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 storiesBridgeVLA++: A Data-Efficient, Generalizable, and Memory-Augmented Vision-Language-Action Framework for 3D Manipulation
arXiv:2608.05042v1 Announce Type: new Abstract: Leveraging pre-trained vision-language models (VLMs) to construct vision-language-action (VLA) models has emerge…
SACK : Safe Active Continual Koopman Learning for Uncertain Systems with Contractive Guarantees
arXiv:2605.09659v2 Announce Type: replace Abstract: Koopman operator theory provides a powerful framework for representing nonlinear dynamics through a linear o…
SCOPE: Field-of-View-Aware Path Planning in Unknown 3D Environments via Safety-Volume Certification
arXiv:2608.04420v1 Announce Type: new Abstract: Safe navigation with a body-mounted limited-field-of-view sensor requires the complete robot-inflated volume of …
Enabling Urgency-aware Robot Swarm Intralogistics using Smart IoT Tags
arXiv:2608.04721v1 Announce Type: new Abstract: Warehouse items differ in how urgently they must be moved: perishable goods, pharmaceutical shipments, and just-…
RESample: A Robust Data Augmentation Framework via Exploratory Sampling for Robotic Manipulation
arXiv:2510.17640v4 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have shown strong manipulation capability when trained with large-scale …
Overcoming Statistical Bias in Action-Controllable World Models
arXiv:2608.04653v1 Announce Type: cross Abstract: Action-conditioned world models aim to predict how visual environments evolve under an agent's actions. Yet fu…
Exact Model-Free Policy Iteration for Co-safe LTL Planning
arXiv:2608.05047v1 Announce Type: cross Abstract: This work studies model-free reinforcement learning for co-safe linear temporal logic (sc-LTL) objectives in f…
From Transparent Labware Segmentation to Collision Avoidance: A Real-Time Edge-Aware Perception Pipeline
arXiv:2608.04769v1 Announce Type: new Abstract: This paper presents an edge-aware instance segmentation framework that enables real-time robotic collision avoid…
Static Timing Orchestration for Tree-Structured Robot Control Firmware
arXiv:2608.04600v1 Announce Type: new Abstract: As robotic systems become increasingly complex, generating control firmware from structural description files ha…
Feasibility of Embedded Photoplethysmography Sensing in Short-Duration Tactile Interactions With Pocket-Sized Robots Using IMU- and Confidence-Based Filtering
arXiv:2608.04242v1 Announce Type: new Abstract: Ubiquitous companion robots offer a promising avenue for immediate anxiety relief in children, yet their effecti…
GASP: GPU-Accelerated Safe Planner for Real-Time Collision-Aware Motion Generation with Latent Trajectory Sampling
arXiv:2608.04612v1 Announce Type: new Abstract: We present GASP, a GPU-Accelerated Safe Planner for real-time, collision-aware joint-space motion generation in …
Approximate Multi-Objective Search Under Rulebooks
arXiv:2608.04398v1 Announce Type: new Abstract: Robotic planning often involves multiple objectives with complex priority relationships, such as safety, efficie…
Mind-VLA: Instruction-Aware Spatial Representation Alignment for Vision-Language-Action Models
arXiv:2608.04633v1 Announce Type: new Abstract: Recent Vision-Language-Action (VLA) methods improve generalization by aligning their representations with 3D sce…
A Systematic Review and Taxonomy of Reinforcement Learning-Model Predictive Control Integration for Linear Systems
arXiv:2604.21030v2 Announce Type: replace-cross Abstract: The integration of Model Predictive Control (MPC) and Reinforcement Learning (RL) has emerged as a pro…
Tactus: Open-Vocabulary Object Recognition from Low-Cost Pressure Arrays
arXiv:2608.04043v1 Announce Type: cross Abstract: Resistive pressure arrays are the cheapest and most widely shipped tactile sensors, yet tactile representation…
Optimal Constrained sc-LTL Planning in MDPs via Switching Policies
arXiv:2608.05021v1 Announce Type: new Abstract: We study the synthesis of optimal policies for planning problems on Markov decision processes with both objectiv…
Learning When to Stop: Prefix-Optimal Dynamic Diffusion Policies for Continuous Control
arXiv:2608.05084v1 Announce Type: cross Abstract: Diffusion policies are a powerful policy class for continuous control, but their iterative denoising process c…
Suppression Sticks, Locality Is Fragile: A Closed-Loop Target-and-Control Audit of Task-Vector Negation in VLA Policies
arXiv:2608.04692v1 Announce Type: new Abstract: Task-vector arithmetic offers a closed-form way to modify a model, yet its behavioral locality remains unclear i…
SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation
arXiv:2608.04196v1 Announce Type: new Abstract: Recent years have witnessed an explosive trend of scaling ego-centric human videos for robot manipulation, yet i…
AI-based single-shot structured-light depth reconstruction for real-time laparoscopic surgical guidance
arXiv:2608.05109v1 Announce Type: cross Abstract: Significance. Accurate intraoperative depth perception is important for autonomous and semi-autonomous robotic…
Seeking Physics in Diffusion Noise
arXiv:2603.14294v3 Announce Type: replace-cross Abstract: Do video diffusion models encode signals predictive of physical plausibility? We probe intermediate de…
DreamWAM: Beyond RGB Future Prediction for World Action Models
arXiv:2608.04996v1 Announce Type: new Abstract: World Action Models (WAMs) learn action-relevant representations by predicting how the observed world will evolv…
Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM
arXiv:2507.04004v3 Announce Type: replace Abstract: This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simu…
SafeLand: Safe Autonomous Landing in Unknown Environments with Bayesian Semantic Mapping
arXiv:2603.17430v2 Announce Type: replace Abstract: Autonomous landing of uncrewed aerial vehicles (UAVs) in unknown, dynamic environments poses significant saf…
Learning Direct Control Policies with Flow Matching for Autonomous Driving
arXiv:2605.14832v2 Announce Type: replace Abstract: We present a flow-matching planner for autonomous driving that directly outputs actionable control trajector…
Arnold: A multi-task, multi-embodiment muscle transformer policy
arXiv:2508.18066v2 Announce Type: replace Abstract: Controlling high-dimensional and nonlinear musculoskeletal models of the human body is a foundational scient…
Deliberate Before You Fly: Vision-Guided Spatial Deliberation for UAV See-and-Reach Navigation
arXiv:2608.04825v1 Announce Type: new Abstract: UAV see-and-reach navigation requires an aerial agent to approach a language-specified target visible in its ini…
A Vision-based Control Framework for Real-time Autonomous UUV Operations
arXiv:2608.04723v1 Announce Type: new Abstract: This paper presents a fully integrated vision-based framework for real-time and robust localization, autonomous …
A Low-Cost Hybrid Reservoir Computing Model for Isolated Sign Language Video Recognition
arXiv:2608.03444v1 Announce Type: new Abstract: Sign language recognition (SLR) enhances communication between hearing and hearing-impaired individuals. Althoug…
Pivot-Centric Trajectory Prediction: Bridging Long Horizons via Dynamical Guidance
arXiv:2608.03521v1 Announce Type: new Abstract: Forecasting precise future motion of surrounding agents is essential for reliable autonomous vehicles. However, …