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 storiesMilo, a Fully Autonomous Indoor/Outdoor Robotic Guide Dog
arXiv:2607.19530v1 Announce Type: new Abstract: Many Blind and Low-Vision (BLV) people rely on guide dogs for moment-to-moment navigation, such as staying on pa…
Contact-Persistent Full Actuation for Aerial Physical Interaction
arXiv:2607.19708v1 Announce Type: new Abstract: Fully actuated unmanned aerial vehicles (UAVs) are usually certified through rank conditions on a control-alloca…
Remote ID Spoofing-Aware Trajectory Planning for Small Unmanned Aerial Systems
arXiv:2607.19650v1 Announce Type: new Abstract: This work presents a decentralized, spoofing-aware trajectory planning framework for small unmanned aerial syste…
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
arXiv:2510.18348v2 Announce Type: replace Abstract: State-of-the-art perceptive Reinforcement Learning controllers for legged robots typically either (i) impose…
Learning Personalized Safety Interventions for Haptic Human-Robot Shared Control
arXiv:2607.19534v1 Announce Type: new Abstract: Haptic feedback provides an implicit channel for communicating safety intentions during human-robot shared contr…
Dynamic Multi-Agent Pickup and Delivery in Robotic Cellular Warehousing Systems
arXiv:2606.05669v2 Announce Type: replace Abstract: Robotic Cellular Warehousing Systems (RCWS) give rise to multi-agent pickup and delivery (MAPD) processes in…
KineBench: Benchmarking Embodied World Models via IDM-Free Kinematic Grounding
arXiv:2607.19876v1 Announce Type: new Abstract: Evaluating the physical consistency of embodied world models(EWMs) is a critical open challenge. While closed-lo…
Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids
arXiv:2607.20345v1 Announce Type: new Abstract: Closing the gap between benchmark performance and reliable real-world operation remains a central challenge for …
ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation
arXiv:2607.19479v1 Announce Type: new Abstract: Existing teleoperation systems are often tailored to specific robot hardware and task domains, limiting their sc…
Robots Acquire Manipulation Skills in Seconds from a Single Human Video
arXiv:2607.20033v1 Announce Type: new Abstract: The ability to acquire skills rapidly and effortlessly while retaining those already mastered is essential for r…
VG3S: Visual Geometry Grounded Gaussian Splatting for Semantic Occupancy Prediction
arXiv:2603.06210v2 Announce Type: replace-cross Abstract: 3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understa…
Clinical Pathways as Safety Specifications for Physical AI in Hospital Wards
arXiv:2607.19827v1 Announce Type: new Abstract: Ensuring safety in Physical AI systems operating in real-world environments is a critical challenge, particularl…
NavVerse: Benchmarking Indoor-to-Outdoor Embodied Navigation in Continuous Robot Simulation
arXiv:2607.19695v1 Announce Type: new Abstract: Robots deployed in delivery, campus, and emergency-response settings often need to navigate from buildings to st…
Courteous Anticipation: Improving Long-Lived Task Planning in Persistent Shared Environments
arXiv:2607.20289v1 Announce Type: new Abstract: We consider a task planning scenario in which robots sharing a persistent environment are assigned tasks one at …
LENS: LLM-guided Environment Simplification for Planning and Control in Clutter
arXiv:2607.19633v1 Announce Type: new Abstract: Despite recent advances in general-purpose robotic manipulation, real-world multi-object clutter remains challen…
Digital Twin Modeling of a Highly Automated Agricultural Tractor
arXiv:2607.19912v1 Announce Type: cross Abstract: In efforts to increase research efficiency and availability, a digital twin of our research tractor (AMX G-tra…
DINS-IO: Learned Inertial Odometry via Differentiable INS Consistency
arXiv:2607.20232v1 Announce Type: new Abstract: The training of learned inertial odometry depends on dense, high-precision position ground truth from motion cap…
Emergent Autonomous Drifting for Collision Avoidance in Real-World Winter Driving Scenarios
arXiv:2607.19484v1 Announce Type: new Abstract: Real-world collision avoidance is a core motivation for studying the dynamics and control of high sideslip drift…
Diffusion ReRoll: Revisable Denoising for Robotic Sequential Prediction
arXiv:2607.19919v1 Announce Type: new Abstract: We propose Diffusion ReRoll, a diffusion-based framework for robotic sequential prediction that enables revisabl…
Don't Fool Me Twice: Adapting to Adversity in the Wild with Experience-Driven Reasoning
arXiv:2605.31119v2 Announce Type: replace Abstract: In robotics, dangers and adversity modes are often embodiment-specific and relative to each agent. A frontie…
Physical AI and Robotics
The State of Physical AI and Robotics While robotics developers have used artificial intelligence for years, the past few years have seen a fundamental shift in…
Scaling Cross-Embodiment World Models for Dexterous Manipulation
arXiv:2511.01177v3 Announce Type: replace Abstract: Cross-embodiment learning seeks to build generalist robots that learn from and operate across diverse morpho…
Agentic Real2Sim: Physics-based World Modeling with Vision-Language Agents
arXiv:2607.19190v1 Announce Type: new Abstract: Real-to-sim conversion for robotic interaction with objects remains labor-intensive because it requires more tha…
Toward Learning POMDPs Beyond Full-Rank Actions and State Observability
arXiv:2601.18930v4 Announce Type: replace-cross Abstract: We are interested in enabling autonomous agents to learn and reason about systems with hidden states, …
Computing on the Fly: Navigating a Vision for the Future of Drone Computing
arXiv:2607.19213v1 Announce Type: new Abstract: The report envisions a decade in which drones move goods, medical supplies, and information at a scale comparabl…
Confidence-Gated Vision-Only Heading Alignment for UAV-UGV Cooperative Systems
arXiv:2607.18713v1 Announce Type: new Abstract: Vision-based heading prediction is useful for UAV--UGV cooperation, but accurate prediction alone does not guara…
The Open Ant: A Robot Platform for Reinforcement Learning Research
arXiv:2607.18488v1 Announce Type: new Abstract: Reinforcement learning (RL) research has demonstrated success in both physical and simulated domains; however, t…
Recti-Q: Feature-Space Rectification for Out-of-Distribution-Robust Quantized Perception in Edge Robotics
arXiv:2607.18540v1 Announce Type: cross Abstract: Robotic perception pipelines increasingly rely on large vision backbones deployed on SWaP-constrained edge pla…
Bayesian Retraction Optimization for Tissue Attachment Mapping in Surgical Dissection
arXiv:2607.19174v1 Announce Type: new Abstract: With growing surgeon shortages, automating surgical sub-tasks such as tissue dissection offers a promising step …
Stochastic Multi-Objective Kinodynamic Planning Against Adversaries
arXiv:2607.19284v1 Announce Type: new Abstract: This paper addresses multi-objective kinodynamic planning in environments with stochastic hybrid adversaries tha…