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 storiesElectrostatic Clutch-Based Mechanical Multiplexer with Increased Force Capability
arXiv:2501.08469v5 Announce Type: replace Abstract: As robotic systems become increasingly articulated, conventional actuation still dedicates one motor to each…
ETA: A New Agentic Paradigm for Embodied Tasks
arXiv:2608.03924v1 Announce Type: new Abstract: When will robots have their ChatGPT moment? Such a breakthrough requires a general-purpose robot that can handle…
EvoHIL: Self-Evolving Reward and Flow-Matched Policy Optimization for Robust Human-in-the-Loop Reinforcement Learning
arXiv:2608.03872v1 Announce Type: new Abstract: Human-in-the-loop reinforcement learning (HIL-RL) enables robots to learn contact-rich manipulation from limited…
POMDPs for Autonomous Science Exploration
arXiv:2608.03155v1 Announce Type: new Abstract: Autonomous exploration missions require decision-making under sensor uncertainty and computational constraints, …
PFM-HR: Pose Flow Matching for Humanoid Robots
arXiv:2608.03227v1 Announce Type: new Abstract: Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require or…
RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation
arXiv:2608.03387v1 Announce Type: new Abstract: Humanoid robots have the potential to perform dexterous manipulation in human environments, yet acquiring divers…
DigitCode: Symbolic Tokenization of Hand Motion by Anatomical Units
arXiv:2608.03127v1 Announce Type: new Abstract: Hand motion carries the finest-grained information in human activity, yet the representations behind hand genera…
PACE: Adaptive Budget Allocation for Time-Efficient Embodied Planning
arXiv:2608.03034v1 Announce Type: new Abstract: Reasoning-enhanced large language models have achieved remarkable improvements in planning tasks, yet their depl…
Structure-Aware Robust Fine-Tuning: Defending Vision-Language-Action Robots Against Physical Attention Hijacking
arXiv:2608.03231v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies promise general robotic manipulation, but their robustness against physica…
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation
arXiv:2608.02653v1 Announce Type: new Abstract: Existing humanoid whole-body control systems still fall short of the way humans move through cluttered terrain: …
DeRP: An Algorithm for Self-Assembly of Power-Delivery Networks using Recursive Branching in Information-Limited Environments
arXiv:2608.02904v1 Announce Type: new Abstract: Delivering sustained power to distributed equipment in unstructured field environments using pre-planned wired n…
Principles of Robot Autonomy
arXiv:2608.03496v1 Announce Type: new Abstract: Autonomous robots are moving rapidly from research labs into everyday life - on roads, in the air, in warehouses…
Forbidden Region Dynamic Active Constraints in Robot-Assisted Minimally Invasive Surgery
arXiv:2608.03010v1 Announce Type: new Abstract: In robot-assisted surgery, Forbidden Region Active Constraints (FRAC) represent a control strategy that helps ma…
Continue or Replan? Bernoulli-Continuation Policy Learning for Adaptive Horizon Execution
arXiv:2608.03483v1 Announce Type: new Abstract: Existing chunk-based Vision-Language-Action (VLA) models execute a fixed number of actions (i.e., execution hori…
Risk Occupancy: A New and Efficient Paradigm through Vehicle-Road-Cloud Collaboration
arXiv:2408.07367v3 Announce Type: replace Abstract: This paper proposes a novel 4D risk occupancy (RiskOcc) perception paradigm under the Vehicle-Road-Cloud int…
Lightweight 3D Object Detection via Mamba-Based Knowledge Distillation
arXiv:2608.03490v1 Announce Type: new Abstract: 3D object detection using light detection and ranging (LiDAR) sensors requires a balance between accuracy and co…
Accelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation
arXiv:2608.03159v1 Announce Type: new Abstract: This research proposes a constrained motion planning framework for robot manipulators in human-robot interaction…
Design and Evaluation of an AI-Enabled Cloud-Edge Architecture for Connected Precision Agriculture Farms
arXiv:2608.03816v1 Announce Type: new Abstract: Plant diseases cause significant yield losses worldwide, with tomato crops particularly susceptible to early bli…
Bimanual Manipulation Within an 8 GB Budget: Zero-Copy Sensing and Quantized ACT on an Entry-Level Jetson
arXiv:2608.03938v1 Announce Type: new Abstract: Bimanual manipulation policies trained with imitation learning are typically evaluated on workstation or datacen…
Active Stiffness Control of a Supportive Continuum Robot
arXiv:2608.03677v1 Announce Type: new Abstract: Supportive continuum robots (SCRs) enhance the load-bearing capability of an operative continuum robot by mechan…
Neurosymbolic Reasoning with Incremental Knowledge for Sample Efficient Hierarchical Reinforcement Learning
arXiv:2608.02993v1 Announce Type: cross Abstract: (Flat) Reinforcement Learning (RL) agents face significant challenges in environments with sparse rewards that…
Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study
arXiv:2608.02811v1 Announce Type: new Abstract: Robotic systems must operate under uncertainty while satisfying complex task and safety specifications. Monitori…
Track4Action: Distilling World-Centric 3D Tracker into Vision-Language-Action Policies
arXiv:2608.03727v1 Announce Type: new Abstract: Action labels tell a vision-language-action (VLA) policy which robot commands to imitate, but not how those comm…
FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR
arXiv:2509.17390v3 Announce Type: replace Abstract: While 3D Gaussian Splatting (3DGS) has emerged as a strong representation for photorealistic rendering, its …
CUDA MPC: A GPU-Native Solver for Model Predictive Control
arXiv:2608.03051v1 Announce Type: new Abstract: Model Predictive Control (MPC) delivers constraint-aware control, but its reliance on online optimization limits…
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
arXiv:2605.22882v4 Announce Type: replace-cross Abstract: Video world models can generate realistic futures from a single instruction, but they often fail to tr…
SLAMFormer-$\infty$: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing
arXiv:2608.03429v1 Announce Type: cross Abstract: We introduce the Infinite SLAM Transformer (SLAMFormer-$\infty$), the first geometric transformer capable of s…
Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure
arXiv:2608.02895v1 Announce Type: new Abstract: Accurate localization remains a key challenge in swarm robotics, particularly for self-reconfigurable systems th…
Human Centric Embodied Intelligence for Soft Wearable Robotics
arXiv:2608.03556v1 Announce Type: new Abstract: Soft wearable robots have evolved rapidly from proof-of-concept devices into promising platforms for rehabilitat…
Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles
arXiv:2608.02834v1 Announce Type: new Abstract: We present a biconvex approach for minimum-time motion planning around convex obstacles that is guaranteed to co…