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 storiesCredibility-Aware Learning and Control for Safe USV Navigation under Perception Uncertainty
arXiv:2605.26974v4 Announce Type: replace Abstract: Safe navigation for Unmanned Surface Vehicles (USVs) under the International Regulations for Preventing Coll…
Inducing Calmness With Pocket-Sized Robotics: Reducing Movement and Heart Rate in Children through Hand-Held Tactile Interactions
arXiv:2605.27533v2 Announce Type: replace Abstract: Periods of heightened arousal or restlessness can interfere with children's ability to focus, self-regulatio…
$\tau_0$-WM: A Unified Video-Action World Model for Robotic Manipulation
arXiv:2606.01027v2 Announce Type: replace Abstract: Robotic manipulation requires models that generate executable actions while anticipating and evaluating thei…
Mission-Aligned Learning-Informed Control of Autonomous Systems: Formulation and Foundations
arXiv:2507.04356v3 Announce Type: replace-cross Abstract: Research, innovation and practical capital investment have been increasing rapidly toward the realizat…
Obstacle Avoidance of UAV in Dynamic Environments Using Direction and Velocity-Adaptive Artificial Potential Field
arXiv:2512.07609v3 Announce Type: replace-cross Abstract: The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue a…
PEAfowl: Perception-Enhanced Multi-View Vision-Language-Action for Bimanual Manipulation
arXiv:2601.17885v2 Announce Type: replace-cross Abstract: Bimanual manipulation in cluttered scenes requires policies that remain stable under occlusions, viewp…
FlatVPR: Plug-and-play Geo-linear Residual Adapter for Geometric Rectification of Foundation Model Feature Manifolds
arXiv:2606.01734v2 Announce Type: replace-cross Abstract: This paper proposes ``FlatVPR,'' a novel geometric rectification paradigm that effectively bridges the…
DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model
arXiv:2608.22278v1 Announce Type: new Abstract: Vision-based whole-body loco-manipulation on humanoid robots is challenging due to partial observability, contac…
ODG-NoMaD: Overhead-Camera Direction-Guided NoMaD
arXiv:2608.21395v1 Announce Type: new Abstract: NoMaD [31] is a learned vision-navigation policy that unifies goal-conditioned navigation and exploration in a s…
Tolerance-Dependent Inspection Disagreement Between a Fixed CMM and a Portable Articulated-Arm CMM
arXiv:2608.21404v1 Announce Type: new Abstract: Fixed coordinate measuring machines (CMMs) and portable articulated-arm CMMs are often assigned to the same insp…
Position: Robot Privacy as Embodied Boundary Work. Connecting Capabilities, Contexts, and Design Responses in Everyday Robotics
arXiv:2608.21410v1 Announce Type: new Abstract: Robots are increasingly entering everyday environments where privacy is shaped not only by data practices, but a…
GCS-Bridging: Restoring Connectivity of Disconnected Convex Sets for Graph-of-Convex-Sets Motion Planning
arXiv:2608.22326v1 Announce Type: new Abstract: Graph-of-Convex-Sets (GCS)-based trajectory optimization represents collision-free regions in configuration spac…
SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation
arXiv:2608.22896v1 Announce Type: new Abstract: Robotic navigation in human environments requires a spatio-temporal semantic representation that can rec- oncile…
Privileged Critic Training Enables Sensor-Free Thruster Fault Adaptation in End-to-End RL
arXiv:2608.22976v1 Announce Type: new Abstract: Fault-tolerant navigation for thruster-actuated robots requires online adaptation to failures that are neither b…
CSymPlan: Certified Symbolic Planning and Control for High-DOF Manipulators
arXiv:2608.22983v1 Announce Type: new Abstract: Robot manipulators are commonly engineered around a decoupled motion-generation stack: a planner computes a coll…
Free-Energy-Gated Plasticity for Real-Time Online Motor Learning in Physical Human--Robot Interaction
arXiv:2608.23000v1 Announce Type: new Abstract: Fully online embodied learning requires synaptic adaptation to acquire new behaviors while preserving previously…
RoboRacer Arena: Scaling High-Fidelity Autonomous Racing in Isaac Sim
arXiv:2608.23040v1 Announce Type: new Abstract: RoboRacer offers a standardized platform for research using 1:10-scale autonomous vehicles, but the variety of a…
AI Visual Inspection for Garment Production
arXiv:2608.21426v1 Announce Type: cross Abstract: The garment manufacturing industry is under increasing pressure to improve product quality, reduce costs, and …
Detecting Heel Strike and toe off Events Using Kinematic Methods and LSTM Models
arXiv:2503.00794v3 Announce Type: replace Abstract: Accurate gait event detection is crucial for gait analysis, rehabilitation, and assistive technology, partic…
MorFiC: Fixing Value Miscalibration for Zero-Shot Quadruped Transfer
arXiv:2603.14554v2 Announce Type: replace Abstract: Generalizing learned locomotion policies across quadrupedal robots with different morphologies remains a cha…
Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments
arXiv:2605.14232v2 Announce Type: replace Abstract: This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mo…
Nori A3: A Bimanual Mobile Manipulator at the Appliance Price Point
arXiv:2605.16537v2 Announce Type: replace Abstract: We present Nori A3, a 19-DoF bimanual mobile manipulator that ships assembled for $1,688. In a 45 x 45 cm fo…
A Unified Neural-Aided Alignment and Calibration Method for AUVs
arXiv:2608.22496v1 Announce Type: new Abstract: Autonomous underwater vehicles (AUVs) rely on the fusion of inertial navigation systems (INS) and Doppler veloci…
BehaviorWorldGen: Closing the Loop between Action Models and World Simulators via Controllable Behavior-Aware Structured World Generation
arXiv:2608.22187v1 Announce Type: new Abstract: Modern driving action models are increasingly improved in a self-improvement loop, where a learned world simulat…
Inferring Action from Future Latent State for Robotic Manipulation
arXiv:2608.22067v1 Announce Type: new Abstract: World-Action Models (WAMs) build robot control on video-generation backbones, which jointly predict dense future…
Stakeholder Insights for Designing In-Home Social Robots for Dementia Disorientation Detection and Caregiver-Aware Intervention
arXiv:2608.22008v1 Announce Type: new Abstract: Disorientation is a common and distressing experience for people living with dementia. It often manifests as con…
Safety-Critical Bilateral Teleoperation for Omnidirectional Aerial Manipulation Using Force-Sensorless Haptic Feedback
arXiv:2608.21735v1 Announce Type: new Abstract: This paper presents a safety-critical bilateral teleoperation framework for omnidirectional aerial manipulators …
In-Situ Reconstruction of the International Space Station Using 3D Gaussian Splatting and Astrobee
arXiv:2608.21685v1 Announce Type: new Abstract: This article presents a novel 3D reconstruction and mapping of the interior of the International Space Station (…
Betting for Sim-to-Real Performance Certificates
arXiv:2608.21572v1 Announce Type: new Abstract: Consider a typical test of a robot system: one observes a sequence of outcomes concerning some aspect of interes…
RiskWorld: Object-Centric Latent World Modeling for Autonomous Driving Risk Identification
arXiv:2608.21414v1 Announce Type: new Abstract: Autonomous driving risk identification aims to determine which observed object is likely to become safety-critic…