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 storiesSliding Sensors: Configurable Confidence in State Estimation for Continuum Robots
arXiv:2608.05410v1 Announce Type: new Abstract: Continuum robots often operate in uncertain environments, where accurate state estimation is essential for safe …
TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions
arXiv:2608.05975v1 Announce Type: new Abstract: In this paper, we present TRACE (Tokenized Robust Attention for Contact-Aware Estimation), an end-to-end learned…
Visual Grounding in Zero-Shot Vision-Language Control
arXiv:2608.06154v1 Announce Type: new Abstract: Vision-language models (VLMs) are increasingly used as zero-shot controllers, but successful trajectories do not…
KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots
arXiv:2608.05647v1 Announce Type: new Abstract: This article presents a kinematic-inertial-LiDAR-visual odometry for humanoid robots, called KILVO. Tailored to …
Dream-MPC: Gradient-Based Model Predictive Control with Latent Imagination
arXiv:2605.04568v3 Announce Type: replace-cross Abstract: State-of-the-art model-based Reinforcement Learning (RL) approaches either use gradient-free, populati…
Multi-Robot Motions in Milliseconds: Vector-Accelerated Primitives for Sampling-Based Planning
arXiv:2604.23960v2 Announce Type: replace Abstract: In this paper, we extend the recent Vector-Accelerated Motion Planning (VAMP) framework to multi-robot motio…
CADRE: Dynamic Catching via Implicit Contact Descriptors and Task-Appropriate Recovery Affordances
arXiv:2510.14768v2 Announce Type: replace Abstract: Real-world dexterous manipulation often encounters unexpected errors and disturbances, which can lead to cat…
Curiosity-Diffuser: Curiosity Guide Diffusion Models for Reliability
arXiv:2503.14833v2 Announce Type: replace Abstract: One of the bottlenecks in robotic intelligence is the instability of neural network models. This leads to ri…
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks
arXiv:2505.02915v2 Announce Type: replace Abstract: Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile se…
Mimir: A Neuro-Symbolic Memory System with Dynamic Grounding for Embodied Agents in Interactive Environments
arXiv:2608.04933v1 Announce Type: new Abstract: Long-horizon embodied task requires agents to act under partial observability while preserving both scene belief…
SAFECAST: Robust Failure Detection for VLA Policies with Contrast-Set Training and Calibration
arXiv:2608.04246v1 Announce Type: new Abstract: Vision-language-action policies often fail under deployment-time distribution shifts such as clutter, distractor…
Structured LLM Reasoning for Zero-Shot Human--Robot Coordination Under Hidden Goals
arXiv:2608.04309v1 Announce Type: new Abstract: We present a structured large-language-model (LLM) architecture for zero-shot human--robot coordination in a coo…
PRIMAL3: Pathfinding via Reinforcement and Imitation Multi-Agent Learning - Leveraging LaCAM3
arXiv:2608.04905v1 Announce Type: new Abstract: We present PRIMAL3, an ultra-large-scale learning-based framework for multi-agent pathfinding (MAPF) that integr…
GUARD: Grounding Uncertainty and Ablation-Based Risk Detection for Diffusion-Based VLAs
arXiv:2608.04510v1 Announce Type: new Abstract: Diffusion-based vision-language-action (VLA) policies can generate plausible actions even when their predictions…
Design and Flight of an Ion-propelled Micro Hovercraft Leveraging Ground Proximity Effects
arXiv:2608.04343v1 Announce Type: new Abstract: Electroaerodynamic propulsion is compelling for use in micro air vehicles due to its silent and solid-state natu…
Kitchen Robotic Manipulation utilizing Foundation Models
arXiv:2608.04042v1 Announce Type: new Abstract: Deploying robots in everyday human environments requires perception systems that are both robust and adaptable t…
Explicit Language Memory for Long-Horizon Planning in Vision-Language-Action Models
arXiv:2608.04765v1 Announce Type: new Abstract: Vision-language-action (VLA) models provide a unified paradigm for connecting visual perception, language unders…
ResPlan: A Large-Scale Vector-Graph Dataset of 17,000 Residential Floor Plans
arXiv:2508.14006v2 Announce Type: replace-cross Abstract: We introduce ResPlan, a dataset of 17,000 residential floor plans with vector geometry, room-connectiv…
A GitOps-Driven Annotation Catalog for Fully Automatic Railway Operations
arXiv:2608.04724v1 Announce Type: new Abstract: Automatic train operation (ATO) at grade of automation 3 and above (GoA3-GoA4) requires robust AI-based percepti…
RORA: Realistic Object Reconstruction with Articulation
arXiv:2608.04842v1 Announce Type: new Abstract: Replicating real-world environments into simulation by realistic visual representation like NeRF and 3D Gaussian…
SSC: A Verifiable Structured Representation for Bimanual Manipulation Labelling
arXiv:2608.04425v1 Announce Type: new Abstract: Subtask labels decompose a long-horizon manipulation demonstration into shorter semantic segments for policy tra…
Differential 6-DOF Pose Estimation with Provable First-Order Immunity to Camera Calibration Errors
arXiv:2608.04673v1 Announce Type: cross Abstract: Accurate six-degree-of-freedom (6-DOF) motion estimation is essential for robotic manipulation, autonomous sys…
DM$^3$-Nav: Decentralized Multi-Agent Multimodal Multi-Object Semantic Navigation
arXiv:2604.22014v2 Announce Type: replace-cross Abstract: We present DM$^3$-Nav, a fully decentralized multi-agent semantic navigation system supporting multimo…
DeepThinkVLA: Enhancing Reasoning Capability of Vision-Language-Action Models
arXiv:2511.15669v3 Announce Type: replace-cross Abstract: Does Chain-of-Thought (CoT) reasoning genuinely improve Vision Language Action (VLA) models, or does i…
Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds
arXiv:2602.00992v3 Announce Type: replace Abstract: In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geomet…
A Multi-Sensor Dataset for Monitoring the Operational Environment of Rail Vehicles
arXiv:2608.04704v1 Announce Type: cross Abstract: Reliable environment monitoring is essential for the safe and efficient operation of automated railway systems…
Toward Integrating Adaptive Experience Replay and Online Uncertainty Estimation in Safe Actor-Critic Optimal Control
arXiv:2608.04732v1 Announce Type: cross Abstract: Safe actor-critic control often treats barrier filtering, uncertainty estimation, and experience replay as sep…
Interpretable Fuzzy Inference for UAV Target Tracking Using Bounding-Box Geometry
arXiv:2608.04121v1 Announce Type: new Abstract: Vision-based guidance of unmanned aerial vehicles (UAVs) toward unmanned ground vehicles (UGVs) supports coopera…
Retrieve in Time, Correct in Frequency
arXiv:2608.04527v1 Announce Type: new Abstract: Frozen vision-language-action (VLA) policies generate temporally extended action chunks, but long-horizon manipu…
SpikingNav: Robust Embodied Navigation with Spiking Neural Policies
arXiv:2608.05078v1 Announce Type: new Abstract: Embodied navigation requires an agent to make sequential decisions from egocentric observations in a physical en…