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 storiesJitTrack: Onboard Multi-Object Tracking Against Viewpoint Jitter for Agile UAVs
arXiv:2608.10485v1 Announce Type: new Abstract: Multi-object tracking (MOT) onboard agile unmanned aerial vehicles (UAVs) remains challenging due to severe view…
Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models
arXiv:2608.10484v1 Announce Type: new Abstract: Action verbs describe not only the physical outcomes of actions, but also how those actions are performed. Yet a…
PBD-AG: Persistent Baseline-Delta Active Graphs with Uncertainty-Aware Inspection for Long-Horizon Service Robots
arXiv:2608.10449v1 Announce Type: new Abstract: Long-horizon service robots require persistent world models that can be built autonomously in unseen environment…
A 26-Gram Tailless Butterfly-Inspired Flapping-Wing Robot with Onboard Attitude Control
arXiv:2602.06811v3 Announce Type: replace Abstract: Butterfly-inspired flapping-wing robots use broad compliant wings and low-frequency actuation, but pronounce…
Multisource Human-in-the-Loop Digital Twin Testbed for Connected and Autonomous Vehicles in Mixed Traffic Flow
arXiv:2603.17751v5 Announce Type: replace Abstract: In the emerging mixed traffic environments, Connected and Autonomous Vehicles (CAVs) have to interact with s…
Reconfiguration of pivoting cube ensembles under local sensing constraints using geometric deep learning
arXiv:2509.03140v2 Announce Type: replace-cross Abstract: We demonstrate that local sensing is sufficient for effective global reconfiguration of homogeneous pi…
Distributional Uncertainty and Adaptive Decision-Making in System Co-design
arXiv:2603.14047v3 Announce Type: replace-cross Abstract: Complex engineered systems require coordinated design choices across heterogeneous components under co…
Generalizing deep reinforcement learning across cable-driven parallel robot configurations with actuator-level policies
arXiv:2608.07546v1 Announce Type: new Abstract: Cable-driven parallel robots (CDPRs) present diverse configurations and complex control challenges, which can be…
SC$^{2}$-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments
arXiv:2608.07548v1 Announce Type: new Abstract: Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to make fine-grained navigati…
Self Supervised Learning from Automatically Generated Demonstrations for Visual Robotic Manipulation
arXiv:2608.07553v1 Announce Type: new Abstract: Robotic manipulation often requires object specific programming, manual data annotation, or calibrated perceptio…
You Don't Need To Stay in The Loop: An Agentic Robotics Loop for Robot-Policy Improvement
arXiv:2608.07555v1 Announce Type: new Abstract: Coding agents such as Claude Code and Codex close the software loop: a main agent manages the loop, subagents an…
AeroDPO: Unleashing Lightweight UAV Navigation with High-Fidelity Perception and Automated Preference Optimization
arXiv:2608.07557v1 Announce Type: new Abstract: Vision-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) requires rapid and reactive control in complex…
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
arXiv:2608.07558v1 Announce Type: new Abstract: Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interaction…
Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators
arXiv:2608.07573v1 Announce Type: new Abstract: Model Predictive Path Integral (MPPI) control is widely used in manipulation for its gradient-free, parallel han…
Reconfigurable Structural Robotic Assembly: Interlocking 3D Aggregations with Self-Aligning Compound Nested Lattice Modules
arXiv:2608.07576v1 Announce Type: new Abstract: Robotic construction systems often treat the material system and the robot as separate design problems, locating…
LIRA: Local Cross-Layer Information Routing for Vision-Language-Action Decoding
arXiv:2608.07596v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models transform representations from pretrained vision-language models (VLMs) into…
AdaDexGrasp: Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion
arXiv:2608.07600v1 Announce Type: new Abstract: Humans achieve stable and adaptive grasps by seamlessly integrating visual perception and tactile feedback, a ca…
Enhanced Real-Time 6-DOF Extended Reality Catheter Tracking for Evaluating Potential Improvement in Efficiency, Precision, and Depth Perception for Cardiac Interventions
arXiv:2608.07606v1 Announce Type: new Abstract: Despite advances in 3D ultrasound, most percutaneous cardiac interventions still rely on 2D visualization, limit…
A Reconfigurable Tracked Robot for Enhanced Obstacle Traversal Through Movable Articulation Point and Internal Mass Relocation
arXiv:2608.07624v1 Announce Type: new Abstract: Tracked robots are widely used in unstructured environments; however, their obstacle traversal capability is fun…
H\"older Signed Distance: A Differentiable, Signed, Parallelizable Metric for Robotics
arXiv:2608.07707v1 Announce Type: new Abstract: Computing distances between sets is essential in robotic motion planning and control, where differentiable gradi…
Complete, Scalable, and Robust Prioritized Planning for Multi-Robot Ordered Storage and Retrieval at Maximum Capacity
arXiv:2608.07734v1 Announce Type: new Abstract: Automated warehouses face a fundamental trade-off between maximizing storage density and achieving high retrieva…
Enhancing Autonomous Vehicle Navigation with a Clothoid-Based Lateral Controller
arXiv:2608.07740v1 Announce Type: new Abstract: This study introduces an advanced lateral control strategy for autonomous vehicles using a clothoid-based approa…
CoCoNav: Conformal Control for Safe Robot Navigation in Crowds
arXiv:2608.07751v1 Announce Type: new Abstract: Safe and efficient robot navigation in crowds requires anticipating pedestrian motion despite uncertain and pote…
Drone-Assisted UAV-UGV Collaboration for Autonomous Navigation in Snow-Covered Terrain
arXiv:2608.07797v1 Announce Type: new Abstract: This paper presents a collaborative UAV-UGV navigation framework for high-altitude, snow-covered terrain, where …
A Mixed-Stiffness Anthropomimetic Fingertip Broadens the Operating Range for Coin Grasping
arXiv:2608.07887v1 Announce Type: new Abstract: Robotic grasping of thin, flat objects such as coins on hard surfaces remains challenging because conventional m…
Auditing Instruction-Trajectory Mismatches in Multimodal Robot Demonstrations
arXiv:2608.07895v1 Announce Type: new Abstract: Robot demonstration datasets used to train vision-language-action policies can contain a subtle but harmful fail…
4D-WAM: Infusing Spatiotemporal Awareness into World Action Models through Trajectory Fields
arXiv:2608.08023v1 Announce Type: new Abstract: Building on recent advances in world models, World Action Models (WAMs) jointly model video prediction and actio…
DA-NBV: A Direction-Aware Next-Best-View Planner for Efficient 3D Reconstruction of Ships at Sea
arXiv:2608.08025v1 Announce Type: new Abstract: Accurate 3D reconstruction of ships at sea is important for maritime supervision, damage assessment, and autonom…
Compiling and Benchmarking Task-State Horizons for Embodied Agents
arXiv:2608.08036v1 Announce Type: new Abstract: Frontier agentic models are increasingly deployed as high-level planners for long-horizon embodied tasks. Existi…
SurgWMBench: A Vision-Based Benchmark for World-Modeling Surgical Instrument Motion Planning
arXiv:2608.08070v1 Announce Type: new Abstract: Reliable surgical planning requires models that move beyond recognizing the current surgical step or imitating e…