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 storiesFusion-Poly: A Polyhedral Framework Based on Spatial-Temporal Fusion for 3D Multi-Object Tracking
arXiv:2603.08199v2 Announce Type: replace-cross Abstract: LiDAR-camera 3D multi-object tracking (MOT) combines rich visual semantics with accurate depth cues to…
CrossScope: A Role-Asymmetric World Model for Joint Dual-Scope Surgical Video Prediction
arXiv:2608.03211v1 Announce Type: cross Abstract: Visual world models typically learn future dynamics from a single observation stream, limiting their ability t…
LiLa-WAM: Lightweight Latent Reasoning World-Action Model for Robotic Manipulation
arXiv:2608.03701v1 Announce Type: new Abstract: World-action modeling has emerged as a promising paradigm for robotic control, as it empowers models to go beyon…
How Should Vision-Language-Action Models Use Proprioceptive State?
arXiv:2608.03052v1 Announce Type: new Abstract: Recent Vision-Language-Action (VLA) models almost universally take robot proprioceptive state as input, yet wire…
Learning Context-Aware Motion Priors for Humanoid Control
arXiv:2608.03234v1 Announce Type: new Abstract: Motion priors provide powerful guidance for learning naturalistic humanoid behaviors. However, existing methods …
Designing Social Robots for Inclusive Child Wellbeing Assessment: Insights from Communities Supporting Developmental Language Disorder and Forced Migration
arXiv:2608.03820v1 Announce Type: new Abstract: Assessing children's wellbeing and mental health can be particularly challenging for children experiencing commu…
Quo Vadis, World Modeling?
arXiv:2608.02713v1 Announce Type: cross Abstract: Continually improving agents require dynamic interaction feedback beyond static supervision, yet direct real-e…
PACE: Physics Augmentation for Coordinated End-to-end Reinforcement Learning toward Versatile Humanoid Table Tennis
arXiv:2509.21690v5 Announce Type: replace Abstract: Humanoid table tennis (TT) demands rapid perception, proactive whole-body motion, and agile footwork under s…
Toward Certified Functional Safety for Industrial Humanoid Robots: The Fail-Passive Gap and a Feasibility Study
arXiv:2608.02809v1 Announce Type: new Abstract: Industrial humanoid robots are constrained less by locomotion or manipulation capability than by the immaturity …
Flying over The Uncertain Nature (FORTUNE): Intelligent and Humanistic 3D Path Planning for Low-Altitude Collaboration
arXiv:2608.03408v1 Announce Type: new Abstract: The proliferation of low-altitude intelligent agents is increasing the demand for timely and socially responsibl…
Shaping Wind-Tunnel Airflow for Unmanned Aerial Vehicles using Online Learning
arXiv:2608.03378v1 Announce Type: new Abstract: The development and testing of advanced aerial robots require experiments in controlled environments with tailor…
Passively Safe Convex Guidance for Cislunar Rendezvous and Proximity Operations
arXiv:2608.03060v1 Announce Type: new Abstract: This paper presents purely convex programs for passively safe impulsive rendezvous and proximity operations in c…
PhyAI: Real-Time Physical AI at the Edge, Scalable Rollouts in the Cloud
arXiv:2608.03682v1 Announce Type: cross Abstract: Physical AI policies require inference throughout their lifecycle, including model evaluation, cloud reinforce…
Multimodal Plant Root Phenotyping with Integration of 3D Skeleton Extraction and Language Analysis
arXiv:2608.03109v1 Announce Type: cross Abstract: Plant root phenotyping is fundamental to understanding below-ground structures, optimizing crop management, an…
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
arXiv:2608.02886v1 Announce Type: new Abstract: Safely navigating polytopic environments while respecting the dynamics, control, and exact geometry of the under…
GORDON: Graph-based Object-centric Rewards for Decomposition of Long-Horizon Manipulation
arXiv:2608.03753v1 Announce Type: new Abstract: Learning long-horizon manipulation skills with reinforcement learning remains challenging due to the complexity …
A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces
arXiv:2608.03103v1 Announce Type: new Abstract: Diffusion policies have shown strong performance in learning complex, multi-modal behaviors for robotic manipula…
Tired Actor: Fatigue-Informed Character Control
arXiv:2608.03528v1 Announce Type: new Abstract: Replicating human behavior with physics simulation has been a long-expected goal in character animation. Existin…
Bridging Online and Offline Handwriting via Differentiable Physical Rendering
arXiv:2608.03198v1 Announce Type: cross Abstract: Realistic handwritten text generation plays an important role in numerous applications, such as font design, b…
Stochastic Multiple Shooting Trajectory Optimization via Sequential Local Policy Evaluation
arXiv:2608.03978v1 Announce Type: new Abstract: Stochastic single shooting trajectory optimization methods such as Model Predictive Path Integral control (MPPI)…
A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation
arXiv:2608.03002v1 Announce Type: new Abstract: This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a w…
Unified Visuomotor Targets: Supervising VLAs Beyond Physical Actions
arXiv:2608.03563v1 Announce Type: new Abstract: VLA models are trained to predict robot actions from visual and language observations. This is a natural choice,…
ValueFormer: A Causal Transformer Value Function with Stage-Aware Labels for Semi-Autonomous Vision-Language-Action Policies
arXiv:2608.02958v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies trained by behavior cloning fail silently: from the action stream alone, a…
Mixed-Initiative Human-Robot Teaming under Suboptimality with Online Bayesian Adaptation
arXiv:2403.16178v2 Announce Type: replace Abstract: For effective human-agent teaming, robots and other artificial intelligence (AI) agents must infer their hum…
Stiffness Copilot: An Impedance Policy for Contact-Rich Teleoperation
arXiv:2603.14068v2 Announce Type: replace Abstract: In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. Th…
PLS-Calib: A Partial Least Squares Framework for Event Camera and Odometry Calibration under Ground Motion Constraints
arXiv:2608.03296v1 Announce Type: new Abstract: Accurate extrinsic rotation calibration between sensors is fundamental to the performance of robotic perception …
Graph Neural Planning and Predictive Control for Multi-Robot Communication-Constrained Unlabeled Motion Planning
arXiv:2605.19209v2 Announce Type: replace Abstract: The multi-robot unlabeled motion planning problem of concurrently assigning robots to goals and generating s…
GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
arXiv:2604.25459v2 Announce Type: replace Abstract: Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively paral…
MIMIC-MJX: Neuromechanical Emulation of Animal Behavior
arXiv:2511.20532v3 Announce Type: replace-cross Abstract: The primary output of the nervous system is movement and behavior. While recent advances have democrat…
Semantic Haptic Feedback Enhances Dexterous Robotic Teleoperation
arXiv:2608.02780v1 Announce Type: new Abstract: In robot teleoperation, haptic feedback can be used to help human operators accomplish dexterous manipulation ta…