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 storiesPath-conditioned Reinforcement Learning-based Local Planning for Long-Range Navigation
arXiv:2603.13888v2 Announce Type: replace Abstract: Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generat…
Gated Memory Policy: In-Context Memorization and Adaptation
arXiv:2604.18933v2 Announce Type: replace Abstract: Robotic manipulation tasks exhibit varying memory requirements, ranging from Markovian tasks that require no…
GraspMeanFlow: SE(3)-Equivariant MeanFlow for Few-Step 6-DoF Grasp Generation
arXiv:2608.03295v1 Announce Type: new Abstract: Recent data-driven methods for synthesizing 6-DoF grasp poses use generative models to learn complex grasp pose …
On-the-fly hand-eye calibration for the da Vinci surgical robot
arXiv:2601.14871v3 Announce Type: replace Abstract: In Robot-Assisted Minimally Invasive Surgery (RMIS), accurate tool localization is crucial to ensure patient…
Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
arXiv:2608.03116v1 Announce Type: new Abstract: Motion retargeting approaches often prioritize kinematic similarity over whole-body dynamics, contact consistenc…
EmbodiedVAE: Disentangled Video VAE for Efficient and Controllable Embodied Manipulation
arXiv:2608.02990v1 Announce Type: new Abstract: Latent diffusion models (LDMs) have recently significantly advanced embodied learning in constructing powerful e…
From Routes to Steps: Separating Semantic Progress from Local Execution in Vision-and-Language Navigation
arXiv:2608.03143v1 Announce Type: cross Abstract: Vision-and-Language Navigation (VLN) requires an agent to follow a route-level instruction by executing its co…
VertiAKD: Adaptive Off-Road Kinodynamics on Vertically Challenging Terrain
arXiv:2608.00945v1 Announce Type: new Abstract: Off-road mobility requires autonomous mobile robots to generalize across heterogeneous vehicle fleets and contin…
3D-CovDiffusion: 3D-Aware Diffusion Policy for Coverage Path Planning
arXiv:2510.03011v2 Announce Type: replace Abstract: Diffusion models have shown strong potential for robot skill learning, yet their role in coverage path plann…
Swimm3R: Splatting with Medium-aware SfM for Underwater 3D Reconstruction
arXiv:2608.00950v1 Announce Type: cross Abstract: We propose Swimm3R, a unified framework that combines medium-aware structure-from-motion (SfM) with Underwater…
DreamTrajectory: Trajectory-Guided Action Generation with World Model Alignment for Mobile Manipulation
arXiv:2608.01381v1 Announce Type: new Abstract: Mobile manipulation requires a robot to coordinate base and arm motion under continuously changing viewpoints an…
Multi-View Unified Camera Fields: Geometry-Shaped Action-Facing Representations for RGB-Only Multi-Camera VLA Policies
arXiv:2608.01826v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have shown strong generalization in robotic manipulation, yet complex contac…
The Gate, Not the Cache: Gate Provenance Bounds the Closed-Loop Reliability of Training-Free VLA Token Skipping
arXiv:2608.00391v1 Announce Type: new Abstract: Token skipping is a widely used training-free way to accelerate vision--language--action (VLA) models by bypassi…
Roomer: Reflective Object-Grounded Model Editing and Repair for 3D Indoor Layout Synthesis
arXiv:2608.01973v1 Announce Type: new Abstract: Existing indoor layout generators produce globally plausible layouts yet may retain local violations such as col…
Track-Guided Hierarchical Reinforcement Learning for Autonomous Vehicle Drifting with Minimum-Lap-Time Planning
arXiv:2608.00113v1 Announce Type: new Abstract: In Formula 1, drivers optimize racing lines within tire grip limits to minimize lap times; however, in rally rac…
Belief-Space Perception Routing under Coupled Sensor Faults and Compute Contention
arXiv:2608.00322v1 Announce Type: new Abstract: A robot that has to see and react on a fixed clock runs into two problems at once. Its cameras degrade in rain, …
Grounded Vision-Language Interpreter for Long-Horizon Bimanual Task and Motion Planning
arXiv:2506.03270v3 Announce Type: replace Abstract: While recent advances in vision-language models have accelerated language-guided robot planning, their black…
Bridging the Sim-to-Real Gap in Parallel-Link Leg Mechanisms via Simulator-Side Dynamics Normalization
arXiv:2608.01697v1 Announce Type: new Abstract: This paper addresses the sim-to-real gap in dynamics arising when a parallel-link mechanism is represented by a …
bFaaaP: An Inclusive, Head-Angle Piano-Pedal Interaction that Quantitatively Reproduces a Pianist's Intended Pedalling -- Foot-Free, for Acoustic and Electronic Pianos
arXiv:2608.00633v1 Announce Type: cross Abstract: Expressive piano performance depends on the sustain (damper) pedal, operated by foot, excluding players who ca…
LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts
arXiv:2608.00820v1 Announce Type: new Abstract: FastSAC-style methods significantly reduce humanoid motion training time but often suffer from notable performan…
TRACE: Ergodic Trajectory Optimization for Active Scene Reconstruction
arXiv:2608.02304v1 Announce Type: new Abstract: Existing active reconstruction systems with Gaussian-splatting maps select observations greedily, optimizing a s…
SIPTraj: Map-Free End-to-End Trajectory Prediction via Physics-Guided Scene Interaction
arXiv:2608.00779v1 Announce Type: new Abstract: Trajectory prediction of surrounding agents is a prerequisite for safe planning and decision making in autonomou…
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin
arXiv:2608.02080v1 Announce Type: new Abstract: Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but …
MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping
arXiv:2608.02014v1 Announce Type: new Abstract: Cross-embodiment dexterous grasping aims to synthesize stable grasps across heterogeneous multi-fingered hands w…
Diffusion-Based Body Schema Learning Enabling Abnormal-State Adaptation in Musculoskeletal Robots
arXiv:2608.01029v1 Announce Type: new Abstract: Musculoskeletal robots require an internal body schema that remains consistent under a wide range of physical st…
When Replanning Becomes the Bottleneck: Budgeted Replanning for Embodied Agents
arXiv:2608.01428v1 Announce Type: new Abstract: Embodied agents replan frequently to recover from execution drift, partial observability, and coordination hazar…
Sparse Meets Dense: Correspondence Guided Robotic Manipulation with Rigid-Deformable Interactions
arXiv:2608.01083v1 Announce Type: new Abstract: Manipulation involving rigid-deformable interactions, such as hanging clothes or dressing humans, is common in d…
DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration
arXiv:2608.01452v1 Announce Type: new Abstract: Dynamic manipulation is a critical capability for robots operating in complex and dynamic environments, where ro…
StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior
arXiv:2608.02385v1 Announce Type: new Abstract: Humanoid motion trackers perform reliably within learned tracking distributions, but falls can move the robot in…
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
arXiv:2608.00730v1 Announce Type: new Abstract: Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for…