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 storiesIf, Then, Otherwise: Diagnosing Conditional Branching in Vision-Language Navigation
arXiv:2608.17318v1 Announce Type: cross Abstract: Vision-language navigation agents are often evaluated on their ability to follow route-like instructions towar…
Optimal control of a swimming robot based on Purcell's microswimmer model
arXiv:2608.17455v1 Announce Type: cross Abstract: Purcell's swimmer is a well-known planar model of a swimming microorganism, governed by low Reynolds number hy…
Communication Reduction via Semantic-Based Encoding in DMPC Using LSTMs
arXiv:2608.17592v1 Announce Type: cross Abstract: The communication demands of distributed model prediction control (DMPC) can overwhelm even advanced wireless …
Thinking in a Low-Resource Language: What SFT Builds, What RL Fixes, What Accuracy Cannot See
arXiv:2608.17744v1 Announce Type: cross Abstract: Take three frontier mixture-of-experts models (Alibaba, OpenAI, NVIDIA; 3.6-4.0B active parameters each) and f…
A Theoretical Framework for Parallel Lifelong MAPF Using Group Decentralized Planning
arXiv:2608.17928v1 Announce Type: cross Abstract: In the Lifelong Multi-Agent Path Finding (L-MAPF) problem, agents must repeatedly move from one destination to…
LoopVLA: Learning Sufficiency in Recurrent Refinement for Vision-Language-Action Models
arXiv:2605.09948v2 Announce Type: replace-cross Abstract: Current Vision-Language-Action (VLA) models typically treat the deepest representation of a vision-lan…
Towards Unified World Models for Visual Navigation via Memory-Augmented Planning and Foresight
arXiv:2510.08713v3 Announce Type: replace-cross Abstract: Enabling embodied agents to imagine future states is essential for robust and generalizable visual nav…
Efficient Dynamic Shielding for Parametric Safety Specifications
arXiv:2505.22104v2 Announce Type: replace-cross Abstract: Shielding has emerged as a promising approach for ensuring safety of AI-controlled autonomous systems.…
HA-VLN 2.0: An Open Benchmark and Leaderboard for Human-Aware Navigation in Discrete and Continuous Environments with Dynamic Multi-Human Interactions
arXiv:2503.14229v5 Announce Type: replace-cross Abstract: Vision-and-Language Navigation (VLN) has been studied mainly in either discrete or continuous spaces, …
EXPO-FT: Sample-Efficient Reinforcement Learning Finetuning for Vision-Language-Action Models
arXiv:2605.25477v2 Announce Type: replace Abstract: The ability to efficiently and reliably learn new tasks has been a foundational challenge in robotics. Visio…
KAN We Flow? Advancing Robotic Manipulation with 3D Flow Matching via KAN & RWKV
arXiv:2602.01115v3 Announce Type: replace Abstract: Diffusion-based visuomotor policies excel at modeling action distributions but are inference-inefficient, si…
PROBE: Manipulation-Grounded Visual Question Answering with VLM Agents
arXiv:2608.17129v1 Announce Type: cross Abstract: Vision-language Models (VLMs) excel at 2D grounding, spatial reasoning and agentic tool-based planning in stat…
Multi-Observer Vehicle Localization Case Study with Roadside Radar and Connected Vehicle Sensing
arXiv:2608.16966v1 Announce Type: cross Abstract: In modern intelligent transportation systems, it is essential to accurately estimate vehicle positions, especi…
Jetson-ORB-SLAM3: Accuracy-Preserving GPU Implementation for Edge Computing Devices
arXiv:2608.17874v1 Announce Type: new Abstract: Visual-inertial SLAM on low-power edge platforms is constrained by the cost of dense feature extraction and loop…
Stability Control for Real World Testing in Autonomous Racing
arXiv:2608.17779v1 Announce Type: new Abstract: Controlling an autonomous vehicle at the limits of handling is a challenging task. Due to external influences, s…
OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects
arXiv:2608.17633v1 Announce Type: new Abstract: Integrating open-vocabulary perception into object-level 3D scene graphs is a double-edged sword. While vision-l…
Iterative Grasp Pose Refinement: A Deep Reinforcement Learning Approach for 2D Vision
arXiv:2608.17628v1 Announce Type: new Abstract: Developing robots capable of understanding and manipulating objects requires compact, interpretable, and general…
Physics-Informed Sliding-Window Particle Filtering for Tactile-Only In-Hand 6-DoF Object Pose Refinement
arXiv:2608.17601v1 Announce Type: new Abstract: This paper studies tactile-only 6-DoF pose refinement and belief maintenance for grasped objects in static and s…
LIBERO-VIFO: Benchmarking the Capability and Safety of Visual Cue Following in Vision-Language-Action Models
arXiv:2608.17600v1 Announce Type: new Abstract: Visual cues are increasingly adopted to guide robot learning, but whether Vision-Language-Action (VLA) models ca…
Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM
arXiv:2608.17553v1 Announce Type: new Abstract: Cameras are ubiquitous sensors in robotics due to their compact form factor and the perceptual richness captured…
Embodied-Navigator: Point, Think, Memorize, and Align for Efficient Navigation
arXiv:2608.17512v1 Announce Type: new Abstract: Although Large Vision-Language Models (VLMs) have significantly advanced embodied navigation, their direct deplo…
EATR-Stereo: Embodiment-Aware Routing of Paired Stereo Evidence for Humanoid Vision-Language-Action Control
arXiv:2608.17453v1 Announce Type: new Abstract: Long-horizon humanoid vision--language--action (VLA) control with head-mounted stereo cameras requires visual in…
Prism-GRPO: Faster VLA Policy Optimization via Splitting Same-outcome Groups
arXiv:2608.17423v1 Announce Type: new Abstract: GRPO is increasingly used for reinforcement learning of vision-language-action (VLA) policies because, unlike PP…
Bi-Layer Ant Colony Optimization for Multi-Robot Task Allocation and Routing in Delivery Applications
arXiv:2608.17416v1 Announce Type: new Abstract: This paper addresses the multi-robot task allocation (MRTA) problem, which is essential for delivery and logisti…
ORPA: Online Residual Policy Adaptation for Robot Manipulation Control with Human Feedback
arXiv:2608.17323v1 Announce Type: new Abstract: Robotic manipulation policies trained via imitation learning, such as Action Chunking with Transformers (ACT), c…
MANIGUARD: A Benchmark and Data Suite for Specification-Grounded Safety Evaluation and Improvement of Robotic Manipulation
arXiv:2608.17386v1 Announce Type: new Abstract: Foundation-model policies for robotic manipulation are advancing rapidly on task success, but rigorous evaluatio…
Teach and Grow: An Agent-Centered Architecture for General Robot Learning
arXiv:2608.17209v1 Announce Type: new Abstract: End-to-end vision-language-action (VLA) and world-action models offer an elegant route to general-purpose roboti…
VLCP: Vision Language Control Policy Closed-Loop Code Replanning for Robot Manipulation
arXiv:2608.16978v1 Announce Type: new Abstract: Turning a frontier vision-language model into a robot policy usually means fine-tuning it to emit an action repr…
Symmetry-Breaking in Multi-Agent Navigation: Winding Number-Aware MPC with a Learned Topological Strategy
arXiv:2511.15239v3 Announce Type: replace Abstract: In decentralized multi-agent navigation, agents that independently compute their controls without communicat…
Parallel Branch Model Predictive Control on GPUs
arXiv:2506.13624v2 Announce Type: replace-cross Abstract: We present a GPU-based solver for trajectory planning problems using branch Model Predictive Control. …