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 storiesA Deployed Hybrid Vehicle-in-the-Loop Platform for Validating Cooperative Perception
arXiv:2607.13806v1 Announce Type: new Abstract: European safety regulation now permits a large share of automated-driving homologation evidence to be produced v…
Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment
arXiv:2607.13429v1 Announce Type: new Abstract: Finetuning a pretrained vision-language model (VLM) on robot demonstrations via behavior cloning (BC) has become…
Active Trust Management for Successful Human-Robot Teaming: Moving from a Trust Repair to a Trust Satisficing Perspective
arXiv:2607.13595v1 Announce Type: new Abstract: Integrating mobile robots into human teams promises significant capability improvements for tasks such as search…
Simulation-based planning of Motion Sequences for Automated Procedure Optimization in Multi-Robot Assembly Cells
arXiv:2507.23270v3 Announce Type: replace Abstract: Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, t…
PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner
arXiv:2603.10330v2 Announce Type: replace Abstract: Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivatin…
Safe Overtaking for Autonomous Racing Using Hierarchical Optimization and Learning-Based Control
arXiv:2607.13348v1 Announce Type: new Abstract: Autonomous racing overtaking requires balancing competitive performance with safety under nonlinear vehicle dyna…
Agile perceptive multi-skill locomotion for quadrupedal robots in the wild
arXiv:2607.13579v1 Announce Type: new Abstract: Enabling quadrupedal robots to traverse complex terrains-from rugged outdoor environments to urban landscapes-re…
Towards end-to-end optimization in multimaterial 3D printing
arXiv:2607.13174v1 Announce Type: cross Abstract: Multimaterial 3D printing enables the fabrication of functionally graded components, but optimizing their spat…
An Empirical Study on Stage-Information Interfaces for VLA Fine-Tuning
arXiv:2607.13605v1 Announce Type: new Abstract: One high-level instruction in long-horizon manipulation can cover several action stages. We use segmented action…
The Nonsmooth Impact Direction (NSID) of Robotic Systems
arXiv:2607.13768v1 Announce Type: new Abstract: Collisions of rigid-link robots and rigid environments are often modeled as instantaneous events. Under this ide…
SPINE: Bridging the Cyber-Physical Gap with Agentic AI
arXiv:2607.13049v1 Announce Type: cross Abstract: Foundation models have given robots a sophisticated brain for complex decision-making, yet deploying that inte…
Unifying Decision-Making and Trajectory-Planning in Unsignalized Intersections Using Time-Varying Potential Fields
arXiv:2607.13626v1 Announce Type: cross Abstract: This paper presents a novel framework for integrated Decision-Making (DM) and Trajectory Planning (TP) for aut…
HRO: Hierarchical Room-to-Object Framework for Zero-Shot Object Goal Navigation with Large Language Models
arXiv:2607.13072v1 Announce Type: new Abstract: Zero-shot object-goal navigation aims to enable an intelligent agent to explore and navigate to objects of unkno…
Agility outlines six recommendations for U.S. humanoid robot policies
Peggy Johnson, CEO of Agility, said the U.S. needs a policy framework that can strengthen what’s already working for the humanoid industry. The post Agility out…
ABot-AgentOS: A General Robotic Agent OS with Lifelong Multi-modal Memory
arXiv:2607.10350v1 Announce Type: cross Abstract: Recent VLM and VLA systems have improved robotic perception and action prediction, yet long-horizon embodied a…
A Bearing-Strength Method for Motion Estimation of Unknown Energy Emitters
arXiv:2607.12515v1 Announce Type: new Abstract: This paper studies motion estimation of moving energy emitters using passive sensors. The emitters may be light,…
Streamlining stereo differentiable rendering for marker-free real-time tracking of surgical robots
arXiv:2607.12604v1 Announce Type: new Abstract: Purpose: Marker-based tracking of surgical robots is occlusion-prone in cluttered operating rooms. We evaluate s…
DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation
arXiv:2607.13033v1 Announce Type: new Abstract: Reinforcement learning holds great promise for improving robot policies beyond the limits of imitation learning.…
TrustVLA: Mechanism-Guided Inference-Time Defense Against Vision-Language-Action Backdoors
arXiv:2607.12571v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models are deployed through pipelines that end users cannot audit, and a poisoned V…
Deployable Human Preference Alignment in Robotics: Learning Representative Rewards from Diverse Human Preferences
arXiv:2607.12466v1 Announce Type: new Abstract: Aligning robot policies with human preferences is essential for deployment to diverse end users. In per-user ali…
Jetson-PI: Towards Onboard Real-Time Robot Control via Foresight-Aligned Asynchronous Inference
arXiv:2607.12659v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have achieved impressive performance on diverse embodied tasks. However, dep…
TerraZero: Procedural Driving Simulation for Zero-Demonstration Self-Play at Scale
arXiv:2607.13028v1 Announce Type: cross Abstract: Training robust autonomous driving agents requires a simulator that is fast enough for reinforcement learning …
SANTS: A State-Adaptive Scheduler for World Action Models
arXiv:2605.27947v2 Announce Type: replace Abstract: World Action Models (WAMs) improve robot manipulation by using video-based future representations to conditi…
Mosaic: An Extensible Framework for Composing Rule-Based and Learned Motion Planners
arXiv:2604.13853v2 Announce Type: replace Abstract: Safe and explainable motion planning remains a central challenge in autonomous driving. While rule-based pla…
Seeing Through Uncertainty: Free-Energy-Inspired Real-Time Adaptation for Robust Visual Navigation
arXiv:2403.01977v4 Announce Type: replace Abstract: Navigation in the natural world is a feat of adaptive inference, where biological organisms maintain goal-di…
Seeing Globally, Refining Locally: Global Visual Guidance and Local Ultrasound Cues for Robust Freehand 3-D Ultrasound Reconstruction
arXiv:2607.12398v1 Announce Type: cross Abstract: Freehand 3-D ultrasound (US) imaging has attracted increasing attention owing to its intuitive volumetric visu…
Instance-Enriched Semantic Maps for Visual Language Navigation
arXiv:2607.12630v1 Announce Type: new Abstract: Visual Language Navigation (VLN) aims to enable an embodied agent to navigate complex environments by following …
Enabling 24-hour Agricultural Robotics: Unsupervised Day-to-Night Cross-Modal Image Translation for Nighttime Visual Navigation
arXiv:2607.12065v1 Announce Type: new Abstract: While visual navigation has been extensively studied in agricultural robotics, most existing systems assume dayt…
GaitSpan: Growing Humanoid Locomotion from Walking to Running
arXiv:2607.12114v1 Announce Type: new Abstract: A humanoid that can walk should not relearn locomotion from scratch to jog or run. Yet current approaches often …
Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming
arXiv:2507.11498v3 Announce Type: replace Abstract: Humanoid robots have seen remarkable advances in dexterity, balance, and locomotion, yet their role in expre…