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 storiesRoboAtlas: Contextual Active SLAM
arXiv:2606.26046v1 Announce Type: new Abstract: We present RoboAtlas, a contextual Active SLAM framework that adaptively balances geometric exploration and sema…
Commerge: Communication-Efficient, Robust, and Fast LiDAR Map Merging Framework for Multi-Robot Coordination in Resource-Constrained Scenarios
arXiv:2606.25386v1 Announce Type: new Abstract: By maintaining global consistency across robot teams, multi-robot LiDAR map merging enables faster exploration a…
A 3D-Printable Dataset for Fair Testing and Comparisons of Tactile Sensors
arXiv:2606.25886v1 Announce Type: new Abstract: Existing texture datasets for tactile sensing primarily consist of sensor readings from a specific sensor intera…
PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking
arXiv:2603.19305v2 Announce Type: replace Abstract: Humanoid robots are expected to execute agile and expressive whole-body motions in real-world settings. Exis…
Conformal Orbit-Valid Trust Horizons for Equivariant World Models
arXiv:2606.24946v1 Announce Type: cross Abstract: Learned world models are useful only over horizons on which their rollout error remains controlled. We study t…
Decoupling Semantics and Geometric Grounding: Spatial Visual Prompts for Language-Conditioned Imitation Learning
arXiv:2606.25360v1 Announce Type: new Abstract: While end-to-end Vision-Language-Action (VLA) models show promise in robotic manipulation, their monolithic para…
ROAD-VLA: Robust Online Adaptation via Self-Distillation for Vision-Language-Action Models
arXiv:2606.25800v1 Announce Type: cross Abstract: Effective online adaptation of vision-language-action (VLA) models remains challenging, as sparse rewards prov…
ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data
arXiv:2603.09170v3 Announce Type: replace Abstract: Achieving versatile and natural whole-body humanoid interaction control remains challenging due to the high …
Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots
arXiv:2606.25706v1 Announce Type: new Abstract: High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controlle…
TacVerse: A Multi-Sensor Dataset and Benchmark for Cross-Sensor Vision-Based Tactile Perception
arXiv:2606.25877v1 Announce Type: new Abstract: Vision-based tactile sensors (VBTSs) enable robots to infer contact geometry and force-related cues by imaging d…
Delta-Position Estimation-Based IMU Odometry: A Comparison of MLP and Kolmogorov-Arnold Networks
arXiv:2606.25454v1 Announce Type: new Abstract: In this study, the learning-based inertial odometry problem is investigated using raw IMU measurements obtained …
ADM-Fusion: Adaptive Deep Multi-Sensor Fusion for Robust Ego-Motion Estimation in Diverse Conditions
arXiv:2606.25111v1 Announce Type: new Abstract: Robust multi-sensor fusion is essential for reliable autonomy in diverse and degraded environments, where sensor…
MAPL: Multi-Objective Preference Learning for Robot Locomotion
arXiv:2606.25398v1 Announce Type: new Abstract: Reward design remains a major bottleneck in reinforcement learning for robot locomotion, where successful polici…
In-Context World Modeling for Robotic Control
arXiv:2606.26025v1 Announce Type: new Abstract: Modern Vision-Language-Action (VLA) models often fail to generalize to novel setups, such as altered camera view…
AISPO: Enhancing Depth Reliability for Robotic Manipulation of Non-Lambertian Objects via Affine-Invariant Shape Prior
arXiv:2606.25503v1 Announce Type: new Abstract: Reliable depth perception is critical for robotic manipulation, especially for non-Lambertian objects such as tr…
Generative AI for Safe and Photorealistic Drone Light Shows
arXiv:2606.25458v1 Announce Type: new Abstract: Drone light shows are redefining aerial entertainment, yet their widespread adoption is bottlenecked by labor-in…
Memory Retrieval in Visuomotor Policies for Long-Horizon Robot Control
arXiv:2606.25136v1 Announce Type: new Abstract: General-purpose robots operating in partially observable environments, such as homes, require memory to support …
ASSCG: Just-Right Gating over Chattering for Fast-Slow LLM Planning in Autonomous Driving
arXiv:2606.25509v1 Announce Type: new Abstract: Large language models (LLMs) can improve autonomous driving planning but are costly to query online, and existin…
ARTOO-DARTU: Studying AR-HRC With AR Obstruction Mitigation During a Warehouse Task
arXiv:2606.25202v1 Announce Type: cross Abstract: Human-robot collaboration (HRC) often requires robot intentions and internal states to be conveyed to users fo…
Learning to Adapt: Reptile-D-Learning for Robust and Efficient Control Under Parametric Uncertainty
arXiv:2606.25659v1 Announce Type: new Abstract: Learning-based Lyapunov Control (LLC) provides formal stability guarantees for nonlinear systems, but its validi…
AI Coaching for Accelerating Human Skill Development with Reinforcement Learning
arXiv:2606.25337v1 Announce Type: new Abstract: AI copilots can substantially boost human performance through shared control, but excessive assistance can induc…
DSP-SLAM++: A Unified Framework for Multi-Class, High-Fidelity Object SLAM in the Wild
arXiv:2606.25953v1 Announce Type: new Abstract: Existing object-aware SLAM systems force a trade-off between real-time performance, multi-class support, and the…
One Body, Two Minds: Variable Autonomy Approach for a Co-embodied Robotic Hand
arXiv:2606.25575v1 Announce Type: new Abstract: Assistive robotic systems face a fundamental trade-off: fully autonomous systems lack user agency, while fully u…
Learning Action Priors for Cross-embodiment Robot Manipulation
arXiv:2606.26095v1 Announce Type: new Abstract: Most Vision-Language-Action (VLA) models build on a Vision-Language Model (VLM) backbone by attaching an action …
MANGO: Automated Multi-Agent Test Oracle Generation for Vision-Language-Action Models
arXiv:2606.24815v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models are emerging robotic control systems that integrate perception, language u…
Reliability-Asymmetric Spacecraft Autonomy: Co-Designing a Capable Learned GNC Stack with a Verified, Adaptation-Aware Runtime Shield
arXiv:2606.25366v1 Announce Type: new Abstract: Deep-space missions need onboard autonomy that is both capable and certifiable. Rule-based autonomy is certifiab…
ReaDy-Go: Real-to-Sim Dynamic 3D Gaussian Splatting Simulation for Environment-Specific Visual Navigation with Moving Obstacles
arXiv:2602.11575v3 Announce Type: replace Abstract: Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the …
GROVE: Grounded Pedestrian Simulation via Natural Language for Interactive Social Robot Navigation
arXiv:2606.25504v1 Announce Type: new Abstract: Pedestrian simulation is a critical component for training and deploying social robot navigation approaches, yet…
SA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling
arXiv:2606.25699v1 Announce Type: new Abstract: Tightly coupled LiDAR-visual-inertial odometry (LIVO) fuses precise geometric depth with complementary visual me…
BFMTrack: Latent Sequence Optimization for Physics-Based Motion Tracking with Behavioral Foundation Models
arXiv:2606.25056v1 Announce Type: new Abstract: Behavioral Foundation Models (BFMs) offer a promising path toward universal physics-based character control by o…