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 storiesSeeing above the waves: A modular sensing framework for data acquisition at sea
arXiv:2608.10997v1 Announce Type: new Abstract: Advancing autonomy for surface vessels requires systematic evaluation of their sensing and perception subsystems…
Neural Introspection Gating for Adaptive KV-Cache Reuse in Vision-Language-Action Models
arXiv:2608.10824v1 Announce Type: new Abstract: Vision-Language-Action(VLA) models map camera images and language instructions directly to motor commands throug…
Flex-$\pi$: A Multi-Stream World-Action Model with Compute Flexibility
arXiv:2608.10860v1 Announce Type: new Abstract: World-action models (WAMs) predict the future to act better, but nearly all of them predict only RGB latents, tr…
Dual Stress: Runtime Safety Monitoring for Safety-Constrained MPC Navigation
arXiv:2608.10791v1 Announce Type: new Abstract: Runtime hazard monitors for autonomous naviga- tion are conventionally built from geometric quantities: predicte…
When Your State Estimator Has Lost The Plot: Detecting Estimator Failures Via Spectral Analysis
arXiv:2608.10623v1 Announce Type: new Abstract: Reliable onboard state estimation is essential for safe robotic operation, yet unmodeled disturbances, such as s…
Hip Energized Monopedal Hopping
arXiv:2608.10387v1 Announce Type: new Abstract: We present a novel stepping strategy for pitch unlocked planar monopeds where the reaction torques from stabiliz…
A Neural Network Based Teleoperation for Remote Controlled Vehicles
arXiv:2608.10367v1 Announce Type: new Abstract: Direct teleoperation of vehicles faces critical technical bottlenecks: communication latency and the operator's …
FACT: Failure-Aware Causal Training for World-Action Models
arXiv:2608.10232v1 Announce Type: new Abstract: Recent world-action models (WAMs) show that co-training policies with future prediction can provide physical pri…
Elbow Angle Guidance System Based on Surface Haptic Sensations Elicited by Lightweight Wearable Fabric Actuator
arXiv:2608.10404v1 Announce Type: cross Abstract: The demand for wearable haptic devices has rapidly increased for various applications. However, many haptic de…
Precise Top-Layer Fabric Segmentation for Fabric Destacking with Edge- and Shape-Aware Deep Networks
arXiv:2608.10648v1 Announce Type: cross Abstract: Fabric destacking requires precise segmentation of the topmost fabric layer, a task complicated by subtle fabr…
Autonomous Exploration-Based Precise Mapping for Mobile Robots through Stepwise and Consistent Motions
arXiv:2503.17005v3 Announce Type: replace Abstract: This paper presents an autonomous exploration framework. It is designed for indoor ground mobile robots that…
Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks
arXiv:2509.19696v4 Announce Type: replace Abstract: Learning-based methods excel at robot motion generation but remain limited in contact-rich physical interact…
Influence of Operator Expertise on Robot Supervision and Intervention
arXiv:2601.15069v2 Announce Type: replace Abstract: With increasing levels of robot autonomy, robots are increasingly being supervised by users with varying lev…
Injecting Hallucinations in Autonomous Vehicles: A Component-Agnostic Safety Evaluation Framework
arXiv:2510.07749v2 Announce Type: replace Abstract: Perception failures in autonomous vehicles (AV) remain a major safety concern because they are the basis for…
Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References
arXiv:2608.10220v1 Announce Type: new Abstract: Humanoid locomotion in highly confined environments requires navigating dense environmental obstacles and comple…
Real-World Cooperative Bimanual Dexterous Grasp of Large Objects from Single-View Observations
arXiv:2608.10383v1 Announce Type: new Abstract: Bimanual dexterous grasping of large objects is a critical challenge in robotic manipulation. However, most exis…
Nonlinear Model Predictive Control via Sequential Convex Programming for Drone-to-Drone Docking
arXiv:2608.10542v1 Announce Type: new Abstract: Autonomous mid-air docking of multi-rotor vehicles under disturbance-driven target motion poses a constrained no…
BooST: Bridging Semantics and Motions for Efficient Skill Transfer
arXiv:2608.10600v1 Announce Type: new Abstract: Skill abstraction---the process of learning reusable and temporally extended behaviors---has emerged as a key pa…
Toward the Cognitive--Physical Limits of Embodied Intelligence through a World-Model-Centric Autonomous Racing Agent
arXiv:2608.10618v1 Announce Type: new Abstract: Embodied artificial intelligence aims to develop agents that perceive, reason, and act through continuous intera…
OAA: Three Phases of Vocal Guidance in Human-Drone Teleoperation
arXiv:2608.10651v1 Announce Type: new Abstract: Voice-guided teleoperation requires systems that adapt to the evolving dynamics of human guidance. Yet most voic…
Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
arXiv:2608.10656v1 Announce Type: new Abstract: Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting dis…
Immersive Micromanipulation Integrating Pipette and Injector Operations with McKibben-Based Haptic Sensations for Workload Reduction
arXiv:2608.10033v1 Announce Type: cross Abstract: Intracytoplasmic sperm injection (ICSI) requires advanced micromanipulation techniques but relies solely on vi…
Wind-Informed Rapid Flight-Planning in Complex Urban Topologies via Machine Learning and Experimental Validation
arXiv:2608.10309v1 Announce Type: cross Abstract: Advanced air mobility operations hold the potential to enhance and expand regional transportation of both peop…
Dreamer-SAC: Off-Policy Learning in Latent World Models for Sample-Efficient Autonomous Driving
arXiv:2608.10386v1 Announce Type: cross Abstract: Sample-efficient reinforcement learning for autonomous driving is often limited by the trade-off between data …
Hidden in Plain Sight: Diffusion-Based Unrestricted Robotic Attacks on Vision-Language-Action Models
arXiv:2608.10393v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have shown strong capabilities in controlling robots across diverse manipu…
Automatic Field-of-View Adjustment for a View-Expansive Microscope via LSTM-Based Gaze and Pipette Motion Interpretation
arXiv:2608.10401v1 Announce Type: cross Abstract: Intracytoplasmic sperm injection (ICSI) operators frequently adjust the field-of-view (FOV) during procedures,…
Deployment Is Not Destiny: Robot Recomposition in the Field with Unseen Software, Hardware, and Compute Payloads
arXiv:2608.11063v1 Announce Type: new Abstract: The tight coupling of subsystems in most robots, though a natural consequence of their complexity, leads to mono…
JEPA-WAM: Stage-Level Joint-Embedding Prediction for World-Action Models in Robot Manipulation
arXiv:2608.10780v1 Announce Type: new Abstract: Generalist robot policies aim to map multimodal observations and linguistic task instructions to actions across …
Embodied Multimodal Grounding for Open-Vocabulary Mobile Manipulation via Semantic 3D Gaussian Splatting
arXiv:2608.10756v1 Announce Type: new Abstract: Embodied mobile manipulation requires language, visual observations, three-dimensional scene structure, and acti…
TCAM for Autonomous Deformable Manipulation: The RMC2 Champion System for WBCD 2026 Track 4
arXiv:2608.10718v1 Announce Type: new Abstract: This technical report describes the RMC2 Team's champion solution for the WBCD 2026 Track 4: Deformable Manipula…