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 storiesGround Plane-Aided Extrinsic Calibration of Inertial and RGB-D Sensors for Uncrewed Aerial Vehicles
arXiv:2606.31019v1 Announce Type: new Abstract: Accurate extrinsic calibration of inertial sensors, such as Inertial Measurement Units (IMUs) and cameras is cru…
Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments
arXiv:2606.32009v1 Announce Type: new Abstract: Vision-language-action (VLA) models across robot embodiments require high-quality observation--action supervisio…
Adapting Generalist Robot Policies with Semantic Reinforcement Learning
arXiv:2606.31958v1 Announce Type: new Abstract: Generalist robot policies learn a diverse repertoire of behaviors from large-scale pretraining. In principle, th…
A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
arXiv:2509.15443v2 Announce Type: replace Abstract: Human-to-humanoid imitation learning presents a promising pathway to address the severe data scarcity bottle…
Receptogenesis in a Vascularized Robotic Embodiment
arXiv:2603.09473v3 Announce Type: replace Abstract: Equipping robotic systems with the capacity to generate $\textit{ex novo}$ hardware during operation extends…
Scenario Generation for Testing of Autonomous Driving Systems Using Real-World Failure Records
arXiv:2606.31131v1 Announce Type: cross Abstract: To ensure safe on-road behavior, pre-deployment testing and failure discovery of Autonomous Driving Systems (A…
E-VLA: Event-Augmented Vision-Language-Action Model for Dark and Blurred Scenes
arXiv:2604.04834v2 Announce Type: replace-cross Abstract: Robotic Vision-Language-Action (VLA) models generalize well for open-ended manipulation, but their per…
Revisiting Parameter Redundancy in Vision-Language-Action Models: Insights from VLM-to-VLA Adaptation
arXiv:2606.31382v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have made significant strides in embodied intelligence by integrating the po…
LaMP: Learning Vision-Language-Action Policy with 3D Scene Flow as Latent Motion Prior
arXiv:2603.25399v2 Announce Type: replace-cross Abstract: We introduce \textbf{LaMP}, a dual-expert Vision-Language-Action framework that embeds dense 3D scene …
Vision-Language Procedural Reasoning for Context-Aware Reward Modeling of Robotic Endovascular Guidewire Navigation
arXiv:2606.30698v1 Announce Type: new Abstract: Robotic-assisted endovascular interventions demand accurate, stable, and context-aware guidewire navigation in c…
Robustness-Based Synthesis for Time Window Temporal Logic Specifications via Mixed-Integer Linear Programming
arXiv:2606.30820v1 Announce Type: new Abstract: Time Window Temporal Logic (TWTL) is a rich specification language for cyber-physical systems that can compactly…
TactX: Learning Shared Tactile Representations Across Diverse Sensors
arXiv:2606.31236v1 Announce Type: new Abstract: Tactile sensors provide critical information for contact-rich manipulation, yet tactile representations and poli…
What Probing Reveals about Autonomous Driving: Linking Internal Prediction Errors to Ego Planning
arXiv:2606.31106v1 Announce Type: new Abstract: Large-scale datasets and fast simulators have enabled improvements in driving policies that appear safe and robu…
UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models
arXiv:2606.31723v1 Announce Type: new Abstract: Vision-language-action (VLA) models have achieved strong performance in many robotic manipulation tasks, yet rem…
Warp RL: Reshaping Base Policy Distributions for Dynamics Adaptation
arXiv:2606.31043v1 Announce Type: cross Abstract: Residual reinforcement learning adapts a pretrained robot policy by learning an additive correction to its act…
Information-Aided DVL Calibration
arXiv:2606.31216v1 Announce Type: new Abstract: The Doppler velocity log (DVL) velocity measurements are critical to the accuracy of autonomous underwater vehic…
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation
arXiv:2606.31836v1 Announce Type: new Abstract: In the field of robot learning, large-scale and diverse demonstration trajectories provide the fundamental basis…
Communication-Aware Robot Execution for Cloud Inference under Spatially Heterogeneous Connectivity
arXiv:2606.31497v1 Announce Type: new Abstract: Cloud-hosted foundation models enable robots to use semantic reasoning beyond onboard computational limits. In t…
Wavelet Policy: Imitation Learning in the Scale Domain with World Prior Memory
arXiv:2504.04991v5 Announce Type: replace Abstract: Conventional visuomotor imitation learning usually predicts future robot actions directly in the time domain…
LeCropFollow: Latent Space Planning for Navigation in Unstructured Crop Fields
arXiv:2606.31941v1 Announce Type: new Abstract: Unstructured navigational features, such as irregular planting or discontinuities, remain the primary failure mo…
A Modular Vision-Language-Action Robotics Framework for Indoor Environments
arXiv:2606.31144v1 Announce Type: new Abstract: This paper presents an integrated system for the CMU Vision-Language-Action (VLA) Challenge, designed to enable …
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
arXiv:2606.30362v1 Announce Type: new Abstract: While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute p…
Multi-UAV Formation Cooperative Obstacle Avoidance and Adaptive Shape Deformation Control in Complex Environments Based on BI-APF-RRT and Affine Transformation
arXiv:2606.29755v1 Announce Type: new Abstract: Aiming at the problem that obstacle avoidance flexibility and formation integrity are difficult to coexist in mu…
HUMEMBR: Learning Human Routines for Predictive Embodied Navigation
arXiv:2606.30404v1 Announce Type: new Abstract: Understanding and navigating human-centered environments over extended periods of time while considering human b…
Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
arXiv:2512.23864v4 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to r…
Multi-Agent Route Planning as a QUBO Problem
arXiv:2602.07913v2 Announce Type: replace Abstract: Multi-Agent Route Planning considers selecting vehicles, each associated with a single predefined route, suc…
A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems
arXiv:2606.29065v1 Announce Type: new Abstract: Rolling motion planning is challenging because rolling contact imposes nonholonomic constraints and the configur…
LAMP: Long-Horizon Adaptive Manipulation Planning for Multi-Robot Collaboration in Cluttered Space
arXiv:2606.29358v1 Announce Type: new Abstract: Multi-robot manipulation requires jointly reasoning about contact formations, robot motions under coupled dynami…
Behavior Prompting Policy: Demonstrations as Prompts for Manipulation
arXiv:2606.30457v1 Announce Type: new Abstract: We study behavior prompting, a paradigm that enables robots to perform new tasks at inference time given a singl…
Real-Time Compliance and Position Control of a Hyper-redundant Soft Robotic Arm
arXiv:2606.29731v1 Announce Type: new Abstract: Robots working in unstructured or partially unobservable environments must combine accurate motion with physical…