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 storiesMoving-Horizon Estimation and Nonlinear Model Predictive Control of Cable-Driven Soft Manipulators
arXiv:2607.24029v1 Announce Type: new Abstract: Precise control of soft manipulators remains challenging due to the difficulty of developing accurate yet comput…
BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight
arXiv:2607.23867v1 Announce Type: new Abstract: Trajectory tracking performance of Uncrewed Aerial Vehicles (UAVs) degrades during high-speed and agile flight d…
WCM: World-Cognition Model for Generalizable Human-Robot Interaction
arXiv:2607.22999v1 Announce Type: new Abstract: Language agents can now interact fluently with users in software, but robots still struggle to bring comparable …
Online Lidar-Only Odometry with Retrospective Refinement of Overlapping Submaps
arXiv:2503.21293v3 Announce Type: replace Abstract: Lidar odometry aims to estimate the ego-motion of a mobile platform from a stream of lidar scans. Traditiona…
PAC-DP: PAC-Bayesian Diffusion Policy Learning
arXiv:2607.24296v1 Announce Type: new Abstract: Diffusion Policies (DPs) are able to perform complex manipulation tasks. However, DPs are typically trained by m…
Towards Ultrafast Depth Sensing Via Active Event-based Stereo Vision
arXiv:2607.23684v1 Announce Type: new Abstract: Conventional frame-based imaging for active stereo systems has encountered major challenges in fast-motion scena…
Mission-Level Runtime Assurance for LLM-Assisted ISR Swarms over a Verification-Aware Fabric
arXiv:2607.23532v1 Announce Type: cross Abstract: Swarms of LLM-assisted autonomous robots are increasingly proposed for cooperative intelligence, surveillance,…
Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
arXiv:2504.17647v2 Announce Type: replace Abstract: Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-ti…
Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation
arXiv:2607.24083v1 Announce Type: cross Abstract: Reinforcement learning can produce robust humanoid controllers, but each new task is typically trained as a se…
PRISM: Polynomial Representations for Interaction-Structured Motor Control
arXiv:2607.23473v1 Announce Type: new Abstract: Robot policies are typically MLPs mapping observations to actions. Yet robot observations are physical variables…
$N_0$-VTLA: Scaling Vision-Tactile-Language-Action Model with Latent Tactile Tokens
arXiv:2607.23782v1 Announce Type: new Abstract: We present $N_0$-VTLA, a vision-tactile-language-action (VTLA) foundation model capable of (1) fine-grained cont…
UAV-ON: A Benchmark for Open-World Object Goal Navigation with Aerial Agents
arXiv:2508.00288v5 Announce Type: replace Abstract: Aerial navigation is a fundamental yet underexplored capability in embodied intelligence, enabling agents to…
A Visuo-Tactile Data Collection System with Haptic Feedback for Coarse-to-Fine Imitation Learning
arXiv:2605.08757v2 Announce Type: replace Abstract: We present a visuo-tactile data-collection system that generates temporally structured, contact-rich demonst…
FutureRTC: Real-Time Robot Execution with Anticipatory-Conditioned Action Chunking
arXiv:2607.24008v1 Announce Type: new Abstract: Real-time deployment of Vision-Language-Action (VLA) policies necessitates asynchronous execution, wherein subse…
DB-VIO: Dual-Branch Visual Inertial Odometry with Enhanced Visual-Inertial Representation
arXiv:2607.22123v1 Announce Type: new Abstract: Visual inertial odometry (VIO) is essential for accurate 6-DoF motion estimation in mobile robotic systems. Rece…
Ordered Action Tokens for Visuomotor Policy Learning
arXiv:2607.21670v1 Announce Type: new Abstract: Action tokenization maps continuous robot action chunks to discrete tokens and has become an important interface…
Progress Reward Modeling for Robotic Learning: A Comprehensive Survey
arXiv:2607.21655v1 Announce Type: new Abstract: Robotic learning takes place in dynamic environments with large behavior spaces. A terminal success signal only …
Robot-Factored World Models via Robot Rendering
arXiv:2607.22535v1 Announce Type: new Abstract: Action-conditioned video world models predict future observations from an initial observation and an action sign…
Conformal Constraint Tightening for Chance-Constrained Motion Planning with Unknown Dynamics
arXiv:2607.22409v1 Announce Type: new Abstract: Motion planning algorithms compute control sequences that drive autonomous robots to goal regions while avoiding…
Mag4D-SLAM Dataset: A Repeated-Traversal Multi-Modal 4D Geomagnetic Dataset for Localization and Mapping
arXiv:2607.21986v1 Announce Type: new Abstract: Geomagnetic sensing offers an infrastructure-free, absolute orientation reference that is robust to GNSS denial …
Plug, Play, and Comply: A Modular Framework for Online Variable Impedance with Arbitrarily Oriented Compliance Axes
arXiv:2607.22483v1 Announce Type: new Abstract: The paper proposes a robot-agnostic compliant-control framework that extends the ROS control ecosystem with stan…
OpenNavMap: Multi-Session Appearance-Based Topometric Mapping for Scalable Visual Navigation
arXiv:2601.12291v2 Announce Type: replace Abstract: Scalable and maintainable maps are fundamental to large-scale navigation and the long-term deployment of rob…
Flight-Ready LiDAR-Inertial Odometry for Embedded Drone Platforms
arXiv:2607.22145v1 Announce Type: new Abstract: Open-source LiDAR-inertial odometry (LIO) systems have achieved remarkable benchmark accuracy, yet current state…
Teachy Mini: Development and Preliminary Evaluation of a Knowledge-Based Generative Social Robot for Higher Education
arXiv:2607.22345v1 Announce Type: new Abstract: Generative social robots (GSRs) powered by large language models offer new possibilities for personalized tutori…
Constraint-Driven Synthesis of Hyper Petri Nets
arXiv:2607.22062v1 Announce Type: cross Abstract: This paper addresses the modeling and synthesis of constrained robotic system behaviors using Petri nets (PNs)…
One Hand Watches The Other: Dynamic Multi-Agent Cooperation for Sample-Efficient Bimanual Manipulation in Dynamic Environments
arXiv:2607.22119v1 Announce Type: new Abstract: Multi-stream robot manipulation policies achieve unparalleled sample efficiency and generalization by modeling a…
JustDepth: Real-Time Radar-Camera Depth Estimation with Single-Scan LiDAR Supervision
arXiv:2607.22172v1 Announce Type: cross Abstract: Accurate yet low-latency depth is essential for radar-camera perception in autonomous systems. Cameras provide…
SM4RT: Learning Structured Motion Geometry for 4D Reconstruction
arXiv:2607.22534v1 Announce Type: cross Abstract: Geometry Foundation Models (GFMs) have substantially advanced monocular 3D reconstruction, yet extending this …
Compliant Non-Prehensile Pushing Manipulation
arXiv:2605.25672v2 Announce Type: replace Abstract: In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant rob…
Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics
arXiv:2607.22030v1 Announce Type: new Abstract: Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions t…