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
3542 storiesNavigating the Proximity-Safety Balance: Constraint Decomposition for Human Following in Pedestrian Crowds
arXiv:2608.10056v1 Announce Type: new Abstract: Following a target human in crowded environments involves an inherent conflict between staying close to the targ…
OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation
arXiv:2603.19201v3 Announce Type: replace Abstract: Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces,…
Navigating in Uncertain Environments with Heterogeneous Visibility
arXiv:2603.03495v2 Announce Type: replace Abstract: Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the co…
Bandwidth-Efficient Multi-Agent Communication through Information Bottleneck and Vector Quantization
arXiv:2602.02035v2 Announce Type: replace Abstract: Multi-agent reinforcement learning systems deployed in real-world robotics applications face severe communic…
Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen)
arXiv:2509.06191v2 Announce Type: replace Abstract: Recent 3D generative models, which are capable of generating full object shapes from just a few images, now …
GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes
arXiv:2608.10886v1 Announce Type: cross Abstract: Robots operating in human environments need memories that capture not only what objects exist and where, but a…
Robust Safety Filtering for Input-Constrained Underactuated Linear Systems
arXiv:2608.10872v1 Announce Type: cross Abstract: We present a robust safety-filtering framework for input-constrained underactuated linear systems subject to u…
The Impact of Operational-Data Fidelity when Assessing Safety-Critical Autonomous-Vehicle Software
arXiv:2608.10025v1 Announce Type: new Abstract: For safety-critical software, data from the software's operational past (e.g. a sequence of success and failure …
Protection Levels for Vision-Based Pose Estimation
arXiv:2608.10023v1 Announce Type: new Abstract: Vision-based navigation complements Global Navigation Satellite Systems, but certification demands integrity gua…
AECNav: Active Evidence Consolidation for Efficient Zero-Shot Open-Vocabulary Object Navigation
arXiv:2608.10817v1 Announce Type: new Abstract: Zero-shot object-goal navigation (ZSON) in open-vocabulary scenarios is challenging, as it requires a robot to l…
Enabling Scalable Kinesthetic Teaching via Observer-based Hand-guiding with Active Support
arXiv:2608.10847v1 Announce Type: new Abstract: Kinesthetic teaching through robot hand-guiding provides a natural interface for collecting demonstrations in im…
Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings
arXiv:2608.10987v1 Announce Type: new Abstract: Aerial robots have demonstrated impressive feats of precise control, such as dynamic flight through openings or …
VIScore: Diagnosing Planning-Relevant Quality in Latent World Models
arXiv:2608.11174v1 Announce Type: new Abstract: Regulating the latent space to an isotropic Gaussian distribution provides a stable and information-maximized la…
Risk-Aware Kinodynamic Motion Planning Under Uncertainty For Safe Navigation on Planetary Environments
arXiv:2608.11175v1 Announce Type: new Abstract: For autonomous space exploration, robotic agents need to perform motion planning in which environmental interact…
Surgical WAM: A World-Action Model for Data-Efficient Surgical Robot Learning
arXiv:2608.11204v1 Announce Type: new Abstract: Learning reliable surgical manipulation policies is bottlenecked by the scarcity of action-labeled demonstration…
Seeing above the waves: A modular sensing framework for data acquisition at sea
arXiv:2608.10997v1 Announce Type: new Abstract: Advancing autonomy for surface vessels requires systematic evaluation of their sensing and perception subsystems…
Neural Introspection Gating for Adaptive KV-Cache Reuse in Vision-Language-Action Models
arXiv:2608.10824v1 Announce Type: new Abstract: Vision-Language-Action(VLA) models map camera images and language instructions directly to motor commands throug…
Flex-$\pi$: A Multi-Stream World-Action Model with Compute Flexibility
arXiv:2608.10860v1 Announce Type: new Abstract: World-action models (WAMs) predict the future to act better, but nearly all of them predict only RGB latents, tr…
Dual Stress: Runtime Safety Monitoring for Safety-Constrained MPC Navigation
arXiv:2608.10791v1 Announce Type: new Abstract: Runtime hazard monitors for autonomous naviga- tion are conventionally built from geometric quantities: predicte…
When Your State Estimator Has Lost The Plot: Detecting Estimator Failures Via Spectral Analysis
arXiv:2608.10623v1 Announce Type: new Abstract: Reliable onboard state estimation is essential for safe robotic operation, yet unmodeled disturbances, such as s…
Hip Energized Monopedal Hopping
arXiv:2608.10387v1 Announce Type: new Abstract: We present a novel stepping strategy for pitch unlocked planar monopeds where the reaction torques from stabiliz…
A Neural Network Based Teleoperation for Remote Controlled Vehicles
arXiv:2608.10367v1 Announce Type: new Abstract: Direct teleoperation of vehicles faces critical technical bottlenecks: communication latency and the operator's …
FACT: Failure-Aware Causal Training for World-Action Models
arXiv:2608.10232v1 Announce Type: new Abstract: Recent world-action models (WAMs) show that co-training policies with future prediction can provide physical pri…
Elbow Angle Guidance System Based on Surface Haptic Sensations Elicited by Lightweight Wearable Fabric Actuator
arXiv:2608.10404v1 Announce Type: cross Abstract: The demand for wearable haptic devices has rapidly increased for various applications. However, many haptic de…
Precise Top-Layer Fabric Segmentation for Fabric Destacking with Edge- and Shape-Aware Deep Networks
arXiv:2608.10648v1 Announce Type: cross Abstract: Fabric destacking requires precise segmentation of the topmost fabric layer, a task complicated by subtle fabr…
Autonomous Exploration-Based Precise Mapping for Mobile Robots through Stepwise and Consistent Motions
arXiv:2503.17005v3 Announce Type: replace Abstract: This paper presents an autonomous exploration framework. It is designed for indoor ground mobile robots that…
Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks
arXiv:2509.19696v4 Announce Type: replace Abstract: Learning-based methods excel at robot motion generation but remain limited in contact-rich physical interact…
Influence of Operator Expertise on Robot Supervision and Intervention
arXiv:2601.15069v2 Announce Type: replace Abstract: With increasing levels of robot autonomy, robots are increasingly being supervised by users with varying lev…
Injecting Hallucinations in Autonomous Vehicles: A Component-Agnostic Safety Evaluation Framework
arXiv:2510.07749v2 Announce Type: replace Abstract: Perception failures in autonomous vehicles (AV) remain a major safety concern because they are the basis for…
Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References
arXiv:2608.10220v1 Announce Type: new Abstract: Humanoid locomotion in highly confined environments requires navigating dense environmental obstacles and comple…