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 storiesTacPAC: Tactile Prediction and Real-Time Action Correction in World-Action Models for Contact-Rich Manipulation
arXiv:2609.05266v1 Announce Type: new Abstract: World-action models guide action generation with predicted future observations, but vision-centric predictions m…
Reasoning Without Inference Cost: Latent Semantic Scaffolding for Robot VLA Policies
arXiv:2609.04893v1 Announce Type: new Abstract: Vision-language-action (VLA) models are trained by imitation and capture what action to take but not why; adding…
Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow
arXiv:2609.04817v1 Announce Type: new Abstract: Strict nonlinear normal modes provide very regular families of oscillations within conservative mechanical syste…
CoLMIN: LLM-based Multi-Decision Path Negotiation for Cooperative Autonomous Driving
arXiv:2609.04807v1 Announce Type: new Abstract: Multi-vehicle cooperative autonomous driving enhances the safety and reliability of autonomous driving systems t…
FailureSpot: Label-Efficient Timestamp-Level Failure Detection for Vision-Language-Action Models
arXiv:2609.04277v1 Announce Type: new Abstract: Vision-language-action (VLA) policies have shown strong potential for general-purpose robotic manipulation, but …
Programming and execution of skill-based human-robot-crane collaborative tasks
arXiv:2609.03392v1 Announce Type: new Abstract: Highly varying production sets increasing challenges for robotic manufacturing and indoor logistics. New capabil…
Air-Ground Collaborative Vision-and-Language Navigation via Shared Bird's-Eye Maps
arXiv:2609.03483v1 Announce Type: new Abstract: Air-ground collaborative Vision-and-Language Navigation (VLN) pairs an unmanned aerial vehicle (UAV) with a glob…
BRIDGE: An Open-Source Humanoid Platform via Morphology-Control Co-Design for Physical AI
arXiv:2609.03497v1 Announce Type: new Abstract: Developing humanoid robots capable of leveraging human behavioral data is essential for general-purpose embodime…
Scaling Bimanual Household Manipulation from 1,500 hours of Demonstrations to On-Policy Corrections
arXiv:2609.03591v1 Announce Type: new Abstract: Learning generalist policies for robust bimanual manipulation is bottlenecked by the scarcity of high quality la…
QLAUN: A Research-Oriented, Robust, Agile, Modular, and Affordable Torque-Controlled Quadruped Robot
arXiv:2609.03623v1 Announce Type: new Abstract: QLAUN Bot (Quad-Legged Adaptive Unmanned Navigator Robot) is a torque-controlled quadruped robot that is researc…
Toward an~Integrated Cognitive--Ergonomic Architecture for~Human--Machine Interaction: Combining Cognitive Models with~Human Factors Ergonomics
arXiv:2609.03704v1 Announce Type: new Abstract: This paper presents an integrated approach to modeling human competencies by combining the theoretical foundatio…
RoughSense: Lightweight Terrain-Induced Rover Vibration Prediction Using Point Clouds and IMU Feedback
arXiv:2609.03720v1 Announce Type: new Abstract: Autonomous navigation in space requires reliable terrain assessment for safe operations, especially in undergrou…
Virtual Testing of Automated Driving Systems through Credible Simulations
arXiv:2609.03760v1 Announce Type: new Abstract: Simulation is increasingly used to support safety-related decision-making in road transport, particularly for th…
A comparative study on the accuracy & repeatability of mobile robotic platforms for the delivery of precision NDE measurement
arXiv:2609.03794v1 Announce Type: new Abstract: Mobile robotic platforms offer a flexible alternative to fixed manipulators for non-destructive evaluation (NDE)…
Revisiting Topological Graphs for Macro Action based Closed-loop Reinforcement Learning of Vision Language Navigation in Continuous Environment
arXiv:2609.03906v1 Announce Type: new Abstract: Vision-Language Navigation in Continuous Environments (VLN-CE) requires an agent to follow natural language inst…
Corner Cases: Headland Coverage Path Planning for Autonomous Driving in Arable Farming
arXiv:2609.04103v1 Announce Type: new Abstract: This paper presents a new method for headland coverage path planning for arable fields. Several earlier approach…
Equilibria for Networks of Linear Translational Springs
arXiv:2609.03143v1 Announce Type: cross Abstract: We use tools from nonlinear algebra to study the equilibria of small linear translational spring networks. Spe…
Understanding Autonomous Driving Datasets by Describing Differences between Image Subsets in Natural Language
arXiv:2609.03677v1 Announce Type: cross Abstract: Understanding the composition of large-scale autonomous driving datasets is essential for safety, robustness, …
DropClick: Semi-Automated One-Click Segmentation for Agricultural Robotic Data
arXiv:2609.03680v1 Announce Type: cross Abstract: Labelling vision datasets, especially for segmentation tasks, is a laborious and costly process that stymies n…
Catalogue Photography as a Cold Start: Toward Deployable Carbide Burr Recognition
arXiv:2609.03995v1 Announce Type: cross Abstract: Verifying that manufactured batches of milling tools or carbide rotary burrs conform to production order sheet…
A Low-Cost, Open Platform for End-to-End Autonomous Driving on a Miniature Ackermann Vehicle
arXiv:2609.04147v1 Announce Type: cross Abstract: This paper presents a low-cost, open experimental platform for research in end-to-end autonomous driving with …
Formation Matrix and Energy-based Control of Multi-Agent Systems
arXiv:2609.04158v1 Announce Type: cross Abstract: This paper presents an energy-based controller for a multiagent robotic system designed to achieve and maintai…
Learning-based Adaptive Safety-Critical Control With Evolving Unsafe Regions
arXiv:2503.16551v4 Announce Type: replace Abstract: Control barrier functions (CBFs) provide a principled framework for safety-critical control, but their const…
Decentralized Vision-Based Autonomous Aerial Wildlife Monitoring
arXiv:2508.15038v2 Announce Type: replace Abstract: Wildlife field operations demand efficient parallel deployment methods to identify and interact with specifi…
SPARC: Spine with Prismatic And Revolute Compliance for Faster Quadrupedal Bounding
arXiv:2510.01984v4 Announce Type: replace Abstract: Quadruped mammals coordinate sagittal spinal bending with axial extension and compression during dynamic loc…
High-Altitude Balloon Station-Keeping with First Order Model Predictive Control
arXiv:2511.07761v2 Announce Type: replace Abstract: High-altitude balloons (HABs) are common in scientific research due to their wide range of applications and …
ProAct: Harnessing Streaming Motion Generation and Agentic Reasoning for Real-Time Embodied Social Interaction
arXiv:2602.14048v2 Announce Type: replace Abstract: Real-time embodied social interaction places two equally demanding requirements on an agent: continuously ge…
MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation
arXiv:2603.08383v2 Announce Type: replace Abstract: Long-horizon indoor mobile manipulation (MoMa) requires robots to execute extended navigation-manipulation s…
Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation
arXiv:2605.31343v2 Announce Type: replace Abstract: Legged manipulators integrate exceptional terrain adaptability along with mobile manipulation capabilities, …
ASIP-Planner: Adaptive Planning for UAV Surface Inspection in Partially Known Indoor Environments
arXiv:2605.11119v2 Announce Type: replace Abstract: Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface cov…