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 storiesWorld Models as Adversaries: Multi-Agent Self-Play Fine-Tuning for Robust Motion Planning
arXiv:2607.10630v1 Announce Type: new Abstract: Robust motion planning in dense traffic requires autonomous vehicles to interact in rare and safety-critical sce…
Robust Fleet Sizing for Multi-UAV Inspection Missions under Synchronized Replacement Demand
arXiv:2604.15890v2 Announce Type: replace Abstract: Multi-UAV inspection missions require spare drones to replace active drones during recharging cycles. Existi…
ABot-N1: Toward a General Visual Language Navigation Foundation Model
arXiv:2607.10383v1 Announce Type: cross Abstract: Visual Language Navigation foundation models aim to unify deep reasoning for grounded spatial decisions with b…
A Model for Mediating Multi-Modal Human Intent into Safe Maneuvers for UAVs
arXiv:2607.11654v1 Announce Type: new Abstract: Direct human interaction with autonomous UAV systems can be enabled through modalities such as speech, gestures,…
Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments
arXiv:2607.10437v1 Announce Type: new Abstract: Multi-object search in unknown household environments requires planning under extensive uncertainty - from unkno…
VINE: Taming Generative Control Policies for Reinforcement Learning
arXiv:2607.10369v1 Announce Type: new Abstract: Flow-matching policies have emerged as an effective policy parameterization for robot learning. They iteratively…
Trajectory Planning and Certification for 3-DOF Robot Manipulators Using Real Quantifier Elimination Based on Comprehensive Gr\"obner Systems
arXiv:2607.11657v1 Announce Type: new Abstract: We propose an algorithm and its implementation for trajectory planning and certification for 3-DOF robot manipul…
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
arXiv:2605.19029v2 Announce Type: replace Abstract: Reliable robotic manipulation requires control policies that can accurately represent and adapt to uncertain…
A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation
arXiv:2607.11874v1 Announce Type: new Abstract: Recent work in humanoid whole-body control has found success with a simple recipe: retarget human motion to robo…
LLM-Centric Agentic AI for UAV Swarms: Architecture, Enabling Technologies, and Open Problems
arXiv:2607.09756v1 Announce Type: new Abstract: Uncrewed Aerial Vehicle (UAV) swarms have significant potential for applications such as Search and Rescue (SAR)…
ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat
arXiv:2512.09656v2 Announce Type: replace Abstract: Reactive control can gracefully coordinate the motion of the base and the arm of a mobile manipulator. Howev…
Casting Everything to Online API Services? A Survey of Integrating Localized Speech Recognition Models in Robotic Systems
arXiv:2607.11792v1 Announce Type: new Abstract: Automatic speech recognition (ASR) has become a critical component of modern robotic systems because it is one o…
Performance Characterization of Frequency-Selective Wireless Power Transfer Toward Scalable Untethered Magnetic Actuation
arXiv:2604.11645v2 Announce Type: replace-cross Abstract: Frequency-selective wireless power transfer provides a feasible route to enable independent actuation …
Effects of Robotic Touch on Older Users During Walking Guidance by a Humanoid Robot
arXiv:2607.09323v1 Announce Type: new Abstract: The shortage of healthcare staff is a challenge in geriatric care. To address this, robots can be integrated int…
SplatCtrl: Perception-Action Coupling via Gaussian Scene Representations and Reactive Robot Control
arXiv:2607.08948v1 Announce Type: new Abstract: Robotic manipulators excel in structured environments but face substantial challenges in unstructured and dynami…
Dec-MARVEL: Decentralized Multi-Agent Exploration without Communication under Budget Constraints
arXiv:2607.09060v1 Announce Type: new Abstract: Multi-UAV exploration is often constrained by unreliable communication, limited field-of-view sensing (e.g., lig…
Single-Frame Point-Pixel Registration via Supervised Cross-Modal Feature Matching
arXiv:2506.22784v2 Announce Type: replace-cross Abstract: Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging…
AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning
arXiv:2607.08857v1 Announce Type: new Abstract: Human egocentric video is a scalable supervision source for humanoid policy learning, but current pipelines stru…
Causally Debiased Latent Action Model for Embodied Action Conditioned World Models
arXiv:2607.09185v1 Announce Type: cross Abstract: Action-conditioned world models (ACWMs) aim to simulate future observations conditioned on embodied actions, o…
Task-Adaptive Design of Modular Aerial Manipulators Under Airflow Exposure Constraints
arXiv:2607.09548v1 Announce Type: new Abstract: Aerial manipulation with multirotor platforms enables physical interaction in complex environments, but rotor-in…
CoDiMAD: Diffusion-Based Privileged Distillation for Communication-Free Multi-Robot Coordination
arXiv:2607.09587v1 Announce Type: new Abstract: Decentralized multi-robot coordination under partial observability remains challenging, especially in communicat…
Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
arXiv:2607.09218v1 Announce Type: new Abstract: Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distribu…
BeyondSight: Object Permanence for End-to-End Autonomous Driving
arXiv:2607.09138v1 Announce Type: new Abstract: Autonomous driving operates in partially observable environments where actors may become fully occluded by other…
PAC-ACT: Post-training Actor-Critic for Action Chunking Transformers
arXiv:2607.09590v1 Announce Type: new Abstract: Precision industrial contact manipulation requires reliable robot policies under pose perturbations and contact-…
Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation
arXiv:2607.09455v1 Announce Type: cross Abstract: 3D scene graphs provide a hierarchical abstraction of environments by encoding spatial entities, such as objec…
Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces
arXiv:2405.03411v4 Announce Type: replace Abstract: Informed sampling techniques accelerate the convergence of sampling-based motion planners by biasing samplin…
SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation
arXiv:2510.27048v3 Announce Type: replace Abstract: In this work, we introduce SpikeATac, a multimodal tactile finger combining a taxelized and highly sensitive…
Adaptive MPPI with Online Disturbance Covariance Estimation: Provable Stability Tightening via Spatial Smoothing
arXiv:2607.08942v1 Announce Type: cross Abstract: We study Model Predictive Path Integral (MPPI) control for nonlinear systems with additive process disturbance…
Shortcut Trajectory Planning for Efficient Offline Reinforcement Learning
arXiv:2607.09336v1 Announce Type: cross Abstract: Diffusion-based trajectory planners have shown strong performance in offline reinforcement learning, but their…
DemoBridge: A Simulation-in-the-Loop Toolkit for Single-View Human Demonstration Retargeting
arXiv:2607.09519v1 Announce Type: new Abstract: We present DemoBridge, an toolkit that turns a single-view RGB stereo recording of a human hand demonstration in…