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 storiesTransformer-Based Warm-Starting for Feasible and Optimal Terminal Approach to Tumbling Objects with Space Manipulators
arXiv:2606.17317v1 Announce Type: new Abstract: Real-time trajectory generation for on-orbit robotic servicing is challenging due to the nonlinear coupling betw…
Abstention-Aware Personalized Object Rearrangement via Uncertainty-Guided LLM Assistance
arXiv:2606.17309v1 Announce Type: new Abstract: Robotic assistance in household environments requires not only predicting where objects should be placed, but al…
VISTA: Scale-Aware Visual Navigation via Action History Conditioning
arXiv:2606.17294v1 Announce Type: new Abstract: Vision Navigation Foundation Models (VNMs) promise end-to-end learned navigation policies capable of zero-shot d…
VL-MemKnG: Hybrid Memory with a Spatio-Temporal Knowledge Graph for Question Answering over Long Egocentric Navigation Trajectories
arXiv:2606.17183v1 Announce Type: new Abstract: Answering navigation-relevant questions over long egocentric videos requires retrieving and organizing evidence …
Qwen-RobotNav Technical Report: A Scalable Navigation Model Designed for an Agentic Navigation System
arXiv:2606.18112v1 Announce Type: new Abstract: Agentic navigation systems require a base navigation model whose observation strategy can be externally reconfig…
DC-Motion: Decoupling Semantics and Details via Discrete-Continuous Tokens for Human Motion Generation
arXiv:2606.14721v1 Announce Type: cross Abstract: Text-to-motion generation requires synthesizing physically realistic dynamics that strictly follow complex and…
QPILOTS: Efficient Test-Time Q-Steering for Flow Policies
arXiv:2606.14801v1 Announce Type: cross Abstract: Flow-matching and diffusion policies are expressive action generators, but optimizing them with temporal-diffe…
Human Universal Grasping
arXiv:2606.17054v1 Announce Type: new Abstract: Humans can grasp objects effortlessly, whereas multi-fingered robots are far from this level of generality. We a…
Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes
arXiv:2606.17043v1 Announce Type: new Abstract: When pretrained VLA policies are fine-tuned through online RL, each rollout episode produces only a single binar…
Task-Error Residual Learning for Real-Robot Five-Ball Juggling
arXiv:2606.16978v1 Announce Type: new Abstract: For residual learning that refines existing behavior, sample efficiency depends on two things: how much informat…
CrossMaps: Confidence-Aware Open-Vocabulary Semantic Mapping for Rover Navigation
arXiv:2606.16935v1 Announce Type: new Abstract: Rovers rely on perception to maintain spatial maps that encode both objects and sensor quality (e.g., range reli…
Unified Motion-Action Modeling for Heterogeneous Robot Learning
arXiv:2606.16917v1 Announce Type: new Abstract: We present Unified Motion-Action (UMA) Model, an approach that uses 3D object motion trajectories as a shared in…
SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM
arXiv:2606.16881v1 Announce Type: new Abstract: We introduce a data-efficient distributed Simultaneous Localization and Mapping (SLAM) framework designed for a …
DIFF-IPPO: Diffusion-Based Informative Path Planning with Open-Vocabulary Belief Maps
arXiv:2606.16780v1 Announce Type: new Abstract: Exploration and object search require robots to perceive their environment, identify regions of interest, and pl…
Reinforcement Learning with Inner-loop Dynamics Estimator for Aerial Manipulation under Uncertainty
arXiv:2606.16621v1 Announce Type: new Abstract: Aerial manipulators enable physical interaction in hard-to-reach environments; however, the combined problem of …
Elastic ODYN: Differentiable Optimization for Infeasible Control and Learning in Robotics
arXiv:2606.16564v1 Announce Type: new Abstract: Robotic systems routinely encounter conflicting objectives, modeling errors, and degenerate contact conditions t…
HATS: A Human-Agent Teleoperation System for Multi-Arm Data Collection
arXiv:2606.16491v1 Announce Type: new Abstract: Many real-world manipulation scenarios, such as handling complex collaborative tasks and dealing with large work…
Agile Fall Recovery for Quadrotors with Bidirectional Thrust via Reinforcement Learning
arXiv:2606.16513v1 Announce Type: new Abstract: Autonomous fall recovery is a critical capability for quadrotors operating in real-world environments, where col…
Training and Evaluating Diffusion Policies with Long Context Lengths
arXiv:2606.16447v1 Announce Type: new Abstract: Imitation learning has enabled highly-dexterous robotic manipulation from RGB observations. Policies trained wit…
SemGeoNav:A Safety-Guided Visual Navigation Approach with Semantic Reasoning and Geometric Planning
arXiv:2606.16400v1 Announce Type: new Abstract: Learning-based visual navigation has enhanced semantic goal-reaching capabilities. However, due to their black-b…
Is Your Trajectory Displacement Safe in Long-tail?
arXiv:2606.16313v1 Announce Type: new Abstract: Long-tail scenarios remain a major bottleneck for autonomous driving evaluation, even as datasets grow by orders…
PolyMerge: Compressing 3D Gaussian Splats with Polytope Coverings for Provably Safe Resource-Constrained Navigation
arXiv:2606.16232v1 Announce Type: new Abstract: Obstacle avoidance is essential for safe navigation and motion planning. Recent radiance field reconstruction me…
ATHENA: Accelerated Multi-Task Heterogeneous Influence Functions for Robot Data Curation
arXiv:2606.16208v1 Announce Type: new Abstract: In robot imitation learning, influence functions provide a principled approach to quantify each demonstration's …
A Deployment Case Study in Robotic Apparel Automation: Digital Twin Integration, Interoperability, and Workforce Enablement
arXiv:2606.16078v1 Announce Type: new Abstract: Despite steady advances in flexible automation in sectors such as electronics and automotive manufacturing, appa…
A Smart-Scheduled Hybrid (SSH) EKF-FGO State Estimation
arXiv:2606.16057v1 Announce Type: new Abstract: Reliable state estimation in robotics and control re quires balancing estimation accuracy against computational …
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models
arXiv:2606.15918v1 Announce Type: new Abstract: Humanoid robots performing in-field manipulation tasks, such as robotic apple harvesting, face severe energy con…
GeoTLM: Geometry-aware Tactile-Language Models for Contact Motion Orientation Reasoning of Dynamic Objects
arXiv:2606.15909v1 Announce Type: new Abstract: Modern tactile-language models (TLMs) have shown potential for robot learning tasks, such as material and textur…
LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors
arXiv:2606.15896v1 Announce Type: new Abstract: Learning-based quadrupedal locomotion typically relies on complex reward formulations that entangle task specifi…
Can Causal Models Enhance Robot Navigation? Online Causal Adaptation for Real-Robot Navigation
arXiv:2606.15691v1 Announce Type: new Abstract: Causality in robotics aims to produce more interpretable and flexible robot behaviours by enabling robots to pre…
Pixels to Proofs: Probabilistically-Safe Latent World Model Control via Parallel Conformal Robust MPC
arXiv:2606.15594v1 Announce Type: new Abstract: We present SLS^2, a framework for safe feedback motion planning from pixels using robust model predictive contro…