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 storiesAeroCast: Probabilistic 3D Trajectory Prediction for Non-Cooperative Aerial Obstacles via Transformer-MDN Architecture
arXiv:2606.25122v1 Announce Type: new Abstract: Autonomous aerial vehicles operating in shared airspace must predict the future positions of non-cooperative obs…
Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots
arXiv:2606.25179v1 Announce Type: new Abstract: Universal quadrupedal locomotion remains limited by the difficulty of integrating perception across diverse robo…
HEART: Coordination of Heterogeneous Expert Agents for Physically Grounded Robotic Task Planning
arXiv:2606.25404v1 Announce Type: new Abstract: Large Language Models (LLMs) can reason over complex instructions but often fail to satisfy the physical and spa…
G2DP: Diffusion Planning with Spatio-Temporal Grid Guidance
arXiv:2606.26017v1 Announce Type: new Abstract: In autonomous driving, diffusion-based planners have emerged as a promising paradigm for robust motion planning …
RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation
arXiv:2606.25212v1 Announce Type: new Abstract: Accurate physical parameter identification of manipulated objects is fundamental to advanced robotic manipulatio…
A Sensorised Lattice Footplate for a Semi-Active Prosthetic Foot
arXiv:2606.25966v1 Announce Type: new Abstract: This paper investigates whether magnetic plantar sensing can be embedded directly inside the load-bearing compli…
fARfetch: Enabling Collocated AR-HRC in Large Visually Diverse Environments with VLM-Driven AR Content Adaptation
arXiv:2606.25162v1 Announce Type: new Abstract: Augmented Reality (AR) can improve collocated human-robot collaboration by making robot state and intent visible…
SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation
arXiv:2606.25497v1 Announce Type: new Abstract: Object-Goal Navigation (ObjNav) requires embodied agents to autonomously locate specified targets using only ego…
FORCE: Efficient VLA Reinforcement Fine-Tuning via Value-Calibrated Warm-up and Self-Distillation
arXiv:2606.26006v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models are often constrained by the imitation ceiling imposed by sub-optimal data. …
Emcar: Embodied Controller for Animating Robots
arXiv:2606.26008v1 Announce Type: new Abstract: This chapter describes EMCAR, a novel software tool for programming robot motion that leverages the unique affor…
1000 Rallies: An Event-Camera Dataset and Real-Time Learned Ball-State Estimation for Robotic Table Tennis
arXiv:2606.25620v1 Announce Type: new Abstract: Robotic table tennis has emerged as a compelling benchmark for real-time robotic perception due to its fast ball…
Causality-Based Parametric Control Barrier Function for Safe Multi-Vehicle Interaction
arXiv:2606.25134v1 Announce Type: new Abstract: Safe control has been widely studied in various safety-critical applications, for instance, autonomous driving. …
GRAFT: Graph-Based Affordance Transfer via Part Correspondence
arXiv:2606.25241v1 Announce Type: new Abstract: Generalizing robotic manipulation to unseen objects remains challenging, as learning-based approaches require ma…
When Do Conservation Laws Survive Learned Representations? Certified Horizons for Latent World Models
arXiv:2606.24945v1 Announce Type: cross Abstract: We ask a representation-learning question about physical world models: when does a conservation law remain cer…
An Integrated Hardware-Software Design for Low-Data Spatial Defect Detection in Robotic Visual Inspection with Hybrid Optoelectronic Neural Networks
arXiv:2606.25277v1 Announce Type: new Abstract: To address data overload and inefficient shape-level annotation in robotic visual inspection, this paper propose…
RoDyn: Taming Interactive Robot-Dynamic 2.5D World Model for Robotic Manipulation
arXiv:2510.09036v2 Announce Type: replace Abstract: Learned world models hold significant potential as neural simulators for robotic manipulation. However, prev…
$\omega$-EVA: Envision, Verify, and Act with Latent Interactive World Models
arXiv:2606.09457v2 Announce Type: replace Abstract: Embodied policies typically map current observations directly to actions, leaving candidate-action consequen…
Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion
arXiv:2606.25965v1 Announce Type: new Abstract: Legged robots deployed in planetary exploration and other remote environments must maintain reliable locomotion …
Stage-Aware and Roughness-Constrained Diffusion Policy for Multi-Stage Robotic Polishing
arXiv:2606.25754v1 Announce Type: new Abstract: Polishing is a critical finishing process in high-end manufacturing fields such as aerospace, where surface qual…
MIL-LC: A Robust Magnetometer-Inertial-LiDAR Fusion Multimodal Localization Framework
arXiv:2606.25796v1 Announce Type: new Abstract: Localization in challenging environments, such as GNSS-denied, geometrically repetitive, or textureless scenes c…
Beyond a Shadow of a Doubt: Close Proximity Geometry Reconstruction Using FMCW Radar Shadow Effects
arXiv:2606.25829v1 Announce Type: new Abstract: Reliable perception in adverse conditions remains challenging for autonomous systems, as cameras and LiDAR degra…
Wear-Clearance-Impact Coupling in the Jansen Linkage: A Gait-Durability-Optimized Design Slows Joint Loosening
arXiv:2606.25208v1 Announce Type: new Abstract: A companion study introduced joint durability into the dimensional design of the Theo Jansen walking linkage and…
Spotlighting Task-Relevant Features: Object-Centric Representations for Better Generalization in Robotic Manipulation
arXiv:2601.21416v2 Announce Type: replace Abstract: The generalization capabilities of robotic manipulation policies are heavily influenced by the choice of vis…
RAVEN: Long-Horizon Reasoning & Navigation with a Visuo-Spatio-Temporal Memory
arXiv:2606.25206v1 Announce Type: new Abstract: Long-term robot deployment requires a compact and scalable memory that preserves fine-grained visual semantics, …
Incremental Residual Reinforcement Learning Toward Real-World Learning for Social Navigation
arXiv:2604.07945v2 Announce Type: replace Abstract: As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, dri…
GeoFlow-SLAM++: A Robust Multi-Camera Visual-Inertial SLAM System with Relocalization
arXiv:2606.22051v2 Announce Type: replace Abstract: Monocular and RGB-D visual-inertial SLAM systems remain susceptible to limited field of view, sensor-specifi…
WaveForward: An Omnidirectional Passive Wheeled Quadruped Robot with Casters
arXiv:2606.25299v1 Announce Type: new Abstract: Wheeled-legged robots possess both agile mobility for traversing complex terrains and high efficiency, making th…
StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots
arXiv:2606.25765v1 Announce Type: new Abstract: Climbing hollow stairs remains a challenging problem for quadruped robots due to the high risk of leg trapping, …
Invariant Kalman filtering for extended pose estimation in multi-IMU articulated rigid-body systems
arXiv:2606.25083v1 Announce Type: new Abstract: Accurate extended pose estimation (orientation, velocity, and position) for IMU-instrumented articulated rigid-b…
Toward Low-Latency Vision-Language Models with Doubly-Correct Predictions in Egocentric Visual Understanding
arXiv:2606.25160v1 Announce Type: new Abstract: The rapid rise of Vision-Language Models (VLMs) in egocentric visual understanding has made low-latency inferenc…