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 storiesPAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
arXiv:2607.28623v1 Announce Type: new Abstract: We present PAC-MAN, a perception-aware CBF-RL framework that couples control-barrier safety with deployment-real…
RaDiVe: Robust 4D Radar Odometry with Distance-Bounded NDT and Velocity-Discrepancy Point Uncertainty
arXiv:2607.28045v1 Announce Type: new Abstract: Recent advances in 4D radar enable robust perception in adverse weather; however, the inherent sparsity, noise, …
Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning
arXiv:2607.27494v1 Announce Type: new Abstract: Recent advances in robotics research have created a strong demand for high-performance simulators. Surgical robo…
When Robots Exchange Meaning: A Demo of Goal-Oriented Semantic Communications for Collaborative Robotics
arXiv:2607.28256v1 Announce Type: new Abstract: Collaborative robotics is a representative task-oriented 6G use-case, where communication quality should be refl…
An Efficient Solution to the 2D Visibility Problem in Cartesian Grid Maps and its Application in Heuristic Path Planning
arXiv:2403.06494v2 Announce Type: replace-cross Abstract: This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The pr…
Machines that know they are aging: a framework for hardware-aware autonomous intelligence
arXiv:2607.28451v1 Announce Type: new Abstract: Autonomous systems inevitably age, yet their artificial intelligence typically assumes hardware remains in its o…
Corrigible Assistance in One Round: Pragmatic-Pedagogic Best Response
arXiv:2607.27508v1 Announce Type: new Abstract: Assistance games formalize human-robot collaboration under asymmetric information: the human knows the goal, whi…
Active Lubrication of Transluminal Medical Instruments
arXiv:2506.07225v2 Announce Type: replace-cross Abstract: Transluminal minimally invasive surgery uses natural orifices and small incisions to access internal a…
DexDirect: Direct Kinesthetic Arm Guidance for Efficient Dexterous Demonstration Collection
arXiv:2607.27784v1 Announce Type: new Abstract: Scalable collection of dexterous manipulation demonstrations remains a major bottleneck for robot learning. High…
ARCSnake V2: Mechanical Adaptations For An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot
arXiv:2511.11970v2 Announce Type: replace Abstract: Robotic exploration in extreme environments, such as caves, oceans, and extraplanetary surfaces, poses signi…
Goal-Oriented Semantic Communication for ISAC-Enabled Robotic Obstacle Avoidance
arXiv:2603.02291v2 Announce Type: replace Abstract: We investigate an integrated sensing and communication (ISAC)-enabled BS for the unmanned aerial vehicle (UA…
LabEvolver: Training-Free Experience Evolution for Safe and Grounded Wet-Lab Agents
arXiv:2607.27690v1 Announce Type: new Abstract: We introduce LabEvolver, a training-free framework that equips safe and grounded wet-lab agents with episodic me…
X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching
arXiv:2607.28560v1 Announce Type: new Abstract: Pretraining navigation diffusion policies rely on large-scale expert demonstrations. These data are typically ge…
ODEWorld: A Continuous Predictive Architecture via Physical-Time Flow
arXiv:2607.27924v1 Announce Type: cross Abstract: In the physical world we inhabit, space and time are fundamentally continuous. However, existing machine learn…
A Systems Engineering Framework for Vision-Language-Enabled UAV Triage and Disaster Response
arXiv:2607.27597v1 Announce Type: new Abstract: Recent advances in Vision Language Models (VLMs) have created new opportunities for disaster response, where res…
HALO: Heterogeneous Admission through Localized Obligations for Safe Agentic Execution
arXiv:2607.27636v1 Announce Type: cross Abstract: Recent agentic AI systems may return a heterogeneous response containing notices, requests, handoffs, and acti…
Cross-Embodiment Transfer via Behavior-Aligned Representations
arXiv:2607.27549v1 Announce Type: new Abstract: Recent progress in large-scale imitation learning for robot manipulation has been driven by leveraging datasets …
CLAM: Continuous Latent Action Models for Robot Learning from Unlabeled Demonstrations
arXiv:2505.04999v2 Announce Type: replace Abstract: Learning robot control policies from demonstrations typically requires action-labeled expert data, which is …
SharedAssembly: A Data Collection Approach via Shared Tele-Assembly
arXiv:2503.12287v2 Announce Type: replace Abstract: High-precision, tight-clearance assembly demonstrations are indispensable for training tactile-aware robotic…
Write-Safe Flow Field Mapping under Ambiguous Onboard Sensing and Localization Drift
arXiv:2607.27713v1 Announce Type: new Abstract: Mobile robots can infer local flow structure from onboard sensing, but a locally plausible estimate is not alway…
RedFlow: Redirect Failure into Action-Level Corrections for Flow-matching VLA Policy
arXiv:2607.27782v1 Announce Type: new Abstract: Flow-matching Vision-Language-Action (VLA) policies have shown strong potential for robotic manipulation but oft…
Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling
arXiv:2607.27511v1 Announce Type: new Abstract: Imitation learning has shown increasing promise for autonomous robotic surgery, yet safe deployment remains chal…
Filling the Pareto-Optimal Front for Affordance Segmentation on Embedded Devices Using RGB-D Cameras
arXiv:2607.28293v1 Announce Type: cross Abstract: While depth sensors have the potential to complement RGB data for affordance segmentation in wearable robots, …
One Future, Every Robot: Label-Efficient Collective-State Prediction with Decentralized JEPA
arXiv:2607.28443v1 Announce Type: new Abstract: Can every robot in a swarm predict the same future collective state from only local observations and bandwidth-l…
Arm2Air: Cross-Embodiment Skeleton Transfer for 3D Relay Formation
arXiv:2607.27627v1 Announce Type: new Abstract: Unmanned aerial vehicle (UAV) relay networks can restore connectivity after communication infrastructure is dama…
A Robust Placeability Metric for Model-Free Unified Pick-and-Place Reasoning
arXiv:2510.14584v3 Announce Type: replace Abstract: Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic sy…
World Action Planner: Generalizable Decision-Making with Action-Conditioned World Models
arXiv:2607.27599v1 Announce Type: cross Abstract: Building generalizable agents for diverse applications remains a fundamental challenge. While imitation learni…
Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness
arXiv:2603.16059v3 Announce Type: replace Abstract: Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by gener…
UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis
arXiv:2607.28198v1 Announce Type: new Abstract: Many dexterous manipulation tasks require the object to remain securely held throughout the interaction. From th…
Compact Task-Aligned Imitation Learning for Laboratory Automation
arXiv:2603.01110v2 Announce Type: replace Abstract: Robotic laboratory automation has traditionally relied on carefully engineered motion pipelines and task-spe…