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 storiesHigh-Precision Formation Control for Heterogeneous Multi-Robot Systems via Hierarchical Hybrid Physics-Informed Deep Reinforcement Learning
arXiv:2607.03512v1 Announce Type: new Abstract: Existing classical control methods commonly require precise models and struggle to cope with model uncertainties…
Spatial Attention: Adapting Execution Horizons for Diffusion Policies via Observation Sensitivity
arXiv:2607.04739v1 Announce Type: new Abstract: Sampling action chunks via generative models has become a widely adopted methodology for robotic learning from d…
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects
arXiv:2607.04234v1 Announce Type: new Abstract: Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain …
A Graph-Based Reinforcement Learning Approach with Frontier Potential Based Reward for Safe Cluttered Environment Exploration
arXiv:2504.11907v3 Announce Type: replace Abstract: Autonomous exploration of cluttered environments requires efficient exploration strategies that guarantee sa…
Semantic-Guided Progressive Object Removal with Gaussian Splatting
arXiv:2607.04144v1 Announce Type: new Abstract: Removing unwanted objects from reconstructed 3D scenes is an important task in computer vision, supporting appli…
XS-VLA: Coupling Coarse-grained Spatial Distillation with Latent Flow Matching for Lightweight Robotic Control
arXiv:2607.04171v1 Announce Type: new Abstract: Large Vision-Language Models (LVLMs) have shown strong multimodal understanding and spatial grounding, but their…
Finite-Sample Closed-Loop Stability of Model Predictive Path Integral Control for Linear Time-Invariant Systems
arXiv:2607.04006v1 Announce Type: cross Abstract: We establish finite-sample closed-loop stability guarantees for Model Predictive Path Integral (MPPI) control …
AnchorDream: Repurposing Video Diffusion for Embodiment-Aware Robot Data Synthesis
arXiv:2512.11797v2 Announce Type: replace Abstract: The collection of large-scale and diverse robot demonstrations remains a major bottleneck for imitation lear…
DIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles
arXiv:2607.04615v1 Announce Type: new Abstract: This paper presents a novel acoustic-visual-inertial odometry solution leveraging a continuous-time trajectory e…
Few-Shot Demonstration-Driven Task Coordination and Trajectory Execution for Multi-Robot Systems
arXiv:2510.15686v2 Announce Type: replace Abstract: Learning coordinated behaviors for multi-robot systems from only a few demonstrations is difficult because t…
HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors
arXiv:2607.04554v1 Announce Type: new Abstract: Dexterous grasping across diverse object scales requires contact modes ranging from two-finger pinches to bimanu…
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
arXiv:2607.03454v1 Announce Type: new Abstract: In this paper, we propose Adversarial Dynamics Priors (ADP) for perturbation-resilient humanoid locomotion contr…
GDPR-Aware Trajectory Sharing for ISAC-Assisted Robot Navigation: A Case Study on FID-Constrained Collision Prediction
arXiv:2607.03254v1 Announce Type: new Abstract: Integrated sensing and communication (ISAC) enables intelligent wireless infrastructure but raises growing regul…
CAC-VLA: Context-Gated Action Conditioning for Vision-Language-Action Models
arXiv:2607.04816v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have become a promising paradigm for generalist robot manipulation, where vi…
ACE-Brain-0.5: A Unified Embodied Foundational Model for Physical Agentic AI
arXiv:2607.04426v1 Announce Type: new Abstract: Embodied AI is moving from isolated perception or action modules toward physical agents that understand, plan un…
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
arXiv:2607.04434v1 Announce Type: new Abstract: Generalist robot manipulation policies have advanced rapidly, yet existing benchmarks remain limited in systemat…
Socially-Aware Autonomous Doorway Traversal and Payload Delivery for Emergency Assistance
arXiv:2607.05315v1 Announce Type: new Abstract: In this work, we focus on the scenario of a robot-assisted emergency evacuation. We consider two capabilities re…
Simple-to-Complex Structured Demonstrations for Vision-Language-Action Learning
arXiv:2607.04591v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have demonstrated strong capabilities in robotic manipulation by integrating…
CoLA-Flow Policy: Temporally Coherent Imitation Learning via Continuous Latent Action Flow Matching for Robotic Manipulation
arXiv:2601.23087v5 Announce Type: replace Abstract: Learning long-horizon robotic manipulation requires jointly achieving expressive behavior modeling, real-tim…
SEAM: Smooth Execution of Action-Chunked Motion for Vision-Language-Action Policies
arXiv:2607.04609v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies that execute fixed-length action chunks can exhibit multimodal bifurcation…
A Perception-Manipulation Robotics System for Food Cutting
arXiv:2607.04367v1 Announce Type: new Abstract: In the development of cooking robots, mastering the task of cutting is crucial. A significant challenge lies in …
Beyond Heuristics: A Standardized Real2Sim Pipeline for Physical Human Robot Interaction in Human-in-the-Loop Simulation
arXiv:2607.03017v1 Announce Type: new Abstract: The aging global population drives demand for assistive robots, yet the safety risks and costs of physical testi…
SILO: Simulation-in-the-Loop Sim-to-Real Transfer for Multi-Stage Cable Routing
arXiv:2607.04616v1 Announce Type: new Abstract: Linear-deformable manipulation remains challenging due to the complex deformations of objects such as cables and…
GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks
arXiv:2607.05369v1 Announce Type: new Abstract: For robots to work reliably in commercial and industrial applications, can recent advances in agentic coding sys…
PRISM: Personalized Robotic Dataset Generation via Image-based Scene and Motion Synthesis
arXiv:2607.04880v1 Announce Type: new Abstract: Recent advances in large-scale pretrained vision-language-action models have improved robot policy learning, but…
A Reliable Context-Aware and Temporal Planning Framework for Autonomous Driving
arXiv:2607.04689v1 Announce Type: new Abstract: Safe operation of autonomous vehicles in dense urban traffic depends on perception and planning that remain reli…
Aerial Manipulation: Contact, Medium Coupling, and the Geometry of Readiness
arXiv:2607.04719v1 Announce Type: new Abstract: Aerial robots are increasingly moving from remote observation toward physical interaction with objects, surfaces…
Geometry-Aware Visual Odometry for Bronchoscopic Navigation via High-Gain Observer Fusion
arXiv:2607.05162v1 Announce Type: new Abstract: Navigational bronchoscopy is critical for pulmonary interventions, yet current platforms depend heavily on pre-o…
DSWAM: A Dual-System World Action Foundation Model for Fine-Grained Robot Manipulation
arXiv:2607.04927v1 Announce Type: new Abstract: World Action Models (WAMs) provide a promising alternative to Vision-Language-Action (VLA) policies by using vid…
VLM-CASE: Vision-Language Model Enabled Context-Adaptive Safety Envelopes for Anticipatory Safe Autonomous Driving
arXiv:2607.05180v1 Announce Type: new Abstract: Adverse driving conditions, such as bad weather, remain a principal barrier to autonomous driving because they d…