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 stories
Inside XRZero-G0, a new 2,000-hour open dataset for robotics research
X Square Robot has open-sourced XRZero-G0, a framework that reduces real-robot training data requirements by up to 20x. The post Inside XRZero-G0, a new 2,000-h…
Task-Aligned Stability Analysis of Vision-Language Models for Autonomous Driving Hazard Detection
arXiv:2606.11889v1 Announce Type: cross Abstract: Vision-language models (VLMs) are increasingly used for scene understanding in autonomous driving, but robustn…
CredibleDFGO: Differentiable Factor Graph Optimization with Credibility Supervision
arXiv:2605.06100v2 Announce Type: replace-cross Abstract: Global navigation satellite system (GNSS) positioning is widely used for urban navigation, but the cov…
PEBRE: An Open-Hardware Compute and Perception Add-On for the Pepper Robot
arXiv:2606.12112v1 Announce Type: new Abstract: This paper presents the design, development, and experimental verification of PEBRE, an open-hardware add-on for…
Steering Multirobot Behavior via Closed-Loop Affine Activation Editing
arXiv:2606.11489v1 Announce Type: new Abstract: Real-world robots need to adapt their behavior beyond the envelope of their pre-trained policy. Policy finetunin…
Dynamic Execution Horizon Prediction for Chunk-based Robot Policies
arXiv:2606.11408v1 Announce Type: new Abstract: Action chunking has become a standard design in modern robot policies, from diffusion/flow policies to vision-la…
HiPi: Reproducible High-Fidelity Piezoresistive Sensors for Robotic Manipulation
arXiv:2606.11372v1 Announce Type: new Abstract: Piezoresistive tactile sensors are attractive for robotic manipulation because they are thin, lightweight, low-c…
MASK: Multi-Agent Semantic K-Scheduling for Risk-Sensitive 6G Robotics
arXiv:2606.11249v1 Announce Type: new Abstract: Realizing the vision of 6G connected robotics requires reconciling high-performance collaborative control with t…
PLUME: Probabilistic Latent Unified World Modeling and Parameter Estimation for Multi-Finger Manipulation
arXiv:2606.11396v1 Announce Type: new Abstract: Dexterous manipulation with multi-finger hands can be sensitive to physical parameters such as object shape, pos…
A Modular Dual-Camera Pipeline for Micro-Inspection Using Aerial Robots
arXiv:2606.11419v1 Announce Type: new Abstract: Most existing drone-based inspection systems require the drone to fly dangerously close to the target or follow …
Bridging the sim2real gap in the table tennis robot with a transformer-based ball states predictor
arXiv:2606.11464v1 Announce Type: new Abstract: Robotic table tennis is a representative benchmark for high-speed, closed-loop robotic control in dynamic enviro…
Adversarial Attacks on Learned Policies for Surgical Robotic Tasks
arXiv:2606.11535v1 Announce Type: new Abstract: Learning-based policies are being considered to augment the dexterity of human surgeons in robot-assisted surger…
ConsistencyPlanner: Real-time Planning with Fast-Sampling Consistency Models
arXiv:2606.11569v1 Announce Type: new Abstract: Closed-loop planning in complex, real-world driving scenarios presents a critical challenge for autonomous drivi…
Distortion-Resilient Robotic Imitation Learning for Autonomous Cable Routing
arXiv:2606.11577v1 Announce Type: new Abstract: The rapid development of intelligent control methodologies has endowed robots with powerful autonomous intellige…
LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition
arXiv:2606.11628v1 Announce Type: new Abstract: The most widely-adopted robot learning pipelines today learn skills from robot demonstrations or structured huma…
Improving Human Diving Endurance with a Field-Deployable, Untethered Exoskeleton
arXiv:2606.11704v1 Announce Type: new Abstract: Human endurance in underwater locomotion is fundamentally restricted by high energetic demands to overcome drag …
Point Cloud Segmentation for Autonomous Clip Positioning in Laparoscopic Cholecystectomy on a Phantom
arXiv:2606.12048v1 Announce Type: new Abstract: High-risk applications in robotics, such as robot-assisted surgery, present unique challenges. These systems mus…
Traceable Virtual Sea Trials in the Marine Robotics Unity Simulator for Manoeuvring Assessment of Unmanned Surface Vehicles
arXiv:2606.12349v1 Announce Type: new Abstract: Accurate identification of hydrodynamic derivatives is essential for control and navigation of Unmanned Surface …
Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
arXiv:2606.12365v1 Announce Type: new Abstract: We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data …
UniIntervene: Agentic Intervention for Efficient Real-World Reinforcement Learning
arXiv:2606.12372v1 Announce Type: new Abstract: Human-in-the-loop reinforcement learning (HiL-RL) has emerged as an effective paradigm for real-world robotic ma…
Semantically-Aware Diver Activity Recognition Framework for Effective Underwater Multi-Human-Robot Collaboration
arXiv:2606.12374v1 Announce Type: new Abstract: Effective multi-human-robot collaboration is essential for expanding human-led operations in the challenging and…
DIRECT: When and Where Should You Allocate Test-Time Compute in Embodied Planners?
arXiv:2606.12402v1 Announce Type: new Abstract: Vision-Language Models (VLMs) are increasingly deployed as high-level planners for embodied agents, with an emer…
World Pilot: Steering Vision-Language-Action Models with World-Action Priors
arXiv:2606.12403v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models inherit semantic grounding from large-scale pretraining and perform competen…
VLGA: Vision-Language-Geometry-Action Models for Autonomous Driving
arXiv:2606.12396v1 Announce Type: cross Abstract: Vision-language-action (VLA) models can describe scenes and reason about them in language, yet still struggle …
Non-Equilibrium MAV-Capture-MAV via Time-Optimal Planning and Reinforcement Learning
arXiv:2503.06578v2 Announce Type: replace Abstract: The capture of flying MAVs (micro aerial vehicles) has garnered increasing research attention due to its int…
Fourier Features Let Agents Learn High Precision Policies with Imitation Learning
arXiv:2606.12334v1 Announce Type: cross Abstract: High-precision robotic manipulation requires fine-grained spatial reasoning that is often difficult to achieve…
iPack: Intuitive Bin Packing with Large Language Models
arXiv:2503.08445v2 Announce Type: replace Abstract: Robotics and automation are increasingly influential in logistics but remain largely confined to traditional…
SR-LIO++: LiDAR-Inertial Odometry and Quantized Mapping with Caching-Aware Sweep Reconstruction
arXiv:2503.22926v3 Announce Type: replace Abstract: Addressing the inherent low acquisition frequency limitation of 3D LiDAR to achieve high-frequency output ha…
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping
arXiv:2505.10018v4 Announce Type: replace Abstract: Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern ro…
CU-Multi: A Dataset for Multi-Robot Collaborative Perception
arXiv:2509.19463v2 Announce Type: replace Abstract: A central challenge for multi-robot systems is fusing independently gathered perception data into a unified …