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 storiesDART-S: Reachability-Audited Active-Suspension Preconditioning for Off-Road Vehicle Jumps
arXiv:2608.20275v1 Announce Type: new Abstract: Airborne torque reaction cannot recover takeoff errors beyond the wheel angular-momentum budget. DART-S applies …
SafeBranch: Branch-Pair Safety Alignment for Embodied Agents
arXiv:2608.19729v1 Announce Type: cross Abstract: Vision-language-model-based embodied agents can complete instructed tasks but often violate safety constraints…
Towards general embodied intelligence: integrating large language models, knowledge bases, and reasoning capabilities to build the next generation of AI agents
arXiv:2608.19794v1 Announce Type: cross Abstract: The convergence of large language models (LLMs), structured knowledge bases (KBs), and reasoning ability (RA) …
DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation
arXiv:2608.20114v1 Announce Type: cross Abstract: Mobile manipulation requires a robot to predict how locomotion and arm motion jointly alter future observation…
DiffDef: A Diffusion Model for Generating Multimodal Goal Shapes From Demonstrations for Deformable Object Manipulation
arXiv:2506.18779v2 Announce Type: replace Abstract: Deformable object manipulation is a key capability in many robotic applications. A promising paradigm for th…
Learning Vision-Driven Reactive Soccer Skills for Humanoid Robots
arXiv:2511.03996v2 Announce Type: replace Abstract: Humanoid soccer poses a representative challenge for embodied intelligence, requiring robots to coordinate a…
Can Predicted Dynamics Exist in the Physical World?
arXiv:2606.00089v2 Announce Type: replace Abstract: Can learned state-action proposals exist in the physical world? To filter infeasible commands before executi…
Design strategies for empathetic AI robots for older adults
arXiv:2510.01192v2 Announce Type: replace-cross Abstract: Emulating empathy in human-robot interaction is a key component for achieving satisfying social, trust…
A Physics-Informed Neural Network Approach for UAV Path Planning in Dynamic Environments
arXiv:2510.21874v2 Announce Type: replace Abstract: Unmanned aerial vehicles (UAVs) operating in dynamic wind fields must generate safe and energy-efficient tra…
Fine-Tuning VLAs with Self-Demonstrated Generative Control for Multi-Task Manipulation
arXiv:2608.19490v1 Announce Type: new Abstract: State-of-the-art vision-language-action (VLA) models such as $\pi_{0.5}$ exhibit strong semantic understanding, …
WaveVerif: Acoustic Side-Channel based Verification of Robotic Workflows
arXiv:2510.25960v2 Announce Type: replace-cross Abstract: In this paper, we present a framework that uses acoustic side-channel analysis (ASCA) to monitor and v…
UAV-Based Infrastructure Inspections: A Literature Review and Proposed Framework for AEC+FM
arXiv:2601.11665v3 Announce Type: replace-cross Abstract: Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engin…
Symmetric Lyapunov Subcenter Manifolds for Periodic Regulation of Mechanical Systems
arXiv:2505.13064v4 Announce Type: replace-cross Abstract: Multi-body mechanical systems have rich internal dynamics, whose solutions can be exploited as energy-…
MPCoT: Reward-Guided Multi-Path Latent Reasoning for Test-Time Scalable Vision-Language-Action
arXiv:2606.06245v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) policies remain brittle in long-horizon and high-uncertainty control, where one…
LF-GICP: Parameter-Free Degeneracy-Aware LiDAR Odometry via a Voxel-Normal Localizability Field
arXiv:2608.19522v1 Announce Type: new Abstract: Scan-to-map LiDAR odometry drifts unboundedly along the unobservable axes of geometrically degenerate environmen…
Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control
arXiv:2608.19443v1 Announce Type: new Abstract: Thanks to its parallelizability and flexibility, sampling-based Model Predictive Control (MPC) has become widely…
APPROVE: Visual End-User-in-the-Loop Robot Programming with LLMs
arXiv:2608.19281v1 Announce Type: new Abstract: Programming robots remains challenging for non-experts, as traditional methods require expert knowledge and even…
Video2DoorTraversal: Push Door Traversal via Simulated Door Twins
arXiv:2608.20251v1 Announce Type: new Abstract: Door opening and traversal is a long-horizon loco-manipulation task that requires precise handle interaction and…
Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms
arXiv:2608.20111v1 Announce Type: new Abstract: End-to-end autonomous driving has evolved from camera-to-control regression toward planning-oriented systems tha…
Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking
arXiv:2608.20087v1 Announce Type: new Abstract: Humanoid robots have recently demonstrated promising capabilities in real-world ball sports. However, achieving …
Evidence-Gated Task and Motion Planning with Vision-Language Models
arXiv:2608.20084v1 Announce Type: new Abstract: Robots executing long-horizon manipulation tasks from natural-language instructions must reason about both seman…
GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulation
arXiv:2608.19759v1 Announce Type: new Abstract: Multifingered grasping is a crucial robotic skill, but current deep-learning grasp planners often struggle to ge…
SAGE: Ergodic Control for Autonomous and Adaptive Inspection of Subsea Infrastructure
arXiv:2608.19671v1 Announce Type: new Abstract: Subsea Christmas Trees (XTs) are underwater structures that use valves for directing oil flow, needing constant …
Magnetically Self-Sealed MR Haptic Actuator With PWM-Based Excitation and High-Fidelity Torque Control
arXiv:2608.19635v1 Announce Type: new Abstract: Accurate and stable torque rendering is essential for safe and perceptive human--machine interaction. Magnetorhe…
What Matters for Latent Actions in Robot Learning
arXiv:2608.19613v1 Announce Type: new Abstract: Latent Action Models (LAMs) have emerged as a promising paradigm for enabling robot learning to leverage large-s…
The Missing Touch: Spatially Distributed Tactile Feedback Brings Teleoperation Closer to Human Dexterity
arXiv:2608.19372v1 Announce Type: new Abstract: A fundamental challenge in robotic teleoperation is enabling an operator to control a remote robot as effortless…
SCAPE: Scenario-Conditioned Simulation-Augmented Policy Evaluation
arXiv:2608.19425v1 Announce Type: new Abstract: Reliable performance evaluation is a central bottleneck for deploying robot-learning policies in real-world cond…
The Verification Gap in Networked Physical AI: A Post-Semantic Communication Framework
arXiv:2608.19593v1 Announce Type: new Abstract: A task-effective proposal is not yet a justified physical action. In networked Physical AI, a proposal may be un…
OrthoSkillVLA: Continual Skill Learning via Gradient-Informed Skill Subspace Adaptation
arXiv:2608.19589v1 Announce Type: new Abstract: Pretrained Vision-Language-Action models provide a strong foundation for robot learning, but sequentially adapti…
HiTac-WAM: A Hierarchical Tactile World Action Model for Contact-Rich Robot Manipulation
arXiv:2608.19574v1 Announce Type: new Abstract: World action models jointly predict future visual observations and actions, whereas existing tactile-aware varia…