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 storiesActive Interaction-Aware Model Predictive Path Integral via Ego-Conditioned Generative Predictions
arXiv:2608.21400v1 Announce Type: new Abstract: Dense traffic is inherently interactive. The ego vehicle and surrounding agents continuously influence each othe…
Selective Cross-View Consistency for World Action Models: Held-Out Viewpoint Robustness Without Test-Time Camera Information
arXiv:2608.21402v1 Announce Type: new Abstract: World action models (WAMs) jointly denoise future video frames and robot actions, and the video prior is expecte…
Mamba-based Selective State Space Modeling Improves the Accuracy-Complexity Tradeoff of SmolVLA Vision-Language-Action Experts
arXiv:2608.21407v1 Announce Type: new Abstract: Vision-language-action (VLA) models face a crucial tradeoff between their task success rate and the policy-call …
Social Graph Mamba: Forecasting Pedestrian Movements Based on Social Context
arXiv:2608.21411v1 Announce Type: new Abstract: Forecasting pedestrian motion has always been fundamental for autonomous navigation in crowded environments. Whi…
Operational digital twin clinics enable task-based evaluation of embodied AI
arXiv:2608.21416v1 Announce Type: new Abstract: Embodied artificial intelligence (AI) must be tested in the clinical environments where it will operate, but bui…
Evaluating Human and LLM-Generated Thematic Analysis in HRI for Vulnerable Populations: A Comparative and Ethical Analysis
arXiv:2608.21420v1 Announce Type: new Abstract: Thematic analysis (TA) has long been regarded as an inherently human, reflexive, and interpretive process. Howev…
The Setting of IMU Parameters in Kalman Filtering-based Information Fusion
arXiv:2608.21433v1 Announce Type: new Abstract: The setting or tuning of specifications for the inertial measurement unit (IMU) is tricky in sensor fusion. The …
Geo-VLA: Geometry-Aware Vision-Language-Action Planning via Internalization of Map Semantics
arXiv:2608.21440v1 Announce Type: new Abstract: Vision-language-action (VLA) models have advanced end-to-end autonomous driving by leveraging foundation models …
Constructing Predictive Surgical Path for AI-based Capsulorhexis Skill Transfer
arXiv:2608.21441v1 Announce Type: new Abstract: Automated training of surgeons is one of the most crucial factors that significantly minimize surgical training …
Model-Free Adaptive Parameter Tuning for Efficient Multi-Robot Warehouse Operations
arXiv:2608.21533v1 Announce Type: new Abstract: Robotic Fulfillment Centers (FCs) store inventory on shelves (pods) arranged in dense blocks. Retrieving a targe…
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
arXiv:2608.21550v1 Announce Type: new Abstract: Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entir…
Model-Based Reinforcement Learning for Heterogeneous Multi-Robot Task Assignment Under Distribution Shifts
arXiv:2608.21554v1 Announce Type: new Abstract: Heterogeneous multi-robot service systems must assign requests to compatible robots, construct feasible schedule…
Force/Torque-Based Kinematic Adaptation for Robotic Manipulation Tasks
arXiv:2608.21592v1 Announce Type: new Abstract: Contact-rich robotic manipulation requires an accurate model of the kinematic relationship between a robot's joi…
Why Personalization Matters: Cross-Subject Challenges in EMG-IMU-based HRI Activity Recognition
arXiv:2608.21620v1 Announce Type: new Abstract: This paper investigates wearable-based recognition of human activities and gestures to support Human-Robot Inter…
OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package
arXiv:2608.21631v1 Announce Type: new Abstract: Trajectory optimization computes dynamically feasible motions that enable autonomous systems to accomplish compl…
Lifelong Robot Recomposition via Persistent Categorical Modeling for Unified Task-Driven Co-Design, Verification, and Planning
arXiv:2608.21676v1 Announce Type: new Abstract: Robotic systems are traditionally designed and deployed in static configurations, with assumptions made at desig…
Towards insect-like distributed proprioception in actuators and appendages for flapping-wing insect-scale aerial robots
arXiv:2608.21699v1 Announce Type: new Abstract: Modern flapping-wing insect-scale air vehicles display agility similar to that of their insect counterparts; how…
CounterAlign: Counterfactual Supervision for Vision-Language-Action Models
arXiv:2608.21740v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models are typically trained with behavior cloning (BC) on expert demonstrations. H…
Vision Guided Target Conditioned Control for Autonomous Excavation
arXiv:2608.21778v1 Announce Type: new Abstract: Autonomous excavation requires an intelligent control system that can convert spatial work intent into coordinat…
Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages
arXiv:2608.21879v1 Announce Type: new Abstract: Aerial payload transport using multirotor unmanned aerial vehicles is challenging because payload geometry, cont…
An Interpretable Deep Learning Framework for Material Perception and Classification from Multisensory Tactile Data
arXiv:2608.21894v1 Announce Type: new Abstract: Human tactile perception relies on complex multisensory cues. Yet the relationship between tactile signals and p…
CIDER: Continual Interactive Distillation for Embodied Reinforcement Learning
arXiv:2608.21899v1 Announce Type: new Abstract: Human-in-the-loop real-world reinforcement learning enables rapid acquisition of effective robotic manipulation …
Design of a Human-Assistance Robot System with Contextual Action Recognition
arXiv:2608.22028v1 Announce Type: new Abstract: This paper presents a conceptual design for a proactive human assisting robot system capable of recognizing huma…
DELTA: Deformable Elevation-Based Local Terrain Attention Encoder for Sparse-Terrain Quadrupedal Locomotion
arXiv:2608.22033v1 Announce Type: new Abstract: Stable quadrupedal locomotion on sparse terrain requires selecting state-relevant terrain evidence for precise f…
Ludi${}_{\scriptscriptstyle 0.1}$: An Agentic System for Socially Intelligent Robots
arXiv:2608.22035v1 Announce Type: new Abstract: Robot foundation models have substantially advanced perception and control, but natural human-robot collaboratio…
EndoNav: Semantic-to-Geometric Grounding for Language-Guided Robotic Endoscopic Examination
arXiv:2608.22093v1 Announce Type: new Abstract: Minimally invasive procedures performed within confined anatomical spaces depend on continuous endoscopic visual…
Contact-Rich Robotic Manipulation in Construction via Zero-Shot Learning: A Diffusion Policy-Guided Adaptive Control
arXiv:2608.22100v1 Announce Type: new Abstract: Construction robotics and automation offer promising means of improving productivity, alleviating workforce shor…
Meta-Ctrl: Guaranteed Plan Generation by Decoupling Syntactic and Semantic Constraints
arXiv:2608.22149v1 Announce Type: new Abstract: LLMs generate fluent plans for robots but routinely violate the syntactic and se8mantic constraints they must sa…
Beyond Instance Slots: Semantically Rich World Models for Physical Interaction Planning
arXiv:2608.22294v1 Announce Type: new Abstract: World models for physical interaction are typically trained to predict future observations or latent features; h…
TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation
arXiv:2608.22296v1 Announce Type: new Abstract: Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurati…