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 storiesRod models in continuum and soft robot control: a review
arXiv:2407.05886v3 Announce Type: replace Abstract: Continuum and soft robots can transform automation tasks requiring compliant interaction in constrained or u…
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots
arXiv:2203.03018v3 Announce Type: replace Abstract: Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and…
On-sky demonstration of reinforcement learning for adaptive optics control
arXiv:2606.10771v1 Announce Type: cross Abstract: Reinforcement learning (RL)-based algorithms have recently emerged as a promising approach for adaptive optics…
Baseline-Free Policy Optimization for Neural Combinatorial Optimization
arXiv:2606.10321v1 Announce Type: cross Abstract: Neural combinatorial optimization (NCO) trains autoregressive policies to solve routing problems. The standard…
SHAPO: Sharpness-Aware Policy Optimization for Safe Exploration
arXiv:2606.10228v1 Announce Type: cross Abstract: Safe exploration is a prerequisite for deploying reinforcement learning (RL) agents in safety-critical domains…
Generalized-CVO: Fast and Correspondence-Free Local Point Cloud Registration with Second Order Riemannian Optimization
arXiv:2606.10019v1 Announce Type: cross Abstract: We propose a fast and correspondence-free local point cloud registration method that leverages geometric surfa…
Co-GLANCE: Uncertainty-Aware Active Perception for Heterogeneous Robot Teaming
arXiv:2606.09919v1 Announce Type: cross Abstract: Perceptual uncertainty is a central challenge for heterogeneous robot teams operating in unstructured outdoor …
Equanimity in HRI: Applying Calm Technology Principles to Human-Robot Interaction
arXiv:2606.09836v1 Announce Type: cross Abstract: This paper explores how {\textit{Calm Technology}} can be integrated into Human-Robot Interaction (HRI), with …
SAFE-Pruner: Semantic Attention-Guided Future-Aware Token Pruning for Efficient Vision-Language-Action Manipulation
arXiv:2605.29662v1 Announce Type: cross Abstract: Real-time inference of vision-language-action (VLA) models is essential for robotic control. While visual toke…
TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation
arXiv:2606.11184v1 Announce Type: new Abstract: Contact-rich manipulation requires robots to continuously perceive and regulate evolving physical interactions u…
JOIN: Anchor-Grasp-Conditioned Joining via Opposition, Inference, and Navigation for Bimanual Assistive Manipulation
arXiv:2606.11151v1 Announce Type: new Abstract: Assistive mobility and manipulation platforms have received increasing attention as a means of restoring indepen…
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning
arXiv:2606.11092v1 Announce Type: new Abstract: Elite humanoid soccer shooting requires whole-body stability, high-impulse whole-body interactions, and accuracy…
A Distributed Multi-UGV Exploration Framework With Loop-Aware Planning and Descriptor-Aided Localization in Resource-Limited Environments
arXiv:2606.11088v1 Announce Type: new Abstract: Robust and efficient cooperative exploration with multiple unmanned ground vehicles (UGVs) in unknown, GPSdenied…
Generation of Diverse and Functional Robot Designs using Superquadrics Parametrisation and Quality-Diversity
arXiv:2606.11037v1 Announce Type: new Abstract: Generative design of robots requires navigating a vast search-space, encompassing physical configurations and be…
A Spiking Neural Architecture for Coordinating Arm and Locomotor Control
arXiv:2606.11034v1 Announce Type: new Abstract: Spiking Neural Networks (SNNs) coupled with neuromorphic hardware offer energy-efficient solutions for humanoid …
Diffusion Forcing Planner: History-Annealed Planning with Time-Dependent Guidance for Autonomous Driving
arXiv:2606.11019v1 Announce Type: new Abstract: Learning-based motion planners, despite recent progress, often suffer from temporal inconsistency. Small perturb…
Multi-UAV Active Sensing with Information Gain-based Planning and Belief Fusion
arXiv:2606.10986v1 Announce Type: new Abstract: Unmanned aerial vehicles (UAVs) are increasingly used for active sensing and information gathering in spatially …
Language-Driven Cost Optimization for Autonomous Driving
arXiv:2606.10974v1 Announce Type: new Abstract: The driving behavior of autonomous vehicles is typically governed by the cost function of their motion planner, …
Resilient Navigation for Autonomous Farm Robots by Leveraging Jerk-Augmented Models with IMU-Only Disturbance Rejection
arXiv:2606.10971v1 Announce Type: new Abstract: Precise state estimation for navigation of autonomous agricultural robots is often compromised by sensor outages…
AllDayNav: Lifelong Navigation via Real-World Reinforcement Learning
arXiv:2606.10927v1 Announce Type: new Abstract: Lifelong embodied navigation in dynamic environments requires robots to form persistent scene understanding from…
Task Robustness via Re-Labelling Vision-Action Robot Data
arXiv:2606.10918v1 Announce Type: new Abstract: The recent trend in scaling models for robot learning has resulted in impressive policies that can perform vario…
AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation
arXiv:2606.10903v1 Announce Type: new Abstract: Monocular local navigation is attractive for lightweight robots, but existing vision-based policies often couple…
MV-Actor: Aligning Multi-View Semantics and Spatial Awareness for Bimanual Manipulation
arXiv:2606.10899v1 Announce Type: new Abstract: Robotic manipulation has been widely applied in industrial scenarios. Compared with single-arm manipulation, bim…
Embodiment-conditioned Generalist Control for Multirotor Aerial Robots
arXiv:2606.10857v1 Announce Type: new Abstract: We present a generalist position control policy capable of controlling arbitrary multirotor configurations of a …
An Exposure-Time-Aligned Primary-Path Architecture for Autonomous-Driving ECUs
arXiv:2606.10856v1 Announce Type: new Abstract: While end-to-end (E2E) autonomous driving has become the dominant research direction, production vehicles contin…
Gradient based Bilevel for Inverse Optimal Control, a Riemannian approach
arXiv:2606.10841v1 Announce Type: new Abstract: Inverse Optimal Control (IOC) aims to recover the cost function that explains observed trajectories as solutions…
GUIDE: Goal-Initialized Directional Understanding for End-to-End Visual Navigation
arXiv:2606.10832v1 Announce Type: new Abstract: Learning-based visual navigation for legged robots typically relies on continuous goal updates from hierarchical…
IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation
arXiv:2606.10818v1 Announce Type: new Abstract: Real-world robotic manipulation tasks often involve forceful interactions with the environment, such as using to…
Bridging Semantics and Physical Execution: A Neuro-Symbolic Framework for Multi-Pair Robotic Assembly
arXiv:2606.10808v1 Announce Type: new Abstract: Multi-pair robotic assembly in unstructured environments faces spatial interference and contact uncertainties. E…
ros2probe: Non-intrusive, Kernel-selective Observability for Robot Operating System 2 Middleware
arXiv:2606.10746v1 Announce Type: new Abstract: Robot Operating System 2 (ROS 2), the de facto standard middleware framework for robots, runs each robot as a gr…