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 storiesCoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations
arXiv:2606.31909v1 Announce Type: new Abstract: In this work, we study Compositional Dexterous Functional Object Manipulation (CD-FOM): tasks such as aiming and…
RCT: A Robot-Collected Touch-Vision-Language Dataset for Tactile Generalization
arXiv:2606.31694v1 Announce Type: new Abstract: For robots manipulating open-world objects, tactile representations must generalize to unseen materials. We intr…
ShapeGrasp: Simultaneous Visuo-Haptic Shape Completion and Grasping for Improved Robot Manipulation
arXiv:2605.02347v2 Announce Type: replace Abstract: Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feed…
Robustness of Robotic Manipulation: Foundations and Frontiers
arXiv:2606.31494v1 Announce Type: new Abstract: Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progres…
RRT-Rope: A deterministic shortening approach for fast near-optimal path planning in large-scale uncluttered 3D environments
arXiv:2606.31948v1 Announce Type: new Abstract: Many path planning algorithms have been introduced so far, but most are costly, in path cost and in processing t…
Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
arXiv:2604.21351v2 Announce Type: replace Abstract: The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-bo…
Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
arXiv:2601.02078v3 Announce Type: replace Abstract: The development of robust and generalizable robot learning models is critically contingent upon the availabi…
Plan Right, Then Plan Tight: Symbolic RL for Efficient Embodied Reasoning
arXiv:2606.31260v1 Announce Type: new Abstract: Embodied task planning asks an agent to turn a natural-language instruction into an executable sequence of actio…
RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
arXiv:2604.21355v2 Announce Type: replace Abstract: Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control f…
CoReLIN: Constraint-based Reasoning for Zero-shot Lifelong Interactive Navigation
arXiv:2602.20055v2 Announce Type: replace Abstract: Robot navigation typically assumes an obstacle-free path exists between start and goal. In real environments…
Local Conformal Calibration of Dynamics Uncertainty from Semantic Images
arXiv:2605.13028v2 Announce Type: replace Abstract: We introduce Observation-aware Conformal Uncertainty Local-Calibration (OCULAR), a conformal prediction-base…
Multimodal Benchmark for Safety Assessment in Industrial Inspection Scenarios
arXiv:2601.21173v2 Announce Type: replace Abstract: With the rapid development of industrial intelligence and unmanned inspection, reliable perception and safet…
PriorEye: Geospatial Visual Priors for End-to-End Autonomous Driving
arXiv:2606.31830v1 Announce Type: cross Abstract: Most end-to-end autonomous driving methods rely solely on instantaneous sensor observations, limiting them to …
From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation
arXiv:2606.30749v1 Announce Type: new Abstract: Large-scale dexterous grasp datasets encode rich priors over hand-object interaction, but their use has largely …
LARA: Latent Action Representation Alignment for Vision-Language-Action Models
arXiv:2606.07100v2 Announce Type: replace-cross Abstract: Visual-language action (VLA) models enable robots to predict actions directly from observations and la…
Neural Control: Adjoint Learning Through Equilibrium Constraints
arXiv:2605.03288v2 Announce Type: replace Abstract: Many physical AI tasks require sequential implicit computation: at each step, boundary controls are applied,…
Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension
arXiv:2606.06790v2 Announce Type: replace Abstract: This paper presents ERNEST, a four-wheeled planetary rover concept equipped with a two-degree-of-freedom Act…
Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force
arXiv:2606.30988v1 Announce Type: new Abstract: Robot manipulation often relies on sensory feedback beyond vision, particularly in contact-rich settings where f…
TAPE: Tether-Aware Path Planning for Autonomous Exploration of Unknown 3D Cavities Using a Tangle-Compatible Tethered Aerial Robot
arXiv:2606.30817v1 Announce Type: new Abstract: This letter presents the first method for autonomous exploration of unknown cavities in three dimensions (3D) th…
High-Speed Vision-Based Flight in Clutter with Safety-Shielded Reinforcement Learning
arXiv:2602.08653v2 Announce Type: replace Abstract: Quadrotor unmanned aerial vehicles (UAVs) are increasingly deployed in complex missions that demand reliable…
Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot
arXiv:2606.31807v1 Announce Type: new Abstract: As humanoid robots become increasingly dynamic, coupling them with reinforcement learning offers a promising app…
UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation
arXiv:2606.31451v1 Announce Type: new Abstract: Unified multimodal models (UMMs) have shown great promise in integrating understanding and generation across div…
Prompting Robot Teams with Natural Language
arXiv:2509.24575v2 Announce Type: replace Abstract: This paper presents a framework to prompt multi-robot teams with high-level tasks using natural language exp…
Locker-based Truck-Drone Routing with Integrated Considerations of Pickups, Deliveries, and No-Fly Zones
arXiv:2606.30680v1 Announce Type: new Abstract: Truck-drone delivery is an emerging last-mile logistics mode combining the long-haul capacity of trucks with the…
Registering the 4D Millimeter Wave Radar Point Clouds Via Generalized Method of Moments
arXiv:2508.02187v3 Announce Type: replace Abstract: 4D millimeter wave radars (4D radars) are new emerging sensors that provide point clouds of objects with bot…
Unified Structural-Hydrodynamic Modeling of Underwater Underactuated Mechanisms and Soft Robots
arXiv:2603.07939v2 Announce Type: replace Abstract: Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are a…
Verification-Gated Agentic Mission-State Governance for Intelligent Industrial Multi-Robot Systems
arXiv:2606.31339v1 Announce Type: new Abstract: Agentic artificial intelligence is increasingly used to decompose industrial tasks, propose robot actions, and a…
Physically Grounded 3D Generative Reconstruction under Hand Occlusion using Proprioception and Multi-Contact Touch
arXiv:2604.09100v2 Announce Type: replace-cross Abstract: We propose a multimodal, physically grounded approach for metric-scale amodal object reconstruction an…
ViTL: Temporal Logic-Guided Zero-Shot Natural Language Navigation via Vision-Language Models
arXiv:2606.30696v1 Announce Type: new Abstract: Enabling robots to follow natural language commands to complete zero-shot long-horizon tasks remains challenging…
Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory
arXiv:2606.31037v1 Announce Type: new Abstract: Laboratory automation has made remarkable progress through robotic platforms and AI-driven scientific reasoning.…