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 storiesA Risk-Field Enhanced Closed-Loop Digital Twin Framework for Autonomous Driving Safety Validation
arXiv:2607.09772v1 Announce Type: new Abstract: Autonomous driving systems require reliable safety validation before real-world deployment. However, large-scale…
Robust bipedal locomotion on flowable slopes via foot-driven terrain manipulation
arXiv:2607.11855v1 Announce Type: new Abstract: Bipedal robots are challenging to control because they operate close to instability, where small variations in f…
VehAnchor: Metadata-Free Metric Scale Recovery from Vehicle Cues in Aerial Imagery
arXiv:2603.04277v2 Announce Type: replace Abstract: Autonomous aerial robots operating in GPS-denied or communication-degraded environments frequently lose acce…
Closed-Loop Control with Rule-Aligned Small Language Models and Multi-Agent Self-Correction
arXiv:2607.09713v1 Announce Type: cross Abstract: A key step toward autonomous industrial operation is the ability to create and reconfigure control policies fr…
ProAct: A Benchmark and Multimodal Framework for Structure-Aware Proactive Response
arXiv:2602.03430v3 Announce Type: replace Abstract: While passive agents merely follow instructions, proactive agents align with higher-level objectives, such a…
CoRL-MPPI: Enhancing MPPI With Learnable Behaviours For Efficient And Provably-Safe Multi-Robot Collision Avoidance
arXiv:2511.09331v3 Announce Type: replace Abstract: Decentralized collision avoidance is a core challenge for scalable multi-robot systems. A promising approach…
From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing
arXiv:2607.10170v1 Announce Type: new Abstract: Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. Howe…
Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots
arXiv:2607.09968v1 Announce Type: new Abstract: State estimation is essential for quadruped robots, enabling robust locomotion, navigation, and control. While m…
Towards Predictive, Aligned, and Scalable Robot Learning
arXiv:2607.11270v1 Announce Type: new Abstract: Learning, at its core, extends beyond memorization to the ability to reason and solve novel problems by navigati…
RVN-Bench: A Benchmark for Reactive Visual Navigation
arXiv:2603.03953v2 Announce Type: replace Abstract: Safe visual navigation is critical for indoor mobile robots operating in cluttered environments. Existing be…
X-GuideAR: An Augmented Reality Framework to Mitigate Radiation Exposure during Fluoroscopic Guidance
arXiv:2607.10873v1 Announce Type: cross Abstract: Achieving optimal screw placement for orthopedic surgeries requires frequent alignment checks and multiple ana…
TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation
arXiv:2607.10132v1 Announce Type: new Abstract: Dynamic loco-manipulation requires legged robots to coordinate whole-body motion while maintaining stable physic…
Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classification
arXiv:2607.10706v1 Announce Type: new Abstract: The action space poses a major challenge in robot learning, since it is often high-dimensional, can span long ti…
Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation
arXiv:2607.11884v1 Announce Type: new Abstract: Robotic manipulation is inherently multi-frame: local actions may be simple in an end-effector frame, while tran…
EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos
arXiv:2607.09701v1 Announce Type: new Abstract: Steerability is a defining capability of generalist robot policies, yet remains largely absent in dexterous-hand…
Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems
arXiv:2602.03435v2 Announce Type: replace Abstract: Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynami…
Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors
arXiv:2607.10815v1 Announce Type: new Abstract: Humanoid roller-skating is difficult because the robot must coordinate whole-body balance, rolling contacts, and…
Whole-Body Semantic-to-Actuation Grounding of Elephant-Inspired Soft-Trunk Motion via Lightweight Flow Matching
arXiv:2607.11018v1 Announce Type: new Abstract: For close-contact human-robot interaction (HRI), trunk-like continuum manipulators provide a physical channel fo…
Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion
arXiv:2607.11004v1 Announce Type: new Abstract: We present a manipulation planning system based on affordance recognition and action effect prediction. The syst…
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
arXiv:2607.11041v1 Announce Type: new Abstract: Loco-manipulation has recently shown promising capabilities; however, achieving high-precision control, managing…
Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
arXiv:2604.27224v3 Announce Type: replace Abstract: Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contac…
Let It Be Simple: One-Step Action Generation for Vision-Language-Action Models
arXiv:2606.05737v2 Announce Type: replace-cross Abstract: Generating diverse images from sparse text is hard; generating compact actions from rich observations …
BucketKD: A Safety-Aware Bucket-Based Knowledge Distillation Framework for End-to-End Motion Planning
arXiv:2607.10565v1 Announce Type: new Abstract: End-to-end motion planning has emerged as a promising paradigm in autonomous driving, directly mapping raw senso…
XR-1: Towards Versatile Vision-Language-Action Models via Learning Unified Vision-Motion Representations
arXiv:2511.02776v3 Announce Type: replace Abstract: Recent progress in large-scale robotic datasets and vision-language models (VLMs) has advanced research on v…
What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework
arXiv:2510.01830v2 Announce Type: replace Abstract: Object-Goal Navigation (ObjectNav) is a key capability for deploying mobile robots in everyday environments …
PrismAD: Decoupled Planning via Semantic Mixture-of-Planners for End-to-End Autonomous Driving
arXiv:2607.10336v1 Announce Type: new Abstract: This letter presents PrismAD, a decoupled end-to-end autonomous driving framework based on a Semantic Mixture-of…
Wearing A Coat: Dual-Arm Robot-Assisted Dressing with Differentiable Clothing Simulation
arXiv:2607.10999v1 Announce Type: new Abstract: The development of assistive robots for dressing tasks serves to augment human convenience and improve the quali…
Breaking the 15% Barrier: A Real-World Data-Driven System for Proactive Social Robot Triggered by User Nonverbal Cues
arXiv:2607.11633v1 Announce Type: new Abstract: Service robots in retail stores increasingly rely on cascaded speech pipelines (STT-LLM-TTS), yet many customer-…
Autonomous Close-Proximity Photovoltaic Panel Coating Using a Quadcopter
arXiv:2509.10979v3 Announce Type: replace Abstract: Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, s…
Adaptive Reinforcement Learning for Unobservable Random Delays
arXiv:2506.14411v2 Announce Type: replace-cross Abstract: In standard reinforcement learning (RL) settings, the interaction between the agent and the environmen…