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 storiesUltra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction
arXiv:2608.09198v1 Announce Type: new Abstract: Conventional robotic grippers often use high-ratio transmissions to generate grasping torque and external force …
Task-Oriented Formation Decision via Reinforcement Learning: Herding an Attacking Swarm
arXiv:2608.09258v1 Announce Type: new Abstract: Multi-robot systems can accomplish tasks that are difficult for a single robot by organizing into task-specific …
WorldSimProbe: Diagnosing Simulator Faithfulness in Action-Conditioned World Models for Embodied Manipulation
arXiv:2608.09298v1 Announce Type: new Abstract: Action-conditioned world models (ACWMs) promise to provide embodied AI with scalable predictive simulators for p…
SAFE-CHEM: Uncertainty-Aware Policy Switching for Robust Robotic Chemistry
arXiv:2608.09303v1 Announce Type: new Abstract: The deployment of autonomous robotic systems in chemistry laboratories is accelerating experimental workflows an…
DH-VLM: Dual-Horizon Cooperative Latent Reasoning for Autonomous Driving
arXiv:2608.09333v1 Announce Type: new Abstract: Large-scale language models for autonomous driving enable enhanced global understanding and long-horizon plannin…
JEPA-WAM: Learning Vision-Language-Action Policies with Joint-Embedding World Modeling
arXiv:2608.09381v1 Announce Type: new Abstract: Robust robot control benefits from explicitly modeling state transitions, but video-generation world action mode…
Beyond the Plane: Coupling Planar Vehicle Dynamics with Three-Dimensional Road Geometry
arXiv:2608.09402v1 Announce Type: new Abstract: Simulation is crucial for developing and testing autonomous driving systems. In particular, the development of l…
Skills in Weights, Memory in Code: Hybrid Learning for Memory-Dependent Robot Manipulation
arXiv:2608.09410v1 Announce Type: new Abstract: Modern vision-language-action (VLA) policies have acquired broad manipulation skills, but typically generate eac…
VANE: Reliable Test-Time Training for Vision-Language-Action Models via Future Visual Representation Prediction
arXiv:2608.09448v1 Announce Type: new Abstract: Test-time training (TTT) offers a lightweight way to adapt vision--language--action (VLA) policies from unlabele…
Graph-Guided Safe Diffuser: Topological Graph Guidance for Safe Diffusion Planning
arXiv:2608.09484v1 Announce Type: new Abstract: Many diffusion-based planners enforce safety through inference-time guidance, but such interleaved trajectory de…
Rethink Before You Execute: Adaptive Execution for World Action Models
arXiv:2608.09492v1 Announce Type: new Abstract: World Action Models (WAMs) jointly predict future actions and the evolution of the environment. At each inferenc…
Tether-Inertial Localization for Planetary Drones
arXiv:2608.09515v1 Announce Type: new Abstract: Recent developments in planetary exploration have shown the potential of Unmanned Aerial Vehicles (UAVs), such a…
HarnessWAM: Bridging Prediction and Deliberation in World Action Models
arXiv:2608.09516v1 Announce Type: new Abstract: World Action Models (WAMs) jointly learn environmental dynamics and robot actions, introducing priors over physi…
Robotic Fabric Alignment System for Sewing Using Global Local Weighted ICP
arXiv:2608.09528v1 Announce Type: new Abstract: Accurate fabric alignment is a critical step that must be performed before sewing. This paper presents a novel a…
Model-Based Systems Engineering Framework for SysML-Driven Design of Autonomous UAVs
arXiv:2608.09547v1 Announce Type: new Abstract: Autonomous Unmanned Aerial Vehicles (UAVs) are complex cyber-physical systems that require the coordinated integ…
TDMA Based Communications Control Co-Design for Cooperative Carrying: Delay Calibration and Sampling-Rate Optimization
arXiv:2608.09556v1 Announce Type: new Abstract: Multi robot teams performing cooperative transportation face a fundamental challenge: maintaining stable control…
FactorDrive: Adaptive Multi-Step Reasoning Driven by Planning-Critical Factors for End-to-End Autonomous Driving
arXiv:2608.09591v1 Announce Type: new Abstract: Vision-language models (VLMs) have advanced scene understanding and enabled explicit reasoning in end-to-end aut…
Nonlinear Model Predictive Control of a Robotic Soft Esophagus
arXiv:2608.09602v1 Announce Type: new Abstract: Strictures caused by esophageal cancer can narrow down the esophageal lumen, leading to dysphagia. Palliation of…
Predictive safety filter enhanced curriculum learning control for efficient vehicle dynamics controller
arXiv:2608.09653v1 Announce Type: new Abstract: Recent advances in learning-based control have enabled impressive achievements in solving complex control proble…
TAMS: Task-Aware Multi-View Adaptive Streaming for Wireless Telerobotic Manipulation
arXiv:2608.09731v1 Announce Type: new Abstract: Wireless telerobotic manipulation relies on timely multi-view video feedback, but the available uplink bandwidth…
Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition
arXiv:2608.09762v1 Announce Type: new Abstract: Real-world online reinforcement learning (RL) provides a promising approach for training robotic manipulation po…
SLIM-0.5B: Learning Action-Grounded Predictive Latents for Robot Manipulation
arXiv:2608.09771v1 Announce Type: new Abstract: Vision-language-action policies rely on large multimodal backbones to jointly perform perception, language condi…
RoboSeg: Online Part-Level Semantic Reconstruction for Robotic Manipulation via a Single Eye-in-Hand Camera
arXiv:2608.09778v1 Announce Type: new Abstract: Robotic manipulation requires perception systemsthat identify actionable parts such as handles, rims, triggers,a…
WRAP: Wasserstein-Robust Adaptive Plug-in for Robot Localization
arXiv:2608.09807v1 Announce Type: new Abstract: Robotic localization under changing sensing conditions can suffer from biased errors and miscalibrated covarianc…
Hierarchical Fast--Slow ReAct Agent for Zero-Shot Object-Goal Navigation
arXiv:2608.09816v1 Announce Type: new Abstract: Zero-shot object-goal navigation (ZSON) requires a robot to find a named object category in a building it has ne…
Agentic Harnesses: LLM-Driven Verification Layers for Robot Autonomy
arXiv:2608.09857v1 Announce Type: new Abstract: Advances in advanced artificial intelligence tools have sparked research in robot autonomy, but the development …
Energy-Structured Latent World Models with Neural Time Fields for Physically Constistent Open-World Motion Planning
arXiv:2608.09876v1 Announce Type: new Abstract: Physically consistent motion planning remains a fundamental challenge in embodied AI, as generated trajectories …
RoSE: A Robotic Soft Esophagus for Endoprosthetic Stent Testing
arXiv:2608.09891v1 Announce Type: new Abstract: Soft robotic systems are well suited for developing devices for biomedical applications. A bio-mimicking robotic…
XPolicyLab: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment
arXiv:2608.09892v1 Announce Type: new Abstract: Robot policy evaluation and deployment remain fragmented by model-specific software dependencies, data represent…
Emotion in an active inference model of human driving
arXiv:2608.07480v1 Announce Type: cross Abstract: Active inference has emerged as a principled framework for modeling adaptive behavior by balancing goal-direct…