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 storiesIn-Context Model Predictive Generation: Open-Vocabulary Motion Synthesis from Language Models to Physics
arXiv:2606.26981v1 Announce Type: new Abstract: Synthesizing human motion from textual descriptions is essential for immersive digital applications, yet existin…
Uncertainty-Aware Ankle Exoskeleton Control
arXiv:2508.21221v2 Announce Type: replace Abstract: Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers d…
Continual Robot Policy Learning via Variational Neural Dynamics
arXiv:2606.27353v1 Announce Type: new Abstract: Robots deployed in the real world rarely operate under a single fixed dynamics model: wind changes, payloads var…
Scaling Nonlinear Optimization: Many Problems One GPU
arXiv:2606.26341v1 Announce Type: new Abstract: Many robotics problems, including trajectory optimization, inverse kinematics, and contact-rich motion planning,…
PAMAE: Phase-Aware-MoE Action Experts Towards Reliable Flow-Matching Vision-Language-Action Policies
arXiv:2606.27144v1 Announce Type: new Abstract: Reliable action generation for multi-stage robotic manipulation remains challenging for Vision-Language-Action (…
Proposal-Conditioned Latent Diffusion for Closed-Loop Traffic Scenario Generation
arXiv:2606.27123v1 Announce Type: new Abstract: Closed-loop traffic simulation remains challenging because it must generate interactive multi-agent behaviors th…
OSC2Runner: OpenSCENARIO 2.x Compliant High-Fidelity AV Simulation in CARLA
arXiv:2606.26533v1 Announce Type: new Abstract: Scenario-Based Testing predominantly relies on the legacy ASAM OpenSCENARIO 1.x XML standard because existing co…
Fast LeWorldModel
arXiv:2606.26217v1 Announce Type: cross Abstract: Joint-Embedding Predictive Architectures (JEPAs), including recent LeWorldModel (LeWM), have become a promisin…
Risk-Aware Selective Multimodal Driver Monitoring with Driver-State World Modeling
arXiv:2606.26922v1 Announce Type: new Abstract: Continuous driver monitoring in automated vehicles requires low-latency inference while avoiding unsafe decision…
Advancing Omnimodal Embodied Agents from Isolated Skills to Everyday Physical Autonomy
arXiv:2606.27251v1 Announce Type: new Abstract: Building persistent embodied agents in unstructured environments demands unified orchestration of heterogeneous …
Charting the Growth of Social-Physical HRI (spHRI): A Systematic Review Pipeline Augmented by Small Language Models
arXiv:2606.26382v1 Announce Type: cross Abstract: Social-physical human-robot interaction (spHRI) has grown rapidly across robotics, human-computer interaction,…
A Closed-Form 4-DoF Inter-Robot Pose Estimator using Bearing-only Measurements
arXiv:2606.26616v1 Announce Type: new Abstract: Bearing-odometry-based cooperative localization has attracted increasing research interest due to its minimal in…
OctoSense: Self-Supervised Learning for Multimodal Robot Perception
arXiv:2606.27317v1 Announce Type: cross Abstract: We present OctoSense, an open-source sensor platform with stereo RGB and event cameras, LiDAR, a thermal camer…
Hallucination in World Models is Predictable and Preventable
arXiv:2606.27326v1 Announce Type: cross Abstract: Modern generative world models render increasingly realistic action-controllable futures, yet they frequently …
Learning to Fold: prizewinning solution at LeHome Challenge 2026 (1st place online, 2nd offline)
arXiv:2606.27163v1 Announce Type: new Abstract: I describe my solution to the LeHome Challenge 2026, an ICRA 2026 competition on bimanual garment folding. The s…
SSI-Policy: Learning Structured Scene Interfaces for Vision-Language Robotic Manipulation
arXiv:2606.26800v1 Announce Type: new Abstract: Real-world robotic manipulation demands spatial grounding, task-aware reasoning, and precise control. Learning s…
Rethinking Training & Inference for Forecasting: Linking Winner-Take-All back to GMMs
arXiv:2606.26424v1 Announce Type: cross Abstract: Trajectory forecasting for autonomous driving has advanced rapidly, yet representative models often produce un…
MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins
arXiv:2606.26392v1 Announce Type: new Abstract: Reinforcement learning (RL) for locomotion frequently converges to locally optimal but undeployable behaviors, s…
Exploring the Intrinsic Geometry of Diffusion Models with Constrained Inverse Kinematics
arXiv:2606.26408v1 Announce Type: new Abstract: Recent studies suggest that diffusion models can recover geometric structure in the data manifolds they are trai…
RMTL: Reinforced Micro-task Learning for Long-Horizon Manipulation with VLM Rewards
arXiv:2606.26175v1 Announce Type: new Abstract: Reinforcement learning (RL) for robotic manipulation often requires manually designing a dense reward function, …
Soft Pneumatic Grippers: Topology optimization, 3D-printing and Experimental validation
arXiv:2511.19211v4 Announce Type: replace Abstract: Typically, heuristic/trial-based approaches are used to design soft pneumatic grippers (SPGs). This paper pr…
RouterVLA: Turning Smoke Tests into Supervision for Heterogeneous VLA Selection
arXiv:2606.27355v1 Announce Type: new Abstract: We study whether pre-deployment evaluation rollouts can be reused to supervise policy selection. Robot teams rou…
Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts
arXiv:2606.26603v1 Announce Type: new Abstract: Handheld data collection systems, such as the Universal Manipulation Interface (UMI), enable scalable data colle…
RobOralScan: Learning Active Intraoral Scanning for Robotic Dental Reconstruction
arXiv:2606.26955v1 Announce Type: new Abstract: Intraoral scanning is widely used for digital optical impressions in prosthodontic, implant, and orthodontic tre…
PhysReflect-VLA: Physical Feasibility and Self-Reflective Regulation for Reliable Vision-Language-Action Policies
arXiv:2606.27146v1 Announce Type: new Abstract: Long-horizon robotic manipulation is highly sensitive to physically infeasible transitions, contact-induced dist…
Residual RL-MPC for Robust Microrobotic Cell Pushing Under Time-Varying Flow
arXiv:2603.05448v2 Announce Type: replace Abstract: Contact-rich micromanipulation in microfluidic flow is challenging because small disturbances can break push…
World Action Models Enable Continual Imitation Learning with Recurrent Generative Replays
arXiv:2606.27374v1 Announce Type: new Abstract: Going beyond predicting robot actions, World Action Models (WAMs) can also generate future visual observations. …
Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking
arXiv:2606.26855v1 Announce Type: new Abstract: Imitating human demonstrations has emerged as a dominant paradigm for learning humanoid loco-manipulation polici…
RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation
arXiv:2606.27036v1 Announce Type: new Abstract: Bridging abstract semantics and precise physical control remains a fundamental challenge in open-world robotic m…
PlanRL: A Trajectory Planning Architecture for Reinforcement Learning-based Driving Experts
arXiv:2606.26858v1 Announce Type: new Abstract: Reinforcement learning (RL) has become a prominent framework for developing driving experts in autonomous vehicl…