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 storiesPlanning-aligned Token Compression for Long-Context Autonomous Driving
arXiv:2606.07464v2 Announce Type: replace Abstract: Monolithic vision-action models represent an emerging paradigm in autonomous driving. However, this architec…
Bootstrap Dynamic-Aware 3D Visual Representation for Scalable Robot Learning
arXiv:2512.00074v4 Announce Type: replace Abstract: Despite strong results on recognition and segmentation, current 3D visual pre-training methods often underpe…
A Diffusion-Refined Planner with Reinforcement Learning Priors for Confined-Space Parking
arXiv:2510.14000v2 Announce Type: replace Abstract: The growing demand for parking has increased the need for automated parking planning methods that can operat…
Visual Prompting for Robotic Manipulation with Annotation-Guided Pick-and-Place Using ACT
arXiv:2508.08748v2 Announce Type: replace Abstract: Robotic pick-and-place tasks in convenience stores pose challenges due to dense object arrangements, occlusi…
ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation
arXiv:2406.01586v4 Announce Type: replace Abstract: Diffusion models have been verified to be effective in generating complex distributions from natural images …
Training with synthetic data for drone detection in thermal imagery
arXiv:2608.17799v1 Announce Type: cross Abstract: Ground-to-Air (G2A) drone detection in medium- and long-wave infrared (MWIR/LWIR) imagery is challenging due t…
Repetition as Reinforcement: Enhancing Sample Efficiency via Instant Episode Repetition in Reinforcement Learning
arXiv:2608.17347v1 Announce Type: cross Abstract: Repetition is a fundamental mechanism in human learning, where revisiting successful experiences strengthens m…
Hydra-0: Action Flow for Generalist World Modeling and Control
arXiv:2608.18077v1 Announce Type: new Abstract: We introduce Hydra-0, a generalist world model conditioned on action flow, which represents robot actions as pix…
CompCPZ: Preserving Multi-Modal Intent in Language-Guided Robot Manipulation
arXiv:2608.17717v1 Announce Type: new Abstract: A robot asked to "place the cup near the red plate or the blue plate" may reach the centroid between them and ap…
Force-Based Offset Estimation for Keyed Peg-in-Hole Assembly Using Local Gaussian Process Regression
arXiv:2608.17691v1 Announce Type: new Abstract: Key-keyway assembly tasks impose strict geometric constraints and are highly sensitive to grasp pose deviations …
tinyDSM: A Framework for Skill Modeling and Development for Resource-Constrained Millirobots
arXiv:2608.17596v1 Announce Type: new Abstract: In this study, we investigate developmental mechanisms that enable small, resource-constrained systems such as c…
Reconfiguration-Complete Motion Primitives with Constructive Planning for Deformable Planar Modular Robots
arXiv:2608.17324v1 Announce Type: new Abstract: The continuously deformable geometry of modular robots makes it difficult to define a fixed representation for r…
FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences
arXiv:2608.17027v1 Announce Type: new Abstract: Visual loco-manipulation policies that can generalize to novel scenes and objects have long been a goal of robot…
SpotlessGS: Relightable 3D Gaussian Splatting under Dynamic Illumination for Robotic Perception
arXiv:2608.14713v1 Announce Type: new Abstract: Robots operating in dark or poorly lit environments rely on onboard lights, which often produce uneven illuminat…
Imagining Recovery: Inference-Time Counterfactual Realignment for Vision-Language-Action Models
arXiv:2608.14822v1 Announce Type: new Abstract: Vision-language-action (VLA) models have improved the flexibility and generality of robotic manipulation, yet th…
Real-time Estimator of Actuator Control and Health (REACH) on an Eel-Inspired Soft Robot
arXiv:2608.14865v1 Announce Type: new Abstract: An actuator health estimation algorithm for a soft swimming robot that can perform anguilliform swimming is deve…
GaussMemory: Task-Driven 3D Gaussian Scene Memory for Long-Horizon Robotic Manipulation
arXiv:2608.14986v1 Announce Type: new Abstract: Long-horizon robotic manipulation fundamentally relies on persistent spatial memory. However, existing 3D memory…
NPU Offloading of a Frozen Visual Encoder for Robot Policy Training
arXiv:2608.15002v1 Announce Type: new Abstract: When a robot policy is trained for a new task or dataset, its visual encoder can be frozen and only its action g…
LAPF: LLM-Agent-Based Path Finder Using the UAVScenes Dataset
arXiv:2608.15175v1 Announce Type: new Abstract: Uncrewed aerial vehicles (UAVs) are increasingly deployed for autonomous navigation in complex outdoor environme…
PhaseLoRA: Control-Regime-Conditioned Low-Rank Adaptation for Continuous-Action Vision-Language-Action Policies
arXiv:2608.15285v1 Announce Type: new Abstract: Parameter-efficient fine-tuning (PEFT) is a natural way to adapt pretrained vision-language-action (VLA) policie…
MM-BEV: Enhancing Timeliness by Computing Where and When it Matters
arXiv:2608.15437v1 Announce Type: new Abstract: Multimodal bird's-eye-view (BEV) perception combines LiDAR depth accuracy with dense camera semantics, but its h…
Accelerating Mixed Discrete-Continuous Motion Planning via Neural Graphs of Convex Sets
arXiv:2608.15440v1 Announce Type: new Abstract: Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formul…
Vision-Based Tactile Intelligence for Robotics: Sensing, Learning, and Embodied Manipulation
arXiv:2608.15490v1 Announce Type: new Abstract: Tactile sensing is essential for robots in contact-rich tasks, yet many tactile sensors still provide sparse, lo…
Degenerate in Whose Frame? An Equivariance Condition for Degeneracy Detection in LiDAR Registration
arXiv:2608.15532v1 Announce Type: new Abstract: Degeneracy detectors for LiDAR registration commonly return six per-axis binary labels. We ask whether these lab…
ReForce: Learning Force-aware Retargeting for Dexterous Manipulation
arXiv:2608.15560v1 Announce Type: new Abstract: Human demonstrations offer a scalable data source for dexterous manipulation, but transferring them to robot act…
Not All History Helps: Velocity-Aware Selective Memory for Long-Horizon End-to-End Autonomous Driving
arXiv:2608.15573v1 Announce Type: new Abstract: Reliable long-horizon planning remains a key challenge in end-to-end autonomous driving. By accounting for futur…
GAINS: Leveraging Inconsistent Human Intervention Signals in Reinforcement Learning
arXiv:2608.15707v1 Announce Type: new Abstract: Correcting robot manipulation policies through human intervention holds great promise for real-world deployment,…
Some Modifications to Our End-to-End UAV Planner
arXiv:2608.15741v1 Announce Type: new Abstract: The one-stage planner YOPO maps a single depth image and the robot state directly to a set of candidate trajecto…
Making two action heads agree: coordination mechanisms and a runtime collapse certificate for flow-matching policies
arXiv:2608.15748v1 Announce Type: new Abstract: A dual-representation flow-matching policy decodes each predicted motion into joint and end-effector spaces, and…
Reliable Piezoresistive Strain Sensing Through Physical Limits and Uncertainty Monitoring
arXiv:2608.15784v1 Announce Type: new Abstract: Soft piezoresistive strain sensors are one of the most common sensing solutions for wearable and soft robotic ap…