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 storiesA Query-Driven Communication-Efficient Digital Twins Design for Autonomous Driving
arXiv:2606.28384v1 Announce Type: new Abstract: Digital twins (DTs) have become a potential technology to perform risk-free simulation of physical entities for …
Lateral String Stability for Vehicle Platoons
arXiv:2606.29677v1 Announce Type: new Abstract: Connected and automated vehicle (CAV) platooning promises gains in energy efficiency and traffic throughput and,…
Normalizing Flow-Enhanced Message Passing for Multirobot Collaborative Localization
arXiv:2606.29868v1 Announce Type: new Abstract: Accurate, robust, and adaptive localization is essential for various robotic operations. This paper proposes a n…
Physics Models for Sim-to-Real Transfer in Professional-Level Robot Table Tennis
arXiv:2606.28805v1 Announce Type: new Abstract: At competitive speeds and spins, a table tennis ball follows complex, counterintuitive trajectories that a robot…
Legible Shared Autonomy: Implicit Communication of Robot Belief through Motion
arXiv:2606.29846v1 Announce Type: new Abstract: Shared autonomy systems combine user input with autonomous assistance to help users with motor impairments contr…
Can LLMs Prove Robotic Path Planning Optimality? A Benchmark for Research-Level Algorithm Verification
arXiv:2603.19464v2 Announce Type: replace Abstract: Robotic path planning problems are often NP-hard, and practical solutions typically rely on approximation al…
FalconTrack: Photorealistic Auto-Labeled Perception and Physics-Aware Vision-Based Aerial Tracking
arXiv:2606.29783v1 Announce Type: new Abstract: Vision-based aerial tracking is critical in GPS-denied environments. Reliable perception for tracking depends on…
Chronos: A Physics-Informed Full-History Framework for Non-Markovian Long-Horizon Manipulation
arXiv:2606.30318v1 Announce Type: new Abstract: General-purpose robot policies should be modeled as dynamical systems, yet many VLA and generative imitation pol…
ReGuide: From Test-Time Guidance to Self-Improving Diffusion Policies
arXiv:2606.28939v1 Announce Type: cross Abstract: Behavior-cloned diffusion policies are expressive but remain vulnerable to covariate shift: small deviations f…
Real-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization
arXiv:2603.11404v3 Announce Type: replace Abstract: Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive…
WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations
arXiv:2606.29940v1 Announce Type: new Abstract: Direct transfer from human demonstration to learnable robot action is a crucial step towards scalable whole-body…
Differentiable Physics-Informed Adaptive Koopman Control for Stable Flight under Unknown Disturbances
arXiv:2506.08319v2 Announce Type: replace-cross Abstract: Uncertainties and disturbances in robotic systems, such as aerodynamic forces, are fundamentally outco…
Automating the Design of Embodied AgentArchitectures
arXiv:2606.30111v1 Announce Type: new Abstract: Embodied agents are typically built as hand-designed compositions of perception, memory, planning, and action mo…
Towards Biosignals-Free Autonomous Prosthetic Hand Control via Imitation Learning
arXiv:2506.08795v2 Announce Type: replace Abstract: Limb loss affects millions globally, impairing physical function and reducing quality of life. Most traditio…
FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation
arXiv:2606.30367v1 Announce Type: new Abstract: Vision-and-language navigation (VLN) in continuous environments requires an agent to ground instructions in egoc…
WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL
arXiv:2602.13977v2 Announce Type: replace Abstract: Reinforcement learning (RL) promises to unlock capabilities beyond imitation learning for Vision--Language--…
AUSLUN: A Fixed-Hover UAV--USV System for GNSS-Denied Maritime Search and Navigation
arXiv:2606.29875v1 Announce Type: new Abstract: Global navigation satellite system (GNSS) denial can prevent an unmanned surface vehicle (USV) from both finding…
OGM-CBF: Occupancy Grid Map-based Control Barrier Function for Safe Mobile Robot Control with Memory of out of View Obstacles
arXiv:2405.10703v4 Announce Type: replace Abstract: Safe control in unknown environments is a key challenge in mobile robotics. Control Barrier Functions (CBFs)…
ConCent: Contact-Centric Real-to-Sim-to-Real Learning from One Demonstration
arXiv:2606.30268v1 Announce Type: new Abstract: Sim-to-real policy transfer -- deploying policies trained in simulation in the real world -- is a promising para…
TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models
arXiv:2606.29089v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models demonstrate impressive reasoning over visual, semantic, and spatial task var…
Training Vision-Language-Action Models with Dense Embodied Chain-of-Thought Supervision
arXiv:2606.30552v1 Announce Type: new Abstract: Cross-embodiment transfer in vision-language-action (VLA) models remains challenging because low-level state and…
Grounding Sim-to-Real Generalization in Robotic Manipulation: An Empirical Study with Vision-Language-Action Models
arXiv:2603.22876v2 Announce Type: replace Abstract: Learning a generalist control policy for robotic manipulation typically relies on large-scale datasets. Give…
Self-supervised Geometry Reasoning for LiDAR Simultaneous Localization and Mapping
arXiv:2606.30166v1 Announce Type: new Abstract: LiDAR simultaneous localization and mapping (SLAM) relies on local geometric quantities such as covariances, cor…
AERMANI-VLM: Structured Prompting and Reasoning for Aerial Manipulation with Vision Language Models
arXiv:2511.01472v2 Announce Type: replace Abstract: The rapid progress of vision--language models (VLMs) has sparked growing interest in robotic control, where …
Learning Transferable Dynamics Priors from Action to World Modeling
arXiv:2606.29501v1 Announce Type: new Abstract: We study action-conditioned world modeling as a scalable way to learn transferable dynamics priors for robot lea…
Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy
arXiv:2605.27046v2 Announce Type: replace Abstract: Motor thermal management is often overlooked in the context of electrically-actuated robots, particularly le…
Event-Conditioned Diagnostics of Kinematic, Contact, and Object-Permanence Fields in Passive Object-State World Models
arXiv:2606.28455v1 Announce Type: new Abstract: World models can predict future physical states, but prediction accuracy alone does not explain how physical inf…
GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
arXiv:2511.13216v2 Announce Type: replace Abstract: Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured envi…
CylindTrack: Depth-Aware Cylindrical Motion Modeling for Panoramic Multi-Object Tracking
arXiv:2606.30097v1 Announce Type: cross Abstract: Multi-Object Tracking (MOT) is a core capability for embodied perception, and panoramic cameras are attractive…
OpenSPM: An Environment-Transferable Robotic Key Spatial Pose Memory and Closed-Loop High-Frequency Flow-Matching Action Generation Model
arXiv:2606.29936v1 Announce Type: new Abstract: Open-environment tabletop robotic manipulation requires systems to possess semantic understanding, precise geome…