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 storiesWeights or Skills? A Survey of Robot-Learning Techniques: from Action-Predicting Weights to Robots that Write their Own Skills
arXiv:2608.01851v1 Announce Type: new Abstract: Robot learning is splitting into two bets: policies that bake competence into frozen weights (vision-language-ac…
DynamicWAM: Dual-Path Motion Conditioning for World-Action Models in Dynamic Manipulation
arXiv:2608.00793v1 Announce Type: new Abstract: Dynamic manipulation requires robots to infer target motion and respond promptly, yet existing World-Action Mode…
A drone that learns to efficiently find non-uniformly distributed objects in agricultural fields: from simulation to the real world
arXiv:2505.09278v2 Announce Type: replace Abstract: Drones are promising for data collection in precision agriculture but are limited by battery capacity. Drone…
Learning-Based Motion Planning for Dynamic Environments: From Foundational Algorithms to Emerging Paradigms
arXiv:2608.00625v1 Announce Type: new Abstract: Motion planning in dynamic environments is a fundamental problem in robotics, aiming to generate safe and effici…
MixedComplementarityProblems.jl: A Fast, Batched, Open-Source Interior Point Solver for Mixed Complementarity Problems
arXiv:2608.00959v1 Announce Type: cross Abstract: Mixed complementarity problems (MCPs) arise as the first-order optimality conditions of nonlinear programs and…
Probabilistic Reachable-Action Verification of Visuomotor Policies via Set-Based Training
arXiv:2608.02545v1 Announce Type: new Abstract: Reachability analysis for visuomotor policies is difficult because large visual encoders make end-to-end set pro…
TravKAN: Fast and Interpretable Nonlinear Traversability Analysis with Kolmogorov-Arnold Networks
arXiv:2608.02320v1 Announce Type: new Abstract: Traversability analysis is a fundamental capability for autonomous mobile robots operating in unstructured envir…
FlowPilot: Real-Time World-Action Modeling for Agile UAV Navigation
arXiv:2608.00635v1 Announce Type: new Abstract: We present FlowPilot, a compact world-action model for real-time onboard UAV navigation from depth. Unlike map-t…
Environmental resilience via morphological diversity within machines
arXiv:2608.02395v1 Announce Type: new Abstract: Organisms contain diverse, sensorimotor parts across size scales and rapidly adapt to new environments, while ma…
Dynamic UAV-based search operations using probabilistic diffusion modeling of Man Overboard incident victims
arXiv:2608.02093v1 Announce Type: new Abstract: More than 70% of the people that fell overboard cruise ships in the period 2010-2019 lost their lives. This pape…
Who Is Responsible? Self-Adaptation Under Multiple Concurrent Uncertainties With Unknown Sources in Complex ROS-Based Systems
arXiv:2504.20477v4 Announce Type: replace Abstract: Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors a…
Good Weights: Proactive, Adaptive Dead Reckoning Fusion for Continuous and Robust Visual SLAM
arXiv:2509.22910v2 Announce Type: replace Abstract: Given that Visual SLAM relies on appearance cues for localization and scene understanding, texture-less or v…
Bicycle Acrobatics with Reinforcement Learning
arXiv:2608.00880v1 Announce Type: new Abstract: Bicycle robots are fast and energy efficient, but their simple mechanical design and their underactuated and non…
GeminiPainter's sequence-formed pipeline comprised of perception, cognition, planning, and action stages
arXiv:2608.00829v1 Announce Type: new Abstract: We present an autonomous robotic portrait-generation system combining real-time face detection, AI-based sketch …
Learning Panorama-Aware VLA for Mobile Manipulation with Whole-Body Teleoperation
arXiv:2608.02257v1 Announce Type: new Abstract: Mobile manipulation is a key capability for embodied intelligence, enabling robots to accomplish complex multi-s…
DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
arXiv:2510.07152v3 Announce Type: replace Abstract: Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aw…
Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality
arXiv:2608.00600v1 Announce Type: new Abstract: Standard multifingered grasp execution architectures plan a collision-free trajectory to a selected grasp pose a…
SyncPlan: Long-Horizon LLM Coordination with Explicit Synchronization and Adaptive Correction
arXiv:2608.01652v1 Announce Type: new Abstract: LLM-based multi-agent coordination faces a fundamental trade-off between efficiency and adaptivity in dynamic en…
ACDC: Adaptive Curriculum Planning with Dynamic Contrastive Control for Goal-Conditioned Reinforcement Learning in Robotic Manipulation
arXiv:2603.02104v3 Announce Type: replace Abstract: Goal-conditioned reinforcement learning has shown considerable potential in robotic manipulation; however, e…
Sampling-Based Visibility Task Planning
arXiv:2608.01027v1 Announce Type: new Abstract: Robot Task and Motion Planning (TAMP) algorithms enable autonomous operation by incorporating the specific funct…
OC-VLA++: Monocular Geometry-Guided Cross-View Consistency for Viewpoint-Robust Robotic Manipulation
arXiv:2608.01066v1 Announce Type: new Abstract: We propose OC-VLA++, an extension of OC-VLA for viewpoint generalization under limited camera coverage. While OC…
ARMOR: Robust Reinforcement Learning-based Control for UAVs under Physical Attacks
arXiv:2506.22423v2 Announce Type: replace-cross Abstract: Unmanned Aerial Vehicles (UAVs) depend on onboard sensors for perception, navigation, and control. How…
DexMani: Human-Derived Manipulability Guidance for Dexterous Rotation
arXiv:2608.00554v1 Announce Type: new Abstract: Dexterous object rotation is a sequential contact problem: each support, release, and re-contact decision must b…
Towards General Language-Conditioned Latent Safety Filters
arXiv:2608.00315v1 Announce Type: new Abstract: Robot policies are becoming increasingly general, with vision-language-action (VLA) models enabling a single pol…
FRA-NBV: A Fast and Reflectivity-Aware Next-Best-View Strategy
arXiv:2608.01950v1 Announce Type: new Abstract: Autonomous 3D reconstruction with depth sensors is strongly affected by reflective surfaces, which cause missing…
Hybrid Impedance-Admittance Control with Multi-Link Aerial Robot for Contact-Rich Surface Sliding Task
arXiv:2608.01800v1 Announce Type: new Abstract: Multi-link aerial robots can actively deform their articulated structures during flight, giving them strong pote…
VespaSeg: A Resource-Aware Ground-then-Segment Pipeline for Referring Expression Segmentation
arXiv:2608.01077v1 Announce Type: new Abstract: Referring expression segmentation requires language conditioned localization and pixel-accurate masks, but monol…
Minute-Scale Training for Microrobot Navigation
arXiv:2608.00854v1 Announce Type: new Abstract: Microrobots hold significant potential for various applications, where targeted navigation is a basic requiremen…
RADAR Perception for Dynamic Obstacle Avoidance onboard small-scale Quadrotor UAVs
arXiv:2608.01855v1 Announce Type: new Abstract: Fast dynamic obstacle avoidance (DOA) on uncrewed aerial vehicles (UAVs) demands not only low-latency control an…
Disentangling Visuo-Tactile Foresight: Oracle-Guided Interface Discovery for World Action Models
arXiv:2608.00547v1 Announce Type: new Abstract: Contact-rich manipulation remains challenging because successful control depends on physical interaction cues th…