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 storiesSTL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets
arXiv:2607.19196v1 Announce Type: cross Abstract: We present a unified trajectory planning and control framework for the satisfaction of Signal Temporal Logic (…
Cognitive Dual-Process Planning for Autonomous Driving with Structured Scene Knowledge and Verifiable Reasoning-Action Consistency
arXiv:2607.19194v1 Announce Type: new Abstract: High-level planning for autonomous driving is a knowledge-intensive engineering decision task that requires accu…
Strategizing at Speed: A Learned Model Predictive Game for Multi-Agent Drone Racing
arXiv:2602.06925v3 Announce Type: replace Abstract: Autonomous drone racing pushes the boundaries of high-speed motion planning and multi-agent strategic decisi…
Correct-by-Construction Behavior Tree Synthesis from Signal Temporal Logic Specifications with Application to Robotic Missions
arXiv:2607.18731v1 Announce Type: new Abstract: Behavior Trees (BTs) are widely adopted for complex task execution in robotics, providing modular, reactive cont…
Fabric Pneumatic Artificial Muscles Based on the Drawstring Principle
arXiv:2607.18641v1 Announce Type: new Abstract: Pneumatic artificial muscles have wide applications in robotics and industrial fields. Conventional pneumatic ar…
How defensive driving enhances driving safety: A driving simulator study on drivers' defensive driving behaviors
arXiv:2607.18663v1 Announce Type: new Abstract: Defensive driving is widely recognized as an advanced driving skill. However, whether and how defensive driving …
TiBCLaG: Hybrid design approach for a trigger-induced bistable compliant laparoscopic grasper
arXiv:2603.18559v2 Announce Type: replace Abstract: Industrial laparoscopic graspers rely on multi-link rigid mechanisms manufactured to tight tolerances, resul…
Training and Simulation of Quadrupedal Robot in Adaptive Stair Climbing and Descending for Indoor Firefighting: An End-to-End Reinforcement Learning Approach
arXiv:2602.03087v2 Announce Type: replace Abstract: Quadruped robots are used for primary searches during the early stages of indoor fires. A typical primary se…
Beyond Transformers: Linear Attention Policy for Open-Vocabulary Object Goal Navigation
arXiv:2607.18794v1 Announce Type: new Abstract: Open-Vocabulary Object Goal Navigation (OVON) requires agents to operate under partial observability, making eff…
Integrity-Gated Eco-CACC: Epistemic Admissibility for Cooperative Driving at Signalized Intersections
arXiv:2607.18565v1 Announce Type: cross Abstract: Eco-Cooperative Adaptive Cruise Control (Eco-CACC) systems rely on accurate localization, signal timing, and i…
WHU-PCPR: A cross-platform heterogeneous point cloud dataset for place recognition in complex urban scenes
arXiv:2601.06442v2 Announce Type: replace-cross Abstract: Point Cloud-based Place Recognition (PCPR) demonstrates considerable potential in applications such as…
Robust Co-design Optimisation for Agile Fixed-Wing UAVs
arXiv:2603.11130v2 Announce Type: replace Abstract: Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches …
End-to-end Conditional Diffusion for Realistic and Controllable Visual Traffic Scenario Generation
arXiv:2607.18637v1 Announce Type: new Abstract: Generating closed-loop traffic scenarios that are both realistic and controllable is crucial for evaluating auto…
Uncertainty-Aware Multi-Robot Task Allocation With Strongly Coupled Inter-Robot Rewards
arXiv:2509.22469v3 Announce Type: replace Abstract: Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamen…
From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs
arXiv:2607.19306v1 Announce Type: new Abstract: Autonomous flight in cluttered environments requires a robot to build a geometric map of its surroundings and pl…
RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Deployment
arXiv:2602.01515v2 Announce Type: replace Abstract: Deploying learned control policies is risky because policies that appear robust in simulation can confidentl…
Fly, Track, Land: Infrastructure-less Magnetic Localization for Heterogeneous UAV-UGV Teaming
arXiv:2603.08926v2 Announce Type: replace Abstract: Persistent air ground robot teams require nano UAVs that can leave a mobile UGV, perform short scouting or i…
MAGE: Human-Like Macro Placement via Agentic Multimodal Reasoning
arXiv:2607.18536v1 Announce Type: cross Abstract: Macro placement still requires substantial manual refinement in industrial physical design flows. We present M…
Masked Visual Actions for Unified World Modeling
arXiv:2607.19343v1 Announce Type: cross Abstract: Video models absorb rich priors over how the visual world moves, interacts, and responds to contact, making th…
CONTACT: CONtact-aware TACTile Learning for Robotic Disassembly
arXiv:2603.08560v2 Announce Type: replace Abstract: Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on …
WorldScape Policy 2.0: Empowering Steerable World Action Modeling with Reasoning-Augmented Memory
arXiv:2607.18840v1 Announce Type: new Abstract: World Action Models (WAMs) offer a promising paradigm for robotic manipulation by jointly modeling visual state …
Fly0: Persistent Metric Anchoring for Zero-Shot Aerial Vision-Language Navigation
arXiv:2602.15875v2 Announce Type: replace Abstract: Current Visual-Language Navigation (VLN) methodologies face a trade-off between semantic understanding and c…
RoboInspector: Unveiling the Unreliability of Policy Code for LLM-enabled Robotic Manipulation
arXiv:2508.21378v2 Announce Type: replace Abstract: Large language models (LLMs) demonstrate remarkable capabilities in reasoning and code generation, enabling …
The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks
arXiv:2607.18940v1 Announce Type: new Abstract: This paper introduces a twist decomposition framework for serial manipulators performing lower mobility tasks. R…
TacRefineNet: Goal-Conditioned Tactile Grasp Refinement for Edge-Prominent Objects
arXiv:2509.25746v2 Announce Type: replace Abstract: Accurate final grasp alignment remains challenging for edge-prominent objects such as thin plates, discs, an…
Koopman DCM: Unstable Eigenfunctions as Data-driven Representations for Legged Balancing
arXiv:2607.18760v1 Announce Type: new Abstract: In legged locomotion, divergent components of motion (DCMs) have emerged as characteristic states for balance co…
VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
arXiv:2605.01518v4 Announce Type: replace Abstract: The ability to push large objects in a goal-directed manner using onboard egocentric perception is an essent…
Landing-Induced Viscoelastic Changes in an Anthropomimetic Foot Joint Structure are Modulated by Foot Structure and Posture
arXiv:2601.14634v2 Announce Type: replace Abstract: How skeletal architecture and landing posture shape the immediate post-impact viscoelastic response of the f…
Motion Primitive Discovery in a Humanoid Robot via Self-Organising Maps for Phase Recognition
arXiv:2607.18737v1 Announce Type: new Abstract: Understanding the computational basis of action recognition is a central challenge in social cognition as well a…
FARO: Feasibility-Aware Robot Motion Optimization
arXiv:2607.18362v1 Announce Type: new Abstract: Fast planning of novel behaviors in unseen scenarios remains a fundamental challenge in robotics. The high-dimen…