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 storiesMimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency
arXiv:2606.15148v1 Announce Type: new Abstract: Inverse kinematics (IK) remains a critical bottleneck for real-time robot manipulation. Classical numerical solv…
Exact, Efficient, and Safe Occlusion-Aware Planning Using AH-Polyhedrons
arXiv:2606.15046v1 Announce Type: new Abstract: Safely handling occlusions is a fundamental challenge for autonomous mobile robots operating in dynamic environm…
Steering Autoregressive Vision-Language-Action Policies via Action Token Intervention
arXiv:2606.15021v1 Announce Type: new Abstract: We present Token Steering (TS), a method for dynamically steering trajectories generated by an autoregressive vi…
DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models
arXiv:2606.14882v1 Announce Type: new Abstract: Large language models (LLMs) provide robots with richer task understanding and adaptability, making them promisi…
TacStyle: Personalizing Tactile Robot Policies using Structured Behavior Representations
arXiv:2606.14862v1 Announce Type: new Abstract: Robotic systems that assist humans should be capable of adapting their behaviors to individual user preferences.…
GenZ-LIO: Generalizable LiDAR-Inertial Odometry Beyond Confined--Open Boundaries
arXiv:2603.16273v2 Announce Type: replace Abstract: For field robotic missions such as inspection, search-and-rescue, and exploration, light detection and rangi…
Evidence of an Emergent "Self" in Continual Robot Learning
arXiv:2603.24350v3 Announce Type: replace Abstract: A key challenge to understanding self-awareness has been a principled way of quantifying whether an intellig…
An Ergonomic, Customizable Soft Robotic Glove toward Personalized Hand Rehabilitation
arXiv:2604.00768v2 Announce Type: replace Abstract: Hand impairment following neurological disorders substantially limits independence in activities of daily li…
A Hybrid Model-Based and Model-Free Framework for Active Multi-View Viewpoint Optimization in Sonar Target Recognition
arXiv:2606.15373v1 Announce Type: new Abstract: This paper presents a hybrid model-based and model-free framework for active multi-view target recognition using…
Driving, Fast or Slow? Neuro-Symbolic Guidance for Motion Prediction in Multi-Modal Ground Mobility
arXiv:2606.15251v1 Announce Type: new Abstract: Accurate and interpretable motion prediction for heterogeneous traffic spaces, including pedestrians, bicycles, …
Seam-to-Graph Reconstruction for Garment Configuration Alignment
arXiv:2606.15171v1 Announce Type: new Abstract: Seams encode rich structural information about garments but are frequently partially observable in robotic manip…
DragMesh-2: Physically Plausible Dexterous Hand-Object Interaction with Articulated Objects
arXiv:2606.15133v1 Announce Type: new Abstract: Dexterous interaction with articulated objects is important for household, assistive, and humanoid manipulation,…
Deep Learning-Based Lunar Crater Terrain Relative Navigation
arXiv:2606.14776v1 Announce Type: new Abstract: Accurate position estimation is crucial for the successful implementation of future lunar landings using autonom…
From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges
arXiv:2604.21391v2 Announce Type: replace Abstract: Bridging high-level semantic understanding with low-level physical control remains a persistent challenge in…
Action with Visual Primitives
arXiv:2605.22183v3 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have emerged as a promising paradigm for generalist robotic manipulation…
Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
arXiv:2606.08059v2 Announce Type: replace Abstract: Humanoid behavior foundation models aim to acquire reusable whole-body control policies from broad human mot…
AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning
arXiv:2606.09777v2 Announce Type: replace Abstract: Force and tactile sensing are indispensable in contact-rich manipulation. However, force-aware robot learnin…
CoIRL-AD: Collaborative-Competitive Imitation-Reinforcement Learning in Latent World Models for Autonomous Driving
arXiv:2510.12560v2 Announce Type: replace-cross Abstract: End-to-end autonomous driving models trained with imitation learning (IL) often generalize poorly, par…
AVA-VLA: Improving Vision-Language-Action models with Active Visual Attention
arXiv:2511.18960v4 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models have shown remarkable progress in embodied tasks recently, but mos…
Whole-Brain Connectomic Graph Model Enables Whole-Body Locomotion Control in Fruit Fly
arXiv:2602.17997v3 Announce Type: replace-cross Abstract: Animals perform coordinated whole-body movements under the control of neural systems shaped by brain-w…
FDIO: Frequency Decomposed Inertial Odometry
arXiv:2511.15645v4 Announce Type: replace-cross Abstract: Pedestrian inertial odometry (PIO) estimates autonomous pedestrian motion using only acceleration and …
NIMO: A Software Platform for Closed-Loop Materials Exploration with Diverse AI Algorithms
arXiv:2606.15522v1 Announce Type: cross Abstract: Self-driving laboratories (SDLs), where artificial intelligence proposes subsequent experiments and robotic sy…
Self-Driving Negotiator: An interactive, verifiable benchmark for social negotiation and theory of mind under hidden intent
arXiv:2606.15139v1 Announce Type: cross Abstract: Autonomous driving is full of tiny social negotiations: a driver presses forward, another yields, a pedestrian…
Impedance MPC with Patient-Torque Estimation for Knee Rehabilitation Exoskeletons
arXiv:2606.13485v1 Announce Type: cross Abstract: Knee rehabilitation exoskeletons must enforce a prescribed joint trajectory while remaining safely compliant w…
DataLadder: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid
arXiv:2606.16776v1 Announce Type: new Abstract: Generalist robot policies require trustworthy evaluation and robot-usable training data, but both are difficult …
An Augmented Reality Brain-Robot Interface for Generalist Robot Arm Manipulation
arXiv:2606.16413v1 Announce Type: new Abstract: The integration of augmented reality (AR) and EEG-based brain-computer interfaces (BCIs) offers a promising path…
PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty
arXiv:2606.15654v1 Announce Type: new Abstract: Real-world robot task planning must operate under both stochastic action execution and partial observability, ye…
Learning Context-Aware Neural ODE Dynamics for Adaptive Robotic Control
arXiv:2606.15469v1 Announce Type: new Abstract: Robotic systems deployed in uncertain and dynamically changing environments often face variations in contact con…
OSDAG: Online Scheduling for Efficient Multi-Robot Collaboration
arXiv:2606.15255v1 Announce Type: new Abstract: Coordinating heterogeneous multi-robot systems (MRS) for complex, long-horizon tasks requires both flexible high…
An Autonomous Subgram SMA-Based Swimmer
arXiv:2606.15028v1 Announce Type: new Abstract: We present the Swima, a bioinspired 900-mg swimmer propelled by two 10-mg high-work-density (HWD) actuators driv…