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 storiesShared Modular Recurrence in Contextual MDPs for Universal Morphology Control
arXiv:2506.08630v3 Announce Type: replace-cross Abstract: A universal controller for any robot morphology would greatly improve computational and data efficienc…
Preference-Calibrated Human-in-the-Loop Reinforcement Learning for Robotic Manipulation
arXiv:2606.03949v2 Announce Type: replace Abstract: Human-in-the-loop reinforcement learning (HIL-RL) improves sample efficiency in real-robot manipulation thro…
RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperation
arXiv:2607.06558v1 Announce Type: new Abstract: Scaling robot learning requires massive, diverse trajectory data, yet collection is currently bottlenecked by ph…
Learning to Throw Objects Safely in Multi-Obstacle Environments
arXiv:2607.06388v1 Announce Type: new Abstract: Robotic throwing enables fast and efficient object placement beyond the robot's immediate workspace, but reliabl…
Training-Free Acceleration for Vision-Language-Action Models with Action Caching and Refinement
arXiv:2607.06370v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have emerged as a promising approach for generalizable robotic manipulations…
Quaternion-Averaging-Based Adaptive Complementary Filter for Pedestrian Dead Reckoning With a Foot-Mounted AHRS
arXiv:2607.05451v1 Announce Type: new Abstract: Pedestrian Dead Reckoning (PDR) can be applied to indoor navigation systems. GPS suffers from signal degradation…
MP-MPPI: A Motion Primitive Guided Sampling-Based Optimizer for Model Predictive Control
arXiv:2607.06123v1 Announce Type: new Abstract: This paper proposes a novel method that extends the Model Predictive Path Integral (MPPI) method with motion pri…
$\pi_0$-EqM: Equilibrium Matching for Closed-Loop Vision-Language-Action Control
arXiv:2605.23128v2 Announce Type: replace Abstract: Currently, Vision-Language-Action (VLA) models have become the most adopted paradigm for robotic manipulatio…
Geometry-Aware Infrastructure-Anchored Denoiser for UWB Sensing and Work-Zone Reconstruction
arXiv:2607.05449v1 Announce Type: cross Abstract: Accurate work-zone geometry perception is critical for intelligent transportation systems, and ultra-wideband …
O3N: Omnidirectional Open-Vocabulary Occupancy Prediction
arXiv:2603.12144v2 Announce Type: replace-cross Abstract: Understanding and reconstructing the 3D world through omnidirectional perception is becoming increasin…
Choose What to Observe: Task-Aware Semantic-Geometric Representations for Visuomotor Policy
arXiv:2603.07875v2 Announce Type: replace Abstract: Visuomotor policies learned from demonstrations often overfit to nuisance visual factors in raw RGB observat…
Learning 4D Geometric Priors for Inference-Efficient World Action Models
arXiv:2607.05468v1 Announce Type: new Abstract: World Action Models (WAMs) have shown strong potential for robotic manipulation by jointly modeling visual futur…
Thor: Towards Human-Level Whole-Body Reactions for Intense Contact-Rich Environments
arXiv:2510.26280v3 Announce Type: replace Abstract: Humanoids hold great potential for service, industrial, and rescue applications, in which robots must sustai…
Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning
arXiv:2607.06501v1 Announce Type: new Abstract: We consider an open-world planning setting in which service robots must operate in unknown environments with inc…
Delay-Aware Active Triangulation with Uncertainty-Driven Multi-Agent Reinforcement Learning for Counter-UAS
arXiv:2607.05957v1 Announce Type: new Abstract: Multi-agent active visual triangulation enables precise 3D localization of aerial targets by coordinating mobile…
Diagnosing Semantic Handoff Failures in Agent-Orchestrated Vision-Language-Action Skill Composition
arXiv:2607.06256v1 Announce Type: new Abstract: Long-horizon household tasks require robots to compose many language-conditioned skills, yet the boundary betwee…
From Foundation to Application: Improving VLA Models in Practice
arXiv:2607.06403v1 Announce Type: new Abstract: Despite recent progress of VLA foundation models, the disparity between laboratory conditions and real-world app…
Dynamic Evaluation of Classical and Control-Aware Optimal Trajectory Planning in Robot Manipulators
arXiv:2607.05544v1 Announce Type: new Abstract: Trajectory planning strongly influences tracking accuracy, actuator demand, and overall execution behavior in ro…
UniLM-Nav: A Unified Framework for Zero-Shot Last-Mile Navigation
arXiv:2607.06537v1 Announce Type: new Abstract: Mobile manipulation requires a robot to navigate to a target object or receptacle and then perform intended mani…
IndoorR2X: Indoor Robot-to-Everything Coordination with LLM-Driven Planning
arXiv:2603.20182v4 Announce Type: replace Abstract: Although robot-to-robot (R2R) communication improves indoor scene understanding beyond what a single robot c…
Fundamental Limits for Sensor-Based Control via the Gibbs Variational Principle
arXiv:2603.18454v3 Announce Type: replace-cross Abstract: Fundamental limits on the performance of feedback controllers are essential for benchmarking algorithm…
Edge-Based QoS-Aware Adaptive Task Placement: A Closed-Loop Control in Multi-Robot Systems
arXiv:2606.00552v2 Announce Type: replace-cross Abstract: Multi-robot systems (MRS) increasingly offload compute-intensive perception tasks to edge nodes to mee…
Exploring Human-Robot Collaboration: Analysis of Interaction Modalities in Challenging Tasks
arXiv:2605.13380v2 Announce Type: replace Abstract: This work compares three interaction modalities for human-robot collaboration: passive, reactive, and proact…
Hilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization
arXiv:2607.06464v1 Announce Type: new Abstract: Automated progress monitoring on construction sites is an active area of research and development. Robot and hum…
Imagined Rollouts are Kinematic, Not Dynamic: A Diagnosis of Long-Horizon World-Model Failure
arXiv:2607.05966v1 Announce Type: new Abstract: Long-horizon failure in world models is conventionally attributed to compounding error, a generic framing that d…
First Plan Then Evaluate: Multi-Target Planning with Post-Planning Success Evaluation Improves Learning-Based Grasping Pipelines
arXiv:2509.07162v2 Announce Type: replace Abstract: Autonomous multi-finger grasping is a fundamental capability in robotic manipulation. Optimization-based app…
OrchardBench: A Physically-Grounded, GPU-Parallel Apple-Orchard Simulation Benchmark for Agricultural Robotics
arXiv:2607.06337v1 Announce Type: new Abstract: Robotic tree-fruit harvesting is a flagship problem for agricultural automation, but progress is bottlenecked by…
EAGOR: Embodied Reasoning in Omni-direction
arXiv:2607.06165v1 Announce Type: new Abstract: Omni-directional (360{\deg}) cameras provide embodied agents with a holistic view of their surroundings, making …
A Four-Tier Communication Architecture and Sim-to-Real Validation of a Graphical Open-Source Platform for Robotic Engineering Education
arXiv:2606.00550v2 Announce Type: replace-cross Abstract: The persistent challenge in scaling authentic manipulator education within university laboratories is …
Lift3D-VLA: Lifting VLA Models to 3D Geometry and Dynamics-Aware Manipulation
arXiv:2607.06564v1 Announce Type: new Abstract: Recently, Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse tasks. Howe…