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 storiesSUM-AgriVLN: Spatial Understanding Memory for Agricultural Vision-and-Language Navigation
arXiv:2510.14357v2 Announce Type: replace Abstract: Agricultural robots are emerging as powerful assistants across a wide range of agricultural tasks, neverthel…
CLEAR: A Semantic-Geometric Terrain Abstraction for Large-Scale Unstructured Environments
arXiv:2601.13361v2 Announce Type: replace Abstract: Long-horizon navigation in unstructured environments demands terrain abstractions that scale to tens of squa…
HyperDet: 3D Object Detection with Hyper 4D Radar Point Clouds
arXiv:2602.11554v4 Announce Type: replace Abstract: How far can 3D object detection go using 4D radar alone? Despite offering weather-robust and velocity-aware …
AnyCamVLA: Zero-Shot Camera Adaptation for Viewpoint Robust Vision-Language-Action Models
arXiv:2603.05868v2 Announce Type: replace Abstract: Despite remarkable progress in Vision-Language-Action models (VLAs) for robot manipulation, these large pre-…
Knowing When to Ask: Resolving Uncertainty in Human-Robot Joint Planning via Explicit Dialogue and Implicit Intent Cues
arXiv:2603.07822v2 Announce Type: replace Abstract: Effective human-robot collaboration in open-world environments requires joint planning under uncertainty abo…
Communication Outage-Resistant UUV State Estimation: A Variational History Distillation Approach
arXiv:2603.29512v3 Announce Type: replace Abstract: The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acous…
Learning When to See and When to Feel: Adaptive Vision-Torque Fusion for Contact-Aware Manipulation
arXiv:2604.01414v2 Announce Type: replace Abstract: Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and …
Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning
arXiv:2605.01860v2 Announce Type: replace Abstract: This paper explores the benefits of computing arborescent trajectories (trajectory-trees) instead of commonl…
Anomaly-Informed Confidence Calibration for Vision-Based Safety Prediction
arXiv:2605.21109v2 Announce Type: replace Abstract: Reliable confidence estimates are important for safely deploying vision-based controllers in autonomous raci…
Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion
arXiv:2606.00637v3 Announce Type: replace Abstract: Although reinforcement learning has significantly advanced humanoid locomotion, perceptive policies still st…
OmniV2X: A Generative Foundation Planner for Efficient End-to-End Cooperative Driving
arXiv:2606.21165v2 Announce Type: replace Abstract: We present OmniV2X, a generative foundation model for vehicle-to-everything (V2X) cooperative driving. The m…
Optimal Multi-Agent Path Finding in Continuous Time
arXiv:2508.16410v3 Announce Type: replace-cross Abstract: Continuous-time Conflict Based Search (CCBS) has been widely used as an exact baseline for Continuous-…
RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot Guided Retrieval-Augmented Generation
arXiv:2601.10168v3 Announce Type: replace-cross Abstract: Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging s…
DiSCo: Diffusion Sequence Copilots for Shared Autonomy
arXiv:2603.22787v2 Announce Type: replace-cross Abstract: Shared autonomy combines human user and AI copilot actions to control complex systems such as robotic …
Critic-Free Deep Reinforcement Learning for Maritime Coverage Path Planning on Irregular Hexagonal Grids
arXiv:2603.28385v2 Announce Type: replace-cross Abstract: Maritime surveillance missions, such as search and rescue and environmental monitoring, rely on the ef…
Model Predictive Control of Hybrid Dynamical Systems
arXiv:2604.21989v2 Announce Type: replace-cross Abstract: The problem of controlling hybrid dynamical systems using model predictive control (MPC) is formulated…
RynnValue: Scaling Robotic Value Foundation Models with Temporal Distance
arXiv:2608.09853v1 Announce Type: new Abstract: General-purpose reward models are increasingly the bottleneck for scaling robot learning, yet the recipe for lea…
GWM-VLA: Geometry-Aware Latent World Modeling for Vision-Language-Action Learning
arXiv:2608.07619v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models achieve strong robotic manipulation performance but often degrade under visu…
A Communication-Efficient Digital Twin Framework for PSO-Based Swarm Navigation and Obstacle Avoidance
arXiv:2406.19930v4 Announce Type: replace Abstract: Swarm-based target localization in industrial environments faces two major challenges: navigating obstacle-r…
Unsupervised Point Cloud Registration with Self-Distillation
arXiv:2409.07558v2 Announce Type: replace-cross Abstract: Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous…
Durability-Aware Multi-Objective Optimization of the Jansen Linkage: Trading Gait Quality Against Joint Wear
arXiv:2606.22129v2 Announce Type: replace Abstract: The Jansen linkage is a single-degree-of-freedom planar leg mechanism whose eleven "holy numbers" were evolv…
Epically Powerful: An open-source software and mechatronics infrastructure for wearable robotic systems
arXiv:2511.05033v2 Announce Type: replace Abstract: Epically Powerful is an open-source robotics infrastructure that streamlines the underlying framework of wea…
DAP-Pose: Deep Temporal Alignment and Physics-aware Cross-modal Sensor Fusion for Robust Pose Estimation
arXiv:2607.23755v1 Announce Type: cross Abstract: Robust and accurate pose estimation with multi-modal sensors is fundamental for autonomous vehicles and mobile…
Entanglement-Free Trajectory Planning for Tethered Mobile Robots with a Slack Tether
arXiv:2608.09860v1 Announce Type: new Abstract: In motion planning algorithms for tethered mobile robots, the entanglement state of the tether is a critical asp…
Removing Infrastructure Barriers in Human-Robot Collaboration Through Wireless Reconfigurable Cells
arXiv:2608.09658v1 Announce Type: new Abstract: Human-Robot Collaboration (HRC) plays a vital role in dynamic, high mix, low volume industrial scenarios such as…
Anchor-Based AI Approach for Pre-Crash Object Detection Utilizing Micro-Doppler Signatures in Automotive Radar
arXiv:2608.08701v1 Announce Type: new Abstract: Advanced automated driving presents significant potential to improve modern automotive safety systems, but it de…
PhysX-CoT: Structured Physical Reasoning from a Single Image to Simulation-Ready 3D Assets
arXiv:2608.08053v1 Announce Type: new Abstract: Simulation-ready 3D assets are central to robotics and embodied AI. Generating them from a single image is usual…
A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units
arXiv:2608.06488v1 Announce Type: new Abstract: Difficulty in haptic feedback for surgical robots has been a long-term problem for decades. In recent years, lea…
SyncSBC: Decentralized Swarm Behavior Prediction for Synchronized Autonomous Control
arXiv:2608.06587v1 Announce Type: new Abstract: Robot swarms utilize many independent limited-sensing agents to produce complex emergent behaviors without requi…
SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models
arXiv:2608.06650v1 Announce Type: new Abstract: Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the…