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 storiesAgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation
arXiv:2606.10903v1 Announce Type: new Abstract: Monocular local navigation is attractive for lightweight robots, but existing vision-based policies often couple…
MV-Actor: Aligning Multi-View Semantics and Spatial Awareness for Bimanual Manipulation
arXiv:2606.10899v1 Announce Type: new Abstract: Robotic manipulation has been widely applied in industrial scenarios. Compared with single-arm manipulation, bim…
Embodiment-conditioned Generalist Control for Multirotor Aerial Robots
arXiv:2606.10857v1 Announce Type: new Abstract: We present a generalist position control policy capable of controlling arbitrary multirotor configurations of a …
An Exposure-Time-Aligned Primary-Path Architecture for Autonomous-Driving ECUs
arXiv:2606.10856v1 Announce Type: new Abstract: While end-to-end (E2E) autonomous driving has become the dominant research direction, production vehicles contin…
Gradient based Bilevel for Inverse Optimal Control, a Riemannian approach
arXiv:2606.10841v1 Announce Type: new Abstract: Inverse Optimal Control (IOC) aims to recover the cost function that explains observed trajectories as solutions…
GUIDE: Goal-Initialized Directional Understanding for End-to-End Visual Navigation
arXiv:2606.10832v1 Announce Type: new Abstract: Learning-based visual navigation for legged robots typically relies on continuous goal updates from hierarchical…
IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation
arXiv:2606.10818v1 Announce Type: new Abstract: Real-world robotic manipulation tasks often involve forceful interactions with the environment, such as using to…
Bridging Semantics and Physical Execution: A Neuro-Symbolic Framework for Multi-Pair Robotic Assembly
arXiv:2606.10808v1 Announce Type: new Abstract: Multi-pair robotic assembly in unstructured environments faces spatial interference and contact uncertainties. E…
ros2probe: Non-intrusive, Kernel-selective Observability for Robot Operating System 2 Middleware
arXiv:2606.10746v1 Announce Type: new Abstract: Robot Operating System 2 (ROS 2), the de facto standard middleware framework for robots, runs each robot as a gr…
Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Open-World Contact Localization
arXiv:2606.10743v1 Announce Type: new Abstract: Learning from human video demonstrations remains challenging due to noisy hand-object interactions, unseen objec…
Pushing the Performance Limits in Autonomous Racing: Continuous Stability-Aware Adaptive Velocity Planning in Formula Student Driverless
arXiv:2606.10733v1 Announce Type: new Abstract: In autonomous racing, especially in competitions such as Formula Student Driverless, precise planning of the tar…
Vehicle Prediction Model for Enhanced MPC Path Tracking in Formula Student Driverless
arXiv:2606.10732v1 Announce Type: new Abstract: Autonomous race cars, such as in Formula Student Driverless, operate close to their physical handling limits. Th…
Self-Supervised Relevance Modelling in Autonomous Driving via Counterfactual Analysis
arXiv:2606.10688v1 Announce Type: new Abstract: Autonomous driving relies on computationally intensive perception pipelines to continuously detect and track obj…
UniDexTok: A Unified Dexterous Hand Tokenizer from Real Data
arXiv:2606.10683v1 Announce Type: new Abstract: Dexterous hands are essential for fine-grained manipulation, but their hardware designs vary substantially acros…
Planar-Sector LOS Guidance for Interception of Agile Targets with Lifting-Wing Quadcopters
arXiv:2606.10639v1 Announce Type: new Abstract: Autonomous visual interception of agile aerial targets is challenging due to unpredictable target motion, limite…
LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
arXiv:2606.10579v1 Announce Type: new Abstract: Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. While direct …
VeriSpace: Spatially Grounded Action Verification for Vision-Language-Action Models
arXiv:2606.10568v1 Announce Type: new Abstract: Vision-language-action (VLA) models have shown strong promise for robotic manipulation, but their reliability at…
Uncovering Vulnerability of Vision-Language-Action Models under Joint-Level Physical Faults
arXiv:2606.10501v1 Announce Type: new Abstract: Deploying Vision-Language-Action (VLA) models in real robotic systems requires robustness not only to semantic a…
GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains
arXiv:2606.10449v1 Announce Type: new Abstract: Humanoid robots have achieved strong locomotion capabilities, but reliable navigation on versatile terrains rema…
Information-Preserving Continuous Occupancy Mapping with Variance-Weighted Submap Joining
arXiv:2606.10442v1 Announce Type: new Abstract: Large-scale SLAM remains challenging due to accumulated trajectory drift and the increasing computational cost o…
UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data
arXiv:2606.10382v1 Announce Type: new Abstract: Real-robot evaluation is essential for understanding whether learned manipulation policies can operate reliably …
Test-time Adversarial Takeover: A Real-time Hijacking Interface against Robotic Diffusion Policies
arXiv:2606.10371v1 Announce Type: new Abstract: Diffusion-based action generation has become a foundational component of embodied AI, but its reliance on visual…
A Practical Recipe Towards Improving Sim-and-Real Correlation for VLA Evaluation
arXiv:2606.10366v1 Announce Type: new Abstract: Simulation has become an essential tool for evaluating and improving vision-language-action (VLA) policies, offe…
HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulation
arXiv:2606.10363v1 Announce Type: new Abstract: World Action Models (WAMs) have emerged as a new powerful paradigm for embodied intelligence, learning action-re…
OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
arXiv:2606.10340v1 Announce Type: new Abstract: Humanoid whole-body control has made significant progress in recent years, yet existing approaches remain limite…
SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation
arXiv:2606.10305v1 Announce Type: new Abstract: Fine-tuning vision-language-action (VLA) policies for long-horizon manipulation still relies heavily on behavior…
Improved Representation of Matrix Lie Group Operations through Tensor Notation
arXiv:2606.10289v1 Announce Type: new Abstract: Several recent papers have demonstrated the utility of using Lie groups within estimation problems, yielding imp…
MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds
arXiv:2606.10288v1 Announce Type: new Abstract: Perceptive bipedal locomotion over sparse terrain remains a difficult challenge: model-based methods are precise…
Hierarchical Policies from Verbal and Egocentric Human Signals for Natural Human-Robot Interaction
arXiv:2606.10276v1 Announce Type: new Abstract: For natural human-robot interaction, a robot must understand human intent expressed not only through language bu…
Locomotion analysis of a quadruped interacting with the lunar granular surface
arXiv:2606.10273v1 Announce Type: new Abstract: Deploying legged robots in extra-terrestrial environments includes many challenges due to complex terrain intera…