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 storiesEvent-Time Hybrid Optimal Control for Robotic Table Tennis Serves
arXiv:2608.08157v1 Announce Type: new Abstract: Robotic table tennis serves require high ball velocity and spin while respecting the robot's kinodynamic limits.…
Multi-modal Interactive Control of Robotic Arm based on Offline Large Language Models
arXiv:2608.08183v1 Announce Type: new Abstract: Large Language Models (LLMs) have significantly revolutionized the modern society with numerous advanced interac…
Spatiotemporal Context-dependent Personalized Movement Compensation in Delayed Telemanipulation
arXiv:2608.08200v1 Announce Type: new Abstract: Communication delay remains a central challenge in telerobotics, where it disrupts visuomotor coordination and r…
Action- and Language-Conditioned Video Assessment for Embodied Control
arXiv:2608.08273v1 Announce Type: new Abstract: Vision-based embodied agents executing multi-step natural language instructions require feedback mechanisms that…
Scalable High-Speed Lateral Control for Single-Body and Articulated Autonomous Vehicles
arXiv:2608.08293v1 Announce Type: new Abstract: This paper presents a scalable lateral control framework for robust path tracking of single-body and articulated…
Diminishing Returns of Intelligence: The Non-Linear Relationship Between LLM Scale and User Perception in Short-Duration Open-Ended Social Human-Robot Interactions
arXiv:2608.08320v1 Announce Type: new Abstract: Large Language Models (LLMs) are increasingly used to drive embodied social agents, yet it remains unclear wheth…
MPPI Planning with Gaussian Based Human Cost Function for Social Navigation
arXiv:2608.08323v1 Announce Type: new Abstract: Safe robot navigation in crowded spaces requires planning that accounts for where people will be, not only where…
Stochastic Physics-Informed Neural Networks on Lie Groups for Learning Underwater Vehicle Dynamics
arXiv:2608.08356v1 Announce Type: new Abstract: Accurate models of underwater vehicle motion are needed for autonomous execution of marine tasks like infrastruc…
EsaacSim: A Multimodal Event Camera Add-on for NVIDIA Isaac Sim
arXiv:2608.08522v1 Announce Type: new Abstract: Event-based vision is becoming an increasingly important sensing paradigm for robotics, yet its adoption remains…
Curriculum Generation under Structured Parametric Environments for Robust Navigation Policies
arXiv:2608.08545v1 Announce Type: new Abstract: Robust navigation policies for autonomous agents must generalize across continuously varying environmental condi…
Vid2WAM: Distilling Video Diffusion Priors into World Action Models
arXiv:2608.08558v1 Announce Type: new Abstract: World Action Models (WAMs) improve robot policy learning by jointly modeling future visual dynamics and actions.…
Knowledge-Distilled End-to-End Reinforcement Learning for Smooth 6-DOF Thrust Control and Rapid Adaptation to Ocean Currents in Remotely Operated Vehicles
arXiv:2608.08598v1 Announce Type: new Abstract: With the continuous improvement of computational capabilities, end-to-end reinforcement learning has been rapidl…
RAG-Based Auto-Configuration for Industrial Fieldbus Devices
arXiv:2608.08618v1 Announce Type: new Abstract: Industrial device commissioning requires engineers to manually extract hundreds of protocol-specific parameters …
WA-SpecDec: World-Aware Speculative Decoding for Vision-Language-Action Models
arXiv:2608.08725v1 Announce Type: new Abstract: Vision-language-action (VLA) policies generate robot controls autoregressively, making closed-loop latency domin…
OnEvoMemory: Evolving Memory through Online Robot Rollouts for Pretrained Robot Policies
arXiv:2608.08749v1 Announce Type: new Abstract: Long-horizon robot manipulation requires policies to track completed subtasks and critical interaction events. H…
PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling
arXiv:2608.08773v1 Announce Type: new Abstract: Long-horizon multi-part object disassembly requires robots to compute feasible sequences of collision-free remov…
SG-WAM: Text-Grounded and Spatial-aware Semantic Guidance for World-Action Models
arXiv:2608.08839v1 Announce Type: new Abstract: World-Action Models (WAMs) have emerged as a promising paradigm for robotic manipulation. However, most existing…
Hierarchical Topology-Aware Planning and Control of Underwater Vehicle-Manipulator Systems in Confined Environments
arXiv:2608.08871v1 Announce Type: new Abstract: This paper addresses autonomous intervention with an underwater vehicle--manipulator system (UVMS) in confined, …
SHRIMP: Iterative Refinement of Robot Task Plans
arXiv:2608.08884v1 Announce Type: new Abstract: As collaborative robots have entered domains such as manufacturing, agriculture, and healthcare, programming or …
Estimation of Spacecraft Inertia Tensor Using Attitude-Only Data from Torque-Free Motion
arXiv:2608.08886v1 Announce Type: new Abstract: We present an attitude-only framework for estimating a spacecraft's normalized inertia tensor from torque-free r…
From Operational Design Domain to Action: A Systematic Behavioral Taxonomy for Autonomous Driving
arXiv:2608.08941v1 Announce Type: new Abstract: Operational Design Domain (ODD) specifications describe where an automated driving system (ADS) is permitted to …
Personalized Lower-limb Exoskeleton Assistance via Preference-based Bayesian Optimization
arXiv:2608.09015v1 Announce Type: new Abstract: A significant challenge in exoskeleton robotics is the need to dynamically adapt control profiles to individual …
Latent World Models with Monotone Planning Costs for Image-Goal Navigation
arXiv:2608.09073v1 Announce Type: new Abstract: Image-goal navigation with latent world models requires not only accurate future prediction, but also a planning…
UnsDrive: Towards Robust End-to-End Autonomous Driving in Unstructured Scenes
arXiv:2608.09098v1 Announce Type: new Abstract: End-to-end planning has shown strong promise for autonomous driving, but most existing methods are designed for …
ROEVO: Robust Organized Edge Feature-based Visual Odometry Using RGB-D Cameras
arXiv:2608.09112v1 Announce Type: new Abstract: This work presents a visual odometry (VO) system that leverages image edge features. Edges are spatially express…
Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation
arXiv:2608.09125v1 Announce Type: new Abstract: Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous soluti…
High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing
arXiv:2608.09127v1 Announce Type: new Abstract: Despite the demand for robots in high-value clinical tasks like bathing, contemporary systems still lack the saf…
SpeedTuning: Speeding Up Policy Execution with Lightweight Reinforcement Learning
arXiv:2608.09138v1 Announce Type: new Abstract: While learned robotic policies hold promise for advancing generalizable manipulation, their practical deployment…
Particle-Based Conformal Prediction for Contact-Aware Uncertainty Calibration in Stratified Configuration Spaces
arXiv:2608.09166v1 Announce Type: new Abstract: Reliable uncertainty representation is essential for deploying autonomous systems that interact with their envir…
SAIN: Structure-Aware Interactive Navigation with Active Dialogue Grounding for Mobile Robot
arXiv:2608.09196v1 Announce Type: new Abstract: Most existing vision-language navigation tasks assume that instructions are complete and unambiguous. However, r…