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 storiesExp2VLA: Enabling Vision-Language-Action for Drone Navigation from Expert Demonstrations
arXiv:2607.03146v1 Announce Type: new Abstract: Vision-language-action (VLA) models open a new path toward intuitive robot control by directly linking perceptio…
EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robots
arXiv:2607.02646v1 Announce Type: new Abstract: We present EVA-Client, an open-source framework for deployment, data collection, and evaluation of trained manip…
Worldscape-MoE: A Unified Mixture-of-Experts World Model for Scalable Heterogeneous Action Control
arXiv:2607.03964v1 Announce Type: new Abstract: World models are rapidly becoming a core infrastructure for embodied intelligence and interactive agents: they p…
E-TraMamba: A New Paradigm for Efficient Long-Term 3D Feature Tracking with Event Cameras
arXiv:2607.02866v1 Announce Type: cross Abstract: Event-based 3D tracking enables low-latency and high-speed perception, while existing CNN- and Transformer-bas…
Continuous-Time Gaussian Belief Trees for Motion Planning
arXiv:2607.02884v1 Announce Type: new Abstract: We address sampling-based motion planning for continuous-time stochastic systems under process and measurement u…
Autonomous Search for Sparsely Distributed Visual Phenomena through Environmental Context Modeling
arXiv:2603.10174v2 Announce Type: replace Abstract: Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating …
Beyond Point-Attached Semantics: Object-Centric Semantic Fields for Generalizable Manipulation
arXiv:2607.03163v1 Announce Type: new Abstract: Generalizable robot manipulation requires stable 3D understanding of functional object parts, such as handles, t…
Longitudinal-Motion-Aware Lateral Control for Autonomous Vehicles: A Robust Nonlinear Control Framework
arXiv:2607.02924v1 Announce Type: new Abstract: As autonomous vehicles (AVs) operate in increasingly dynamic traffic conditions, lateral control must be perform…
Fast 3D Foundation Model Initialized Gaussian Splatting
arXiv:2607.03209v1 Announce Type: cross Abstract: This paper introduces a fast method for high-quality 3D Gaussian Splatting (3DGS) reconstruction without tradi…
DREAMSTEER: Latent World Models Can Steer VLA Policies During Deployment Without Any Finetuning
arXiv:2607.02865v1 Announce Type: new Abstract: Pretrained vision-language-action (VLA) policies show promising zero-shot generalization, but often fail under d…
GPU-Accelerated Polygonal Signed Distance Functions for Real-Time Collision Avoidance
arXiv:2607.04310v1 Announce Type: new Abstract: Optimization-based local planning and control require high-rate collision-avoidance constraint evaluation over a…
CRISP: A Spatiotemporal Camera-Radar Backbone for Driving via Forecasting-Based World-Model Pretraining
arXiv:2607.04541v1 Announce Type: cross Abstract: Camera-radar (CR) fusion is a practical sensing configuration for autonomous driving, but existing models are …
A Vision Based System for Guided and Collaborative Reconstruction of Fragmented Documents
arXiv:2607.03621v1 Announce Type: cross Abstract: This paper presents the development and evaluation of a collaborative system for real-time reconstruction of f…
Quasi-Static Control of Discrete Cosserat Rod
arXiv:2605.01395v3 Announce Type: replace-cross Abstract: In this paper, we design feedback control laws for soft robots modelled using the Cosserat rod, which …
Glance-Say: Multimodal Human-Robot Collaboration and Intent Recognition via Sticky Glance
arXiv:2603.06121v2 Announce Type: replace Abstract: Gaze and speech are promising interaction modalities for individuals with motor impairments, yet robust inte…
Geometry-Aware Motion Latents for Learning Robust Manipulation Policies
arXiv:2607.04714v1 Announce Type: new Abstract: Learning motion latents for robotic manipulation heavily relies on extracting motion patterns from visual sequen…
Trajectory-Anchor Optimization for Overconfident Thermal Visual Place Recognition: Zero-Leakage OOD Auditing and Kidnapped-Robot Recovery
arXiv:2607.04745v1 Announce Type: new Abstract: Modern thermal visual place recognition (TIR-VPR) frontends based on foundation models achieve remarkable closed…
CABTO: Context-Aware Behavior Tree Grounding for Robot Manipulation
arXiv:2603.16809v2 Announce Type: replace Abstract: Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT plan…
Anytime Plug-and-Play Control with Contract-Based Distributed MPC
arXiv:2607.04215v1 Announce Type: cross Abstract: A central challenge in many mobile multi-robot applications is that communication topologies are inherently ti…
Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenance
arXiv:2603.07866v3 Announce Type: replace Abstract: Offshore inspection and maintenance have increasingly been using legged robots for routine sensing, yet many…
From Region Arrival to Instance-Level Grounding in Vision-and-Language Navigation
arXiv:2607.03792v1 Announce Type: new Abstract: Vision-and-Language Navigation (VLN) agents may satisfy conventional success criteria while still failing to est…
Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation
arXiv:2607.03529v1 Announce Type: new Abstract: Compliance is essential for dexterous manipulation, yet existing solutions often rely on external tactile or for…
CoRE-VLA: Towards Scalable and Robust Vision-Language-Action Modeling via Conditional Routing of Experts
arXiv:2607.03693v1 Announce Type: new Abstract: Vision-language-action (VLA) models have advanced generalist robotic manipulation, yet real-world deployment rev…
Fast Asymptotically Optimal Kinodynamic Planning via Vectorization
arXiv:2607.03987v1 Announce Type: new Abstract: Sampling-based motion planners have been shown to be effective for systems with complex kinodynamic constraints …
ROBOCYCLE: Autonomous Dual-Arm Robotic Manipulation and Coordination for Recycling Applications
arXiv:2607.03616v1 Announce Type: new Abstract: As urban waste volumes escalate and labor shortages intensify, automated waste sorting systems are becoming a ne…
Function-Space Diffusion for Motion Planning
arXiv:2607.02977v1 Announce Type: new Abstract: Diffusion-based motion planners have demonstrated strong performance in generating diverse and high-quality robo…
Metallic Ultrasound Waveguides as a Distributed Tactile Sensing Platform for Contact Localization, Force Estimation, and Material Class Discrimination
arXiv:2607.02827v1 Announce Type: new Abstract: Tactile sensing is central to how robotic systems interact with the real world, yet current solutions face a tra…
ECO: Incremental Ego-Centric Octree Update for Point Streams
arXiv:2607.05092v1 Announce Type: new Abstract: Constructing octrees for mobile robots that process continuous point streams in real time poses significant comp…
Invisible Strings: Deriving Puppetry Principles and their Hidden Connections to Robot Behavior Design
arXiv:2607.03289v1 Announce Type: new Abstract: When designing robots' nonverbal behaviors, many researchers have turned to arts-based insights, such as Disney'…
RoboVista: Evaluating Vision Language Models for Diverse Robot Applications
arXiv:2607.04610v1 Announce Type: new Abstract: Diverse applications for robotics, such as industry and agriculture, require robots to operate across various em…