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 storiesLearning Dynamic Swing-Up of an Inverted Pendulum using Remote Magnetic Actuation
arXiv:2606.13915v1 Announce Type: new Abstract: Electromagnetic Navigation Systems (eMNS) have gained considerable attention for minimally invasive surgery and …
Causal Object-Centric Models for Planning with Monte Carlo Tree Search
arXiv:2606.14418v1 Announce Type: cross Abstract: We introduce COMET (Causal Object-centric Model for Efficient Tree search), a model-based reinforcement learni…
Cross-Stage Sensorimotor Perception Scheduling and Sparse Map Encoding for Efficient Edge Embodied Navigation
arXiv:2405.14154v5 Announce Type: replace Abstract: Embodied agents must close a perception-to-action loop on embedded hardware under tight latency, memory, and…
Schr\"odinger's Navigator: Imagining an Ensemble of Futures for Zero-Shot Object Navigation
arXiv:2512.21201v3 Announce Type: replace Abstract: Zero-shot object navigation (ZSON) requires robots to find target objects in unseen environments without tas…
Unsupervised Learning of Efficient Exploration: Pre-training Adaptive Policies via Self-Imposed Goals
arXiv:2601.19810v2 Announce Type: replace-cross Abstract: Unsupervised pre-training can equip reinforcement learning agents with prior knowledge and accelerate …
FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation
arXiv:2606.08555v2 Announce Type: replace Abstract: Force signals provide critical interaction cues for contact-rich robotic manipulation. However, existing met…
Semidefinite Relaxations for Collision-Free Motion Planning
arXiv:2606.14063v1 Announce Type: new Abstract: We study semidefinite relaxations for collision-free motion planning. We focus on a point robot moving from star…
Safe Reinforcement Learning of Autonomous Highway Driving: A Unified Framework for Safety and Efficiency
arXiv:2606.14609v1 Announce Type: new Abstract: Deep reinforcement learning (DRL) offers a compelling route to decision-making for advanced autonomous vehicles …
Whole-Body Impedance Model Predictive Control for Safe Physical Human--Robot Interaction on Floating-Base Platforms
arXiv:2606.14617v1 Announce Type: new Abstract: Floating-base robots must balance under rigid contact constraints while interacting safely with humans. Existing…
An integrated interpretable control effectiveness learning and nonlinear control allocation methodology for overactuated aircrafts
arXiv:2606.13794v1 Announce Type: cross Abstract: Nonlinear dynamics and the strong couplings that arise between multiple effectors undermine the assumptions be…
RT-VLA: Real-Time Vision-Language-Action Models via Knowledge Distillation
arXiv:2606.14010v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have shown strong potential for end-to-end autonomous driving by jointly m…
Provably Safe, Yet Scalable Reinforcement Learning
arXiv:2606.14536v1 Announce Type: cross Abstract: Safe reinforcement learning (RL) aims to learn policies that optimize rewards while satisfying constraints. Pr…
ADAPT: An Autonomous Forklift for Construction Site Operation
arXiv:2503.14331v4 Announce Type: replace Abstract: Efficient material logistics play a critical role in controlling costs and schedules in the construction ind…
Kine2Go: Kinematic dataset for the Unitree Go2 robot with diverse gaits and motions
arXiv:2606.14433v1 Announce Type: new Abstract: The recent popularity of robotics, combined with the steadily decreasing cost of robotic hardware, has lowered t…
What Robots Do Matters More Than What They Look Like: Task Context Shapes Trust in Educational HRI
arXiv:2606.14602v1 Announce Type: new Abstract: Socially assistive robots (SARs) are increasingly deployed in educational and information-sharing contexts, supp…
Asymmetric Friction in Geometric Locomotion
arXiv:2512.22484v2 Announce Type: replace Abstract: Geometric mechanics models of locomotion have provided insight into how robots and animals use environmental…
Instruct-Particulate: Scaling Feed-Forward 3D Object Articulation with Kinematic Control
arXiv:2606.14699v1 Announce Type: cross Abstract: Reconstructing articulated 3D objects is important for animation, gaming, and robotic simulations. Recent neur…
ReactVLA: Fast and Lightweight Reactive Robot Manipulation via Improved Mean Flow Action Generation
arXiv:2606.14255v1 Announce Type: new Abstract: Diffusion-based Vision-Language-Action (VLA) policies have demonstrated strong capability in modeling expressive…
Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback
arXiv:2606.14218v1 Announce Type: new Abstract: For robots to work safely in household environments, they need to be compliant and react to torque and force fee…
FloVerse: Floor Plan-Guided Multi-Modal Navigation
arXiv:2606.14267v1 Announce Type: new Abstract: Floor plans encapsulate compact spatial priors, enabling agents to navigate unseen scenes more efficiently. Whil…
Robust Fall Recovery for Armless Bipedal-Wheeled Robots Via Force-Guided Learning
arXiv:2606.14270v1 Announce Type: new Abstract: Fall recovery is critical for autonomous legged locomotion. Existing methods have demonstrated that some legged …
Development of a 3 in Sewer Pipe Inspection Robot with an Articulated Differential Mechanism using X-shaped Linkages
arXiv:2606.14070v1 Announce Type: new Abstract: This paper proposes, an improved version of the 3 in sewer pipe inspection robot equipped with an emergency evac…
WAM4D: Fast 4D World Action Model via Spatial Register Tokens
arXiv:2606.14048v1 Announce Type: cross Abstract: World action models (WAMs) have recently shown promise in jointly modeling future observations and executable …
CADET: Physics-Grounded Causal Auditing and Training-Free Deconfounding of End-to-End Driving Planners
arXiv:2606.14438v1 Announce Type: new Abstract: End-to-end (E2E) autonomous-driving planners trained by imitation are prone to statistical shortcuts: they assoc…
Benchmarking Vision-Language-Action Models on SO-101: Failure and Recovery Analysis
arXiv:2606.08881v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have demonstrated strong generalization in robotic manipulation, yet exi…
Hy-Embodied-0.5-VLA: From Vision-Language-Action Models to a Real-World Robot Learning Stack
arXiv:2606.14409v1 Announce Type: new Abstract: In this report, we present Hy-Embodied-0.5-VLA, abbreviated as HyVLA-0.5, an end-to-end system that spans the fu…
Short-Horizon Position Accuracy of Single-Track Models: Implications for Motion Planning of Autonomous Vehicles
arXiv:2606.14216v1 Announce Type: new Abstract: Accurate and computationally efficient vehicle models are essential for motion planning of autonomous vehicles, …
Elastic Queries Reinforcement Learning: Self-Aware Policy Execution for VLA Models
arXiv:2606.14375v1 Announce Type: new Abstract: Vision-language-action (VLA) models are powerful action generators for robot manipulation, but they are typicall…
ForestBack: Breadcrumb-Based Pedestrian Dead Reckoning for Infrastructure-Free Return Navigation
arXiv:2606.14421v1 Announce Type: new Abstract: Reliable return navigation remains an important challenge in GPS-denied environments where external positioning …
From Attacks to Curricula: Learnability-Guided Adversarial Training for Safe Autonomous Driving
arXiv:2606.14032v1 Announce Type: new Abstract: Closed-loop adversarial training improves autonomous driving safety by exposing policies to rare safety-critical…