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 storiesGuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs
arXiv:2608.18292v1 Announce Type: new Abstract: Consider a robot guide dog escorting a blind user to an available seat while a second assistive robot dog concur…
Trust as a Field: A Macroscopic Representation for Vehicular Networks
arXiv:2608.18178v1 Announce Type: new Abstract: Trust assessment is a fundamental component of cooperative and connected vehicle systems. However, existing appr…
Orienteering Problem with Uncertain Time-Varying Rewards: Framework and Benchmark for Everyday Service Robotics
arXiv:2608.18672v1 Announce Type: new Abstract: We present the orienteering problem with uncertain time-varying rewards (OP-UTVR), a novel variant of the orient…
Engineering Psychological Safety in Autonomous Vehicles: A Systems-Theoretic Framework for Psychological Safety in Autonomous Vehicles and its Validation in Real-World Scenarios
arXiv:2608.18778v1 Announce Type: cross Abstract: Despite rapid technological advances, the societal acceptability of autonomous vehicles (AVs) remains limited …
Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference
arXiv:2603.28467v2 Announce Type: replace Abstract: Multi-Rotor Aerial Vehicles (MRAVs) are increasingly used in communication-dependent missions where connecti…
Reconstruction of continuum robots by marker-free shape registration of image data using a kinematic model
arXiv:2405.15336v2 Announce Type: replace Abstract: Continuum robots are slender, flexible manipulators that navigate confined, curved workspaces and are gainin…
The Role of Grid Cells in Reducing Spatial Aliasing in Hippocampal Place Representations
arXiv:2608.18569v1 Announce Type: cross Abstract: Spatial aliasing occurs when two or more distinct locations produce highly similar place-cell representations,…
Designing Social Robots for Social-Cognition Training with Autistic Adults
arXiv:2608.18488v1 Announce Type: cross Abstract: Social robots have been widely explored as tools for autism intervention, yet this literature has focused pred…
Multimodal Rapport Estimation in Real-World HRI
arXiv:2608.18401v1 Announce Type: cross Abstract: Evaluating interaction quality in real-world HRI is an important challenge. If interaction quality can be esti…
LT-Mem: Volatility-Aware Spatio-Temporal Memory for Lifelong Scene Understanding
arXiv:2608.19059v1 Announce Type: new Abstract: Long-term robot operation in evolving environments requires object-level understanding that persists across repe…
RoboEdit: Turning Human Manipulation Videos into Scalable Robot Experience
arXiv:2608.18948v1 Announce Type: new Abstract: Collecting robot hand-object interaction data is costly and embodiment-specific, yet abundant human-object video…
Dream2Reward: Transition-Alignment Reward Models from Positive Demonstrations for Robotic Manipulation
arXiv:2608.18787v1 Announce Type: new Abstract: Learning robotic policies requires dense rewards that remain informative when behavior departs from successful d…
Progressive Experience Fusion for Multi-Task World Model Control in Endovascular Navigation
arXiv:2608.18647v1 Announce Type: new Abstract: Autonomous endovascular navigation could support the delivery of mechanical thrombectomy to underserved areas, b…
LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories
arXiv:2608.18618v1 Announce Type: new Abstract: Autonomous laboratories hold great promise for accelerating scientific discovery. To achieve this vision, robots…
Transferable Tool-Tissue Contact Detection from Stereo Depth in Robot-Assisted Surgery
arXiv:2608.18270v1 Announce Type: new Abstract: Reliable tool--tissue contact detection can support interaction-aware control and downstream force estimation in…
GAPL: Grounded Action-effect Policy Learning for LLM-Based Trajectory Planning
arXiv:2608.18254v1 Announce Type: new Abstract: Trajectory planning for autonomous driving requires both high-level reasoning and precise low-level control. Lar…
Scheduling and Routing with Degradation-Triggered Job Arrivals: An Application to Forest Firefighting with an Unmanned Aerial Vehicle Fleet
arXiv:2608.18140v1 Announce Type: new Abstract: We define an intertwined scheduling and routing problem where new jobs appear due to the degradation of the exis…
Lambda-Hold Control: Human-Like Movement Emerges from a Minimal Task Reward in Predictive Musculoskeletal Simulation
arXiv:2608.17030v1 Announce Type: new Abstract: The massive overactuation in the human musculoskeletal system makes it challenging to train musculoskeletal mode…
Terrain-Aware Local Path Planning with Global DEM Data Integration for Autonomous UGV Navigation
arXiv:2608.17038v1 Announce Type: new Abstract: Autonomous navigation in complex outdoor terrains presents critical challenges for unmanned ground vehicles (UGV…
PDDL-ART: Autonomous Symbolic Abstraction From Demonstration For Long-Horizon Robotic Manipulation Using Vision-Language Models
arXiv:2608.17146v1 Announce Type: new Abstract: Symbolic planning with PDDL offers a principled framework for long-horizon robot manipulation, but constructing …
Robust Brachiation on a Life-Sized Dual-Arm Robot Using Waypoint-Guided Reinforcement Learning
arXiv:2608.17320v1 Announce Type: new Abstract: Brachiation is a form of locomotion in which primates move primarily using their arms, enabling traversal in env…
UniReflex: Plug-and-Play Force Control for Pretrained Generative Policies via Fast-Slow Reflex
arXiv:2608.17432v1 Announce Type: new Abstract: Generative imitation learning policies excel at trajectory planning but lack closed-loop force regulation, while…
Reuse Before You Retrieve: Diagnosing Headroom and Complementarity for Test-Time Augmentation of Embodied Multimodal Policies
arXiv:2608.17484v1 Announce Type: new Abstract: Frozen vision-language-action (VLA) policies are increasingly improved at test time by sampling additional polic…
Calibrated Predictive Safety for Heterogeneous Robots: An Action-Conditioned JEPA Framework with Model-Based Safety Shields
arXiv:2608.17496v1 Announce Type: new Abstract: Vision-language-action policies generalize broadly but provide no execution-time guarantees; classical model-bas…
HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction
arXiv:2608.17584v1 Announce Type: new Abstract: We propose HODAgent, a System-2 embodied agent for humanoid robots in service settings, addressing situated inte…
Collective Ranking of Environmental Signals through Gaussian Belief Propagation in a Patrolling Robot Swarm
arXiv:2608.17690v1 Announce Type: new Abstract: Multi-robot patrolling requires a team to visit all areas of an environment at regular intervals, typically mini…
Dijkstra as an Oracle for Online Stochastic Shortest Path Navigation with Provable Guarantees
arXiv:2608.17703v1 Announce Type: new Abstract: Mobile robots that operate in side by side with humans and critical facilities must reach their goals at low cos…
Effector-Centric NMPC of Tiltable-Multirotors for Offset-Free Omnidirectional Aerial Manipulation
arXiv:2608.17819v1 Announce Type: new Abstract: Aerial manipulation extends robotic operations to previously inaccessible aerial environments. Unlike arm-equipp…
ControlledShifts: Towards Standardizing Robustness Evaluation in Trajectory Prediction Under Distribution Shifts
arXiv:2608.17882v1 Announce Type: new Abstract: Trajectory prediction is central to safety in autonomous driving, yet learning-based predictors tend to degrade …
PRISM: Precision and contact-rich Real-world Industrial Skill dataset with Multimodal sensing
arXiv:2608.17962v1 Announce Type: new Abstract: Recent progress in robotic learning has been fueled by large-scale datasets collected in everyday environments. …