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 storiesTask-Error Residual Learning for Real-Robot Five-Ball Juggling
arXiv:2606.16978v1 Announce Type: new Abstract: For residual learning that refines existing behavior, sample efficiency depends on two things: how much informat…
CrossMaps: Confidence-Aware Open-Vocabulary Semantic Mapping for Rover Navigation
arXiv:2606.16935v1 Announce Type: new Abstract: Rovers rely on perception to maintain spatial maps that encode both objects and sensor quality (e.g., range reli…
Unified Motion-Action Modeling for Heterogeneous Robot Learning
arXiv:2606.16917v1 Announce Type: new Abstract: We present Unified Motion-Action (UMA) Model, an approach that uses 3D object motion trajectories as a shared in…
SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM
arXiv:2606.16881v1 Announce Type: new Abstract: We introduce a data-efficient distributed Simultaneous Localization and Mapping (SLAM) framework designed for a …
DIFF-IPPO: Diffusion-Based Informative Path Planning with Open-Vocabulary Belief Maps
arXiv:2606.16780v1 Announce Type: new Abstract: Exploration and object search require robots to perceive their environment, identify regions of interest, and pl…
Reinforcement Learning with Inner-loop Dynamics Estimator for Aerial Manipulation under Uncertainty
arXiv:2606.16621v1 Announce Type: new Abstract: Aerial manipulators enable physical interaction in hard-to-reach environments; however, the combined problem of …
Elastic ODYN: Differentiable Optimization for Infeasible Control and Learning in Robotics
arXiv:2606.16564v1 Announce Type: new Abstract: Robotic systems routinely encounter conflicting objectives, modeling errors, and degenerate contact conditions t…
HATS: A Human-Agent Teleoperation System for Multi-Arm Data Collection
arXiv:2606.16491v1 Announce Type: new Abstract: Many real-world manipulation scenarios, such as handling complex collaborative tasks and dealing with large work…
Agile Fall Recovery for Quadrotors with Bidirectional Thrust via Reinforcement Learning
arXiv:2606.16513v1 Announce Type: new Abstract: Autonomous fall recovery is a critical capability for quadrotors operating in real-world environments, where col…
Training and Evaluating Diffusion Policies with Long Context Lengths
arXiv:2606.16447v1 Announce Type: new Abstract: Imitation learning has enabled highly-dexterous robotic manipulation from RGB observations. Policies trained wit…
SemGeoNav:A Safety-Guided Visual Navigation Approach with Semantic Reasoning and Geometric Planning
arXiv:2606.16400v1 Announce Type: new Abstract: Learning-based visual navigation has enhanced semantic goal-reaching capabilities. However, due to their black-b…
Is Your Trajectory Displacement Safe in Long-tail?
arXiv:2606.16313v1 Announce Type: new Abstract: Long-tail scenarios remain a major bottleneck for autonomous driving evaluation, even as datasets grow by orders…
PolyMerge: Compressing 3D Gaussian Splats with Polytope Coverings for Provably Safe Resource-Constrained Navigation
arXiv:2606.16232v1 Announce Type: new Abstract: Obstacle avoidance is essential for safe navigation and motion planning. Recent radiance field reconstruction me…
ATHENA: Accelerated Multi-Task Heterogeneous Influence Functions for Robot Data Curation
arXiv:2606.16208v1 Announce Type: new Abstract: In robot imitation learning, influence functions provide a principled approach to quantify each demonstration's …
A Deployment Case Study in Robotic Apparel Automation: Digital Twin Integration, Interoperability, and Workforce Enablement
arXiv:2606.16078v1 Announce Type: new Abstract: Despite steady advances in flexible automation in sectors such as electronics and automotive manufacturing, appa…
A Smart-Scheduled Hybrid (SSH) EKF-FGO State Estimation
arXiv:2606.16057v1 Announce Type: new Abstract: Reliable state estimation in robotics and control re quires balancing estimation accuracy against computational …
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models
arXiv:2606.15918v1 Announce Type: new Abstract: Humanoid robots performing in-field manipulation tasks, such as robotic apple harvesting, face severe energy con…
GeoTLM: Geometry-aware Tactile-Language Models for Contact Motion Orientation Reasoning of Dynamic Objects
arXiv:2606.15909v1 Announce Type: new Abstract: Modern tactile-language models (TLMs) have shown potential for robot learning tasks, such as material and textur…
LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors
arXiv:2606.15896v1 Announce Type: new Abstract: Learning-based quadrupedal locomotion typically relies on complex reward formulations that entangle task specifi…
Can Causal Models Enhance Robot Navigation? Online Causal Adaptation for Real-Robot Navigation
arXiv:2606.15691v1 Announce Type: new Abstract: Causality in robotics aims to produce more interpretable and flexible robot behaviours by enabling robots to pre…
Pixels to Proofs: Probabilistically-Safe Latent World Model Control via Parallel Conformal Robust MPC
arXiv:2606.15594v1 Announce Type: new Abstract: We present SLS^2, a framework for safe feedback motion planning from pixels using robust model predictive contro…
Retrieve, Don't Retrain: Extending Vision Language Action Models to New Tasks at Test Time
arXiv:2606.15631v1 Announce Type: new Abstract: Extending a vision-language-action (VLA) policy to a new task typically requires task-specific teleoperated demo…
FD-SLAM: Fast Dense Radar-Inertial SLAM with Frequency-Domain Loop Closure and Pose Graph Optimization
arXiv:2606.15491v1 Announce Type: new Abstract: Radar SLAM is attractive for autonomous ground vehicles operating in visually degraded environments, however, sc…
FARM: Find Anything using Relational Spatial Memory
arXiv:2606.15476v1 Announce Type: new Abstract: Robots operating in homes, warehouses, and other object-rich environments need memory systems that can find spec…
A Corridor-Scale CARLA-VISSIM Co-Simulation Framework for Multi-Intersection Urban Traffic
arXiv:2606.15431v1 Announce Type: new Abstract: This paper presents an implemented CARLA-VISSIM co-simulation framework for an urban corridor comprising approxi…
SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
arXiv:2606.15338v1 Announce Type: new Abstract: RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We pre…
Acting While Understanding: Asynchronous Semantic-Action Decoupling for Real-Time Vision-Language-Action Models
arXiv:2606.15285v1 Announce Type: new Abstract: Vision-Language-Action models (VLAs) have demonstrated strong task understanding and generalization in robotic m…
Co-Creating Buildable and Open Social Robot Study Companions with University Students
arXiv:2606.15239v1 Announce Type: new Abstract: Open-source social robots offer accessibility, repairability, and student empowerment, yet the build itself ofte…
Rethinking Implicit Spatial Representation in Visuomotor Policy Learning
arXiv:2606.15232v1 Announce Type: new Abstract: Generative model-based imitation learning has become a widely adopted paradigm for robotic manipulation, where p…
Task-Aware Environment Augmentation for Reliable Navigation via Shielded Conditional Diffusion
arXiv:2606.15154v1 Announce Type: new Abstract: Reliable trajectory planning under partial observability depends not only on computing a feasible geometric path…