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 storiesMultimodal Trajectory Planning for Surface Vehicles using Turning Circle-based Control Barrier Functions
arXiv:2608.19537v1 Announce Type: new Abstract: This paper presents a guide path-free multimodal trajectory planning framework for autonomous surface vehicles o…
When Automata Meet Streams: Temporal Logic Compilation for Stream-Based Robotics Task and Motion Planning
arXiv:2608.19453v1 Announce Type: new Abstract: Stream-based robotics Task and Motion Planning (TAMP) integrates discrete symbolic planning with dynamically gen…
Learning the Right Abstraction: Neural Reduced Dynamics for Complex Robot Control
arXiv:2608.19375v1 Announce Type: new Abstract: High-fidelity embodied AI simulators provide realistic evaluation of complex robotic systems, but their computat…
Revisiting the "Push-T" Robot Manipulation Task with Agentic Robotics
arXiv:2608.18227v1 Announce Type: new Abstract: Push-T is an iconic benchmark for learning manipulation policies from human demonstrations. The robot must use a…
GigaBrain-WBC-0.5: A Behavior World Model for Robust Whole-Body Control with Environment Interaction
arXiv:2608.18234v1 Announce Type: new Abstract: Whole-body motion tracking policies turn a humanoid into a robust control interface: the teleoperator---or an up…
VERAGMIL: Virtual Environment for Scooping Granular Foods with Imitation Learning Models
arXiv:2608.18258v1 Announce Type: new Abstract: Robot-Assisted Feeding (RAF) systems are essential for assisting individuals with disabilities or motor impairme…
A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits
arXiv:2608.18364v1 Announce Type: new Abstract: Pneumatic artificial muscles have provided new opportunities to develop upper-extremity soft exosuits for reha- …
Backward Layout Search for Sequence-Constrained Robotic Assembly
arXiv:2608.18454v1 Announce Type: new Abstract: Robotic assembly layout planning must determine the assembly site and the initial pose of each part while ensuri…
Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots
arXiv:2608.18552v1 Announce Type: new Abstract: This paper presents a real-time control-constrained Differential Dynamic Programming (DDP) framework for underac…
Evaluation of Monocular SLAM Systems on High-Altitude Nadir UAV Footage
arXiv:2608.18632v1 Announce Type: new Abstract: Aerial nadir video combines weak geometric constraints with severe perceptual aliasing, making it a difficult re…
SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation
arXiv:2608.18701v1 Announce Type: new Abstract: Physical interaction quality is central to deformable-object manipulation, yet most benchmarks evaluate task suc…
Beyond Placement and Articulation: Usage-Driven Code Scenes for Embodied Interaction
arXiv:2608.18840v1 Announce Type: new Abstract: Indoor scene synthesis provides essential environments for embodied AI, robotic manipulation, and simulation-bas…
Autonomous Agricultural Tractor: Integrated Weed Detection and LiDAR Navigation for Precision Paddy Farming
arXiv:2608.19004v1 Announce Type: new Abstract: Site-specific weed management in paddy farming offers substantial reductions in herbicide use over conventional …
A Metamorphic Artificial Age Score Decision-Support Prototype for Flight-Log-Based Drone Propeller Health Monitoring
arXiv:2608.18088v1 Announce Type: cross Abstract: Drone propeller faults can create safety and reliability risks when their effects are distributed across multi…
Zero-Shot Transfer of Force Map Estimation Across GelSight Mini Sensors
arXiv:2608.18240v1 Announce Type: cross Abstract: Despite the rapid industrialization of the touch sensor manufacturing process, most of these sensors are still…
Reproducible Multimodal Affordance Prediction
arXiv:2608.18317v1 Announce Type: cross Abstract: Affordance prediction is the identification of potential actions an agent can perform on a target object from …
Payload Swing Estimation and Damping Without Payload Parameters for Multirotor UAVs
arXiv:2608.18625v1 Announce Type: cross Abstract: Cable-suspended payload transport by multirotor UAVs is flexible but generates periodic swing disturbance that…
Dynamic SpectraFormer for Ultra-High-Definition Underwater Image Enhancement
arXiv:2608.18662v1 Announce Type: cross Abstract: Underwater images suffer from color distortion, haze, and poor visibility due to light refraction and absorpti…
To Go Far, Go Together: Diverse Preferences Induce a Curriculum for Reward Optimization
arXiv:2608.18770v1 Announce Type: cross Abstract: Learning a reward model from human feedback and optimizing a policy against it is one approach to aligning AI …
Counterfactual Behavior Cloning: Offline Imitation Learning from Imperfect Human Demonstrations
arXiv:2505.10760v2 Announce Type: replace Abstract: Learning from humans is challenging because people are imperfect teachers. When everyday humans show the rob…
Personalized Autonomous Driving via Optimal Control with Clearance Constraints from Questionnaires
arXiv:2602.08326v2 Announce Type: replace Abstract: Driving without considering the preferred separation distance from surrounding vehicles may cause discomfort…
WESPR: Wind-adaptive Energy-Efficient Safe Perception & Planning for Robust Flight with Quadrotors
arXiv:2603.09194v2 Announce Type: replace Abstract: Local wind conditions strongly influence drone performance: headwinds increase flight time, crosswinds and w…
SmoCap: Movement Reconstruction under Morphology-Pose Ambiguity through Unified Scale-Pose Canonicalization
arXiv:2605.20850v2 Announce Type: replace Abstract: Movement reconstruction pipelines need estimates that support interpretable joint motion and subject morphol…
PartialBiGrasp: Inferring Hidden Local Geometry for Bimanual Grasping from Partial Views
arXiv:2608.19188v1 Announce Type: new Abstract: Dual-arm robotic grasping is essential for manipulating large, heavy, and geometrically complex objects that can…
ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning
arXiv:2608.19182v1 Announce Type: new Abstract: We introduce Accelerating Dexterity via Pre-Training (ADEPT), a large-scale reinforcement learning (RL) framewor…
DA-WAM: Decision-Aligned Future Latents for Driving World Models
arXiv:2608.19085v1 Announce Type: new Abstract: Anticipating how scenes evolve under ego actions is fundamental to safe autonomous driving, yet the full potenti…
An Experimental Study of Downwash Effects on a Continuum Manipulator Integrated with a Multirotor UAV
arXiv:2608.18507v1 Announce Type: new Abstract: Continuum arm aerial manipulation systems leverage soft-manipulator compliance and dexterity for tasks in confin…
DevGRU: Depth-guided Visual Navigation using a Collision-aware Recurrent Model
arXiv:2608.18470v1 Announce Type: new Abstract: Existing visual navigation models often aim to develop foundation models that can generalize robot navigation ac…
HarvestPoint-ACT: Explicit Target Selection and Harvest-Point Conditioning for Robotic Fruit Harvesting under Occlusion
arXiv:2608.18446v1 Announce Type: new Abstract: End-to-end imitation learning avoids hand-made robot motion for approaching and grasping, but the policy must st…
The Embodiment Gap in Robot Foundation Models
arXiv:2608.18433v1 Announce Type: new Abstract: Robot foundation models (RFMs), including vision-language-action (VLA) policies, are often discussed through a s…