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.
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General Robotics is betting on modular intelligence, not one robot brain
Rather than training one model to do everything, General Robotics composes specialized capabilities—helping robots adapt across tasks and form factors. The post…
Know Your Body: A Harness for Direct and Self-Improving Robot Control with VLMs
arXiv:2609.28530v1 Announce Type: new Abstract: A general-purpose vision-language model can understand a task goal without knowing how a particular robot's moti…
Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy
arXiv:2609.28660v1 Announce Type: new Abstract: Human hand-object interactions (HOIs) provide a rich source of demonstrations for dexterous manipulation, but le…
OA-MPPI: Occlusion-Aware Model Predictive Path Integral Control for UAV Flight
arXiv:2609.28709v1 Announce Type: new Abstract: Autonomous UAV flight through cluttered and partially unknown environments requires reasoning not only about obs…
Temporal Learning for End-Effector Position Estimation under Aerodynamic Disturbances in Aerial Continuum Manipulation
arXiv:2609.28716v1 Announce Type: new Abstract: This paper investigates temporal neural networks for \mbox{end-effector} position \mbox{estimation} of an aerial…
TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation
arXiv:2609.28766v1 Announce Type: new Abstract: Applying adhesive tape to secure wire harnesses or seal packages requires robots to coordinate a flexible strip,…
Human-in-the-Loop Geospatial Annotation for Rapid Dataset Construction in Field-Deployed UAV Systems
arXiv:2609.28767v1 Announce Type: new Abstract: Real-world perception systems must adapt to changing environments, but manual image annotation cannot scale to f…
OCC4M: Object-Centric 4D Memory for Spatiotemporal Reasoning in Long-Horizon Manipulation
arXiv:2609.28798v1 Announce Type: new Abstract: Long-horizon manipulation often requires reasoning about state absent from the current view, such as a vanished …
An Analysis of Streaming Deep Reinforcement Learning for Adaptive Continual Learning in Robotics
arXiv:2609.28807v1 Announce Type: new Abstract: Over the course of a lifetime, robots may encounter novel scenarios unaccounted for in its original training tha…
FlyCNS: Connectome-Grounded Information Organization for Communication-Constrained Embodied Control
arXiv:2609.28816v1 Announce Type: new Abstract: Robotic bodies are inherently distributed in sensing and actuation, yet learning-based control still commonly re…
KeyGen: Unsupervised Keypoint based Object-Centric Representations for Category-Level Policy Generalization
arXiv:2609.28818v1 Announce Type: new Abstract: Generalization in robotic manipulation requires policies to perform tasks across diverse unseen object instances…
Uncertainty-Gated Exploration Noise Suppresses Task Collapse in Online RL Fine-Tuning of a Flow-Matching Vision-Language-Action Policy
arXiv:2609.28838v1 Announce Type: new Abstract: Online reinforcement learning fine-tuning of pretrained flow-matching vision-language-action (VLA) policies prom…
Online Sim-to-Real Adaptation via Closed-Loop System Modeling
arXiv:2609.28878v1 Announce Type: new Abstract: Sim-to-real transfer has made substantial progress, but can still produce controllers that remain stable and fun…
Fly, Drive, Reconfigure: A Modular Reconfigurable Aerial-Ground Platform for Field Operations
arXiv:2609.28887v1 Announce Type: new Abstract: Heterogeneous robot teams distribute complementary capabilities across specialized agents, but their physical ro…
Robots That Take Initiative: A Framework for Building and Evaluating Proactive Robots
arXiv:2609.28910v1 Announce Type: new Abstract: Effective robot assistance beyond narrow roles and repetitive tasks requires robots to be proactive - to decide …
Koopman-Accelerated Model-Based Diffusion for Real-Time Robot Control
arXiv:2609.28920v1 Announce Type: new Abstract: Conventional model-based diffusion (MBD) achieves effective trajectory optimization by leveraging noise annealin…
Echo in the Steps: Learning Perceptive Humanoid Parkour with Gated Memory
arXiv:2609.28960v1 Announce Type: new Abstract: While recent advances in perceptive locomotion have enabled humanoid robots to traverse structured terrains, agi…
Sim-to-Real Aware End-to-End Learning Environment for Micromobility
arXiv:2609.28969v1 Announce Type: new Abstract: While end-to-end autonomous driving systems show promise, their application to micromobility vehicles is hindere…
AquaMend: Minimal Re-probing and Conditional Rollback for Latent-Belief Failures in Embodied Agents
arXiv:2609.28973v1 Announce Type: new Abstract: Physical changes or sensing errors can invalidate embodied agents' task-relevant beliefs. AquaMend compares re-p…
ReVNM: Learning-Based Visual Navigation from a Remote Camera
arXiv:2609.28976v1 Announce Type: new Abstract: Visual Navigation Models (VNMs) enable robots to navigate from egocentric visual observations without geometric …
CrossSafe: Towards Cross-Embodiment Latent Safety Filters
arXiv:2609.28984v1 Announce Type: new Abstract: Cross-embodiment learning has shown that a single model, such as a vision-language-action (VLA) model, can learn…
CALM: Current Aligned Link Manipulation for Single Arm Oversized Object Lifting
arXiv:2609.29017v1 Announce Type: new Abstract: Most robots manipulate objects solely with their end effectors, whereas humans flexibly leverage different body …
CAMP: Cooperative Arm-Hand Motion Planning in Constrained Spaces
arXiv:2609.29021v1 Announce Type: new Abstract: Coordinated arm-hand motion planning is fundamental to dexterous robotic manipulation in complex and constrained…
Simple Torque-Observation Alignment for Zero-Shot Sim-to-Real Grasping with a Direct-Drive Gripper
arXiv:2609.29031v1 Announce Type: new Abstract: Torque observations in reinforcement learning remain challenging because simulated and measured torque differ in…
Design and Evaluation of LLM Chaining-Based Task Planning for General Purpose Service Robots
arXiv:2609.29043v1 Announce Type: new Abstract: General Purpose Service Robot (GPSR) tasks, as defined in the RoboCup@Home benchmark, require robots to interpre…
DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches
arXiv:2609.29065v1 Announce Type: new Abstract: Grasping is a fundamental robotic capability that bridges perception and physical task execution. This paper stu…
From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments
arXiv:2609.29091v1 Announce Type: new Abstract: Recent advances in agentic systems have substantially enhanced the long-horizon capability of embodied manipulat…
DAWN: Noise-Robust Quadruped Parkour via Depth-Denoising World Models
arXiv:2609.29092v1 Announce Type: new Abstract: Vision-based legged locomotion methods assume clean depth at training time and rely on hand-tuned post-processin…
A Support-Enhanced Granular-Jamming Gripper for RL-based Grasping with Continuum Manipulators
arXiv:2609.29093v1 Announce Type: new Abstract: Continuum manipulators provide dexterous motion in confined spaces, but structural compliance, hysteresis, and l…
Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series
arXiv:2609.29112v1 Announce Type: new Abstract: Industrial robots are rarely used for machining tasks due to their limited path accuracy. This accuracy is mainl…