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 storiesData-Driven Risk Fields for Safer End-to-End Autonomous Driving
arXiv:2609.10377v1 Announce Type: new Abstract: Safety is a fundamental requirement for autonomous driving, yet existing end-to-end driving models still lack ex…
Identifying Habit, Physics, and Nuisance in Robot World Models
arXiv:2609.09210v1 Announce Type: new Abstract: Teleoperated demonstrations are often multimodal even when the underlying dynamics are nearly deterministic give…
HiRAD: A Flexible Large-Scale AGV Routing System
arXiv:2609.09752v1 Announce Type: new Abstract: Automatic Guided Vehicles (AGVs) substantially boost warehouse throughput, but routing large-scale AGV fleets re…
AXON: A ROS 2 RMW with Shared-Memory/QUIC Transport and QKD/ML-KEM Key Establishment
arXiv:2609.10024v1 Announce Type: new Abstract: Robot Operating System 2 (ROS 2) standardizes application code against a middleware interface (RMW) whose refere…
CougarTail & CUB: A General-Purpose Mast and Central Utility Board for Cylindrical Underwater Enclosures
arXiv:2609.10230v1 Announce Type: new Abstract: Cylindrical watertight enclosures are widely used across various underwater systems, from unmanned underwater ve…
Learning Terrain-Adaptive Humanoid Locomotion on Granular Terrain
arXiv:2609.10286v1 Announce Type: new Abstract: Humanoid locomotion on granular terrain remains a significant challenge due to its complex foot-terrain interact…
Multi-Agent Reinforcement Learning for Autonomous UAV Exploration in Wildfire Response
arXiv:2609.10433v1 Announce Type: new Abstract: This study develops a deep reinforcement learning framework for training Unmanned Aerial Vehicle (UAV) agents to…
Risk-Constrained Belief-Space Optimization for Safe Control under Latent Uncertainty
arXiv:2604.03868v2 Announce Type: replace-cross Abstract: Many safety-critical control systems operate under latent uncertainty that sensors cannot resolve at d…
Proxy Policy Steering
arXiv:2609.09148v2 Announce Type: replace Abstract: Generalist robot policies carry broad manipulation priors from large-scale data, but specializing them to a …
Monkey See, Can Monkey Do? A Benchmark for Evaluating Robot Skill Learning by Observation
arXiv:2609.08209v2 Announce Type: replace Abstract: Learning from Observation (LfO) is a fundamental robotic capability that replicates how humans and animals s…
Dex-X: Learning Visual-Tactile Dexterous Manipulation From Human Videos with Simulated Interaction
arXiv:2609.07747v2 Announce Type: replace Abstract: Human videos are an abundant source of dexterous manipulation behaviors, but they lack tactile information t…
Advancing Accessible Underwater Robotics: The Mini-Girona I-AUV at RAMI 2025
arXiv:2609.02605v2 Announce Type: replace Abstract: The Mini-Girona Intervention Autonomous Underwater Vehicle (I-AUV) represents an advancement in accessible u…
CoMo3R-SLAM: Collaborative Monocular Dense SLAM with Learned 3D Reconstruction Priors for Outdoor Multi-Agent Systems
arXiv:2605.30488v2 Announce Type: replace Abstract: Outdoor robot teams need a shared dense map despite limited overlap, independent reference frames, and uncer…
Bilevel Planning with Learned Symbolic Abstractions from Interaction Data
arXiv:2603.08599v2 Announce Type: replace Abstract: Intelligent agents must reason over both continuous dynamics and discrete representations to generate effect…
PACE: Perceived-Latency-Aware Cascading Service Routing and Filler Control for QoE-Efficient Retrieval-Augmented Dialogue Serving
arXiv:2609.10372v1 Announce Type: cross Abstract: We present the PACE, a framework for retrieval-augmented dialogue serving that formalizes Perceived Time-to-Fi…
Frame-Coded Legged Locomotion over Noisy Terrain
arXiv:2609.10273v1 Announce Type: cross Abstract: Open-loop multilegged locomotion over rough terrain has been interpreted as matter transport over a noisy chan…
Belief-State Engine: Augmenting LLMs for Principled Planning Under Partial Observability
arXiv:2609.10036v1 Announce Type: cross Abstract: Large language model agents produce fluent action sequences across a wide range of tasks, yet they fail in cha…
Time-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models
arXiv:2609.09925v1 Announce Type: cross Abstract: Modern vision-language-action (VLA) policies predict a whole chunk of actions: one to two seconds of coordinat…
CLFTv2: Efficient Camera-LiDAR Fusion for Semantic Segmentation via Hierarchical Feature Pyramids
arXiv:2609.09881v1 Announce Type: cross Abstract: Semantic segmentation for autonomous driving requires reliable detection of vulnerable road users (VRUs) despi…
Deformable Object Manipulation under Partial Observability via Real-Time Full-Shape Estimation
arXiv:2609.10308v1 Announce Type: new Abstract: Manipulating deformable objects (DOs) is challenging due to their high-dimensional state space, underactuated dy…
SwingBot: Learning Whole-Body Brachiation for Humanoid Robots
arXiv:2609.10283v1 Announce Type: new Abstract: Brachiation enables primates to move across overhead supports when ground paths are blocked, suggesting a comple…
FolDeX: A Physical-World Benchmark for Long-Horizon Robotic Manipulation of Deformable Objects
arXiv:2609.10243v1 Announce Type: new Abstract: Embodied AI, including vision-language-action and world-action models, must operate reliably in the physical wor…
Adaptive Shared Control with Online Bounded-Rational Human Behavior Estimation
arXiv:2609.10215v1 Announce Type: new Abstract: This work considers adaptive shared human-robot control for nonlinear control-affine systems, where the assumpti…
Multi-Robot Scanner for Automated Full-Body Dermoscopic Imaging
arXiv:2609.10169v1 Announce Type: new Abstract: This paper outlines the specifications and design approach used to construct a full body imaging scanner capable…
Future-Aware Flow Planning for Safe UAV Target Following
arXiv:2609.10166v1 Announce Type: new Abstract: UAV target following in cluttered environments is inherently predictive: current-state followers can lag behind …
Assembling Two Parts in One Hand
arXiv:2609.10137v1 Announce Type: new Abstract: A hallmark of human dexterity is the cooperative use of fingers, where different fingers take on distinct yet co…
Automatic Reproducible Camera Intrinsic Calibration
arXiv:2609.10082v1 Announce Type: new Abstract: Accurate camera intrinsic calibration is fundamental to robot perception, and the accuracy depends on the qualit…
Grounding Generated Video Plans in Simulation Towards Versatile Dexterous Controllers
arXiv:2609.10050v1 Announce Type: new Abstract: Generated hand-object interaction (HOI) videos provide a controllable way to propose manipulation motions. Simul…
What Symmetry Buys a Learned Motion Planner
arXiv:2609.10033v1 Announce Type: new Abstract: Learning-based motion planners pay at training what classical planners pay per query. Trained in world coordinat…
RoboDrop: Curating VLA Post-Training Data via Local Gradient Compatibility
arXiv:2609.10021v1 Announce Type: new Abstract: Vision--language--action (VLA) models acquire broad generalization through large-scale pretraining, yet adapting…