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 storiesLook as You Leap: Planning Simultaneous Motion and Perception for High-DOF Robots
arXiv:2509.19610v3 Announce Type: replace Abstract: Most common tasks for robots in dynamic spaces require that the environment is regularly and actively percei…
Design and Evaluation of a Compliant Quasi Direct Drive End-effector for Safe Robotic Ultrasound Imaging
arXiv:2410.03086v2 Announce Type: replace Abstract: Robot-assisted ultrasound scanning promises to advance autonomous and accessible medical imaging. However, e…
$(\text{DNN})^2$: Doubly Non-Negative Relaxations for Deep Neural Networks
arXiv:2608.24743v1 Announce Type: cross Abstract: Existing linear program (LP) and semidefinite program (SDP) relaxations for rectified linear unit (ReLU) neura…
X-MULTI: VLM-based Imaging Factor Disentanglement for Factor-Aware Image Synthesis
arXiv:2608.24563v1 Announce Type: cross Abstract: Imaging factor disentanglement in text-to-image generation aims to independently control image acquisition pro…
Variance-Guided Spatial Attention Fusion for Robust End-to-End Driving under Asymmetric Sensor Degradation
arXiv:2608.24366v1 Announce Type: cross Abstract: End-to-end multimodal driving has progressed rapidly by fusing camera and LiDAR streams. Existing pipelines re…
Event-Based Motion Estimation via Oriented Distance Fields
arXiv:2608.24223v1 Announce Type: cross Abstract: Event-based motion estimation is central to tasks that demand high temporal resolution and robustness to fast …
Trusted Polytopic Action Sets for Fast Planning in Underactuated Systems
arXiv:2608.24019v1 Announce Type: cross Abstract: Underactuated systems pose a challenge for convex motion planning because their dynamically feasible motions l…
Energy-Aware Performance Evaluation of Nonlinear Mechatronic Systems Under Matched-Tracking Conditions
arXiv:2608.23578v1 Announce Type: cross Abstract: Trajectory-tracking metrics such as root-mean-square error (RMSE), overshoot, and settling time are widely use…
GaussianWAM: Distilling Geometry and Semantics from 3D Gaussian Fields into World-Action Models
arXiv:2608.24714v1 Announce Type: new Abstract: World-Action Models (WAMs) jointly learn future visual prediction and action generation, using video dynamics as…
VIP: Variation-based Iterative-learning Planning for Robotic Navigation
arXiv:2608.24618v1 Announce Type: new Abstract: Over the past decade, autonomous robotic systems have been increasingly deployed in applications such as surveyi…
Gripper-aware Vision Language Action Models
arXiv:2608.24603v1 Announce Type: new Abstract: Vision language action models (VLAs) have advanced general purpose robotic grasping and manipulation by enabling…
TrAct: Bridging Robot Control and Visual Prediction with Visual Tracks
arXiv:2608.24101v1 Announce Type: new Abstract: Robot actions are inherently embodiment-specific and only weakly aligned with image-space visual changes, limiti…
Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic
arXiv:2608.23972v1 Announce Type: new Abstract: Safety-aware motion planning remains a challenge in robotics, especially when missions are time-critical and are…
Interpreting Control Latents for System Identification via Conditional Flow Matching
arXiv:2608.23887v1 Announce Type: new Abstract: Latent-conditioned adaptive policies can control robots across changing dynamics, but their learned latents rema…
Resilience Matters for Embodied Agents System: New Metrics, Systematic Evaluation, and Optimization
arXiv:2608.23839v1 Announce Type: new Abstract: Embodied Agents System (EAS) are increasingly deployed in open-world physical domains, where reliability directl…
Macro-Operator Generation and Predicate Selection for TAMP Operator Learning
arXiv:2608.23629v1 Announce Type: new Abstract: Creating symbolic operators by hand is one of the main bottlenecks in deploying Task and Motion Planning systems…
Pattern-Derived Visual Swarm Games: Multi-Scale Drone-Vision States for Interception and Sustainability Audits
arXiv:2608.23575v1 Announce Type: new Abstract: We convert drone-vision annotation streams into virtual swarm-game states without controlling physical drones. V…
Robust Slip Detection and Material Classification via Spatiotemporal Transformers on a Uniformly-Illuminated Visuo-Tactile Sensor
arXiv:2608.24162v1 Announce Type: new Abstract: Tactile sensing is central to robotic manipulation, among which slip detection stands out as a quintessential an…
RoG-DAgger: Rollout-Guided Post-Training for End-to-End Driving
arXiv:2608.24525v1 Announce Type: new Abstract: Recent end-to-end driving systems demonstrate strong performance on closed-loop benchmarks, yet are still predom…
Fiber Bragg Grating Whiskers for Bioinspired Hydrodynamic Perception on Underwater Robots
arXiv:2608.24724v1 Announce Type: new Abstract: Harbor seals track hydrodynamic trails with their vibrissae, enabling passive perception of moving targets in da…
Progressively Learning Heterogeneous Skills in a Unified Latent Space
arXiv:2608.23258v1 Announce Type: cross Abstract: We propose HetSkills, a novel framework designed to progressively learn heterogeneous skills within a unified …
Dynamical System-Based Imitation Learning and Neuroadaptive Control for Trajectory Recovery in Autonomous Ships
arXiv:2608.23924v1 Announce Type: cross Abstract: Repetitive maritime operations can be effectively learned using the Imitation Learning (IL) paradigm, which tr…
CoDrift: Compositional Drifting for Offline Reinforcement Learning
arXiv:2608.23939v1 Announce Type: cross Abstract: Offline reinforcement learning is intrinsically multi-objective: a policy must remain compatible with the beha…
CARO: Contact-Agnostic Residual Observation for Zero-Shot Robust Quadruped Locomotion
arXiv:2608.24217v1 Announce Type: new Abstract: We propose CARO, a contact-agnostic residual observation framework for policy adaptation. CARO embeds a fixed-ba…
A Durable Vision-Based Tactile Fingertip for Robotic Manipulation
arXiv:2608.24242v1 Announce Type: new Abstract: Currently available commercial vision-based tactile sensors provide rich contact information but remain vulnerab…
Vision-Language-Action Safety: Threats, Challenges, Evaluations, and Mechanisms
arXiv:2604.23775v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models are emerging as a unified substrate for embodied intelligence. This shif…
RoboShape: Information-Theoretic Point Cloud Representations for Privacy-Aware Robot Perception
arXiv:2608.21380v1 Announce Type: new Abstract: With the increased adoption of robotic agents operating in human environments by scanning and sharing 3D represe…
Multimodal-Language-Model-Driven Interaction and Companionship for Service Robots in Elderly-Care Facilities
arXiv:2608.21387v1 Announce Type: new Abstract: Service robots are increasingly deployed in elderly-care facilities to alleviate caregiver workload and enhance …
Gimbal-Based Human Tracking for Companion Robots Using Continual Learning
arXiv:2608.21388v1 Announce Type: new Abstract: Reliable and continuous human tracking is essential for natural human-robot interaction, particularly for compan…
On the Optimized Use of Non-Orthonormality Constraints for the Quasi-Static INS Alignment of Autonomous Underwater and Surface Vehicles
arXiv:2608.21390v1 Announce Type: new Abstract: Inertial navigation systems are specialized navigation apparatuses that equip almost all autonomous underwater a…