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 storiesExploreAI: Agentic Exploration Knowledge Bases for Reproducible Observable-Regression Testing of Black-Box VR and 3D Applications
arXiv:2608.21628v1 Announce Type: cross Abstract: Black-box VR and 3D applications are difficult to regression test because observable failures depend on where …
GuardianBench: A Same-Scene Instruction-Contrastive Benchmark for Latent Contextual Risk in Embodied AI
arXiv:2608.21928v1 Announce Type: cross Abstract: In embodied AI, safety risk can be latent: a benign instruction and a safe scene become hazardous only when co…
WAM-OPD: On-Policy Distillation for World Action Models
arXiv:2608.22364v1 Announce Type: cross Abstract: World action models (WAMs) couple visual future prediction with robot action generation, but accelerated stude…
Contextrast++: Robust Multi-Scale Contextual Contrastive Learning for Semantic Segmentation
arXiv:2608.22679v1 Announce Type: cross Abstract: Semantic segmentation has rapidly advanced with deep learning; however, challenges remain in effectively captu…
LLM-Based Selection of Incongruent Verbal and Nonverbal Behavior for Virtual Humans
arXiv:2608.22731v1 Announce Type: cross Abstract: Nonverbal behavior generation systems for virtual agents often take an utterance as input and generate nonverb…
Macro-Action Topological Navigation under Noisy Localization using Reinforcement Learning
arXiv:2608.23055v1 Announce Type: cross Abstract: Navigating large, photorealistic 3D apartments from raw pixels is widely considered infeasible for plain reinf…
MIVIFI: Bridging Perspective and Fisheye Domains for Training Multi-View Fisheye Image Generation Models
arXiv:2608.23140v1 Announce Type: cross Abstract: Achieving 360{\deg} coverage is critical for the visual perception systems of autonomous vehicles. Fisheye cam…
MomADv2: Reliable Temporal Memory for End-to-End Autonomous Driving
arXiv:2608.23405v1 Announce Type: cross Abstract: Long-horizon planning is critical for safe autonomous driving in complex scenarios. Existing methods improve p…
GeoWAM: Visual Geometry World Action Models for Autonomous Driving
arXiv:2608.23486v1 Announce Type: cross Abstract: World action models (WAMs) have recently gained increasing attention as a framework for jointly modeling scene…
Degrees of Freedom Analysis of Mechanisms using the New Zebra Crossing Method
arXiv:2201.02352v3 Announce Type: replace Abstract: Mobility, which is a basic property for a mechanism has to be analyzed to find the degrees of freedom. A qui…
To What Extent Does the Perceived Obesity Level of Humanoid Robots Affect People's Trust in Them?
arXiv:2411.06039v2 Announce Type: replace Abstract: Despite obesity being widely discussed in the social sciences, the effect of a robot's perceived obesity lev…
Balancing Safety and Optimality in Robot Path Planning: Algorithm and Metric
arXiv:2505.23197v4 Announce Type: replace Abstract: Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance…
Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation
arXiv:2508.09846v2 Announce Type: replace Abstract: This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-m…
LaGEA: Language Guided Embodied Agents for Robotic Manipulation
arXiv:2509.23155v3 Announce Type: replace Abstract: Robotic manipulation benefits from foundation models that describe goals, but today's agents still lack a pr…
MDCPP: Multi-Robot Dynamic Coverage Path Planning for Workload Adaptation
arXiv:2509.23705v2 Announce Type: replace Abstract: Multi-robot coverage path planning commonly balances geometric area or path length under a constantspeed ass…
MADR: MPC-guided Adversarial DeepReach
arXiv:2510.18845v2 Announce Type: replace Abstract: Hamilton-Jacobi (HJ) Reachability offers a framework for generating safe value functions and policies in the…
Learning Diffusion Policies for Robotic Manipulation of Timber Joinery under Fabrication Uncertainty
arXiv:2511.17774v4 Announce Type: replace Abstract: Fabrication uncertainty arising from tolerance accumulation, material imperfection, and positioning errors r…
Guardian: Detecting Robotic Planning and Execution Errors with Vision-Language Models
arXiv:2512.01946v4 Announce Type: replace Abstract: Robust robotic manipulation requires reliable failure detection and recovery. Although recent Vision-Languag…
MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
arXiv:2512.03795v3 Announce Type: replace Abstract: Autonomous Driving (AD) vehicles still struggle to exhibit human-like behavior in highly dynamic and interac…
Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie groups
arXiv:2512.10294v2 Announce Type: replace Abstract: We propose Conformal Lie-group Action Prediction Sets (CLAPS), a symmetry-aware conformal prediction-based a…
UNCLE-Grasp: A Task-Adapted Framework for Uncertainty-Aware Grasping of Leaf-Occluded Strawberries
arXiv:2601.14492v3 Announce Type: replace Abstract: Robotic strawberry harvesting remains challenging under partial occlusion, where leaves obscure fruit geomet…
RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
arXiv:2602.03002v2 Announce Type: replace Abstract: Humanoid perceptive locomotion has made significant progress and shows great promise, yet achieving robust m…
XIT: Exploration and Exploitation Informed Trees for Active Gas Distribution Mapping in Unknown Environments
arXiv:2602.13739v2 Announce Type: replace Abstract: Mobile robotic gas distribution mapping (GDM) provides critical situational awareness during emergency respo…
A Latency-Aware Framework for Visuomotor Policy Learning on Industrial Robots
arXiv:2602.14255v2 Announce Type: replace Abstract: Industrial robots are increasingly deployed in construction and manufacturing tasks, where the deployment of…
When Should a Robot Think? Resource-Aware Reasoning via Reinforcement Learning for Embodied Robotic Decision-Making
arXiv:2603.16673v5 Announce Type: replace Abstract: Embodied robotic systems increasingly rely on large language model (LLM)-based agents to support high-level …
Beyond Viewpoint Generalization: What Multi-View Demonstrations Offer and How to Synthesize Them for Robot Manipulation?
arXiv:2603.26757v2 Announce Type: replace Abstract: Does multi-view demonstration truly improve robot manipulation, or merely enhance cross-view robustness? We …
Robust Multi-Agent Reinforcement Learning for Small UAS Separation Assurance under GPS Degradation and Spoofing
arXiv:2603.28900v2 Announce Type: replace Abstract: We address robust separation assurance for small Unmanned Aircraft Systems (sUAS) under GPS degradation and …
CAVERS: Multimodal SLAM Data from a Natural Karstic Cave with Ground Truth Motion Capture
arXiv:2604.15052v2 Announce Type: replace Abstract: Autonomous robots operating in natural karstic caves face perception and navigation challenges that are qual…
Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policies
arXiv:2605.00416v3 Announce Type: replace Abstract: Generalist robot policies increasingly benefit from large-scale pretraining, but offline data alone is insuf…
Bayesian Networks for Path-Based Sensors: Gathering Information and Path Planning in Communication Denied Environments
arXiv:2605.16673v2 Announce Type: replace Abstract: A "path-based sensor" produces a single observation along a continuous path. For example, a boolean path-bas…