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 storiesCoastal Environment Generation with HoloOcean
arXiv:2609.10484v1 Announce Type: new Abstract: Marine robotic simulation provides a safe and inexpensive method of developing and testing algorithms for unmann…
Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints
arXiv:2609.09597v1 Announce Type: new Abstract: Accurate contact prediction is useful for robotic manipulation only if it supports effective decisions. We inves…
CT-SAFR: Safe and Interpretable Chain-of-Thought Reasoning for Autonomous Robots: A Multi-Layered Verification Framework for Trustworthy AI-Driven Robotic Decision Making
arXiv:2609.09692v1 Announce Type: new Abstract: Chain-of-Thought (CoT) prompting enables LLMs to perform explicit, step-by-step reasoning, creating opportunitie…
A Confidence-Aware Multimodal Fusion Framework for Industrial Human-Robot Collaboration
arXiv:2609.10339v1 Announce Type: new Abstract: A confidence-aware multimodal fusion framework (CAMF) is proposed to realize reliable human intention prediction…
AccelMPC: High-Rate, Low-Power FPGA-Accelerated Model Predictive Control for Tiny Drones
arXiv:2609.09380v1 Announce Type: new Abstract: Unlocking the potential of tiny aerial robots requires order of magnitude improvements in the performance of emb…
Show-Harness: Just a VLM Agent Can Play Robots
arXiv:2609.10522v1 Announce Type: new Abstract: Foundation vision-language models (VLMs) exhibit broad intelligence about the world, yet translating this intell…
DUET-DINO: Simultaneous Cross-View World Modeling for Latent Planning in Robot Manipulation
arXiv:2609.10506v1 Announce Type: new Abstract: Action-conditioned latent world models predict future visual representations, enabling zero-shot goal-conditione…
Odometer-Agnostic Drift Correction Using OpenStreetMap Lane Geometry
arXiv:2609.10336v1 Announce Type: new Abstract: Despite significant progress in odometry estimation, long-term drift remains a fundamental limitation of increme…
Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model
arXiv:2609.09213v1 Announce Type: new Abstract: We study how physical-state inputs affect a 0.8B hybrid language model adapted for manipulation with 6.2M traina…
A Decade of Bayesian Optimization for Controller Tuning and Robot Learning: Tutorial, Review, and Future Prospects
arXiv:2609.09403v1 Announce Type: new Abstract: In the past decade, Bayesian optimization (BO) has emerged as a powerful and adaptable framework for automatic c…
Actuator Dynamics Curricula for Narrow-Viability Tasks in Legged Robot Learning
arXiv:2609.09492v1 Announce Type: new Abstract: Reinforcement learning has produced capable controllers across a broad range of legged-robot tasks, but a subset…
Unthrottling the Tanh Jacobian in SAC: A Negative Result on Bang-Bang Control and MetaDrive
arXiv:2609.09478v1 Announce Type: cross Abstract: Soft Actor-Critic (SAC) represents a continuous policy as an unbounded Gaussian that is squashed by tanh. The …
InstantMimic: A High Performance System for Learning Physics-based Skills in Seconds
arXiv:2609.09821v1 Announce Type: cross Abstract: Physics-based character control is a long-standing challenge in computer graphics and robotics, requiring poli…
MuJoCable: Reduced-Order Surface-Routed Cable Transmission for Tendon-Driven Robots
arXiv:2609.09612v1 Announce Type: new Abstract: Tendon transmissions reduce distal inertia and add compliance, yet routing, slack, and friction govern motion an…
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
arXiv:2604.08508v3 Announce Type: replace Abstract: This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and he…
Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist
arXiv:2601.19275v2 Announce Type: replace Abstract: Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks…
Tracing Energy Flow: Learning Tactile-based Grasping Force Control to Reduce Slippage in Dynamic Object Interaction
arXiv:2512.21043v2 Announce Type: replace Abstract: Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challen…
RealSimLoop: Online Real-to-Sim Adaptation via Differentiable Reduced-Order Simulation with Vision Feedback
arXiv:2609.09828v1 Announce Type: cross Abstract: Real-world observations of deformable objects are often sparse or surface-level, while downstream tasks requir…
Why Learning Rediscovers the Closed-Form Diagonal Regularizer
arXiv:2609.09656v1 Announce Type: cross Abstract: We identify a diagonal saturation principle in modal inverse problems: when truncation noise is isotropic, the…
GTA-2: A Multi-VLM Framework for Synthesizing Robot Manipulation Skills via Grounded Task Axes
arXiv:2609.09808v1 Announce Type: new Abstract: Robotic manipulation tasks are often decomposed into behaviors or skills. However, one often needs to predefine …
Agentic AI-enabled Semantic Commissioning of a Cognitive Digital Twin for Reconfigurable Manufacturing
arXiv:2609.09503v1 Announce Type: new Abstract: Rapid bespoke commissioning of the Cognitive Digital Twin (CDT) is a major challenge in reconfigurable manufactu…
IMU-Centric Moving Horizon Estimation for Lateral Dynamics Estimation Across Vehicles and Grip Conditions
arXiv:2609.10202v1 Announce Type: cross Abstract: Accurate estimation of lateral vehicle dynamics near the adhesion limit is important for stability control and…
Posterior-driven Heuristic Support Adaptation in a Probabilistic Treatment of Real2Sim2Real for Vision-Driven Deformable Linear Object Manipulation
arXiv:2510.26656v4 Announce Type: replace Abstract: Likelihood-free inference (LFI) enables system identification in complex tasks via black-box modelling, abst…
Kino-PAX$^+$: Near-Optimal Massively Parallel Kinodynamic Sampling-based Motion Planner
arXiv:2602.02846v2 Announce Type: replace Abstract: Sampling-based motion planners (SBMPs) are widely used for robot motion planning with complex kinodynamic co…
A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications
arXiv:2603.25259v2 Announce Type: replace Abstract: Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent …
Fast Constraint Extraction for Corrective Control under STL Specifications via Logical Dependency Tracking
arXiv:2609.09439v1 Announce Type: cross Abstract: Ensuring the satisfaction of Signal Temporal Logic (STL) specifications under uncertainty is challenging, as r…
Decision-Focused Active Learning for Scale-Aware Critical-Materials Recovery
arXiv:2609.09413v1 Announce Type: cross Abstract: Choosing a recovery process for scale-up requires connecting laboratory results with product requirements, pro…
Networked Admissibility-Preserving Control for Directed Safe Coordination
arXiv:2609.09384v1 Announce Type: cross Abstract: This paper addresses safety-critical coordination for scalar agents whose distributed commands are implemented…
Frequency-Conditioned Flow Matching for Vision-Language-Action Models
arXiv:2609.10405v1 Announce Type: new Abstract: Robot actions are temporally correlated trajectories whose frequency components encode motion at different scale…
A traffic management system for large and heterogeneous vehicles in narrow industrial environments
arXiv:2609.10400v1 Announce Type: new Abstract: The coordination of Automated Guided Vehicles (AGVs) in high-density industrial environments represents a critic…