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 storiesHybrid Attention Estimation Pipeline for Adaptive HRI Using an Expressive Robotic Head
arXiv:2608.00284v1 Announce Type: new Abstract: This paper presents an applied case study on hybrid visual attention estimation for human-robot interaction usin…
VLAGuard: A Framework for Evaluating and Mitigating Physical Attention Hijacking in Vision-Language-Action Robots within Wireless Sensor Networks
arXiv:2608.01028v1 Announce Type: new Abstract: Deploying Vision-Language-Action (VLA) robots as mobile edge nodes within wireless sensor networks (WSNs) requir…
DriveCode: Domain Specific Numerical Encoding for LLM-Based Autonomous Driving
arXiv:2603.00919v3 Announce Type: replace-cross Abstract: Large language models (LLMs) have shown great promise for autonomous driving. However, discretizing nu…
DiffPhysCam: Differentiable Physics-Based Camera Simulation for Inverse Rendering and Embodied AI
arXiv:2508.08831v2 Announce Type: replace-cross Abstract: Generating synthetic images that closely mimic those from real cameras is instrumental in training vis…
Faster-WAM: Do World Action Models Need Deep Action Modules?
arXiv:2608.02365v1 Announce Type: cross Abstract: World Action Models (WAMs) couple robot action prediction with video world models. Existing WAMs with shared-b…
Rake-Compress Riccati Recursions for Parallel Scenario-Tree Model Predictive Control
arXiv:2608.01332v1 Announce Type: cross Abstract: Scenario-tree model predictive control (MPC) represents future information by a rooted tree and optimizes a no…
Open-DiffLoco: Open-Source Differentiable Learning for Deployable Blind Quadruped Locomotion
arXiv:2608.02069v1 Announce Type: new Abstract: Developing deployable locomotion policies through conventional reinforcement learning often requires complex rew…
CoWAM: Coordination Contracts for Selective Policy Intervention with WAMs
arXiv:2608.02578v1 Announce Type: new Abstract: World Action Models (WAMs) augment robot policies with action-conditioned predicted futures, but a plausible fut…
Teleopit: A Full-Embodiment Humanoid Teleoperation System
arXiv:2608.01834v1 Announce Type: new Abstract: Humanoid teleoperation for demonstration collection requires coordinated whole-body motion, continuous dexterous…
CAAT: Contact-Aware Attention Scaling and Tactile Masking for Data-Efficient Contact-Rich Manipulation
arXiv:2608.01102v1 Announce Type: new Abstract: In contact-rich manipulation, visual observations primarily guide motion in free space, whereas tactile observat…
SSTG-Nav: Metric-Grounded Spatial-Semantic Topological Graphs for Reusable Object Navigation
arXiv:2608.00527v1 Announce Type: new Abstract: Service robots operating for months in the same homes, offices, and facilities should become more reliable with …
Disentangled Control of Multi-Agent Systems
arXiv:2511.05900v4 Announce Type: replace-cross Abstract: This paper develops a general framework with convergence guarantees for multi-agent control synthesis,…
SG-WAM: Self-Guided World Modeling in Geometry-Aware Policy Space
arXiv:2608.01397v1 Announce Type: new Abstract: World Action Models (WAMs) couple action generation with prediction of future states. Their effectiveness depend…
WAM-Diff2: Hierarchical AR-to-Diffusion Distillation for Highly Efficient Autonomous Driving VLA
arXiv:2608.01035v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have emerged as a prominent paradigm for end-to-end autonomous driving; howe…
Latency-Tolerant Cloud-Edge Collaborative Vision-Language-Action Models via Emergent Representational Specialization
arXiv:2608.00569v1 Announce Type: new Abstract: Deploying billion-parameter Vision-Language-Action (VLA) policies on mobile robots creates a systems conflict: s…
CoNav-UAV: Cooperative Dual-Altitude Aerial Navigation via Stackelberg Learning
arXiv:2608.01802v1 Announce Type: cross Abstract: Target-oriented vision-and-language navigation (VLN) on aerial platforms is attracting growing attention for m…
A Tilt-Rotor UAV with a Gripper for Stable Contact-Based Tasks via Environmental Anchoring
arXiv:2608.01736v1 Announce Type: new Abstract: Maintaining a stable pose during physical interaction is a significant challenge for aerial robots, often limiti…
A Forward-Inverse Dynamic Game Framework for Enhanced Multi-Agent Trajectory Planning
arXiv:2608.01636v1 Announce Type: new Abstract: This paper studies feedback Nash equilibrium (FBNE) seeking for multi-agent trajectory planning in nonlinear dyn…
When Prompts Control Robots: Prompt Injection Attacks in Multi-Agent Robotic Systems
arXiv:2608.00747v1 Announce Type: new Abstract: Large language models are increasingly integrated into autonomous robotic systems for task planning and control,…
SelfWAM: A Self-Grounded Unified World Action Model for Fast Robot Control
arXiv:2608.00725v1 Announce Type: new Abstract: World Action Models (WAMs) improve robot policy learning by jointly modeling actions and future observations. Ho…
An Evidence Hierarchy for Bayesian Object Classification via OSINT-Aided Heterogeneous Sensor Fusion
arXiv:2605.22259v2 Announce Type: replace-cross Abstract: Heterogeneous sensor fusion is vital for detecting, localizing, and classifying CBRNE threats. However…
EndoWAM: A Grounded World-Action Model for Generalizable Endoscopic Navigation
arXiv:2608.01221v1 Announce Type: new Abstract: Autonomous endoscopic navigation can reduce clinicians' operational burden, yet robust control remains challengi…
Adaptive Human-Robot Collaborative Painting Combining Preference-Based Optimization and Dynamic Motion Primitives
arXiv:2608.01981v1 Announce Type: new Abstract: This work presents a human-centered collaborative framework that integrates Preference-Based Optimization (PBO) …
Human-Centered Reflections on Care Robots: A Comparative Study of Caregiver Perspectives
arXiv:2608.02411v1 Announce Type: new Abstract: Care robots are increasingly being introduced into healthcare settings, raising important questions about their …
Rapid Embodiment Adaptation for Quadrupedal Locomotion
arXiv:2608.01506v1 Announce Type: new Abstract: Humans readily adapt their movements as their bodies change through aging, injury, or load carrying, but learnin…
Situation Aware Frontier Prioritization for Quadruped Search and Rescue
arXiv:2608.02571v1 Announce Type: new Abstract: Quadruped robots are a promising platform for search and rescue missions because they can navigate cluttered ind…
FreqNav: Stage-Wise Frequency Routing for Object-Oriented Aerial Vision-Language Navigation
arXiv:2608.00970v1 Announce Type: new Abstract: Object-oriented aerial vision-and-language navigation (VLN) requires searching for a described target and landin…
Identifying and Exploiting Structure in Robot Co-Design
arXiv:2604.11768v2 Announce Type: replace Abstract: Co-design of a robot's morphology and control is a high-dimensional search problem. Efficient search depends…
GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation
arXiv:2604.19522v2 Announce Type: replace Abstract: Bimanual mobile manipulation requires a seamless integration between high-level semantic reasoning and safe,…
QuASH: Using Natural-Language Heuristics to Query Visual-Language Robotic Maps
arXiv:2510.14546v2 Announce Type: replace Abstract: Embeddings from Visual-Language Models are increasingly utilized to represent semantics in robotic maps, off…