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 storiesPoseVLA: Universal Pose Pretraining for Generalizable Vision-Language-Action Policies
arXiv:2602.19710v3 Announce Type: replace-cross Abstract: Existing Vision-Language-Action (VLA) models often suffer from feature collapse and low training effic…
TypeGo: An OS Runtime for Embodied Agents
arXiv:2607.05482v1 Announce Type: cross Abstract: Large language models (LLMs) can plan behavior for embodied agents from natural language, but treating the LLM…
RynnWorld-4D: 4D Embodied World Models for Robotic Manipulation
arXiv:2607.06559v1 Announce Type: new Abstract: Robotic manipulation in the open world requires not only recognizing what a scene looks like, but also anticipat…
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
arXiv:2607.06052v1 Announce Type: new Abstract: Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-bod…
WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation
arXiv:2607.06438v1 Announce Type: new Abstract: Retargeting human object interaction demonstrations to physics based simulation requires reproducing not only bo…
RoboTALES: Learning Reasoning-Guided Robot Policies via Task-Aligned Simulated Futures
arXiv:2607.06018v1 Announce Type: new Abstract: Pretrained video generative models are promising backbones for visuomotor control, but their imagined futures of…
Observation Quality Matters: Robust Multi-Fisheye Calibration via Failure-Oriented Analysis
arXiv:2607.05777v1 Announce Type: new Abstract: Reliable calibration of multi-fisheye camera systems remains challenging as rig size, camera arrangement diversi…
Why does Deep Learning Improve Visual SLAM?
arXiv:2607.06023v1 Announce Type: cross Abstract: Visual SLAM is a well-established technology utilized in a wide range of real-world applications. However, its…
HERB: Human-augmented Efficient Reinforcement learning for Bin-packing
arXiv:2504.16595v2 Announce Type: replace Abstract: Packing objects efficiently is a fundamental problem in logistics, warehouse automation, and robotics. When …
Calf-Integrated Arms for Bimanual Quadruped Loco-Manipulation
arXiv:2607.06186v1 Announce Type: new Abstract: Most quadruped loco-manipulation designs trade manipulation capability against stance. A trunk-mounted arm sits …
GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory
arXiv:2607.05543v1 Announce Type: new Abstract: Semantic occupancy provides a structured spatial memory for embodied indoor agents by jointly representing occup…
RoboVAST: Automated Scenario-Based Validation of Robots at Scale
arXiv:2607.06248v1 Announce Type: new Abstract: Validation of robotic systems critically depends on the operating conditions under which they are assessed. Scen…
HJCD-IK: GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent
arXiv:2510.07514v2 Announce Type: replace Abstract: Inverse Kinematics (IK) is a core problem in robotics, in which joint configurations are found to achieve a …
Intercepting an Agile Target with Net-Carrying Drones using Competitive Multi-Agent Reinforcement Learning
arXiv:2607.05939v1 Announce Type: new Abstract: This article presents a solution to intercept an agile drone by a team of agile drone carrying catching nets. We…
Clustering-Embedded Model Predictive Path Integral Control: Avoiding Averaging-Induced Failure and Enabling Efficient Cluster Selection for Dynamic Obstacles
arXiv:2607.06499v1 Announce Type: new Abstract: With the widespread availability of parallel computing hardware, sampling-based motion planning methods such as …
Driving the Wrong Way: Leveraging Interpretability in End2End Autonomous Driving Models
arXiv:2607.06328v1 Announce Type: cross Abstract: The increasing adoption of end-to-end learning for autonomous driving introduces increased model complexity an…
DexTele: A Dual-Arm Dexterous Teleoperation System Based on Motion Retargeting and Adaptive Force Control
arXiv:2607.05883v1 Announce Type: new Abstract: In dual-arm dexterous teleoperation, cross-platform generalization of motion retargeting and interactivity of gr…
EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
arXiv:2604.07607v2 Announce Type: replace Abstract: Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive a…
Passive Variable Impedance For Shared Control
arXiv:2604.20557v2 Announce Type: replace Abstract: Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guida…
Towards Real-World Applications with an Autonomous Powered Wheelchair
arXiv:2607.06383v1 Announce Type: new Abstract: Wheelchair users call for assistive mobility systems that provide active support, adapt to dynamic environments,…
HANDFUL: Sequential Grasp-Conditioned Dexterous Manipulation with Resource Awareness
arXiv:2604.25126v2 Announce Type: replace Abstract: Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute …
LIPP: Load-Aware Informative Path Planning with Physical Sampling
arXiv:2603.06924v2 Announce Type: replace Abstract: In classical Informative Path Planning (C-IPP), robots are typically modeled as mobile sensors that acquire …
Efficient Transfer Learning of Robot Dynamic Models Using Morphological Similarity
arXiv:2607.05665v1 Announce Type: new Abstract: This study proposes a neural network-based transfer learning framework for modeling the dynamics of soft, fin-ac…
Embodied Human-Robot Interaction via Acoustics: A MARL Approach with AcoustoBots for Spatial Data Physicalization
arXiv:2607.06563v1 Announce Type: new Abstract: Traditional data physicalization is often static and disconnected from real environments, limiting its ability t…
Responsible Personalisation: The Double-Edged Sword of Personalisation in Human-Robot Interaction
arXiv:2607.06344v1 Announce Type: new Abstract: While personalisation is becoming a defining capability in human-robot interaction (HRI), the existing literatur…
GraspIT: A Dataset Bridging the Sim-to-Real gap and back for Validated Grasping SE(3) Pose Generation
arXiv:2607.05869v1 Announce Type: new Abstract: Robust robotic grasping of novel objects requires datasets that simultaneously provide photorealistic RGB-D obse…
LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation
arXiv:2607.06323v1 Announce Type: new Abstract: Real-world learning for dexterous hands remains brittle because high-dimensional hand actions amplify imitation …
From Passive Observer to Active Critic: Reinforcement Learning Elicits Process Reasoning for Robotic Manipulation
arXiv:2603.15600v2 Announce Type: replace Abstract: Accurate process supervision remains a critical challenge for long-horizon robotic manipulation. A primary b…
Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control
arXiv:2607.06535v1 Announce Type: new Abstract: A learning-enabled disturbance-rejection framework based on a Neural Extended State Observer (Neural-ESO) is pre…
EgoDyn-Bench: Evaluating Ego-Motion Understanding in Vision-Centric Foundation Models for Autonomous Driving
arXiv:2604.22851v2 Announce Type: replace-cross Abstract: While Vision-Language Models (VLMs) have advanced high-level reasoning in autonomous driving, their ab…