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 storiesLong-term Traffic Simulation via Structured Autoregressive Modeling
arXiv:2606.31209v1 Announce Type: cross Abstract: Interactive traffic simulation is a vital world model for autonomous driving. A central challenge in long-hori…
VertiAdaptor: Online Kinodynamics Adaptation for Vertically Challenging Terrain
arXiv:2603.06887v3 Announce Type: replace Abstract: Autonomous driving in off-road environments presents significant challenges due to the dynamic and unpredict…
Learning Dexterous Grasping from Sparse Taxonomy Guidance
arXiv:2604.04138v2 Announce Type: replace Abstract: Dexterous manipulation requires planning a grasp configuration suited to the object and task, which is then …
Z-1: Efficient Reinforcement Learning for Vision-Language-Action Models
arXiv:2606.31846v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models offer a promising framework for robotic manipulation by connecting language …
MIRTH: Mutual-Information Reasoning with Temporal Hubs for Vision-Language-Action Agents
arXiv:2606.31167v1 Announce Type: new Abstract: VLA models have emerged as a powerful paradigm for transferring semantic knowledge from web-scale data to physic…
Sampling-Based Coordination-Informed Multi-Objective Multi-Robot Reinforcement Learning
arXiv:2606.30893v1 Announce Type: new Abstract: Multi-robot systems must simultaneously optimize competing objectives while maintaining coordinated behavior. Ex…
Autonomous UAV Navigation for Individual Wildlife Re-Identification
arXiv:2606.31772v1 Announce Type: new Abstract: Reliable individual re-identification (re-ID) of wildlife is essential for population monitoring, behavioral tra…
Towards Generalizable Robotic Manipulation in Dynamic Environments
arXiv:2603.15620v3 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models excel in static manipulation but struggle in dynamic environments …
Bridging Local Observation and Global Simulation in Closed-Loop Traffic Modeling
arXiv:2606.31844v1 Announce Type: new Abstract: A local-to-global context mismatch arises when autoregressive traffic simulators trained on ego-centric driving …
ELASTIC: Efficiently Learning to Adaptively Scale Test-Time Compute for Generative Control Policies
arXiv:2606.31132v1 Announce Type: new Abstract: Generative control policies (GCPs), such as diffusion policies and flow-based vision-language-action models, ena…
Diffusion-based 4D Trajectory Prediction and Distributed Control for UAV Swarms
arXiv:2606.31197v1 Announce Type: new Abstract: Accurate 4D trajectory prediction and closed-loop tracking are essential for Unmanned Aerial Vehicle (UAV) swarm…
3D HAMSTER: Bridging Planning and Control in Hierarchical Vision Language Action Models through 3D Trajectory Guidance
arXiv:2606.31329v1 Announce Type: new Abstract: Hierarchical Vision-Language-Action (VLA) models decouple high-level planning from low-level control to improve …
ChronoFlow-Policy: Unifying Past-Current-Future Interaction Flow in Visuomotor Policy Learning
arXiv:2606.31493v1 Announce Type: new Abstract: Visual signals play a crucial role in policy learning by enabling models to capture object motion and interactio…
DynFly: Dynamic-Aware Continuous Trajectory Generation for UAV Vision-Language Navigation in Urban Environments
arXiv:2606.31654v1 Announce Type: new Abstract: Recent advances in multimodal large models have significantly improved UAV vision-language navigation (UAV-VLN) …
Streaming Gaussian Encoding for 4D Panoptic Occupancy Tracking
arXiv:2606.30754v1 Announce Type: cross Abstract: Camera-based 4D panoptic occupancy tracking (4D-POT) is a promising paradigm for holistic scene understanding …
FastDSAC: Enhancing Policy Plasticity via Constrained Exploration for Scalable Humanoid Locomotion
arXiv:2606.31691v1 Announce Type: new Abstract: Scalable reinforcement learning has popularized high-throughput sampling architectures, which significantly comp…
GaussLite: Online Task-Conditioned 3D Gaussian Splatting for Real-Time Robotic Mapping
arXiv:2606.30809v1 Announce Type: cross Abstract: Existing 3D Gaussian Splatting (3DGS) systems distribute representation capacity uniformly across a scene, ign…
Robust Autonomous UAV Landing on Maritime Platforms via Multimodal Agentic AI and Active Wave Compensation
arXiv:2606.31613v1 Announce Type: cross Abstract: Autonomous aerial inspection of marine infrastructure is frequently compromised by stochastic sea states, intr…
Energy-Optimal Spatial Iterative Learning within a Virtual Tube
arXiv:2606.31487v1 Announce Type: new Abstract: Due to the limited endurance of embedded energy sources such as lithium-polymer (LiPo) batteries, the flight dur…
The Quadruped Soft Tail: Compliant Grasping and Swabbing for Contamination Surveys in Harsh Environments
arXiv:2606.30900v1 Announce Type: new Abstract: Beryllium contamination surveys in radioactive areas are challenging for robots in environments cluttered with c…
Machine Learning-based Feedback Linearization Control of Quadrotor Subject to Unmodeled Dynamics
arXiv:2606.31199v1 Announce Type: new Abstract: The control of agile quadrotors in dynamic and uncertain environments remains an open area of investigation to t…
DVG-WM: Disentangled Video Generation Enables Efficient Embodied World Model for Robotic Manipulation
arXiv:2606.32028v1 Announce Type: new Abstract: Video-based embodied world models provide an appealing substrate for robotic manipulation by predicting future s…
Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization
arXiv:2510.09204v4 Announce Type: replace Abstract: Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible…
MultiUAV-Plat: An LLM-Oriented Platform, Benchmark and Framework for Multi-UAV Collaborative Task Planning
arXiv:2606.31073v1 Announce Type: cross Abstract: Large language models (LLMs) provide a promising interface for high-level robotic task planning, but their use…
Online Generation of Collision-Free Trajectories in Dynamic Environments
arXiv:2603.00759v2 Announce Type: replace Abstract: In this paper, we present an online method for converting an arbitrary geometric path, represented by a sequ…
Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model
arXiv:2606.31889v1 Announce Type: new Abstract: This paper presents a novel non-linear mathematical model of an articulated tractor-trailer system that can be u…
Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation
arXiv:2602.08557v2 Announce Type: replace Abstract: Training non-prehensile manipulation policies in contact-rich settings is a core challenge in robotics. Whil…
Motion Planning in Compressed Representation Spaces
arXiv:2606.30940v1 Announce Type: new Abstract: Deep learning methods have vastly expanded the capabilities of motion planning in robotics applications, as lear…
Freeform Preference Learning for Robotic Manipulation
arXiv:2606.32027v1 Announce Type: new Abstract: Reward design remains a central bottleneck for autonomous robot policy improvement, especially in long-horizon m…
Continuous-Space Roadmap Generation for Mobile Robot Fleets with Distance Constraints and Geometry-Aware Discretization
arXiv:2511.07175v2 Announce Type: replace Abstract: Efficient routing of mobile robot fleets requires roadmaps with high redundancy, short path lengths, and suf…