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 storiesDo Robots Really Need Anthropomorphic Hands? A Comparison of Human and Robotic Hands
arXiv:2508.05415v4 Announce Type: replace Abstract: Human manipulation skills represent a pinnacle of voluntary motor functions, requiring the coordination of m…
TRIG: Trajectory-Rig Decoupled Metric Geometry Learning
arXiv:2607.05801v1 Announce Type: cross Abstract: Vision-centric autonomous driving requires accurate metric geometry and ego-motion estimation from synchronize…
APVI-SLAM: Real-Time Acoustic-Pressure-Visual-Inertial Localization and Photorealistic Mapping System in Complex Underwater Environment
arXiv:2607.06222v1 Announce Type: new Abstract: Extreme subsea environments often cause severe feature de-gradation and estimator divergence in underwater visua…
Image2Sim: Scaling Embodied Navigation via Generative Neural Simulator
arXiv:2607.05765v1 Announce Type: cross Abstract: Embodied navigation aims to build agents that interpret multimodal goals, reason in 3D space, and reach target…
SIEVE: Structure-Aware Data Selection for Imitation Learning with VLA Models
arXiv:2607.06442v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models are typically trained by imitation learning on large-scale robot demonstrati…
Physics-Regularized Machine Learning for Proprioceptive Vehicle Localization Using Onboard Sensors
arXiv:2607.05663v1 Announce Type: new Abstract: Accurate and robust localization is essential for autonomous mobility systems in real-world environments. While …
Optimal Transport Q-Learning for Flow Policy Steering and Acceleration
arXiv:2607.06262v1 Announce Type: new Abstract: Diffusion and flow policies have recently demonstrated remarkable performance in robotic applications by accurat…
FORGE: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning
arXiv:2607.05780v1 Announce Type: new Abstract: While humans readily repurpose a book, a stone, or a shoe to drive a nail, robots trained on specific tools fail…
Co-STAR: Cognitive Stimulation Therapy by an Autonomous Robot for Dementia -- A One-Week In-Home Study
arXiv:2607.05709v1 Announce Type: new Abstract: Cognitive therapies have been shown to enhance the quality of life and well-being of people living with dementia…
IMR: Iterative Mode-World Weighted Regression for Multi-Agent Trajectory Prediction
arXiv:2607.05705v1 Announce Type: new Abstract: Multi-agent motion prediction is essential for automated vehicles to understand the intentions of surrounding ve…
Uncertainty-Aware Velocity Correction for Proprioceptive Vehicle Localization using Evidential Mamba
arXiv:2607.05669v1 Announce Type: new Abstract: Reliable localization in GNSS-denied environments remains a fundamental challenge for intelligent vehicles, as i…
Prior-First, Condition-Second: Scalable and Controllable Hand Motion Completion
arXiv:2607.05938v1 Announce Type: cross Abstract: Synthesizing hand motion that matches the full body motion and the semantic labels is a difficult task due to …
ABB Robotics includes vSLAM navigation in F712 autonomous forklift
The Flexley Stacy F712 forklift uses vision to navigate, works with other robots, and complies with safety standards, says ABB Robotics. The post ABB Robotics i…
A Digital Twin Framework for Traffic-Aware UAV Pavement Monitoring in Open-Traffic Conditions
arXiv:2606.20742v2 Announce Type: replace Abstract: UAV-based pavement inspection can reduce the cost and risk of road-surface monitoring, but real-world deploy…
Three-Step Nav: A Hierarchical Global-Local Planner for Zero-Shot Vision-and-Language Navigation
arXiv:2604.26946v2 Announce Type: replace-cross Abstract: Breakthrough progress in vision-based navigation through unknown environments has been achieved by usi…
Conflict-Based Lazy Search for Fast Multi-Manipulator Planning
arXiv:2607.04124v1 Announce Type: new Abstract: Employing multiple manipulators can boost efficiency and accomplish tasks that a single manipulator cannot do. H…
SMF-VO: Direct Ego-Motion Estimation via Sparse Motion Fields
arXiv:2511.09072v2 Announce Type: replace Abstract: Traditional Visual Odometry (VO) and Visual Inertial Odometry (VIO) methods rely on a 'pose-centric' paradig…
Direct Time-of-Flight Measurement Accuracy Improvement With Perimeter-Gated SPADs
arXiv:2607.02546v1 Announce Type: cross Abstract: Direct time of flight (dToF) measurements are susceptible to errors because of system-level and circuit-level …
Model Predictive Path Integral PID Control for Learning-Based Path Following
arXiv:2603.29499v2 Announce Type: replace-cross Abstract: Classical proportional--integral--derivative (PID) control remains widely used in industrial control s…
Robobench: A Comprehensive Evaluation Benchmark for Multimodal Large Language Models as Embodied Brain
arXiv:2510.17801v2 Announce Type: replace Abstract: Building robots that can perceive, reason, and act in dynamic, unstructured environments remains a central c…
Cross-Embodiment Robot Manipulation via a Unified Hand Action Space
arXiv:2607.03570v1 Announce Type: new Abstract: Robot manipulation policies are typically tied to specific robotic hand embodiments, limiting the transfer of le…
Rational Inverse Reasoning: Few-Shot Imitation by Inferring Intent through Planning
arXiv:2508.08983v2 Announce Type: replace Abstract: Humans can learn a new manipulation task from one or two demonstrations and then perform it in a new room, w…
SutureFormer: Learning Surgical Trajectories via Goal-conditioned Offline RL in Pixel Space
arXiv:2603.26720v3 Announce Type: replace Abstract: Predicting surgical needle trajectories from endoscopic video is critical for robot-assisted suturing, enabl…
Towards Data-Driven Metrics for Social Robot Navigation Benchmarking
arXiv:2509.01251v3 Announce Type: replace Abstract: This paper presents a joint effort towards the development of a data-driven Social Robot Navigation metric t…
BEVLM: Distilling Semantic Knowledge from LLMs into Bird's-Eye View Representations
arXiv:2603.06576v2 Announce Type: replace-cross Abstract: The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest…
Real-Time LiDAR Gaussian Splatting SLAM
arXiv:2607.04127v1 Announce Type: cross Abstract: We present a real-time LiDAR-based framework for Gaussian Splatting SLAM that tightly couples fast G-ICP regis…
Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays
arXiv:2607.03699v1 Announce Type: new Abstract: In many multisensor systems, measurements from different sensors are subject to unknown relative time delays. Ac…
CG-MuTra: Continuously-Gated Multi-Terrain Adaptive Recovery for Unified Humanoid Fall Recovery and Locomotion
arXiv:2606.08922v2 Announce Type: replace Abstract: Falling is an inherent risk for humanoid robots operating in unstructured environments. Existing reinforceme…
A Survey of Reinforcement Learning-Based Motion Planning for Autonomous Driving: Lessons Learned from a Driving Task Perspective
arXiv:2503.23650v2 Announce Type: replace-cross Abstract: Reinforcement learning (RL), with its ability to explore and optimize policies in complex, dynamic dec…
CLEAR: Closed-Loop Reinforcement Learning at Scale for End-to-End Autonomous Driving
arXiv:2607.02841v1 Announce Type: new Abstract: End-to-end autonomous driving (E2E-AD) aims to directly map raw sensor information to driving actions. Recently,…