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 storiesHow to Relieve Distribution Shifts in Semantic Segmentation for Off-Road Environments
arXiv:2605.29599v2 Announce Type: replace Abstract: Semantic segmentation is crucial for autonomous navigation in off-road environments, enabling precise classi…
A Data-Driven Algorithm for Model-Free Control Synthesis
arXiv:2602.13157v2 Announce Type: replace-cross Abstract: Presented is an algorithm to synthesize the optimal infinite-horizon LQR feedback controller for conti…
HierDAMap: Towards Universal Domain Adaptive BEV Mapping via Hierarchical Perspective Priors
arXiv:2503.06821v2 Announce Type: replace-cross Abstract: The exploration of Bird's-Eye View (BEV) mapping technology has driven significant innovation in visua…
Versatile Exoskeleton Control Supports Elderly Joint Energetics During Hip-Intensive Tasks
arXiv:2603.22580v2 Announce Type: replace Abstract: Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older ad…
Effective Game-Theoretic Motion Planning via Nested Search
arXiv:2511.08001v3 Announce Type: replace Abstract: To facilitate effective, safe deployment in the real world, individual robots must reason about interactions…
Two-dimensional time-to-collision measures for articulated vehicles: predicting sideswipe and rear-end collisions
arXiv:2507.04184v3 Announce Type: replace Abstract: Time-to-collision is a commonly employed measure for rear-end collision prediction. However, its conventiona…
LLM-Advisor: An LLM Advisor for Cost-efficient Path Planning across Multiple Terrains
arXiv:2503.01236v3 Announce Type: replace Abstract: This paper addresses fixed-graph terrain-aware path refinement, in which a global planner is restricted to a…
Active Perception for Embodied Disambiguation
arXiv:2608.13605v1 Announce Type: cross Abstract: Natural language provides robots with a flexible task interface, but target ambiguity in embodied environments…
Ensuring Safe Physical AI in Urban Mobility via Hazard-Informed Synthesized Envelopes
arXiv:2608.14481v1 Announce Type: new Abstract: As heterogeneous robotic systems deploy across diverse urban zones, maintaining safety amid complex human-robot …
Effect of Twisted-Yarn Architecture on Pressure and Proximity Sensing Characteristics of Textile Capacitive Sensors for Robotic Skin
arXiv:2608.14406v1 Announce Type: new Abstract: Textile-integrated capacitive sensors offer flexible and conformable tactile sensing for wearable electronics an…
Reflex: Enabling Fast and Predictive Vision-Language-Action Models for Reaction-Critical Manipulation
arXiv:2608.14379v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have recently achieved promising performance in robotic manipulation. Howeve…
CORAL: Curriculum-Optimized Reward Adaptation for LiDAR-Based Goal-Directed Urban Driving
arXiv:2608.14332v1 Announce Type: new Abstract: Reinforcement learning is promising for autonomous urban driving, but long-horizon goal-directed navigation asks…
Vibration Suppression in Collaborative Flexible Payload Manipulation Using Passive Force Control
arXiv:2608.14244v1 Announce Type: new Abstract: In large and heavy structures, vibrations arise during motion, posing significant challenges for precise manipul…
Evolve Vision-Language-Action Model into an Agent with On-the-fly Tool-use
arXiv:2608.14047v1 Announce Type: new Abstract: This paper integrates end-to-end Visual-Language-Action (VLA) models with agentic tool-use to propose Agentic Ro…
AdvDex: Learning Dexterous Manipulation from Human Demonstrations via Joint-Aligned Actions and Adversarial Learning
arXiv:2608.14028v1 Announce Type: new Abstract: Dexterous manipulation is a fundamental capability for embodied intelligence, but scaling it remains difficult b…
Communication in modular robotic motor control: Bilateral controllers under realistic constraints
arXiv:2608.13904v1 Announce Type: new Abstract: Robotic motor control in musculoskeletal systems requires fast, accurate movement and robust postural stabilizat…
Ontology-Grounded World Models for Failure Diagnosis and Closed-Loop Repair in Physical AI Systems
arXiv:2608.13901v1 Announce Type: new Abstract: EV-WM represents candidate quality with feature and event scores, but these scores do not explicitly record an u…
Graph-MambaNav: Spatial-Temporal Graph Mamba Leveraging Object-Relation Knowledge for Object-Goal Navigation
arXiv:2608.13723v1 Announce Type: new Abstract: Object-goal navigation requires an agent to reason over object relationships and prioritize target-relevant obje…
Adjacency-Based Spectral Proxy Control of Mobile Communication Agents
arXiv:2608.13616v1 Announce Type: new Abstract: We consider a heterogeneous mobile-agent network composed of uncontrolled task agents and controllable communica…
From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances
arXiv:2605.04649v2 Announce Type: replace Abstract: High-precision assembly frequently involves tight-tolerance insertions, where even slight pose errors can ca…
LatentAM: Real-Time, Large-Scale Latent Gaussian Attention Mapping via Online Dictionary Learning
arXiv:2602.12314v2 Announce Type: replace Abstract: We present LatentAM, an online 3D Gaussian Splatting (3DGS) mapping framework that builds scalable latent fe…
OctoSplat: Hybrid OctoMap-Gaussian Splatting for Active Semantic Mapping and Phenotyping with Horticultural Robots
arXiv:2601.12122v2 Announce Type: replace Abstract: Semantic reconstruction of agricultural scenes plays a vital role in tasks such as phenotyping and yield est…
Edge Case Detection in Automated Driving: Methods, Challenges, and Future Directions
arXiv:2410.08491v3 Announce Type: replace Abstract: Automated vehicles (AVs) promise to enhance transportation safety and efficiency. However, ensuring their re…
A Temporal Barrier Framework for Collision Avoidance in Multi-Agent Autonomous Aerial Vehicles
arXiv:2608.14239v1 Announce Type: cross Abstract: Operating teams of autonomous aircraft in dynamic, uncertain, and potentially adversarial environments require…
OpenBelief-Nav: Evidence-Preserving Object Memory for Open-Vocabulary Language-Guided Navigation
arXiv:2608.13923v1 Announce Type: cross Abstract: Open-vocabulary 3D scene graphs provide compact semantic memory for language-guided navigation, but mapped obj…
Estimating Dynamic Soft Continuum Robot States From Boundaries
arXiv:2505.04491v3 Announce Type: replace Abstract: State estimation is one of the fundamental problems in robotics. For soft continuum robots, this task is par…
Reward Machines for Signal Temporal Logic
arXiv:2608.13625v1 Announce Type: cross Abstract: Signal temporal logic (STL) provides a formal language for specifying real-time properties of real-valued obse…
THRIVE: Therapeutic Humanoid Robot In Virtual Environment
arXiv:2608.14462v1 Announce Type: new Abstract: This paper presents THRIVE (Therapeutic Humanoid Robot In Virtual Environment), an at-home rehabilitation platfo…
PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment
arXiv:2608.14284v1 Announce Type: new Abstract: Fine-grained robotic evaluation matters for understanding embodied models, going beyond binary success rates and…
AgilePE: Autonomous UAV Pursuit-Evasion via Self-Play Reinforcement Learning
arXiv:2608.14135v1 Announce Type: new Abstract: Autonomous pursuit-evasion is a fundamental challenge for Unmanned Aerial Vehicles (UAVs), requiring rapid decis…