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 storiesParallel-in-Time Nonlinear Optimal Control via GPU-native Sequential Convex Programming
arXiv:2603.10711v3 Announce Type: replace Abstract: Real-time solution of nonlinear optimal control problems remains challenging on embedded robotic hardware, w…
Topometric Autonomous Vehicle Localization by Combining Visual Embeddings and Feed-Forward 3D Models
arXiv:2608.06021v1 Announce Type: new Abstract: Effective Visual Localization (VL) requires a map of the environment that combines compactness for efficient sca…
Near-sensor Computing for Rapid Visuotactile Perception
arXiv:2608.05725v1 Announce Type: new Abstract: Visuotactile sensors reconstruct dense contact geometry from measured surface gradients, but host-based processi…
PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
arXiv:2608.05586v1 Announce Type: new Abstract: Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. Howe…
VLAff: Vision-Language-Affordance Model for Unified Actionable Affordances
arXiv:2608.05215v1 Announce Type: new Abstract: Learning manipulation skills from human videos is promising for scalable robot learning. However, the embodiment…
Acoustic-driven millimetric helical robot: ultrasonic synergistic manipulation in confined fluidic environment
arXiv:2608.05746v1 Announce Type: new Abstract: Acoustic field-driven manipulation provides a non-contact and non-invasive strategy for controlling microscale a…
Nonvisual Classification of Ground-Condition by Artificial Proprioception in an Amoeba-Inspired Autonomous Walking Robot
arXiv:2608.05684v1 Announce Type: new Abstract: Nonvisual classification of ground condition based on a multimodal sensing approach was investigated for an amoe…
ATP: Anatomical Torque with Passivity-based Control Framework for Safe Upper-Limb Exoskeleton Assistance
arXiv:2608.05723v1 Announce Type: new Abstract: Providing assistance across diverse movements is a central objective of exoskeletons, and anatomical knowledge c…
DFM-VLA: Iterative Action Refinement for Robot Manipulation via Discrete Flow Matching
arXiv:2603.26320v4 Announce Type: replace Abstract: Vision-Language-Action (VLA) models that encode actions using a discrete tokenization scheme have been widel…
Observation-Grounded Self-Predictive Reinforcement Learning for Visual Continuous Control
arXiv:2608.05989v1 Announce Type: cross Abstract: Sample-efficient policy learning from pixels is a long-standing challenge in reinforcement learning (RL). Rece…
Path Planning of Cleaning Robot with Reinforcement Learning
arXiv:2208.08211v2 Announce Type: replace Abstract: Recently, as the demand for cleaning robots has steadily increased, therefore household electricity consumpt…
Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments
arXiv:2608.06170v1 Announce Type: new Abstract: Hierarchical 3D scene graphs are a promising representation for high-level spatial reasoning in autonomous mobil…
Shape-Aware Oriented Bounding Box (OBB) to Horizontal Bounding Box (HBB) Conversion
arXiv:2608.05858v1 Announce Type: cross Abstract: Accurate object detection in aerial and satellite imagery is dependent upon the bounding box representation. T…
ARGUS: Aligning Robot Scene Geometry Under Shifting Views with Large 3D Vision Models
arXiv:2608.05579v1 Announce Type: new Abstract: Large-scale visuomotor policies have demonstrated impressive performance across a wide range of robot manipulati…
A Master-Salve Robot Manipulator for Needle-Based Teleoperation in MRI Chamber
arXiv:2608.06354v1 Announce Type: new Abstract: We present a MR safe, master-slave robot manipulator for abdominal interventions in the MRI chamber. A human ope…
Beyond Flat Policies: Hierarchical Post-Training for Embodied Agents in Robotic Manipulation
arXiv:2608.05999v1 Announce Type: new Abstract: Vision-language-action (VLA) models have demonstrated remarkable capabilities in robotic manipulation by leverag…
DyPES-VLA: Learning Shared Dynamics Priors and Embodiment-Specific Control for Cross-Embodiment Manipulation
arXiv:2608.06374v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have become a powerful paradigm for robot manipulation, but training a singl…
MMaDA-VLA: Large Diffusion Vision-Language-Action Model with Unified Multi-Modal Instruction and Generation
arXiv:2603.25406v3 Announce Type: replace Abstract: Vision-Language-Action (VLA) models map visual observations and natural-language instructions to robot actio…
Robust-WAM: Bridging Generative Pretraining and Semantic Foresight in World-Action Models
arXiv:2608.05903v1 Announce Type: cross Abstract: Mainstream World-Action Models (WAMs) adapt pretrained video generation models (VGMs) for robot control, trans…
Reinforcing Action Policies by Prophesying
arXiv:2511.20633v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) policies excel in aligning language, perception, and robot control. However, mo…
VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations
arXiv:2608.06210v1 Announce Type: new Abstract: Contact-rich manipulation requires precise tracking and mechanical compliance, where variable impedance control …
Design and Evaluation of a Touchscreen-Based Teleoperation Interface for Robotic Manipulators
arXiv:2608.06219v1 Announce Type: new Abstract: Intuitive teleoperation interfaces are crucial for the safe and effective operation of robotic manipulators in c…
JTA: Joint Testability Architecture for Scenario-Based Validation of Safety-Critical Software
arXiv:2608.05594v1 Announce Type: cross Abstract: Validation adequacy in safety-critical software depends on more than the system under test. Critical scenarios…
Failing Gracefully: Mitigating Impact of Inevitable Robot Failures
arXiv:2608.05313v1 Announce Type: new Abstract: Service robots operate in household environments shared with humans, pets, and everyday objects, where they are …
JoyAI-RA 0.5: Scaling Robot Manipulation Learning via Dual Action Alignment
arXiv:2608.05674v1 Announce Type: new Abstract: Robot data is scarce, so generalist policies need to learn from heterogeneous sources, including human egocentri…
GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions
arXiv:2608.06332v1 Announce Type: new Abstract: Generalist robot policies exhibit strong capabilities, but their robustness in complex and unseen environments r…
A System for Train Condition Monitoring and Structural Health Assessment of Rail Vehicles
arXiv:2608.05221v1 Announce Type: new Abstract: The ongoing digitalization of rail systems and the increasing use of artificial intelligence (AI) are fundamenta…
World-to-Wrist: Task-Conditioned Future Wrist Modeling for Fine-Grained Robot Manipulation
arXiv:2608.05369v1 Announce Type: new Abstract: Vision-language-action (VLA) models often treat main-view and wrist-view observations as parallel visual inputs,…
Search-Aided Joint Agent-Environment Reinforcement Learning for Robust Lifelong Multi-Agent Path Finding with Rotations
arXiv:2608.05588v1 Announce Type: new Abstract: Lifelong Multi-Agent Path Finding (LMAPF) requires repeatedly planning collision-free paths for agents that cont…
Afford-X: Generalizable and Slim Affordance Reasoning for Task-oriented Manipulation
arXiv:2503.03556v3 Announce Type: replace-cross Abstract: Object affordance reasoning, the ability to infer object functionalities based on physical properties,…