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 storiesA Pragmatic VLA Foundation Model
arXiv:2601.18692v3 Announce Type: replace Abstract: Offering great potential in robotic manipulation, a capable Vision-Language-Action (VLA) foundation model is…
Multi-Agent Embodied Autonomous Driving: From V2X Information Exchange to Shared World Models
arXiv:2606.13840v1 Announce Type: new Abstract: Autonomous driving is shifting from isolated vehicle intelligence toward multi-agent embodied systems that share…
TRACE: Trajectory-Routed Causal Memory for Delayed-Evidence Visuomotor Imitation
arXiv:2606.14551v1 Announce Type: new Abstract: Robots under autonomous operation may require decisions based on evidence that is no longer visible. We study \e…
The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation
arXiv:2606.14083v1 Announce Type: new Abstract: Humans rely on directional fingertip forces to probe and regulate contact during manipulation, yet most wearable…
ReactSim-Bench: Benchmarking Reactive Behavior World Model Simulation in Autonomous Driving
arXiv:2606.14058v1 Announce Type: new Abstract: Reactive capability is a key property of data-driven behavior world model simulators for autonomous driving simu…
Self-Improving VLA Policies: Selected Diffusion Noise for Spurious-Robust Action Smoothing
arXiv:2606.14084v1 Announce Type: new Abstract: Diffusion-based Vision-Language-Action (VLA) policies enable strong generalization in robotic manipulation, but …
A Modular Dual-Arm Apple Harvesting Robot with Enhanced Field Performance
arXiv:2606.14089v1 Announce Type: new Abstract: Robotic apple harvesting offers a promising solution to labor shortages in commercial orchards, but low throughp…
Estimation of Ground Reaction Forces from Kinematic Data during Locomotion
arXiv:2602.03177v2 Announce Type: replace Abstract: Ground reaction forces (GRFs) provide fundamental insight into human gait mechanics and are widely used to a…
X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
arXiv:2603.03733v2 Announce Type: replace Abstract: While recent advances have demonstrated strong performance in individual humanoid skills such as upright loc…
Selective Agentic Recovery for UAV Autonomy with a Persistent Mission Runtime
arXiv:2606.14219v1 Announce Type: new Abstract: Agentic AI can support unmanned aerial vehicle (UAV) autonomy by providing high-level recovery reasoning when lo…
$\mu_0$: A Scalable 3D Interaction-Trace World Model
arXiv:2606.13769v1 Announce Type: new Abstract: World models that capture how actions induce physical change enable scalable robot learning without reliance on …
ParkourFormer: Integrating Predictive Supervision and Sequence Modeling into Parkour Locomotion
arXiv:2605.25782v3 Announce Type: replace Abstract: Humanoid parkour requires locomotion policies to coordinate whole-body dynamics across rapidly changing terr…
Efficient Domain-Adaptive Policy Learning via Kernel Representation with Application to Quadrotor Control under Non-Stationary Disturbances
arXiv:2606.13842v1 Announce Type: new Abstract: We present an algorithm for efficient domain-adaptive policy learning via kernel representations. Learning domai…
GAIT: Legged Robot Proprioceptive State Estimation with Attention over Inertial-Leg Tokens
arXiv:2606.14160v1 Announce Type: new Abstract: In this paper, we propose a method that applies Inertial-Leg (IL) tokenization to an attention-based network for…
EqCollide: Equivariant and Collision-Aware Deformable Objects Neural Simulator
arXiv:2506.05797v2 Announce Type: replace-cross Abstract: Simulating collisions of deformable objects is a fundamental yet challenging task due to the complexit…
Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation
arXiv:2606.14188v1 Announce Type: new Abstract: We present CORD-SLS, a real-time control method for safe deformable object manipulation, with a focus on ropes a…
BIM-Loc: BIM-Integrated Discrepancy-Aware LiDAR-based Indoor Localization
arXiv:2606.14237v1 Announce Type: new Abstract: Accurate and robust localization is a fundamental requirement for service and inspection robots, particularly in…
When and How Severely: Scenario-Specific Safety Envelopes for Driving VLAs
arXiv:2606.14238v1 Announce Type: new Abstract: Safety certification of Vision-Language-Action (VLA) driving planners under ISO 21448 (SOTIF) rests on an Operat…
SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity
arXiv:2606.14250v1 Announce Type: new Abstract: Designing anthropomorphic robotic hands that balance functional dexterity with mechanical simplicity remains a s…
Planning with the Views via Scene Self-Exploration
arXiv:2605.29563v2 Announce Type: replace-cross Abstract: Can VLMs predict how each camera move changes the view, and plan many such moves ahead? We call this c…
Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera
arXiv:2606.14535v1 Announce Type: new Abstract: Recent visual imitation learning systems have widely adopted multi-camera setups with wrist-mounted cameras as t…
ContactWorld: What Matters in Vision-Tactile World Models for Contact-Rich Manipulation
arXiv:2606.13877v1 Announce Type: new Abstract: Contact-rich manipulation requires world models to reason over complex contact dynamics from multimodal sensory …
Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs
arXiv:2606.13727v1 Announce Type: new Abstract: Hierarchical 3D scene graphs (3DSGs) for indoor robots organize geometric and semantic information across spatia…
An Attention-based Model for Robust Forecasting with Missing Modality
arXiv:2606.13970v1 Announce Type: new Abstract: Learning with missing modalities is a fundamental challenge in multimodal robot learning, as real-world robotic …
Guided Diffusion with Distilled Vision-Language Reliability for Aerial Navigation
arXiv:2606.13883v1 Announce Type: new Abstract: Autonomous UAV navigation is conventionally solved by pipelines that separate perception, mapping, and planning …
FlowMo-WM: A World Model with Object Momentum and Hidden Ambient Drift
arXiv:2606.13817v1 Announce Type: new Abstract: World models in robot learning predict future states from visual observations and actions, enabling agents to re…
Lifted Schr\"odinger Bridges for Gaussian Mixture Endpoints: Projection Gaps and Path-Space Obstructions
arXiv:2605.24795v2 Announce Type: replace-cross Abstract: We study stochastic density control between Gaussian-mixture endpoint distributions under Brownian pri…
Sensitivity Shaping for Latent Modeling
arXiv:2606.14585v1 Announce Type: new Abstract: Generative dynamics models enable planning in challenging robotic systems, but safe deployment requires reliably…
Impedance MPC with Disturbance Estimation for Dexterous Hand Control
arXiv:2606.14606v1 Announce Type: new Abstract: Dexterous hands must simultaneously track precise finger trajectories and maintain safe, compliant contact -- ob…
Digital Twin Driven Textile Classification and Foreign Object Recognition in Automated Sorting Systems
arXiv:2603.05230v2 Announce Type: replace-cross Abstract: The increasing demand for sustainable textile recycling requires robust automation solutions capable o…