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 stories3D and 4D World Modeling: A Survey
arXiv:2509.07996v4 Announce Type: replace-cross Abstract: World modeling has become a cornerstone in AI research, enabling agents to understand, represent, and …
Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry
arXiv:2607.17332v1 Announce Type: new Abstract: Incorporating prior maps significantly enhances the accuracy and robustness of pose estimation in visual-inertia…
Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots
arXiv:2512.05292v3 Announce Type: replace Abstract: In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not u…
VLN-AVP: Zero-Shot Vision-Language Navigation with Hybrid Long-Short-Term Memory for Autonomous Valet Parking
arXiv:2607.17767v1 Announce Type: new Abstract: Existing methods in Autonomous Valet Parking (AVP) typically rely on pre-built maps, which severely restricts th…
Patch Policy: Efficient Embodied Control via Dense Visual Representations
arXiv:2607.18236v1 Announce Type: new Abstract: Pretrained dense visual features from Vision Transformers (ViTs) are powerful yet have been underutilized in rob…
A BIM-enabled, Agent-based Discrete-event Simulation Platform for Robotic Studies: A Method based on Graph Theory
arXiv:2607.16920v1 Announce Type: new Abstract: Indoor robots are increasingly employed for facility management tasks such as cleaning and inspection. These app…
PrimitiveVLA: Learning Reusable Motion Primitives for Efficient and Generalizable Robotic Manipulation
arXiv:2605.28634v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models offer a promising paradigm for generalist robotic policies, yet their ad…
SLAM in Low-Light Environments: Project Report
arXiv:2607.17699v1 Announce Type: new Abstract: Simultaneous localization and mapping (SLAM) is one of the fundamental problems in robotics, as it enables auton…
Seeing Where to Deploy: Metric RGB-Based Traversability Analysis for Aerial-to-Ground Hidden Space Inspection
arXiv:2603.14639v2 Announce Type: replace Abstract: Inspection of confined infrastructure such as culverts often requires accessing hidden spaces whose entrance…
NaP-Control: Navigating Diffusion Prior for Versatile and Fast Character Control
arXiv:2605.20209v2 Announce Type: replace-cross Abstract: Achieving precise, versatile whole-body character control in physics-based animation remains challengi…
Reasoning as a Double-Edged Sword: Architecture and Cross-Stage Robustness in Vision-Language-Action Models
arXiv:2607.17786v1 Announce Type: new Abstract: Does adding a reasoning step make a Vision-Language-Action (VLA) model more robust to perturbation? Intuitively,…
ICLR: In-Context Imitation Learning with Visual Reasoning
arXiv:2603.07530v2 Announce Type: replace Abstract: In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations wit…
ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots
arXiv:2607.17007v1 Announce Type: new Abstract: This paper presents a safety-critical distributed nonlinear model predictive control (DNMPC) framework for coope…
Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots
arXiv:2607.17542v1 Announce Type: new Abstract: Accurately steering a robot to a target configuration is fundamental in engineering, yet remains challenging for…
Learning Adaptive Safety Margins for Visual Navigation
arXiv:2607.18200v1 Announce Type: new Abstract: Robots in cluttered indoor spaces often fail not because they cannot generate collision-free paths, but because …
Autonomous VR-Based Risk Detection for Situational Awareness in Dangerous Settings
arXiv:2607.16582v1 Announce Type: new Abstract: In high-risk environments such as disaster response, situational awareness depends not only on detecting hazards…
GraspADMM: Improving Dexterous Grasp Synthesis via ADMM Optimization
arXiv:2603.13832v2 Announce Type: replace Abstract: Synthesizing high-quality dexterous grasps is a fundamental challenge in robot manipulation, requiring adher…
COLIP-2: Olfaction-Vision-Language Embeddings
arXiv:2607.17559v1 Announce Type: new Abstract: The Contrastive Olfaction-Language-Image Pre-training 2 (COLIP-2) model is a multimodal embeddings space that pl…
UniETP: Unifying Environments for Generalizable Embodied Task Planning
arXiv:2607.18062v1 Announce Type: new Abstract: This paper focuses on the problem of Embodied Task Planning, where an agent is required to execute a sequence of…
VersualRL: Closed-Loop Verbal Reinforcement Learning with Visual Execution Feedback for Task-Level Robot Planning
arXiv:2603.22169v3 Announce Type: replace Abstract: We introduce VersualRL, a closed-loop framework for task-level robot planning that uses visual execution fee…
SAGE: A Socially-Aware Generative Engine for Heterogeneous Multi-Agent Navigation
arXiv:2607.16619v1 Announce Type: new Abstract: Safe and socially compliant navigation in open human-robot environments requires robots to reason about heteroge…
Back to the museum: Investigation of the acceptance of Android Andrea with and without emotion simulation in a museum
arXiv:2607.16428v1 Announce Type: new Abstract: For a second time, the android robot Andrea was set up at a public museum in Germany for six consecutive days to…
BoxTwin: Learning Elastoplastic Articulated Object Dynamics from Videos
arXiv:2607.17132v1 Announce Type: new Abstract: Digital twins enable robots to anticipate and adapt to physical interactions, but existing models struggle with …
Configuration-Induced Passive Self-Rotation for Perception-Enhanced Autonomous Flight
arXiv:2607.17646v1 Announce Type: new Abstract: Autonomous flight in confined and cluttered environments is fundamentally limited by the restricted field of vie…
Q-VGM: Q-Value-Gradient Matching for Off-Policy Reinforcement Learning of Flow-Matching VLA
arXiv:2606.08015v2 Announce Type: replace Abstract: We propose Q-Guided Value-Gradient Matching (Q-VGM), an off-policy reinforcement learning method for a centr…
G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation
arXiv:2607.16956v1 Announce Type: new Abstract: Social navigation requires the robot to reason and respond in complex real-world environments. While recent work…
Depth-Regularized JEPA World Models Learn More Transferable Representations from Real Outdoor Robot Data
arXiv:2607.16314v1 Announce Type: cross Abstract: World models, especially based on JEPA architectures, have been shown to learn robust dynamics of various envi…
Remote Awareness of Seafloor Images Collected by AUVs over Low-Bandwidth Communication Links
arXiv:2607.18013v1 Announce Type: cross Abstract: This paper introduces a method for real-time processing and transmission of autonomous underwater vehicle (AUV…
Optimization of sim-to-real transfer in the humanoid robot NICO
arXiv:2607.18210v1 Announce Type: new Abstract: Robotic grasping requires accurate coordination between visual perception, object localization, inverse kinemati…
Task-Conditioned Uncertainty Costmaps for Legged Locomotion
arXiv:2605.00261v2 Announce Type: replace Abstract: Legged robots maintain dynamic feasibility through multicontact interactions with terrain. Learned foothold …