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 storiesEndoLIFT: Language-Disambiguated Latent-Conditioned Rectified Flow for Bidirectional Endoscopic Control
arXiv:2608.20478v1 Announce Type: new Abstract: Routine gastrointestinal endoscopy is intrinsically bidirectional: the instrument is advanced to reach target an…
Nonlinear Model Predictive Control for Trajectory Tracking of Differentially Flat Fixed-Wing Aerial Systems
arXiv:2608.20655v1 Announce Type: new Abstract: Planning and control of fixed-wing Unmanned Aerial Vehicles (UAVs) are challenging due to nonlinear dynamics, ae…
Demonstration-Guided Humanoid Stand-Up on an Emulated Deformable Surface
arXiv:2608.20852v1 Announce Type: new Abstract: This paper presents a reference-guided reinforcement learning framework to generate stand-up motion for a 29-DOF…
Beyond Imitation: Self-Improving Robot Policies via Off-Policy Q-Planning
arXiv:2608.21204v1 Announce Type: new Abstract: Behaviour Cloning (BC) has driven remarkable progress in robot manipulation, yet it is fundamentally limited by …
VT-MUSE: Multimodal Unified Sequential Visuotactile Representation Learning for Manipulation
arXiv:2608.21290v1 Announce Type: new Abstract: We propose VT-MUSE, a Multimodal Unified SEquential representation learning framework for visuotactilemanipulati…
Mining beyond Earth with Space Robots: Exploration, Sampling, and Extraction
arXiv:2608.21358v1 Announce Type: new Abstract: Space resource acquisition and utilization, commonly referred to as Space Mining, represent critical pathways fo…
Pneumatic Units for Logic-based Sequential Excitation (PULSE) in Wearable Haptic Devices
arXiv:2608.20626v1 Announce Type: cross Abstract: Soft, wearable robotic devices can deliver haptic feedback to support a wide range of tasks, such as extended …
A Collaborative Multi-Modality Interaction for VLA-based End-to-End Autonomous Driving
arXiv:2608.20890v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have emerged as a powerful paradigm for end-to-end autonomous driving by j…
Decoupling Policy Extraction for Offline Reinforcement Learning
arXiv:2608.20909v1 Announce Type: cross Abstract: Offline RL methods commonly jointly train the actor and critic, where the critic is used to guide the actor to…
Unified Branch-and-Bound Search for the Steiner Traveling Salesman Problem on Graphs of Convex Sets
arXiv:2608.21319v1 Announce Type: cross Abstract: We formalize the Steiner Traveling Salesman Problem (Steiner-TSP) on Graphs of Convex Sets (GCS), which seeks …
Anatomy-Informed Neural Networks: Encoding Anatomic Priors in Loss and Architecture, with an SE(3) Formulation of Guidewire-Induced Aortoiliac Deformation
arXiv:2608.21332v1 Announce Type: cross Abstract: Deep-learning models of anatomy can be numerically plausible yet anatomically impossible, and they generalize …
A Deep Reinforcement Learning Framework for Closed-loop Guidance of Fish Schools via Virtual Agents
arXiv:2603.28200v2 Announce Type: replace Abstract: Guiding collective motion in biological groups is a fundamental challenge in understanding social interactio…
Can you see how I learn? Human observers' inferences about Reinforcement Learning agents' learning processes
arXiv:2506.13583v2 Announce Type: replace-cross Abstract: Reinforcement Learning (RL) agents often exhibit learning behaviors that are not intuitively interpret…
Update-Free On-Policy Steering via Verifiers
arXiv:2603.10282v3 Announce Type: replace Abstract: In recent years, Behavior Cloning (BC) has become one of the most prevalent methods for learning manipulatio…
Just Noticeable Difference Modeling for Token Compression in Vision-Language-Action Models
arXiv:2608.21247v1 Announce Type: cross Abstract: Token compression has become a key technique for reducing the inference cost of large foundation models, with …
Graph-Operator World Models for Morphology-Parameter Generalization in Continuous Control
arXiv:2608.20936v1 Announce Type: cross Abstract: World models for continuous control are commonly trained for a fixed physical system and can degrade when know…
A Safety-Driven Architectural Framework for Fail-Operational Drone Swarms in Critical Missions
arXiv:2608.20906v1 Announce Type: cross Abstract: The certification of Unmanned Aerial Vehicle (UAV) swarms for safety-critical operations requires verifiable d…
Multi-Modal Traffic Sign Detection with Semantic Attributes for Autonomous Driving
arXiv:2608.20874v1 Announce Type: cross Abstract: Reliable traffic sign detection is a prerequisite for the global deployment of autonomous driving systems, whe…
GhostTac: Manipulating Tactile Sensors without Physical Contact
arXiv:2608.20817v1 Announce Type: cross Abstract: Tactile sensors are integral to modern robotic systems, enabling robots to perceive and interact with the phys…
Learning-Based Measurement-Robust Control Barrier Functions for Obstacle Avoidance under State Estimation Error
arXiv:2608.20467v1 Announce Type: cross Abstract: Safety filters are an effective tool for enforcing constraints in safety-critical systems, but most existing m…
ViTacPhys: Physical Property-Aware Grasping from Human Visual-Tactile Demonstrations
arXiv:2608.21355v1 Announce Type: new Abstract: Recent vision-based action models have demonstrated strong capabilities in complex manipulation, but they rarely…
SRL-MPC: Shape-Aware Reinforcement Learned Model Predictive Control
arXiv:2608.21175v1 Announce Type: new Abstract: Safe and efficient shape-aware navigation in heterogeneous crowds and robot fleets remains challenging. Traditio…
FF-MPCC: High-speed Agile Formation Flight with Model Predictive Contouring Control
arXiv:2608.21056v1 Announce Type: new Abstract: Flying in a prescribed formation in an agile manner remains a challenging problem in the field of UAVs, particul…
TaPeR: Probabilistic Recovery of Sparse Task Precedence Graphs from a Handful of Demonstrations
arXiv:2608.21035v1 Announce Type: new Abstract: Long-horizon manipulation tasks are often only partially ordered. For example, when assembling an electronic dev…
Neural-Primitive: An Efficient End-to-end Local Planner with Primitive-based Imitation Learning for Autonomous Flight
arXiv:2608.20948v1 Announce Type: new Abstract: Autonomous flight in unknown cluttered environments is hindered by the computation-quality-memory trilemma of on…
Fast Coordinated Bimanual Motion Planning With Hard Constraints
arXiv:2608.20946v1 Announce Type: new Abstract: Bimanual manipulation enables complex tasks but introduces added complexity from the high number of degrees of f…
Hybrid Roller-Jamming Gripper for Object Acquisition and Retention Under Pose Uncertainty
arXiv:2608.20962v1 Announce Type: new Abstract: In household manipulation, pose uncertainty often results in off-centre or partial initial contact, making relia…
Scalable Distributed Simulation-Based Testing for Automated Driving Systems
arXiv:2608.20904v1 Announce Type: new Abstract: Virtual scenario-based testing is a key enabler for validating automated driving systems (ADS) and intelligent t…
Natural Sit-to-Stand Motion Synthesis For Humanoids via Guided Assistance Curricula and Staged Rewards
arXiv:2608.20823v1 Announce Type: new Abstract: A humanoid has infinitely many ways to stand up from sitting while maintaining balance, making sit-to-stand (STS…
Logic-VLA: A Temporal Logic Conditioned Vision-Language-Action Model
arXiv:2608.20556v1 Announce Type: new Abstract: Vision-language-action (VLA) models can follow natural-language (NL) task instructions, but such instructions ma…