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 storiesBreaking the Epistemic Trap: Active Perception Under Compound Uncertainty
arXiv:2605.26627v2 Announce Type: replace-cross Abstract: Deploying reinforcement learning in safety critical domains, from autonomous vehicles to medical decis…
GROW$^2$: Grounding Which and Where for Robot Tool Use
arXiv:2606.30632v1 Announce Type: new Abstract: Can the robot use a plate to cut a cake if no knife is available? Tool use greatly expands robot capabilities, b…
See and Switch: Vision-Based Branching for Interactive Robot-Skill Programming
arXiv:2603.08057v2 Announce Type: replace Abstract: Programming by demonstration (PbD) makes robot programming accessible to non-experts, but scaling it to real…
Eval-Actions: Fine-Grained Execution Quality Evaluation for Robotic Manipulation
arXiv:2601.18723v2 Announce Type: replace Abstract: Although Vision--Action (VA) and Vision--Language--Action (VLA) policies have advanced robotic manipulation,…
CAR: Cross-Vehicle Kinodynamics Adaptation via Mobility Representation
arXiv:2603.06866v3 Announce Type: replace Abstract: Developing autonomous mobile robot systems typically requires either extensive, platform-specific data colle…
MF-UAVPose6D: A Model-Free Monocular 6-DoF Pose Estimation Framework for Fixed-Wing UAVs
arXiv:2606.29697v1 Announce Type: cross Abstract: For uncrewed aerial vehicles (UAVs), estimating six-degree-of-freedom (6-DoF) poses is essential for airspace …
Scalable Multi-Task Data Generation via Reinforcement Learning for Language-Conditioned Bimanual Dexterous Manipulation
arXiv:2606.22471v2 Announce Type: replace Abstract: A key bottleneck in training generalist policies for bimanual dexterous manipulation is the lack of large-sc…
Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering
arXiv:2606.29201v1 Announce Type: new Abstract: Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that a…
FlatLands: Generative Floormap Completion From a Single Egocentric View
arXiv:2603.16016v2 Announce Type: replace-cross Abstract: A single egocentric image typically captures only a small portion of the floor, yet a complete metric …
Keypose Exploration: Efficient Automatic Trajectory Labelling and Cross-Embodiment Policy Transfer
arXiv:2606.29028v1 Announce Type: new Abstract: Keypose-based manipulation decomposes tasks into critical waypoints to simplify policy learning for long-horizon…
STEAM: Self-Supervised Temporal Ensemble Advantage Modeling for Real-World Robot Learning
arXiv:2606.29834v1 Announce Type: new Abstract: Real-world robot learning increasingly relies on heterogeneous data, but demonstrations and rollouts often mix u…
InterEdit: Navigating Text-Guided 3D Dyadic Human Motion Editing
arXiv:2603.13082v2 Announce Type: replace-cross Abstract: Text-guided 3D motion editing has seen success in single-person scenarios, but its extension to multi-…
When Mean Age Is Not Enough: Distribution-Aware Scheduling for Networked LQR Control
arXiv:2606.04361v2 Announce Type: replace-cross Abstract: Age of Information (AoI) has become a central metric for the design of wireless update systems, especi…
Data-Driven Modeling and Control for Tethered Space Systems with Koopman-Informed Graphs
arXiv:2606.29825v1 Announce Type: new Abstract: Modeling tethered space systems is critical for advanced orbital operations. Flexible components such as tethers…
Separation is Optimal for LQR under Intermittent Feedback
arXiv:2603.27833v4 Announce Type: replace-cross Abstract: We study finite-horizon linear-quadratic regulation of a scalar linear system with intermittent state …
ViPSim: Collaborating Visual and Parameter Spaces for Consistent Long-Horizon Embodied World Models
arXiv:2606.28804v1 Announce Type: cross Abstract: Embodied World Models (EWMs) have emerged as a scalable and risk-free paradigm for advancing embodied intellig…
RocketSmith: Agentic Additive Manufacturing of High-Powered Rockets
arXiv:2606.00097v3 Announce Type: replace Abstract: RocketSmith is an agentic system which intelligently automates the DFAM process for the development of high …
An Operator-Based Approach to STL
arXiv:2605.28092v2 Announce Type: replace Abstract: Signal Temporal Logic (STL), has recently seen extensive development, owing to its rich expressivenes for au…
Analyzing Uncertainty in the Spatial Representation of the Kinematic Bicycle Model
arXiv:2606.29566v1 Announce Type: new Abstract: Locating a vehicle and determining its orientation in an uncertain environment is a critical challenge in autono…
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
arXiv:2606.30645v1 Announce Type: new Abstract: Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to…
Trust Your Instincts: Confidence-Driven Test-Time RL for Vision-Language-Action Models
arXiv:2606.29892v1 Announce Type: new Abstract: Reinforcement learning (RL) has become indispensable for pushing Vision-Language-Action Models (VLAs) beyond sta…
PL-LIT: A LiDAR-Inertial-Thermal SLAM Using Point-Line Features and Thermographic Mapping
arXiv:2606.29259v1 Announce Type: new Abstract: Thermal imaging is resilient to adverse conditions, such as intense illumination, low-light operation, and fog, …
Hierarchical Policy Learning via Spectral Decomposition
arXiv:2606.29570v1 Announce Type: new Abstract: In this paper, we identify a semantic decomposition in robot action sequences, separating task-level motion inte…
CORE Planner: Contextual-memory Oriented Reinforcement-learning in Unknown Environments for Robot Navigation
arXiv:2606.29222v1 Announce Type: new Abstract: Autonomous navigation in unknown environments requires a robot to efficiently reach a predefined goal while expl…
OpenFrontier: General Navigation with Visual-Language Grounded Frontiers
arXiv:2603.05377v3 Announce Type: replace Abstract: Open-world navigation requires robots to make decisions in complex everyday environments while adapting to f…
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning
arXiv:2606.28813v1 Announce Type: new Abstract: Human videos are a scalable source of supervision for robot manipulation, as they are abundant and naturally cap…
Multi-Contact Force Estimation for Continuum Robots via Gaussian-Parameterized Factor Graphs
arXiv:2606.29165v1 Announce Type: new Abstract: Continuum robots offer key advantages in navigating unstructured environments, but their safe operation requires…
TacEvo: Self-Evolving Architecture Discovery for Robotic Tactile Perception via LLM-Driven Quality-Diversity Search
arXiv:2606.30109v1 Announce Type: new Abstract: Vision-based tactile sensing converts contact-induced surface deformation into images, enabling robots to infer …
Evolutionary Hyperparameter Optimization to Find Lightweight CNN Models for Autonomous Steering
arXiv:2606.29684v1 Announce Type: cross Abstract: This research investigates the optimization of Convolutional and Dense Neural Networks (CNNs and DNNs) for aut…
SIR: Structured Image Representations for Explainable Robot Learning
arXiv:2606.30101v1 Announce Type: new Abstract: Existing robot policies based on learned visual embeddings lack explicit structure and are sensitive to visual d…