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
2826 storiesLearning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications
arXiv:2607.00442v1 Announce Type: new Abstract: Reinforcement learning (RL) for quadruped locomotion commonly depends on fixed, hand-crafted, and Markovian rewa…
AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation
arXiv:2607.01051v1 Announce Type: new Abstract: Different stages of manipulation tasks exhibit varying levels of difficulty, suggesting stage-dependent motion s…
FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model
arXiv:2607.01212v1 Announce Type: new Abstract: Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We int…
From World Models to World Action Models: A Concise Tutorial for Robotics
arXiv:2607.00836v1 Announce Type: new Abstract: World models are increasingly used in embodied intelligence and generative simulation, yet their scope remains a…
[Preprint] Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator
arXiv:2607.00569v1 Announce Type: new Abstract: In this article, we present dynamic modeling, gait synthesis, and feedback control design for a modular novel su…
Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation
arXiv:2607.00424v1 Announce Type: new Abstract: Redundant robotic manipulators operating in constrained and human-interactive environments require accurate task…
Enhancing Hardware Fault Tolerance in Machines with Reinforcement Learning Policy Gradient Algorithms
arXiv:2407.15283v2 Announce Type: replace-cross Abstract: Industry is moving toward autonomous, network-connected machines that detect and adapt to changing con…
From Prediction Uncertainty to Conformalized Distance Fields for Safe Motion Planning
arXiv:2607.00776v1 Announce Type: new Abstract: Safe motion planning in dynamic environments requires reasoning about the uncertainty in predicted obstacle moti…
Planning over MAPF Agent Dependencies via Multi-Dependency PIBT
arXiv:2603.23405v2 Announce Type: replace-cross Abstract: Modern Multi-Agent Path Finding (MAPF) algorithms must plan for hundreds to thousands of agents in con…
Beyond Line of Sight: Hybrid Validation of V2X Collective Perception in Complex Scenarios
arXiv:2607.00874v1 Announce Type: new Abstract: This paper introduces a probabilistic framework and hybrid validation methodology for V2X-enabled Collective Per…
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
arXiv:2506.12851v3 Announce Type: replace Abstract: Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algo…
Learning Expert Strategy for Autonomous Robotic Endovascular Intervention via Decoupled Procedural Execution
arXiv:2607.00066v1 Announce Type: new Abstract: Endovascular interventions are high-stakes procedures requiring precise device operation within complex and tort…
Neural Surface and Reflectance Modelling from 3D Radar Data
arXiv:2603.25623v2 Announce Type: replace Abstract: Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibil…
ROSA: A Robotics Foundation Model Serving System for Robot Factories
arXiv:2607.01088v1 Announce Type: new Abstract: Robotics foundation models (RFMs) are making general-purpose robots increasingly practical for factory deploymen…
Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets
arXiv:2607.00444v1 Announce Type: new Abstract: Spatiotemporal motion planning, especially in multi-robot settings, requires robots to reason about collision-fr…
Stop Pretending Social Robots Are Inevitable
arXiv:2607.00142v1 Announce Type: new Abstract: This paper takes issue with the recent themes of both the RO-MAN and the HRI conferences for their portrayal of …
Where Am I? Semantic Map Grounding via Vision-Language Models for Multi-Modal Localization
arXiv:2607.01079v1 Announce Type: new Abstract: We address robot localization in GPS-denied indoor environments by reframing it as a semantic reasoning task rat…
Path Planning in Physically Viable World Models
arXiv:2607.00673v1 Announce Type: new Abstract: Robots deployed in unstructured outdoor environments often plan from scene reconstructions collected before depl…
From Real-Time Planning to Reliable Execution:Scalable Coordination for Heterogeneous Multi-Robot Fleets in Industrial Environments
arXiv:2607.00591v1 Announce Type: new Abstract: With the increasing deployment of heterogeneous robot fleets in industrial environments, efficient coordination …
What's Hidden Matters: Identifying Planning-Critical Occluded Agents using Vision-Language Models
arXiv:2607.00283v1 Announce Type: new Abstract: Autonomous vehicles must safely navigate complex environments where planning-critical agents may be hidden from …
Towards Metric-Agnostic Trajectory Forecasting
arXiv:2607.01133v1 Announce Type: cross Abstract: Accurate trajectory forecasting of surrounding traffic participants is a core capability for autonomous drivin…
MineRobot: An Actuator-Centered Kinematic Modeling and Solving Framework for Underground Mining Robots
arXiv:2603.22055v2 Announce Type: replace-cross Abstract: Underground mining robots are increasingly modeled for planning, operator training, and digital-twin w…
Decentralized Geometric Control for Cable-Suspended Payload Transport with Adaptive Mass Estimation
arXiv:2607.00024v1 Announce Type: new Abstract: Cooperative aerial transport requires controllers that respect nonlinear manifold geometry, operate without cent…
Rule-VLN: Bridging Perception and Compliance via Semantic Reasoning and Geometric Rectification
arXiv:2604.16993v2 Announce Type: replace-cross Abstract: As embodied AI transitions to real-world deployment, the success of the Vision-and-Language Navigation…
Towards Accurate State Estimation: Motion Dynamics Kalman Filter for 3D Multi-Object Tracking
arXiv:2505.07254v2 Announce Type: replace-cross Abstract: Precise 3D state estimation in multi-object tracking (MOT) is critical for self-driving cars, particul…
FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight
arXiv:2607.01200v1 Announce Type: new Abstract: Fast quadrotor flight requires safe obstacle avoidance under tight onboard compute limits. While 3D Gaussian Spl…
Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning
arXiv:2607.00160v1 Announce Type: new Abstract: Modular reconfigurable robotic systems provide a scalable solution for cooperative surface operations in future …
ELMP: Efficient Learning for Motion Planning via Analytical Policy Gradients
arXiv:2607.00215v1 Announce Type: new Abstract: Neural Motion Planners (NMPs) enable fast reactive motion generation, but adapting them to new environments typi…
Multi-Embodiment Robotic Retargeting via Guided Diffusion Model
arXiv:2505.20857v2 Announce Type: replace Abstract: Motion retargeting for specific robot from existing motion datasets is one critical step in transferring mot…
NOVA: Next-step Open-Vocabulary Autoregression for 3D Multi-Object Tracking in Autonomous Driving
arXiv:2603.06254v2 Announce Type: replace-cross Abstract: Generalizing across unknown targets is critical for open-world perception, yet existing 3D Multi-Objec…