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
6171 storiesA Deployable Four-Finger Payload for Teleoperated Free-Flying Manipulation with Astrobee
arXiv:2609.25614v1 Announce Type: new Abstract: This article presents a bimanual teleoperation pipeline and conceptual design of a deployable four-finger payloa…
Robust Active-Perception Control for Global-State-Free Aerial-Ground Cooperation
arXiv:2609.25898v1 Announce Type: new Abstract: Aerial-ground cooperation requires real-time UAV--UGV relative-state information. Instead of maintaining global …
Silent Sabotage: Internal State Triggered Backdoor Attacks on LLM-Powered Robotic Systems
arXiv:2609.26184v1 Announce Type: new Abstract: The integration of Large Language Models (LLMs) into robotic control systems is enabling a new generation of aut…
Beyond the Flat Seafloor: A Closed-Form Two-View Constraint to Aid Sidescan Sonar Reconstruction
arXiv:2609.25271v1 Announce Type: new Abstract: Sidescan sonar is a common sensor for both manned and autonomous marine exploration and mapping, yet very few me…
DynaForge: Planning-Guided Residual Learning for Dynamic Manipulation Demonstration Generation
arXiv:2609.25631v1 Announce Type: new Abstract: Dynamic object manipulation is essential for robots operating in real-world environments, yet methods for genera…
RoboFollow: Unveiling the Instruction Following Mirage in Embodied Agents
arXiv:2609.25636v1 Announce Type: new Abstract: Modern embodied agents achieve impressive success rates, yet their actual instruction-following ability is far w…
A Reconfigurable Bidirectional Cable-Driven Hip Exoskeleton with Swappable Bench/Backpack Dual-configuration Actuation
arXiv:2609.25639v1 Announce Type: new Abstract: Hip exoskeletons provide an important hardware basis for lower-limb rehabilitation and locomotor assistance. Lab…
Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation
arXiv:2609.25642v1 Announce Type: new Abstract: Closed-loop evaluation of surgical robots requires tissue that deforms, can be grasped and lifted, and reproduce…
Skill Sequence Planning for Collaborative Multi-Robot Construction
arXiv:2609.25649v1 Announce Type: new Abstract: Robots have significant potential to automate construction processes. However, their industry adoption remains l…
PhyVisGen: Physically and Visually High-Fidelity Robotic Manipulation Data Generation
arXiv:2609.25653v1 Announce Type: new Abstract: Large-scale manipulation demonstrations are essential for learning robust visuomotor policies, yet real-world da…
Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions
arXiv:2609.25917v1 Announce Type: new Abstract: In this work, we propose a communication-free framework for vision-based formation control of fully actuated und…
An Action Is Worth One Patch: Unified World-Action Modeling with PatchWAM
arXiv:2609.25961v1 Announce Type: new Abstract: Generative visual models offer a foundation for learning representations of physical dynamics, yet their extensi…
Towards Intent-Aware Human-Robot Teaming: A Platform for Search-and-Rescue Operations
arXiv:2609.26051v1 Announce Type: new Abstract: We investigate the challenges of enabling effective collaboration between human operators and heterogeneous auto…
StrataVLA: Hierarchical and Efficient 3D Geometric Grounding for Vision-Language-Action Models
arXiv:2609.26071v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models inherit strong semantic priors from large-scale vision-language pretraining,…
Situation Aware Locomotion for Dual Mobile Cobots in Shared Environments
arXiv:2609.26083v1 Announce Type: new Abstract: This paper presents a situation aware locomotion framework for two mobile collaborative robots operating in shar…
World In Your Hands: A Large-Scale and Open-Source Ecosystem for Learning Human-Centric Manipulation in the Wild
arXiv:2512.24310v4 Announce Type: replace Abstract: We introduce World In Your Hands (WIYH), a large-scale open-source ecosystem comprising over 1,000 hours of …
Goal-Conditioned Neural ODEs with Guaranteed Safety and Stability for Learning-Based All-Pairs Motion Planning
arXiv:2604.02821v3 Announce Type: replace Abstract: This paper presents a learning-based approach for all-pairs motion planning, where the initial and goal stat…
Observed Control - Linearly Scalable Nonlinear Model Predictive Control with Adaptive Horizons
arXiv:2508.13339v2 Announce Type: replace-cross Abstract: This work highlights the duality between state estimation and model predictive control. A model predic…
Mirror Skin: In Situ Visualization of Robot Touch Intent on Robotic Skin
arXiv:2512.11472v3 Announce Type: replace-cross Abstract: Effective communication of robot touch intent is essential for safe and predictable physical human-rob…
DreamStream: Towards Policy-Oriented Generative Simulation for End-to-End Driving
arXiv:2609.26792v1 Announce Type: new Abstract: Faithfully evaluating end-to-end driving policies in simulation requires observations that are not merely photo-…
TM-APR: Thermal Temporal-Memory Localization via Analytic Online Adaptation
arXiv:2609.26766v1 Announce Type: new Abstract: Thermal Visual Place Recognition (Thermal VPR) maps camera observations to metric poses within a mapped environm…
Imperfection for Precision: Upcycling Imperfect Data for High-Precision Robotic Manipulation
arXiv:2609.26672v1 Announce Type: new Abstract: Training vision-language-action (VLA) models for high-precision manipulation typically requires task-specific, h…
Shaft-Configuration-Adaptive Catheter Tip Position Estimation via Motor-History Conditioned Residual Learning
arXiv:2609.26304v1 Announce Type: new Abstract: Tendon-driven continuum manipulators are widely used in medical applications, where accurate tip-position estima…
Multi-Axis Selective Decoupling Framework for Free-Floating Space Manipulators
arXiv:2609.26267v1 Announce Type: new Abstract: Free-floating space manipulator systems face operational challenges due to dynamic coupling. While traditional r…
SafeLoop: Risk-Aware Rollback for Vision-Language-Action Manipulation
arXiv:2609.26313v1 Announce Type: new Abstract: Recent vision-language-action (VLA) models are promising for general-purpose manipulation, but long-horizon exec…
ArborSplat: Online Semantic Gaussian Splatting SLAM for Orchards
arXiv:2609.26315v1 Announce Type: new Abstract: Orchard robots need maps that preserve small but semantically important structures such as trunks, trellises, an…
Sample, Simulate, Select: Physics-in-the-Loop Text-to-Motion for Humanoids Without Training
arXiv:2609.26420v1 Announce Type: new Abstract: Text-to-motion models generate plausible human motion but do not model a robot's dynamics; whole-body tracking c…
Generalizing Manipulation Skills with a Local Coding Agent
arXiv:2609.26499v1 Announce Type: new Abstract: Today, progress in open-weight language models enables systems capable of writing, executing and debugging code …
Learning Air-Ground Motion Control with Temporal Mode Switching and Cross-Terrain Tracking
arXiv:2609.26564v1 Announce Type: new Abstract: Passive-wheeled terrestrial-aerial bimodal vehicles (TABVs) combine aerial mobility with energy-efficient ground…
Beyond End-Task Success: How to Audit Visual Experience Retrieval in Robotics
arXiv:2609.26567v1 Announce Type: new Abstract: Robots that store past experiences must select which one to reuse in a new scene. Most systems select by visual …