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 storiesLearning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints
arXiv:2607.07136v1 Announce Type: new Abstract: This paper presents a Spatiotemporal Tube (STT)-based control framework for general unknown nonlinear Euler-Lagr…
HiMoE-VLA: Hierarchical Mixture-of-Experts for Generalist Vision-Language-Action Policies
arXiv:2512.05693v2 Announce Type: replace Abstract: Generalist vision--language--action (VLA) policies are typically trained on heterogeneous mixtures of robot …
HumAIN: Human-Aware Implicit Social Robot Navigation
arXiv:2607.07357v1 Announce Type: new Abstract: Effective social robot navigation requires sensitivity to human behavior, often revealed through subtle skeletal…
SPECTRA: Context-Conditioned Spectral Movement Primitives for Robot Skill Generalization
arXiv:2607.06978v1 Announce Type: new Abstract: Robot imitation learning for manipulation should preserve demonstrated task geometry while producing dynamically…
Initiation Safety: A Missing Dimension in Generalist-Robot Safety
arXiv:2607.07420v1 Announce Type: new Abstract: Safety for generalist robots is usually discussed in terms of motion or dialogue. We argue a third question is m…
GeoProp: Grounding Robot State in Vision for Generalist Manipulation
arXiv:2607.07101v1 Announce Type: new Abstract: Proprioception is fundamental to robotic manipulation, yet standard fusion methods often treat it as an isolated…
Context-Aware Force Estimation for Deformable Tool Manipulation in Robotic Environmental Swabbing via Few-Shot Continual Adaptation
arXiv:2607.07574v1 Announce Type: new Abstract: Robotic surface swabbing requires sustained interaction between a compliant tool and heterogeneous environments,…
SPEAR: A Simulator for Photorealistic Embodied AI Research
arXiv:2607.06701v1 Announce Type: cross Abstract: Interactive simulators have become powerful tools for training embodied agents and generating synthetic visual…
GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation
arXiv:2602.18164v3 Announce Type: replace Abstract: Accurate state estimation and multi-modal perception are prerequisites for autonomous legged robots in compl…
RoboLight: A Dataset with Linearly Composable Illumination for Robotic Manipulation
arXiv:2603.04249v2 Announce Type: replace Abstract: In this paper, we introduce RoboLight, the first real-world robotic manipulation dataset capturing synchroni…
Validate the Dream Before You Trust Its Verdict: Admissibility for World-Model Simulators
arXiv:2607.07196v1 Announce Type: new Abstract: Across robotics, World Models (WMs) are increasingly used to evaluate action policies by simulating the conseque…
Let the Dynamics Flow: Stable Flow Matching Dynamical Systems
arXiv:2606.03834v2 Announce Type: replace Abstract: Flow matching has recently emerged as a powerful approach for imitation learning, enabling scalable, express…
Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report
arXiv:2607.07370v1 Announce Type: new Abstract: In embodied intelligence systems, the motion controller serves as the critical bridge between semantic reasoning…
Residual-Conservative Model Predictive Path Integral Control
arXiv:2607.06950v1 Announce Type: cross Abstract: Sampling-based model predictive control methods handle nonlinear dynamics and complex cost landscapes through …
LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenes
arXiv:2508.16943v3 Announce Type: replace Abstract: Physics-based human motion control can make a simulated character walk, sit, and manipulate objects with hig…
G-PROBE: Cross-FOV Place Recognition and Certainty-Coupled Localization for 3D Point Clouds
arXiv:2607.06782v1 Announce Type: new Abstract: Global localization from 3D point clouds remains challenging under limited or asymmetric fields of view (FOV), w…
CaLiSym: Learning Symplectic Dynamics of Real-World Systems through Structured Canonical Lifts
arXiv:2607.06824v1 Announce Type: new Abstract: Physics-informed learning promises data-efficient and stable dynamics prediction, yet its strongest geometric gu…
RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation
arXiv:2607.06699v1 Announce Type: new Abstract: Recovering real-world scenes as interactive simulation environments can enable generalizable robot learning and …
NativeMEM: Native Memory Compression for Long-Horizon Robotic Manipulation
arXiv:2607.06678v1 Announce Type: new Abstract: How can pretrained Vision-Language-Action (VLA) models retain long-horizon visual histories with high-frequency …
Latent Policy Steering through One-Step Flow Policies
arXiv:2603.05296v2 Announce Type: replace Abstract: Offline reinforcement learning (RL) allows robots to learn from offline datasets without risky exploration. …
Rapidly Learning Soft Robot Control via Implicit Time-Stepping
arXiv:2511.06667v2 Announce Type: replace Abstract: With the explosive growth of rigid-body simulators, policy learning in simulation has become the de facto st…
Ace! Motion Planning of Professional-Level Table Tennis Serves with a Robot Arm
arXiv:2607.06989v1 Announce Type: new Abstract: Table tennis, a dynamic, compact, and popular sport, has received significant attention as a robotics benchmark …
Programmable Synchronization Graphs for Adaptive and Fault-Tolerant Modular Miniature Robots
arXiv:2607.07281v1 Announce Type: new Abstract: Modular miniature robots could provide scalable function in constrained environments, but coordinating many impe…
EvoPlan: Evolutionary Neuro-Symbolic Robot Planning with Spatio-Temporal Guarantees
arXiv:2607.06724v1 Announce Type: new Abstract: LLM-based robot planners are fluent but cannot guarantee that their plans are executable or safe. Classical PDDL…
Immersive Social Interaction with VR and LLM-Assisted Humanoids
arXiv:2607.07430v1 Announce Type: new Abstract: Humanoid robots can extend human presence to remote, constrained, or hazardous environments, but existing teleop…
Vision Language Action (VLA) Models for Unmanned Aerial Robotics and Bimanual Manipulation: A Review
arXiv:2607.06706v1 Announce Type: new Abstract: Vision Language Action (VLA) models unify visual perception, natural-language understanding, and action generati…
Multimodal Voice Activity Projection for Turn-Taking in Social Robots with Voice-Activity-Related Pretrained Encoders
arXiv:2607.07294v1 Announce Type: new Abstract: Turn-taking prediction is a key requirement for social robots involved in human-human interaction, particularly …
Dynamic Object Detection and Tracking in Construction: A Fisheye Camera and LiDAR Sensor Fusion Model
arXiv:2607.06896v1 Announce Type: new Abstract: Robust dynamic object detection and tracking are essential for enabling robots to operate safely and effectively…
Event-Centric World Modeling with Memory-Augmented Retrieval for Embodied Decision-Making
arXiv:2604.07392v3 Announce Type: replace-cross Abstract: Autonomous agents operating in dynamic environments increasingly demand decision-making systems that a…
BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
arXiv:2605.03452v2 Announce Type: replace Abstract: High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body b…