Type: replace-cross Abstract: Trustworthy trajectory prediction grounds autonomous vehicle (AV) safety, yet deployed models inevitab…
Topology-Aware Decision Making for Multi-Session Localization and Mapping
arXiv:2602.17226v2 Announce Type: replace Abstract: Operating in previously visited environments is becoming increasingly crucial for autonomous systems, with d…
EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation
arXiv:2605.21150v2 Announce Type: replace Abstract: LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without r…
ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching
arXiv:2605.11048v2 Announce Type: replace Abstract: Existing imitation learning methods enable robots to interact autonomously with the physical environment. Ho…
Latent Dynamics-Aware OOD Monitoring for Trajectory Prediction with Provable Guarantees
arXiv:2603.14603v2 Announce Type: replace Abstract: In safety-critical Cyber-Physical Systems (CPS), trajectory prediction guides downstream planning and contro…