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
2771 storiesPA-BiCoop: A Primary-Auxiliary Cooperative Framework for General Bimanual Manipulation
arXiv:2606.28192v1 Announce Type: new Abstract: Bimanual manipulation is essential for advanced robotic systems because it offers higher efficiency and flexibil…
Building a Scalable, Reproducible, Evaluatable, and Closed-Loop Simulation Environment Foundation for Embodied Intelligence Cloud-Native Simulation Infrastructure for Embodied Intelligence Training, Evaluation, and Data Collection
arXiv:2606.27962v1 Announce Type: new Abstract: This paper presents a cloud-native simulation infrastructure framework for embodied intelligence that supports l…
Physics-Guided Robotic Radiation Source Localization along Arbitrary Measurement Paths in Unstructured Environments
arXiv:2606.27624v1 Announce Type: new Abstract: Using robots to estimate the location of the radiation source is an effective way to improve efficiency and safe…
SpikeVLA: Vision-Language-Action Models with Spiking Neural Networks
arXiv:2606.27807v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have become a dominant paradigm for embodied intelligence. However, most exi…
LXD-SLAM: LiDAR+X Dense SLAM with $\sum_{i=0}^{5}C_5^i$ Configurable Sensor Combinations
arXiv:2606.27811v1 Announce Type: new Abstract: Simultaneous Localization and Mapping (SLAM) is essential for autonomous systems, yet achieving reliable, global…
When Multi-Robot Systems Meet Agentic AI:Towards Embodied Collective Intelligence
arXiv:2606.27929v1 Announce Type: new Abstract: Embodied AI is increasingly becoming agentic, shifting robots from perception--control pipelines towards closed-…
CacheMPC: Certified Cached Model Predictive Control for Quadruped Locomotion
arXiv:2606.28300v1 Announce Type: new Abstract: Model Predictive Control (MPC) is the standard predictive layer in hierarchical quadruped controllers, but the p…
SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
arXiv:2606.27581v1 Announce Type: new Abstract: Current humanoid reinforcement-learning policies excel at free-space motions but struggle with contact-rich task…
Point of View: How Perspective Affects Perceived Robot Sociability
arXiv:2603.28272v2 Announce Type: replace Abstract: Ensuring that robot navigation is safe and socially acceptable is crucial for comfortable human-robot intera…
LLawCo: Learning Laws of Cooperation for Modeling Embodied Multi-Agent Behavior
arXiv:2606.28182v1 Announce Type: cross Abstract: Embodied agents operating in decentralized and partially observable environments have attracted growing attent…
Regularized Reward-Punishment Reinforcement Learning
arXiv:2606.28152v1 Announce Type: cross Abstract: We propose KL-Coupled Policy Regularization (KCPR), a policy coordination framework for Reward-Punishment Rein…
LIBERO-Safety: A Comprehensive Benchmark for Physical and Semantic Safety in Vision-Language-Action Models
arXiv:2606.23686v2 Announce Type: replace Abstract: Despite the impressive manipulation capabilities of Vision-Language-Action (VLA) models, their operational s…
Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies
arXiv:2606.27813v1 Announce Type: new Abstract: Humanoid robot motion learning requires not only task-oriented control policies but also physically feasible and…
Support-Constrained RL Enables Real-World Policy Improvement without Real-World Experience
arXiv:2606.27475v1 Announce Type: new Abstract: Robots trained on real world data tend to be imprecise, slow, and brittle to perturbations. Improving these poli…
A Primer on SO(3) Action Representations in Deep Reinforcement Learning
arXiv:2510.11103v3 Announce Type: replace Abstract: Many robotic control tasks require policies to act on orientations, yet the geometry of SO(3) makes this non…
Driver-WM: A Driver-Centric Traffic-Conditioned Latent World Model for In-Cabin Dynamics Rollout
arXiv:2605.05092v2 Announce Type: replace Abstract: Safe L2/L3 driving automation requires anticipating human-in-the-loop reactions during shared-control transi…
P-ARC: Exploiting Subproblem Independence for Parallel Multi-Robot Motion Planning
arXiv:2606.27625v1 Announce Type: new Abstract: This paper presents Parallel ARC (P-ARC), a parallel variant of the Adaptive Robot Coordination (ARC) approach t…
Characterizing Driver Interactions with Autonomous Vehicles via Response Maps
arXiv:2606.27656v1 Announce Type: cross Abstract: Understanding human responses to autonomous vehicle (AV) behaviors is essential for socially aware interaction…
Rheos: Modelling Continuous Motion Dynamics in Hierarchical 3D Scene Graphs
arXiv:2603.20239v2 Announce Type: replace Abstract: 3D Scene Graphs (3DSGs) provide hierarchical, multi-resolution abstractions that encode the geometric and se…
LocalNav: Distilling Frontier VLMs and Embodied RL for On-Device Object Goal Navigation
arXiv:2606.27871v1 Announce Type: new Abstract: Vision Language Models (VLMs) have emerged in the robotic domain as a powerful tool that enables environmental p…
Learning Stable In-Grasp Manipulation in a Non-Dropping Action Space
arXiv:2606.28196v1 Announce Type: new Abstract: Traditionally, dexterous manipulation controllers are designed using analytic models constrained by strong assum…
AO-ARC: Almost-Surely Asymptotically Optimal Multi-Robot Motion Planning with ARC
arXiv:2606.27495v1 Announce Type: new Abstract: We present AO-ARC, an anytime multi-robot motion planning (MRMP) method that achieves initial solution times on …
Direct Action-Head Injection of A Grounded 3D Point Unlocks Spatial and Task Generalization
arXiv:2606.27663v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models leverage large-scale vision-language pretraining for flexible robot manipula…
WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation
arXiv:2606.28320v1 Announce Type: new Abstract: Scaling imitation learning requires large datasets, yet human teleoperation inevitably produces mixed-quality de…
Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions
arXiv:2505.05517v3 Announce Type: replace-cross Abstract: Functional grasping is essential for enabling dexterous multi-finger robot hands to manipulate objects…
RS-Diffuser: Risk-Sensitive Diffusion Planning with Distributional Value Guidance
arXiv:2606.27766v1 Announce Type: cross Abstract: Offline reinforcement learning enables policy learning from fixed datasets without additional environment inte…
Orientation Matters: Learning Radiation Patterns of Multi-Rotor UAVs In-Flight to Enhance Communication Availability Modeling
arXiv:2604.02827v2 Announce Type: replace Abstract: The paper presents an approach for learning antenna Radiation Patterns (RPs) of a pair of heterogeneous quad…
Swarm sign language: motion-based communication between drones
arXiv:2606.27883v1 Announce Type: new Abstract: In stealth-constrained swarm robotics, visual communication provides a critical alternative to active radio tran…
DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand
arXiv:2606.28323v1 Announce Type: new Abstract: Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a…
SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
arXiv:2606.28276v1 Announce Type: new Abstract: Training and evaluating robot policies in the real world is costly and difficult to scale. We introduce SimFound…