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 storiesWorld Engine: Towards the Era of Post-Training for Autonomous Driving
arXiv:2606.19836v1 Announce Type: new Abstract: Autonomous vehicles must operate safely in the real world, where errors can have severe consequences. Although m…
TIDY: Thermal Infrared Image Denoising via Wavelet Domain Entropy and Directional Stripe Index
arXiv:2606.19813v1 Announce Type: new Abstract: Thermal infrared (TIR) imaging has been a popular choice for field robotics due to its robust perception capabil…
Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground
arXiv:2606.19512v1 Announce Type: new Abstract: This paper presents an invariant extended Kalman filtering (InEKF) approach for real-time state estimation of hu…
DADP: Domain Adaptive Diffusion Policy
arXiv:2602.04037v3 Announce Type: replace-cross Abstract: Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundame…
Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking
arXiv:2602.23172v2 Announce Type: replace-cross Abstract: Capturing 4D spatiotemporal scene structure is crucial for the safe and reliable operation of robots i…
Integrated Exploration-Aware UAV Route Optimization and Path Planning
arXiv:2605.28654v2 Announce Type: replace Abstract: Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environ…
The Token Is a Group Element: On Lie-Algebra Attention over Matrix Lie Groups
arXiv:2606.20547v1 Announce Type: cross Abstract: We place the attention token on the group: a token is an element $g_i$ of a matrix Lie group $G$ -- a bare tra…
Agentic AutoResearch forSpace Autonomy: An Auditable, LLM-Driven Research Agent for Aerospace Control Problems
arXiv:2606.20394v1 Announce Type: new Abstract: Spacecraft guidance, navigation, and control functions are increasingly realized as learned policies distilled f…
Towards 3D karst underwater scene reconstruction from rotating sonar data
arXiv:2606.20322v1 Announce Type: new Abstract: Karst aquifers provide critical freshwater resources but pose significant hazards due to their complex and poorl…
Co-VLA: Coordination-Aware Structured Action Modeling for Dual-Arm Vision-Language-Action Systems
arXiv:2606.20285v1 Announce Type: new Abstract: Vision-language-action (VLA) models show strong capabilities in single and dual-arm robotic manipulation. Prior …
EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Models
arXiv:2606.19784v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have emerged as a powerful paradigm for generalist robot manipulation, yet t…
GenTrack2: An Improved Hybrid Approach for Multi-Object Tracking
arXiv:2510.24410v4 Announce Type: replace-cross Abstract: This paper proposes a visual multi-object tracking method that jointly employs stochastic and determin…
GenTrack: A New Generation of Multi-Object Tracking
arXiv:2510.24399v2 Announce Type: replace-cross Abstract: This paper introduces a novel multi-object tracking (MOT) method, dubbed GenTrack, whose main contribu…
CoMo: Learning Continuous Latent Motion from Internet Videos for Scalable Robot Learning
arXiv:2505.17006v3 Announce Type: replace-cross Abstract: Unsupervised learning of latent motion from Internet videos is crucial for robot learning. Existing di…
Immersive and Wearable Thermal Rendering for Augmented Reality
arXiv:2503.20646v3 Announce Type: replace-cross Abstract: We present a proof-of-concept palm-mounted thermal feedback prototype addressing thermal rendering cha…
Superhuman Safe and Agile Racing through Multi-Agent Reinforcement Learning
arXiv:2605.22748v2 Announce Type: replace Abstract: Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle …
Route-Constrained Robust Fusion Estimation for MEMS/GNSS Integrated Navigation of Unmanned Ground Vehicles in GNSS Degraded Environments
arXiv:2606.19687v1 Announce Type: new Abstract: To address cumulative localization drift of unmanned ground vehicles in structured road environments under sever…
Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
arXiv:2510.08807v2 Announce Type: replace Abstract: From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating com…
RoboSSM: Scalable In-context Imitation Learning via State-Space Models
arXiv:2509.19658v2 Announce Type: replace Abstract: In-context imitation learning (ICIL) enables robots to learn tasks from prompts consisting of just a handful…
BIM Informed Visual SLAM for Construction Environments
arXiv:2509.13972v3 Announce Type: replace Abstract: Monitoring building construction sites requires comparing the as-planned design with the as-built state, whi…
Robust Convex Model Predictive Control with collision avoidance guarantees for robot manipulators
arXiv:2508.21677v3 Announce Type: replace Abstract: Industrial manipulators typically operate in cluttered environments, where safe motion planning is critical.…
VFILC: Accurate Frequency Extrapolations in Imitation Learning via Sampling Frequency ILC
arXiv:2606.20056v1 Announce Type: new Abstract: Conventional neural network (NN)-based imitation learning methods for variable-speed motion either restricted th…
Evaluation of Augmented Reality-based Intuitive Interface for Robot-Assisted Transesophageal Echocardiography: A User Study
arXiv:2606.19971v1 Announce Type: new Abstract: TransEsophageal Echocardiography (TEE) is essential for diagnosing and guiding Structural Heart Disease (SHD) in…
Motor Angular Speed Preintegration for Multirotor UAV State Estimation
arXiv:2606.19929v1 Announce Type: new Abstract: A precise state estimate is crucial for a tight feedback control that enables agile and near-obstacle flights of…
MMD-SLAM: Structure-Enhanced Multi-Meta Gaussian Distribution-Guided Visual SLAM
arXiv:2606.19874v1 Announce Type: new Abstract: 3D Gaussian Splatting (3DGS) has significantly boosted novel view synthesis and high-fidelity scene reconstructi…
Periodic robust robotic rock chop via virtual model control
arXiv:2508.02604v3 Announce Type: replace Abstract: Robotic cutting is a challenging, contact-rich manipulation task where the robot must simultaneously negotia…
Bidirectional Tutoring for Developmental Motor Learning in Robots: Co-Developed Interaction Dynamics Support Stable Learning
arXiv:2606.19728v1 Announce Type: new Abstract: Infants are well known to develop their motor skills through dense interaction with caregivers. Although such so…
Comparative Study on Agility, Efficiency, and Impact Absorption of Bipedal Robots with Active Toes
arXiv:2606.19699v1 Announce Type: new Abstract: Human legs exhibit high efficiency, agility, and impact absorption, with toes playing a crucial role in these ca…
Reinforcement Twinning for Hybrid Control of Flapping-Wing Drones
arXiv:2505.18201v2 Announce Type: replace Abstract: Controlling flapping-wing drones requires controllers that handle time-varying, nonlinear, underactuated dyn…
3D-DLP: Self-Supervised 3D Object-Centric Scene Representation Learning
arXiv:2606.19451v1 Announce Type: cross Abstract: We introduce 3D-DLP, a self-supervised object-centric representation learning model that decomposes scene-leve…