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 storiesGraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation
arXiv:2607.11031v1 Announce Type: new Abstract: Dexterous grasp generation across robot hands is challenging because hands differ in kinematic topology, actuati…
InCoM: Intent-Driven Perception and Structured Coordination for Mobile Manipulation
arXiv:2602.23024v5 Announce Type: replace Abstract: Mobile manipulation is a fundamental capability for general-purpose robotic agents, requiring both coordinat…
Diffusion for Long-Horizon Multi-Robot Path Planning in Human-Shared Environments
arXiv:2607.09911v1 Announce Type: new Abstract: Multi-robot path planning in human-shared environments requires a delicate balance between robust inter-robot co…
Real-Time Rulebook-Aware Nonlinear MPC for Autonomous Driving with Priority-Biased Tiered Slacks
arXiv:2607.10975v1 Announce Type: new Abstract: Autonomous-vehicle motion planners must resolve conflicts among safety, regulation, comfort, and efficiency in r…
See like a Robot: Robot-Centric Pointmaps for Vision-Language-Action Models
arXiv:2607.11498v1 Announce Type: new Abstract: Vision-language-action (VLA) models predict robot actions from visual observations and language instructions. Th…
More Structure, Not More Capacity: Object-Centric Representations for Visuomotor Imitation Learning
arXiv:2607.09825v1 Announce Type: new Abstract: Robotic manipulation policies rely on pre-trained vision models that give either a global scene embedding or a d…
WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $LDL^\top$ Factorization
arXiv:2607.11603v1 Announce Type: new Abstract: This paper introduces numerical optimizations for maximizing throughput on GPU when solving large batches (10,00…
Rethinking Gaussian Trajectory Predictors: Calibrated Uncertainty for Safe Planning
arXiv:2603.10407v2 Announce Type: replace Abstract: Accurate trajectory prediction is critical for safe autonomous navigation in crowded environments. While man…
FlashBEV: Fast and Memory-Efficient Exact BEV Transformation with IO-Awareness
arXiv:2607.10071v1 Announce Type: cross Abstract: Bird's-eye-view (BEV) perception is a core component of camera-based 3D understanding in autonomous driving, w…
SLIDER: Sparse History-Guided Aerial Robot Target Search using Sliding Local Maps
arXiv:2607.10553v1 Announce Type: new Abstract: Efficient exploration and target search in large-scale unknown environments remain challenging for aerial robots…
ActiveFly-Bench: Aligning Embodied Question Answering with Vision-Language-Action for Aerial Embodied Perception
arXiv:2607.10180v1 Announce Type: new Abstract: We introduce ActiveFly-Bench, the first benchmark to bridge cyberspace reasoning and physical-world interaction …
Accelerating Sampling-Based Control via Learned Linear Koopman Dynamics
arXiv:2603.05385v2 Announce Type: replace Abstract: This paper presents an efficient model predictive path integral (MPPI) control framework for systems with co…
OmniSCS: Omni Safety-Critical Scenario Synthesis for Autonomous Driving via a Fully Editable Driving World
arXiv:2607.09764v1 Announce Type: new Abstract: The synthesis of safety-critical scenarios (SCS) and their evaluation through closed-loop simulations are crucia…
Mapping Pamir: Multi-Session Visual-Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck
arXiv:2607.10925v1 Announce Type: new Abstract: This paper presents a framework for multi-session mapping of underwater environments utilizing an affordable act…
Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control
arXiv:2607.10625v1 Announce Type: new Abstract: Language-conditioned Imitation Learning (IL) is essential for enabling robots to perform complex tasks following…
RoboNav-Arm: Agentic AI-Driven Navigation and Obstacle Avoidance for Robotic Manipulator in Cluttered Environments
arXiv:2607.09716v1 Announce Type: new Abstract: Robotic manipulators operating in unstructured environments face significant challenges in safely executing goal…
SmoothTurn: Learning to Turn Smoothly for Agile Navigation with Quadrupedal Robots
arXiv:2603.12842v2 Announce Type: replace Abstract: Quadrupedal robots show great potential for valuable real-world applications such as fire rescue and industr…
ERR@HRI 3.0 Challenge: Multimodal Detection of Errors and Anticipation in Human-Robot Interactions
arXiv:2607.11570v1 Announce Type: new Abstract: As robots become increasingly integrated into human environments, their ability to detect and respond to errors …
Runtime Safety Filtering for Learned Small UAS Separation Policies under GNSS Degradation
arXiv:2607.10014v1 Announce Type: new Abstract: Learning-based separation assurance for small Unmanned Aircraft Systems (sUAS) achieves near-zero collision rate…
3D Scene Graph Prediction: Generating Hierarchical Models from Partially Observed Environments
arXiv:2607.10879v1 Announce Type: new Abstract: Generating realistic 3D indoor scenes is an area of growing interest in computer vision and robotics. Existing m…
TriP: A Triangle Puzzle Approach to Robust Translation Averaging
arXiv:2605.07143v2 Announce Type: replace-cross Abstract: Translation averaging aims to recover camera locations from pairwise relative translation directions a…
Comparison-Based Ordinal Learning for Proactive Driving Risk Assessment
arXiv:2607.11128v1 Announce Type: new Abstract: Real-time driving risk assessment provides an essential basis for proactive safety by identifying and quantifyin…
PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour
arXiv:2601.15995v2 Announce Type: replace Abstract: Parkour tasks for quadrupeds have emerged as a promising benchmark for agile locomotion. While human athlete…
Navigating the Crowd: Non-linear MPC with Social Forces Dynamics for Human-Aware Robot Navigation
arXiv:2607.10374v1 Announce Type: new Abstract: Safe and socially compliant navigation remains a fundamental challenge for autonomous robots operating in human-…
SensorPerch: Sense Wherever and Whenever it Matters
arXiv:2607.10682v1 Announce Type: new Abstract: Existing robotic perception is constrained by sensors that are either robot-mounted or permanently fixed in the …
EDAR: Learning Environment-Dependent Action Representations for Robotic Manipulation
arXiv:2607.11427v1 Announce Type: new Abstract: Learning effective action representations is critical for robotic manipulation, where raw control trajectories a…
Task Planning for Mobile Manipulation in Retail Stores using Foundation Models with Iterative Re-planning
arXiv:2607.09962v1 Announce Type: new Abstract: Automation in industries such as retail, warehousing and logistics presents opportunities for greater throughput…
Direct Rotor Thrust Sensing and Feedback Control for Disturbance Rejection of Multirotors Using Load-cells
arXiv:2607.10099v1 Announce Type: new Abstract: Gust disturbances, dynamic vertical inflow and ground effect are key adverse aerodynamic phenomena that induce v…
SWIFT: A Small-World Interaction Framework for Flow-Aware Trajectory Prediction in Autonomous Driving
arXiv:2607.09741v1 Announce Type: new Abstract: Accurate trajectory prediction in autonomous driving hinges on modeling dynamic and context-dependent interactio…
A Biomimetic Myoelectric Tentacle Prosthesis with Sensorless Object Detection and Vibrotactile Feedback
arXiv:2607.09807v1 Announce Type: new Abstract: This paper presents the design and evaluation of a myoelectric tentacle-shaped prosthesis integrating electromyo…