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 storiesAverage Rankings Mask Per-Subject Optimality: A Friedman-Nemenyi Benchmark of EEG Motor-Imagery BCI Decoders
arXiv:2606.24394v1 Announce Type: cross Abstract: Electroencephalography (EEG) is the dominant non-invasive modality for brain-computer interfaces (BCIs), yet r…
MuTRAP: Multi-trigger Trojans Attacking Robot Task Planning Systems
arXiv:2504.17070v3 Announce Type: replace Abstract: Robots need task planning methods to achieve goals that require more than one action. Recently, large pretra…
MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
arXiv:2512.00324v4 Announce Type: replace Abstract: Dexterous robotic hands are expected to perform complex, contact-rich object manipulation, but learning such…
PRISM-SLAM: Probabilistic Ray-Grounded Inference for Scale-aware Metric SLAM
arXiv:2605.19257v4 Announce Type: replace Abstract: Monocular SLAM historically suffers from scale ambiguity and tracking failure in dynamic environments. While…
TactileReflex: Noise-Statistics-Driven Vision-Tactile Reflex Control for Force-Sensitive Manipulation
arXiv:2605.23568v2 Announce Type: replace Abstract: Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real…
Face versus Body Tracking for Human-Robot Interaction: An Egocentric Dataset
arXiv:2606.03694v2 Announce Type: replace Abstract: Meaningful human-robot interaction (HRI) requires a robot to continuously assess user engagement through per…
SkyJEPA: Learning Long-Horizon World Models for Zero-Shot Sim-to-Real Control of Quadrotors
arXiv:2606.23444v2 Announce Type: replace Abstract: Accurate dynamics models are critical for informed decision-making in robotic systems, particularly for agil…
TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation
arXiv:2606.22998v2 Announce Type: replace Abstract: Text-conditioned motion generation is a promising interface for programming humanoid robots, yet current gen…
Policy Gradient with Self-Attention for Model-Free Distributed Nonlinear Multi-Agent Games
arXiv:2509.18371v2 Announce Type: replace-cross Abstract: Multi-agent games in dynamic nonlinear settings are challenging due to the time-varying interactions a…
Enforcing Human-like Kinematics in Dexterous Piano Playing via Adversarial Posture Regularization
arXiv:2606.23848v1 Announce Type: new Abstract: Reinforcement learning can train bimanual dexterous hands to play piano in physics simulation with high note acc…
Reference-Augmented Learning for Precise Tracking Policy of Tendon-Driven Continuum Robots
arXiv:2604.25698v2 Announce Type: replace Abstract: Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, pa…
H-RINS: Hierarchical Tightly-coupled Radar-Inertial State Estimation via Smoothing and Mapping
arXiv:2603.14109v3 Announce Type: replace Abstract: Millimeter-wave radar enables robust perception in visually degraded environments, yet radar-inertial estima…
A Pairwise Human-Human Interaction Detection and Recognition Framework for Mobile Service Robots
arXiv:2602.22346v2 Announce Type: replace Abstract: Autonomous mobile service robots, such as lawnmowers or cleaning robots, operating in human-populated enviro…
Debate2Create: Robot Co-design via Multi-Agent LLM Debate
arXiv:2510.25850v3 Announce Type: replace Abstract: We introduce Debate2Create (D2C), a multi-agent LLM framework that formulates robot co-design as structured,…
Reward-Centered ReST-MCTS: A Robust Decision-Making Framework for Robotic Manipulation in High Uncertainty Environments
arXiv:2503.05226v2 Announce Type: replace Abstract: Monte Carlo tree search is attractive for robotic manipulation because it can improve action selection throu…
From Open Waters to Enclosed Cabins: ProteusVPR for Cross-Scene Visual Place Recognition in Maritime Perception and Cabin Inspection
arXiv:2606.24234v1 Announce Type: cross Abstract: Autonomous robotic inspection in maritime environments presents unique challenges for Visual Place Recognition…
Efficient Time-Domain Simulation of USV Motions in Short-Crested Irregular Waves Using an IRF-Based Framework
arXiv:2606.24130v1 Announce Type: cross Abstract: Traditional time-domain prediction of vessel motions in irregular waves usually relies on superposing response…
Vision-Language Model Reasoning for Contextual Semantic Mapping in Intralogistics
arXiv:2606.24814v1 Announce Type: new Abstract: Autonomous mobile robots operating in intralogistics environments rely on geometric maps for localization and na…
Optimization-based Safe Trajectory Planning for Autonomous Ground Vehicle in Multi-Floor Scenarios
arXiv:2606.24631v1 Announce Type: new Abstract: The development of trajectory planning strategies for autonomous ground vehicles (AGVs) represents a prevailing …
Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM
arXiv:2606.24489v1 Announce Type: new Abstract: Pose graph optimization (PGO) is a key back-end component for state estimation in networked multi-robot simultan…
FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation
arXiv:2606.24466v1 Announce Type: new Abstract: Legged manipulators combine the mobility of legged platforms with the manipulation capability of robotic arms. H…
NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulation
arXiv:2606.24450v1 Announce Type: new Abstract: Perceiving physical contact is fundamental to dexterous manipulation. While robots often rely on dedicated hardw…
Legible and Intuitive Multi-modal Robot State and Intent Communication Validated in Online and Real-world Studies
arXiv:2606.24445v1 Announce Type: new Abstract: Effective robot-to-human communication can increase transparency and trust, reduce uncertainty, and contribute t…
Dynamics, stability, and energy efficiency of an energy-recycling rimless wheel with spring-clutch legs
arXiv:2606.22073v2 Announce Type: replace Abstract: This paper proposes an energy-recycling rimless wheel with spring-clutch legs. The proposed mechanism uses a…
The Evaluation Cost of Task Specialization in Evolutionary Multi-Robot Systems
arXiv:2606.24191v1 Announce Type: new Abstract: Task specialization can improve the efficiency of multi-robot systems (MRSs). Previous works have investigated t…
DynaWM: Dynamics-Aware Distillation with World Model and Momentum Targets for Smooth Locomotion over Continuous Stairs
arXiv:2606.24089v1 Announce Type: new Abstract: Recent advances in control have enabled bipedal-wheeled robots to traverse slopes and single-step obstacles, yet…
Sim-to-Real Betting on the E-Process: Bringing "simulators" to anytime-valid confidence sequences
arXiv:2606.24038v1 Announce Type: new Abstract: This note describes an integration of the sim-to-real performance estimate with betting (from Chen et al.) and t…
CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance
arXiv:2603.12120v2 Announce Type: replace Abstract: We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-r…
Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots
arXiv:2604.25691v2 Announce Type: replace Abstract: Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonli…
From Singleton Obstacles to Clutter: Translation Invariant Compositional Avoid Sets
arXiv:2603.22146v2 Announce Type: replace-cross Abstract: This paper studies obstacle avoidance under translation invariant dynamics using an avoid-side travel …