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 storiesCapstan-driven Continuum Surgical Robot: Design, Modeling, and Perception
arXiv:2608.13396v1 Announce Type: new Abstract: Shape and force sensing have long been critical bottlenecks in the development of compact capstan-driven continu…
Deliberate Practice: Learning Robot Skills under a Budget
arXiv:2608.13415v1 Announce Type: new Abstract: We consider the problem of autonomously learning robot skills under a limited practice budget for sequential tas…
ContactGuard: Pre-Contact Execution Monitoring with Action-Conditioned Latent World Models
arXiv:2608.13438v1 Announce Type: new Abstract: Contact-rich manipulation failures are often detected only after the robot has committed to contact. This is esp…
Mind the Context: Continual Learning of Socially Appropriate Robot Actions via Environmental-Social Disentanglement
arXiv:2608.13448v1 Announce Type: new Abstract: Social robots are expected to operate across diverse environments, where similar arrangements can imply differen…
Decoding Task Progress from VLA Representations
arXiv:2608.13474v1 Announce Type: new Abstract: Vision-language-action models (VLAs) are moving rapidly towards deployment as general-purpose manipulation polic…
A Browser-Native Digital Test Range for Benchmarking 4D Ocean-Glider Planning Algorithms
arXiv:2608.13511v1 Announce Type: new Abstract: Repeated in-situ evaluation of ocean-glider planners requires scarce vehicles, operators, deployment and recover…
HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
arXiv:2608.13555v1 Announce Type: new Abstract: Humanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees wi…
Can Vision-Language Models Assess Proxemic Risk from Egocentric Robot Images?
arXiv:2608.12515v1 Announce Type: cross Abstract: Assessing proxemic danger from a robot's egocentric perspective is critical for safe embodied navigation in hu…
Excitation-Supervised Closed-Loop Self-Calibration and Target Seeking for an Unknown-Pose Range-Bearing Relay
arXiv:2608.12528v1 Announce Type: cross Abstract: A vehicle seeking a hidden target through a range-bearing relay of unknown position and yaw must decide, onlin…
Entropy-Augmented Multi-Objective Policy Optimization in Multiagent Systems
arXiv:2608.12534v1 Announce Type: cross Abstract: Autonomous agent teams deployed in settings such as marine and extraterrestrial outposts must coordinate actio…
Do LLMs Beat Nash? Testing Decentralized Coordination in Self-Play Multi-Agent Games
arXiv:2608.12547v1 Announce Type: cross Abstract: Large language model agents deployed without a central controller are often assumed to require communication t…
Genetic Fuzzy System-based Control for Final Approach of Spacecraft Rendezvous and Proximity Operations
arXiv:2608.12760v1 Announce Type: cross Abstract: In-space servicing has been receiving great attention to extend the operation of spacecraft with defective com…
Towards Socially Compliant Navigation in Deep Reinforcement Learning via Proxemics-Based Reward Modeling
arXiv:2608.12917v1 Announce Type: cross Abstract: Developing effective robot navigation methods in crowded environments is essential for real-world applications…
EgoPHI: Estimating Contact and Force from Egocentric Vision
arXiv:2608.13014v1 Announce Type: cross Abstract: Understanding hand-object interaction from egocentric vision is essential for modeling how people physically e…
RGB-D Video Generation for Improving Human-to-Robot Object Handover Prediction
arXiv:2608.13028v1 Announce Type: cross Abstract: Human-to-robot (H2R) object handover is a fundamental capability for human-robot collaboration, yet progress i…
DreamX-Phi 1.0: Action-Conditioned Video World Model for Robotic Manipulation
arXiv:2608.13489v1 Announce Type: cross Abstract: We present \textbf{DreamX-Phi 1.0}, an action-conditioned video world model for robotic manipulation that, giv…
Evolutionary Brain-Body Co-Optimization Consistently Fails to Select for Morphological Potential
arXiv:2508.17464v2 Announce Type: replace Abstract: Brain-body co-optimization remains a challenging problem. To understand and overcome its challenges, we exha…
Trajectory Prediction via Bayesian Intention Inference under Unknown Goals and Kinematics
arXiv:2509.24928v2 Announce Type: replace Abstract: This work introduces an adaptive Bayesian algorithm for real-time trajectory prediction via intention infere…
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
arXiv:2511.07820v4 Announce Type: replace Abstract: Despite the rise of billion-parameter foundation models trained across thousands of graphical processing uni…
APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots
arXiv:2602.11143v3 Announce Type: replace Abstract: Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based …
Perception-Aware Autonomous Exploration in Feature-Limited Environments
arXiv:2603.15605v2 Announce Type: replace Abstract: Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation…
SpatialVAM:Spatial-Aware Multi-View Video Diffusion as a Data-Efficient Robot Policy
arXiv:2604.03181v2 Announce Type: replace Abstract: Robotic manipulation requires understanding both the 3D spatial structure of the environment and its tempora…
JailWAM: Jailbreaking World Action Models in Robot Control
arXiv:2604.05498v2 Announce Type: replace Abstract: World Action Models (WAMs) have emerged as a promising paradigm for robotic manipulation, enabling physical …
Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
arXiv:2605.12974v3 Announce Type: replace Abstract: We study how to ensure probabilistic safety for nonlinear systems under distributional ambiguity. Our approa…
Trajectory First: A Curriculum for Discovering Diverse Policies
arXiv:2506.01568v4 Announce Type: replace-cross Abstract: Being able to solve a task in diverse ways makes agents more robust to task variations and less prone …
RadarGen: Automotive Radar Point Cloud Generation from Cameras
arXiv:2512.17897v2 Announce Type: replace-cross Abstract: We present RadarGen, a diffusion model for synthesizing realistic automotive radar point clouds from m…
OTPL-VIO: Robust Visual-Inertial Odometry with Optimal Transport Line Association and Adaptive Uncertainty
arXiv:2603.09653v2 Announce Type: replace-cross Abstract: Robust stereo visual-inertial odometry (VIO) remains challenging in low-texture scenes and under abrup…
Training Non-Differentiable Networks via Optimal Transport
arXiv:2605.01928v2 Announce Type: replace-cross Abstract: We optimize losses that jump: spiking thresholds, quantized layers, and discrete routing put jumps in …
Predictive Relative-Velocity Steering for Safe Robotic Manipulator Teleoperation in Dynamic Environments
arXiv:2608.13284v1 Announce Type: new Abstract: Recent advances in teleoperation have enabled robotic manipulators to perform dexterous, human-arm-like motions.…
Global Convergence of an SQP Method for Contact-Implicit Trajectory Optimization
arXiv:2406.01763v5 Announce Type: replace-cross Abstract: Contact-Implicit Trajectory Optimization (CITO) is a powerful framework for planning motions of robots…