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 storiesWhat Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents
arXiv:2606.10267v1 Announce Type: new Abstract: Hierarchical vision-language-action (Hi-VLA) systems have emerged as a promising paradigm for complex robot mani…
YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale
arXiv:2606.10244v1 Announce Type: new Abstract: We introduce Yielding Universal Bidigital Interface (YUBI), a finger-aligned gripper designed to enable intuitiv…
What Demonstration Curation Metrics Do to Your Policy
arXiv:2606.10229v1 Announce Type: new Abstract: We study whether demonstration-curation metrics that detect defective training episodes also improve the downstr…
Exploration of Foundation Model-Based Robots in Patient and Elderly Care
arXiv:2606.10208v1 Announce Type: new Abstract: Demand for older-adult and patient care is growing rapidly as populations age worldwide. Foundation models are i…
Flow Control: Steering Vision-Language-Action Models with Simple Real-Time Inputs
arXiv:2606.10180v1 Announce Type: new Abstract: We introduce flow control of vision-language-action (VLA) models, a simple and effective way to steer VLA action…
Efficient-WAM: A 1B-Parameter World-Action Model with Low-Cost Future Imagination
arXiv:2606.10040v1 Announce Type: new Abstract: World-Action Models (WAMs) have emerged as a promising paradigm for embodied control by coupling future visual p…
Robotic Nonprehensile Object Transportation with a Hanging Tray
arXiv:2606.10039v1 Announce Type: new Abstract: We consider the nonprehensile object transportation task known as the waiter's problem, in which a robot must mo…
GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation
arXiv:2606.10025v1 Announce Type: new Abstract: We present GHOST, a framework for learning visuomotor manipulation policies that generalize beyond the training …
Uncertainty-Aware Motion Planning for Autonomous Driving in Mixed Traffic Environment
arXiv:2606.09958v1 Announce Type: new Abstract: In mixed-traffic environments where autonomous and human-driven vehicles may co-exist, motion planning for auton…
Rethinking Embodied Navigation via Relational Inductive Bias
arXiv:2606.10348v1 Announce Type: new Abstract: Object navigation requires an agent to locate a target in an unknown environment through visual observations. Ex…
Neuromorphic Reinforcement Learning for Quadruped Locomotion Control on Uneven Terrain
arXiv:2605.09595v2 Announce Type: replace-cross Abstract: Reinforcement learning (RL) has enabled robust quadruped locomotion over complex terrain, but most lea…
Glove2Hand: Synthesizing Natural Hand-Object Interaction from Multi-Modal Sensing Gloves
arXiv:2603.20850v2 Announce Type: replace-cross Abstract: Understanding hand-object interaction (HOI) is fundamental to computer vision, robotics, and AR/VR. Ho…
QDepth-VLA: Quantized Depth Prediction as Auxiliary Supervision for Vision-Language-Action Models
arXiv:2510.14836v3 Announce Type: replace-cross Abstract: Spatial perception and reasoning are crucial for Vision-Language-Action (VLA) models to accomplish fin…
RoboGPT-R1: Enhancing Robot Task Planning with Reinforcement Learning
arXiv:2510.14828v3 Announce Type: replace-cross Abstract: Improving the reasoning capabilities of embodied agents is crucial for robots to complete complex huma…
BadRobot: Jailbreaking Embodied LLM Agents in the Physical World
arXiv:2407.20242v5 Announce Type: replace-cross Abstract: Embodied AI represents systems where AI is integrated into physical entities. Large Language Model (LL…
Deterministic Execution of ROS 2 Applications via Lingua Franca
arXiv:2606.09203v2 Announce Type: replace Abstract: The Robot Operating System 2 (ROS 2) is a widely used middleware for robotic systems, characterized by a pub…
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
arXiv:2606.06493v3 Announce Type: replace Abstract: For a humanoid robot to be deployed in the real world, the choice of command space (i.e., the interface betw…
VOLT: Vision and Language Trajectory Segmentation for Faster-than-Demonstration Policies
arXiv:2606.06323v2 Announce Type: replace Abstract: Humans often take longer to demonstrate a task than a robot would need to execute it. Rather than learning t…
Discrete-WAM: Unified Discrete Vision-Action Token Editing for World-Policy Learning
arXiv:2606.05645v2 Announce Type: replace Abstract: Autonomous driving requires reasoning about how ego actions shape future world evolution, rather than merely…
CADENCE: Predicting Realized MAPF Execution Time Beyond Sum of Costs
arXiv:2606.04746v2 Announce Type: replace Abstract: Multi-Agent Path Finding (MAPF) algorithms are increasingly used to plan motion for robot teams in industria…
CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation
arXiv:2606.04718v2 Announce Type: replace Abstract: Humans primarily rely on walking and running to traverse complex terrains. Similarly, humanoid robots should…
AgenticRL: Self-Refining Agentic Reinforcement Learning for Vision-Conditioned UAV Navigation
arXiv:2606.03963v3 Announce Type: replace Abstract: Deep reinforcement learning has shown strong potential for enabling autonomous robots to learn complex navig…
Adaptive Artificial Time-Delay Control with Barrier Lyapunov Constraints for Euler-Lagrange Robots
arXiv:2605.31405v2 Announce Type: replace Abstract: This paper addresses the challenge of simultaneously compensating for state-dependent uncertainties and enfo…
FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand
arXiv:2605.25371v2 Announce Type: replace Abstract: We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdo…
BiPneu: Design and Control of a Bipolar-Pressure Pneumatic System for Soft Robots
arXiv:2605.12804v3 Announce Type: replace Abstract: Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges an…
RobotEQ: Transitioning from Passive Intelligence to Active Intelligence in Embodied AI
arXiv:2605.06234v2 Announce Type: replace Abstract: Embodied AI is a prominent research topic in both academia and industry. Current research centers on complet…
Online Self-Training for Co-Adaptation in Hierarchical Diffusion Policies
arXiv:2603.05291v2 Announce Type: replace Abstract: Hierarchical policies decompose language-conditioned long-horizon robotic manipulation into a high-level pla…
TaCarla: A comprehensive benchmarking dataset for end-to-end autonomous driving
arXiv:2602.23499v4 Announce Type: replace Abstract: Collecting a high-quality dataset is a critical task that demands meticulous attention to detail, as overloo…
CableRobotGraphSim: A Graph Neural Network for Modeling Partially Observable Cable-Driven Robot Dynamics
arXiv:2602.21331v2 Announce Type: replace Abstract: General-purpose simulators have accelerated the development of robots. Traditional simulators based on first…
Going with the Flow: Koopman Behavioral Models as Pseudo Planners for Visuo-Motor Dexterity
arXiv:2602.07413v3 Announce Type: replace Abstract: Contemporary visuo-motor dexterity models often rely on expressive policy classes with diffusion and transfo…