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 storiesScaling Short-Term Memory of Visuomotor Policies for Long-Horizon Tasks
arXiv:2606.16178v1 Announce Type: new Abstract: Many robotic tasks require short-term memory, whether it's retrieving an object that's no longer visible or turn…
Leveraging Deep Learning for Object and Position Recognition of Load Carriers for Autonomous Logistics Vehicles
arXiv:2606.16042v1 Announce Type: new Abstract: This work explores the use of artificial intelligence in mobile robotics to achieve autonomous detection and pos…
$\lambda$-Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety
arXiv:2606.16022v1 Announce Type: new Abstract: We introduce $\lambda$-Reachability, a scalable approach to Hamilton--Jacobi safety analysis for high-dimensiona…
Friction Characterization of a Cable-Driven Differential Actuation System for Lower-Limb Exoskeletons
arXiv:2606.15997v1 Announce Type: new Abstract: Lower-limb exoskeletons require actuation systems that can provide accurate joint torque control while preservin…
Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm
arXiv:2606.15915v1 Announce Type: new Abstract: Accurate prediction of electrical power consumption is essential for energy-aware motion planning, battery manag…
VL2Spike: Spike-driven Distillation from VLMs for Low-Power Visual Perception in Embodied AI
arXiv:2606.15898v1 Announce Type: new Abstract: Spiking neural networks (SNNs) are brain-inspired, event-driven models that compute with sparse spikes, which en…
FlashNav: Ultra-Fast Policy Training for Robot Navigation within 20 Seconds
arXiv:2606.15846v1 Announce Type: new Abstract: Deep reinforcement learning has shown strong potential for robot navigation, but its practical deployment is sti…
LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies
arXiv:2606.15768v1 Announce Type: new Abstract: Vision-Language-Action models (VLAs) leverage large-scale vision-language pretraining for semantic robot control…
Learning New Tasks via Reusable Skills: Skill-Compositional Experts for Embodied Continual Learning
arXiv:2606.15685v1 Announce Type: new Abstract: Embodied Continual Learning (ECL) aims to enable robots to continually acquire new manipulation tasks while reta…
TO-SoFiT: Topology Optimization of Hydraulic Soft Fish Tail Design for programmable undulating locomotion
arXiv:2606.15645v1 Announce Type: new Abstract: Soft robots leverage compliant materials to generate motion through controlled elastic deformation, making them …
Perfect Demo Makes Poor Teacher: Learning Robust Alignment from Critical Motion Segments
arXiv:2606.15587v1 Announce Type: new Abstract: Expert demonstrations are widely assumed to be the gold standard for robot imitation learning. Yet for fine-grai…
SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA
arXiv:2606.15568v1 Announce Type: new Abstract: Recent advancements in Vision-Language-Action (VLA) models have demonstrated impressive generalist capabilities …
Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands
arXiv:2606.15516v1 Announce Type: new Abstract: Dexterous grasping depends on contact regulation, not motion alone. Stable manipulation requires fingers to main…
A Bilateral Teleoperation Framework for Dexterous Manipulation
arXiv:2606.15434v1 Announce Type: new Abstract: Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in …
MapDream: Task-Driven Map Learning for Vision-Language Navigation
arXiv:2602.00222v3 Announce Type: replace Abstract: Vision-Language Navigation (VLN) requires agents to follow natural language instructions in partially observ…
Raspi$^2$USBL: An open-source Raspberry Pi-Based Passive Inverted Ultra-Short Baseline Positioning System for Underwater Robotics
arXiv:2511.06998v2 Announce Type: replace Abstract: Precise underwater positioning remains a fundamental challenge for underwater robotics because global naviga…
SimCoachCorpus: A naturalistic dataset with language and trajectories for embodied teaching
arXiv:2509.14548v2 Announce Type: replace Abstract: High-quality curated datasets are essential for training and evaluating AI approaches, but are often lacking…
One-Step Model Predictive Path Integral for Manipulator Motion Planning Using Configuration Space Distance Fields
arXiv:2509.00836v3 Announce Type: replace Abstract: Motion planning for robotic manipulators is a fundamental problem in robotics. Classical optimization-based …
PROSE: Training-Free Egocentric Scene Registration with Vision-Language Models
arXiv:2606.16569v1 Announce Type: cross Abstract: Registering two captures of the same indoor space taken at different times underpins persistent spatial memory…
Decoupled Object-Centric Video Understanding for Generating Robotic Manipulation Commands
arXiv:2606.16470v1 Announce Type: cross Abstract: Translating video demonstrations into executable robot commands remains challenging because existing methods o…
A Formal Resilience Framework for Cyber-Physical Embodied Systems under Device-Level Cyberattacks
arXiv:2606.16467v1 Announce Type: cross Abstract: In cyber-physical systems (CPSs), fault tolerance is traditionally achieved by analysing sensor and actuator o…
A Pragmatic VLA Foundation Model
arXiv:2601.18692v3 Announce Type: replace Abstract: Offering great potential in robotic manipulation, a capable Vision-Language-Action (VLA) foundation model is…
Multi-Agent Embodied Autonomous Driving: From V2X Information Exchange to Shared World Models
arXiv:2606.13840v1 Announce Type: new Abstract: Autonomous driving is shifting from isolated vehicle intelligence toward multi-agent embodied systems that share…
TRACE: Trajectory-Routed Causal Memory for Delayed-Evidence Visuomotor Imitation
arXiv:2606.14551v1 Announce Type: new Abstract: Robots under autonomous operation may require decisions based on evidence that is no longer visible. We study \e…
The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation
arXiv:2606.14083v1 Announce Type: new Abstract: Humans rely on directional fingertip forces to probe and regulate contact during manipulation, yet most wearable…
ReactSim-Bench: Benchmarking Reactive Behavior World Model Simulation in Autonomous Driving
arXiv:2606.14058v1 Announce Type: new Abstract: Reactive capability is a key property of data-driven behavior world model simulators for autonomous driving simu…
Self-Improving VLA Policies: Selected Diffusion Noise for Spurious-Robust Action Smoothing
arXiv:2606.14084v1 Announce Type: new Abstract: Diffusion-based Vision-Language-Action (VLA) policies enable strong generalization in robotic manipulation, but …
A Modular Dual-Arm Apple Harvesting Robot with Enhanced Field Performance
arXiv:2606.14089v1 Announce Type: new Abstract: Robotic apple harvesting offers a promising solution to labor shortages in commercial orchards, but low throughp…
Estimation of Ground Reaction Forces from Kinematic Data during Locomotion
arXiv:2602.03177v2 Announce Type: replace Abstract: Ground reaction forces (GRFs) provide fundamental insight into human gait mechanics and are widely used to a…
X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
arXiv:2603.03733v2 Announce Type: replace Abstract: While recent advances have demonstrated strong performance in individual humanoid skills such as upright loc…