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 storiesArtists' Views on Robotics Involvement in Painting Productions
arXiv:2510.07063v3 Announce Type: replace-cross Abstract: As robotic technologies evolve, their potential in artistic creation becomes an increasingly relevant …
Bio-inspired decision making in robot swarms under biases
arXiv:2509.07561v2 Announce Type: replace-cross Abstract: Minimalistic robot swarms offer a scalable, robust, and cost-effective approach to performing complex …
DynNPC: Finding More Violations Induced by ADS in Simulation Testing through Dynamic NPC Behavior Generation
arXiv:2411.19567v3 Announce Type: replace-cross Abstract: Recently, a number of simulation testing approaches have been proposed to generate diverse driving sce…
Imitating What Works: Simulation-Filtered Modular Policy Learning from Human Videos
arXiv:2602.13197v2 Announce Type: replace Abstract: The ability to learn manipulation skills by watching videos of humans has the potential to unlock a new sour…
Simplifying ROS2 controllers with a modular architecture for robot-agnostic reference generation
arXiv:2601.08514v2 Announce Type: replace Abstract: This paper introduces a novel modular architecture for ROS2 that decouples the logic required to acquire, va…
Multi-Robot Motion Planning from Vision and Language using Heat-Inspired Diffusion
arXiv:2512.13090v2 Announce Type: replace Abstract: Diffusion models have recently emerged as powerful tools for robot motion planning by capturing the multi-mo…
Bayesian Optimization for Learning Nonlinear MPC in Autonomous Agent Navigation
arXiv:2606.14763v1 Announce Type: new Abstract: Real-time autonomous navigation in dynamic, unknown environments remains a fundamental challenge for mobile robo…
OmniVTLA: Vision-Tactile-Language-Action Models with Semantic-Aligned Tactile Sensing
arXiv:2508.08706v3 Announce Type: replace Abstract: Recent vision-language-action (VLA) models build upon vision-language foundations, and have achieved promisi…
Direction-Conditioned Policies via Compositional Subgoal Scoring for Online Goal-Conditioned Reinforcement Learning
arXiv:2606.16515v1 Announce Type: cross Abstract: Hamilton-Jacobi-Bellman theory implies that the optimal goal-conditioned action depends on the goal only throu…
MVOFormer: Flow-Semantic Transformer for Robust Monocular Visual Odometry
arXiv:2606.16474v1 Announce Type: cross Abstract: Monocular visual odometry (MVO) is foundational to autonomous navigation and robotic localization. However, ex…
FlowMPC: Improving Flow Matching policies with World Models
arXiv:2606.16286v1 Announce Type: cross Abstract: Flow Matching (FM) is a powerful approach for behavior cloning in multimodal action spaces [Jiang et al., 2025…
Towards Next-Generation Healthcare: A Survey of Medical Embodied AI for Perception, Decision-Making, and Action
arXiv:2606.15647v1 Announce Type: cross Abstract: Foundation models have demonstrated impressive performance in enhancing healthcare efficiency across a wide ra…
Robust Conformal CBF and CLF Controllers via Iterative Policy Updates
arXiv:2606.15366v1 Announce Type: cross Abstract: Conformal prediction (CP) has been used to obtain probabilistic bounds on the error between a learned dynamics…
VLALeaks: Membership Inference Attacks against Vision-Language-Action Models
arXiv:2606.15165v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models enable end-to-end robot control and have garnered widespread attention. Ho…
Phase-Localized Curation Does Not Help: A Negative Result on Per-Phase Metric Selection for Demonstration Filtering
arXiv:2606.15064v1 Announce Type: cross Abstract: Manipulation demonstrations have temporal phase structure, and a natural hypothesis is that demonstration-cura…
RAMS: Resource-Adaptive and Detection-Conditioned Model Switching for Embedded Edge Perception
arXiv:2606.14716v1 Announce Type: cross Abstract: Edge object detection on embedded hardware requires balancing inference latency and detection quality under ch…
Geometric Action Model for Robot Policy Learning
arXiv:2606.17046v1 Announce Type: new Abstract: Generalist robot policies must follow user instructions while reasoning about how objects, cameras, and robot ac…
R2RDreamer: 3D-aware Data Augmentation for Spatially-generalized 2D Manipulation Policies
arXiv:2606.17040v1 Announce Type: new Abstract: Spatial generalization is critical for imitation-learned manipulation policies, but achieving it typically requi…
ROVE: Unlocking Human Interventions for Humanoid Manipulation via Reinforcement Learning
arXiv:2606.17011v1 Announce Type: new Abstract: Human interventions provide crucial corrective signals for post-training Vision-Language-Action (VLA) models. Ho…
When Should a Robot Replan? Regret-Guided Update Scheduling in Time-Varying MDPs
arXiv:2606.16972v1 Announce Type: new Abstract: Robots operating in non-stationary environments must continually adapt their policies as the dynamics drift, but…
SidewalkBench: Benchmarking Visual Navigation on Urban Sidewalks
arXiv:2606.16953v1 Announce Type: new Abstract: Urban sidewalk navigation presents significant challenges due to complex structural layouts, dynamic pedestrian …
ExoTraj: A General Lower-limb Exoskeleton Assistance Policy for Complex Environments
arXiv:2606.16876v1 Announce Type: new Abstract: Adaptive torque prediction in dynamic exoskeleton scenarios requires expensive motion capture systems, which are…
Pride and Prejudice: Toward an Information-Theoretic Framework for Mutually Communicative Driver Behavior Modeling
arXiv:2606.16735v1 Announce Type: new Abstract: Mixed autonomy driving becomes unsafe and inefficient when autonomous vehicles (AVs) and human-driven vehicles (…
VENOM: Versatile Embodied Network for Omni-bodied Motion tracking
arXiv:2606.16696v1 Announce Type: new Abstract: Achieving expert-level expressive full-body motion tracking across multiple humanoids solely from demonstration …
WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots
arXiv:2606.16600v1 Announce Type: new Abstract: Expressive co-speech gestures are crucial for natural human-robot interaction, but generating them on physical h…
Steering Generative Reinforcement Learning into Stable Robotic Controller
arXiv:2606.16572v1 Announce Type: new Abstract: Diffusion and flow-based generative policies provide a powerful policy class for reinforcement learning by induc…
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion
arXiv:2606.16542v1 Announce Type: new Abstract: Humanoids deployed in human-centered environments must handle force-interactive tasks, where external contacts i…
APEX: Adaptive Policy Execution for Precise Manipulation
arXiv:2606.16504v1 Announce Type: new Abstract: Modern imitation learning methods, including visuomotor and Vision-Language-Action (VLA) policies, typically out…
ART-Glove: Articulated Tactile Glove for Contact-Grounded Dexterous Interaction Capture
arXiv:2606.16370v1 Announce Type: new Abstract: We present ART-Glove, an articulated tactile glove designed to capture contact-grounded dexterous demonstrations…
TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
arXiv:2606.16272v1 Announce Type: new Abstract: Human hand-object demonstrations provide dense reference motions for training dexterous manipulation reinforceme…