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 storiesSynthetic-to-Real Pipeline for Safe Landing Zone Detection
arXiv:2606.14767v1 Announce Type: new Abstract: As Uncrewed Aerial Vehicles (UAVs) transition toward higher levels of autonomy, the ability to perform unassiste…
VANDERER: Map-Free Exploration using Future-Aware and Visual-Curiosity-Guided Diffusion Policy
arXiv:2606.14879v1 Announce Type: new Abstract: Mobile agents require efficient exploration strategies to map unseen environments and autonomously plan tasks. T…
Computing Smooth Geodesics under Two-Sided Curvature Bounds with Applications to Robotics and Image Analysis
arXiv:2606.14794v1 Announce Type: new Abstract: Curvature of planar curves serves as a key regularization term for computing second-order minimal paths, due to …
Multimodal Physiological Assessment of Contact-Rich Physical Human-Robot Interaction Under Varying Environmental Conditions
arXiv:2606.14969v1 Announce Type: new Abstract: Physical human-robot interaction (pHRI) in real-world settings exposes operators to fluctuating environmental co…
Inference-time Policy Steering via Vision and Touch
arXiv:2606.14981v1 Announce Type: new Abstract: Inference-time steering adapts pre-trained generative robot policies during deployment by verifying candidate ac…
LV-Calib: LiDAR-Camera Extrinsic Calibration with Boundary-Response Modeling
arXiv:2606.15010v1 Announce Type: new Abstract: We present LV-Calib, a calibration framework for LiDAR-camera extrinsic estimation and LiDAR boundary-response c…
Design and Fabrication of a Spin Coater with In-Situ Optical Measurement for Soft Thin Films
arXiv:2606.15068v1 Announce Type: new Abstract: Spin coating is widely used for fabrication of thin polymer and elastomer films, yet reliable thickness verifica…
Covariance-Regulated Recursive Koopman Learning for Nonlinear Systems with Uncertain Time-Varying Dynamics
arXiv:2606.15317v1 Announce Type: new Abstract: Offline models for autonomous robots often fail under time-varying dynamics outside their training distribution.…
Understanding and Modeling Perceived Cognitive and Physical Strain Dynamics for Planning-Oriented Human-Robot Collaboration in Prefabricated Construction
arXiv:2606.15494v1 Announce Type: new Abstract: Human-robot collaboration (HRC) in prefabricated construction requires planning approaches that consider not onl…
Reinforcement Learning-Guided Retrieval with Soft Fusion for Robust Multimodal Imitation Learning under Missing Modalities
arXiv:2606.15514v1 Announce Type: new Abstract: Robotic systems perceive the world through multiple input modalities -- including visual camera streams and natu…
Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation
arXiv:2606.15550v1 Announce Type: new Abstract: The success of generative models in language and visual generation has inspired extensive applications to genera…
ControlMap: Controllable High-Definition Map Generation for Traffic Scenario Simulation
arXiv:2606.15930v1 Announce Type: new Abstract: Simulation is central to validating autonomous driving systems, yet current pipelines are limited by insufficien…
RHO: Your Coding Agent is Secretly a Roboticist
arXiv:2606.16458v1 Announce Type: new Abstract: Code-as-Policies (CaP) has shown that large language models (LLMs) can write code to solve robotics tasks by com…
HOLO-MPPI: Multi-Scenario Motion Planning via Hierarchical Policy Optimization
arXiv:2606.16480v1 Announce Type: new Abstract: Robots deployed in the real world must plan motions across diverse scenarios without per-scenario retuning. End-…
Robots that Collaborate: Sequential Asymmetric Imitation for Learning Coupled Robot Policies
arXiv:2606.16490v1 Announce Type: new Abstract: Collaborative mobile manipulation requires robots to coordinate with a partially observed partner while physical…
V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videos
arXiv:2606.16436v1 Announce Type: new Abstract: Achieving autonomous robotic dexterous manipulation requires precise, human-like action sequences at scale. As a…
Automated Digital Twin Construction for Highway Scenarios Using LiDAR Point Clouds and OpenStreetMap
arXiv:2606.16570v1 Announce Type: new Abstract: Accurate road environment modeling is fundamental to the simulation and validation of automated driving systems.…
PATCH: Action-Chunk-Conditioned Latent Patch Innovation Monitoring for Robot Manipulation
arXiv:2606.16690v1 Announce Type: new Abstract: Learning-based manipulation policies have made substantial progress in real-world robot manipulation, particular…
SoK: Security and Privacy of Foundation-Model-Powered Robots
arXiv:2606.16788v1 Announce Type: new Abstract: Foundation models are reshaping robotics by enabling robots to interpret open-ended instructions, reason over mu…
ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies
arXiv:2606.16826v1 Announce Type: new Abstract: Generalist manipulation policies are increasingly presented as foundation models for robotic control, but their …
Video-Based Optimal Transport for Feedback-Efficient Offline Preference-Based Reinforcement Learning
arXiv:2606.16856v1 Announce Type: new Abstract: Conveying complex objectives to reinforcement learning (RL) agents often requires meticulous reward engineering.…
LOPAL: Local Performance-Aware Active Learning from Imperfect Demonstrations
arXiv:2606.16888v1 Announce Type: new Abstract: Learning from Demonstration (LfD) enables intuitive robot skill acquisition by allowing robots to learn directly…
Binary Tracking for Spatial QA and Navigation with Open Vision-Language Models
arXiv:2606.16902v1 Announce Type: new Abstract: This work addresses spatial question answering for service robots traversing long egocentric routes. Given a que…
EgoPhys: Learning Generalizable Physics Models of Deformable Objects from Egocentric Video
arXiv:2606.16202v1 Announce Type: cross Abstract: Humans naturally understand object physics through everyday interactions, but faithfully predicting complex de…
MotionVLA: Vision-Language-Action Model for Humanoid Motion
arXiv:2606.15142v1 Announce Type: cross Abstract: Generating realistic humanoid motion from scene images and text involves both low-frequency pose semantics and…
X-Tokenizer: A Multimodal Action Tokenizer for Vision-Language-Action Pretraining
arXiv:2606.14752v1 Announce Type: cross Abstract: Modern Vision-Language-Action (VLA) models must bridge pretrained vision-language reasoning and precise contin…
Hamilton-Jacobi Reachability-Based Safe Reinforcement Learning for Emergency Collision Avoidance
arXiv:2606.15311v1 Announce Type: cross Abstract: Emergency collision avoidance under extreme driving conditions demands safety-critical control that accounts f…
T-Rex: Tactile-Reactive Dexterous Manipulation
arXiv:2606.17055v1 Announce Type: new Abstract: The ability to react dynamically to tactile signals has long been considered crucial to agile human-level dexter…
Think Less, Act Early: Reinforced Latent Reasoning with Early Exit in Vision-Language-Action Models
arXiv:2606.15099v1 Announce Type: cross Abstract: Existing Vision-Language-Action (VLA) models predominantly rely on explicit Chain-of-Thought (CoT) reasoning t…
Beyond English: Uncovering the Multilingual Gap in Vision-Language-Action Models
arXiv:2606.15714v1 Announce Type: cross Abstract: Vision-Language-Action models have recently demonstrated promising capabilities in learning generalist robot p…