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 storiesBimanual Robot Manipulation via Multi-Agent In-Context Learning
arXiv:2604.20348v2 Announce Type: replace Abstract: Language Models (LLMs) have emerged as powerful reasoning engines for embodied control. In particular, In-Co…
Harnessing Embodied Agents: Runtime Governance for Policy-Constrained Execution
arXiv:2604.07833v4 Announce Type: replace Abstract: Embodied Agents are evolving from passive reasoning systems into active executors that interact with tools, …
Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning
arXiv:2511.14427v4 Announce Type: replace Abstract: Effective contact-rich manipulation requires robots to synergistically leverage vision, force, and proprioce…
PIGEON: VLM-Driven Object Navigation via Points of Interest Selection
arXiv:2511.13207v2 Announce Type: replace Abstract: Object navigation in unseen indoor environments requires agents to perform semantic search under partial obs…
Cross-Modal Benchmarking for Robotic Perception in Natural Environments
arXiv:2606.11563v1 Announce Type: cross Abstract: Natural environments present a complex challenge to robotics perception systems. Current models, particularly …
Energy-Conserved Neural Pipelines: Attenuating Error Propagation in Modular Neural Networks via Physical Conservation Constraints
arXiv:2606.11341v1 Announce Type: cross Abstract: Modular neural network pipelines suffer from error compounding: noise at any module boundary propagates and po…
CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy
arXiv:2606.12352v1 Announce Type: new Abstract: Multi-robot collaboration allows robots to efficiently take on a wide range of tasks, from moving a couch throug…
Learning What to Say to Your VLA: Mostly Harmless Vision Language Action Model Steering
arXiv:2606.12299v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models provide a natural language interface to robot control, but the mapping from …
DrivingAgent: Design and Scheduling Agents for Autonomous Driving Systems
arXiv:2606.12236v1 Announce Type: new Abstract: Many autonomous driving systems are increasingly incorporating foundation models to improve generalization and h…
AerialClaw: An Open-Source Framework for LLM-Driven Autonomous Aerial Agents
arXiv:2606.12142v1 Announce Type: new Abstract: Unmanned aerial vehicles (UAVs) are increasingly used in inspection, search and rescue, environmental monitoring…
Bridging the Morphology Gap: Adapting VLA Models to Dexterous Manipulation via Intent-Conditioned Fine-Tuning
arXiv:2606.12109v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have demonstrated remarkable zero-shot generalization in robotic manipulatio…
DAM-VLA: Decoupled Asynchronous Multimodal Vision Language Action model
arXiv:2606.12105v1 Announce Type: new Abstract: Vision-language-action (VLA) models inherit a shared synchronous clock from vision-language pretraining, process…
KinematicRL: A Sim-to-Real Reinforcement Learning Framework For Social Navigation With Kinodynamic Feasibility
arXiv:2606.12042v1 Announce Type: new Abstract: Deep Reinforcement Learning (DRL) has shown promise for social navigation, yet its real-world deployment remains…
VICX: Generalizable Robot Manipulation via Video Generation and In-Context Operator Network
arXiv:2606.12028v1 Announce Type: new Abstract: Generalizable robot manipulation requires not only task-level reasoning over unseen scenes, but also reliable gr…
MPPI-based Informative Trajectory Planning for Search and Capture of Drifting Targets with ASVs
arXiv:2606.12019v1 Announce Type: new Abstract: Autonomous surface vehicles offer an efficient solution for environmental cleanup as well as search and rescue o…
Modular Anthropomorphic Hand Design via Multi-Parameter Finger Benchmarking and Selection
arXiv:2606.11826v1 Announce Type: new Abstract: Designing anthropomorphic dexterous robotic hands remains challenging as the design space straddles morphology, …
TacCoRL: Integrating Tactile Feedback into VLA via Simulation
arXiv:2606.11743v1 Announce Type: new Abstract: Vision-language-action (VLA) models provide strong visual, language, and action priors for robot manipulation, b…
Learning Object Manipulation from Scratch via Contrastive Interaction
arXiv:2606.11525v1 Announce Type: new Abstract: Contrastive Reinforcement Learning (CRL) has seen recent success in a wide variety of goal-conditioned robotics …
Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Models
arXiv:2606.11324v1 Announce Type: new Abstract: We introduce Embodied-R1.5, a unified Embodied Foundation Model (EFM) that integrates comprehensive embodied rea…
Model-based Optimization of Anguilliform Swimming Gaits for Soft Robotic Applications
arXiv:2606.11278v1 Announce Type: new Abstract: In this paper, we introduce the Soft Lamprey-Inspired Dual Environment Robot (SLIDER) and a proper modeling and …
APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
arXiv:2606.12366v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models that couple pretrained Vision-Language Models (VLMs) with continuous action …
Intelligent Automation for Embodied Benchmark Construction: Pipelines, Embodiments, Simulators, and Trends
arXiv:2606.12207v1 Announce Type: new Abstract: Embodied intelligence now spans navigation, household assistance, manipulation, autonomous driving, aerial agent…
Fibration Trees: A Unified Approach to Multi-Robot Motion Planning
arXiv:2606.12070v1 Announce Type: new Abstract: State space projections and decompositions have emerged as powerful tools to tackle the curse of dimensionality …
Learning Unions of Convex Sets via Invertible Latent Decomposition for Path Planning
arXiv:2606.12027v1 Announce Type: new Abstract: Collision-free path planning in cluttered, real-world environments relies on a representation of the collision-f…
Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing
arXiv:2606.11952v1 Announce Type: new Abstract: This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates ve…
DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World
arXiv:2606.11901v1 Announce Type: new Abstract: Bimanual robot systems substantially expand manipulation capabilities, but coordinating two arms introduces addi…
Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation
arXiv:2606.11891v1 Announce Type: new Abstract: Multi-objective reinforcement learning for humanoid robots must coordinate locomotion and manipulation within a …
Human-Guided Co-Manipulation of Carbon Fiber Plies
arXiv:2606.11818v1 Announce Type: new Abstract: The handling of flexible materials is a difficult task to fully automate due to the challenges caused by the def…
Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learning
arXiv:2606.11767v1 Announce Type: new Abstract: Blind grasping with a dexterous hand is a crucial manipulation capability. Nevertheless, learning such tactile-o…
Explore From Sketch: Accelerating UAV Exploration in Large-scale Environments with Prior Maps
arXiv:2606.11708v1 Announce Type: new Abstract: Autonomous exploration with UAVs in large-scale, topologically complex environments often suffers from low effic…