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
6171 storiesJustDepth: Real-Time Radar-Camera Depth Estimation with Single-Scan LiDAR Supervision
arXiv:2607.22172v1 Announce Type: cross Abstract: Accurate yet low-latency depth is essential for radar-camera perception in autonomous systems. Cameras provide…
SM4RT: Learning Structured Motion Geometry for 4D Reconstruction
arXiv:2607.22534v1 Announce Type: cross Abstract: Geometry Foundation Models (GFMs) have substantially advanced monocular 3D reconstruction, yet extending this …
Compliant Non-Prehensile Pushing Manipulation
arXiv:2605.25672v2 Announce Type: replace Abstract: In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant rob…
Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics
arXiv:2607.22030v1 Announce Type: new Abstract: Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions t…
A Monolithic Hand with Asymmetric Origami Bending and Dual-chamber Actuators
arXiv:2607.22320v1 Announce Type: new Abstract: The passive adaptability inherent in soft robotic hands affords them advantages in applications that require saf…
Zero-Shot Mission-Level Evaluation for Aerial MLLM Agents
arXiv:2607.22014v1 Announce Type: cross Abstract: Multimodal Large Language Models (MLLMs) are emerging as core reasoning modules for embodied agents, yet it re…
Learning Diverse Humanoid Tasks via Synthetic Video Scenarios without Real World Data
arXiv:2607.21648v1 Announce Type: new Abstract: The human-like morphology of humanoid robots grants them exceptional potential for agile and versatile motor cap…
Action-Conditioned World Model for Goal Plane Probe Guidance in Robotic Ultrasound
arXiv:2607.21918v1 Announce Type: new Abstract: We present an action-conditioned world model framework for goal plane probe guidance in robotic ultrasound, with…
Adaptive Undulatory Locomotion of Snake-like Robots in Dynamic Viscous Environments via Deep Reinforcement Learning
arXiv:2607.21960v1 Announce Type: new Abstract: This paper demonstrates how deep reinforcement learning (DRL) enables adaptive locomotion of snake-like robots i…
Benchmarking the Safety of Large Language Models for Robotic Health Attendant Control
arXiv:2604.26577v2 Announce Type: replace-cross Abstract: Large language models (LLMs) are increasingly considered for deployment as the control component of ro…
Learning Spatiotemporal Decision Priors for Efficient Path Planning under Partial Observability
arXiv:2607.22166v1 Announce Type: new Abstract: Path planning under partial observability remains challenging because an agent must make long-horizon navigation…
GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation
arXiv:2607.21661v1 Announce Type: new Abstract: Diffusion policies generate multimodal robot action sequences from demonstrations, but steering them toward depl…
NVIDIA OmniDreams: Real-Time Generative World Model for Closed-Loop Autonomous Vehicle Simulation
arXiv:2606.03159v2 Announce Type: replace-cross Abstract: As autonomous vehicle capabilities advance, the safe evaluation of driving policies in long-tail scena…
ViTacWorld: Scaling Visuo-Tactile World Models for Contact-Rich Robot Manipulation
arXiv:2607.22530v1 Announce Type: new Abstract: Contact-rich robot manipulation requires physical interaction cues that are often invisible to cameras, making t…
Adaptive Learned State Estimation based on KalmanNet
arXiv:2604.02441v2 Announce Type: replace Abstract: Hybrid state estimators that combine model-based Kalman filtering with learned components have shown promise…
Safe Learning Predictive Control for Ego-World Robotic Systems
arXiv:2607.22225v1 Announce Type: new Abstract: Safe autonomous navigation in shared environments requires the ability to anticipate and react to the latent beh…
Addressing the Orchestration Gap in Generalist Robots via Physical Agency
arXiv:2607.21725v1 Announce Type: new Abstract: General-purpose robots need to reason about their actions, combining perception, world knowledge, planning, succ…
A Unified Framework for Automated Assembly Sequence and Production Line Planning using Graph-based Optimization
arXiv:2512.13219v2 Announce Type: replace Abstract: This paper presents PyCAALP (Python-based Computer-Aided Assembly Line Planning), a framework for automated …
ACME: A Multi-Cultural, Multi-Embodiment Social-Navigation Dataset
arXiv:2607.21964v1 Announce Type: new Abstract: Understanding how robots and humans move in shared spaces is essential for designing effective social robot navi…
Design and Human Evaluation of Tactile Withdrawal Reflexes for a Skin-Covered Robot Arm
arXiv:2607.22249v1 Announce Type: new Abstract: Nociception is a protective biological mechanism that links harmful stimulation to a reaction. This paper invest…
Offline Vision-Language Navigation with Geometric Goal Localization for Outdoor Environments
arXiv:2607.22226v1 Announce Type: new Abstract: Foundation-model-based vision-language navigation (VLN) has advanced autonomous robot navigation by enabling rob…
CorVS+: Correspondence-Driven Association of Video Trajectories and Sensors for Identity-Aware Person Localization in Warehouses
arXiv:2510.26369v2 Announce Type: replace-cross Abstract: Logistics warehouses have struggled with labor shortages, but the inbound processes remain particularl…
The 3D Mirage: Probing and Taming 3D Hallucinations
arXiv:2512.15423v2 Announce Type: replace-cross Abstract: Monocular depth foundation models achieve remarkable generalization by learning large-scale semantic p…
Geometric 2D Scene Graph Generation
arXiv:2607.22325v1 Announce Type: cross Abstract: In production processes for consumer products, assembly instructions are essential not only for planning but a…
StARS: Socially Appropriate Robot Actions via a Recommender System-Driven Approach
arXiv:2607.21802v1 Announce Type: new Abstract: Social appropriateness in human-robot interaction (HRI) is not universal: different people can judge the same ro…
Robot Learning to Communicate through Projected Visual Abstractions
arXiv:2607.22434v1 Announce Type: new Abstract: Humans routinely communicate through abstractions of their bodies, including shadows, silhouettes, and reflectio…
Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces
arXiv:2607.22020v1 Announce Type: new Abstract: Learned manipulation policies increasingly predict motions for abstract "hands" and are attractive in practice b…
Generalist’s GEN-1 foundation model now supports a range of robot end effectors
By training GEN-1 to work with new hands, Generalist said a single base model can learn sensorimotor policies on different robots. The post Generalist’s G…
Drive As You Like: Multi-Head Diffusion with Reinforcement Learning for Personalized Driving
arXiv:2508.16947v2 Announce Type: replace Abstract: Despite significant progress, imitation learning-based autonomous driving planners remain largely restricted…
VoLN: Vision-Only Long-Horizon Navigation---Paradigm, Benchmark, and Method
arXiv:2607.21400v1 Announce Type: new Abstract: Vision-and-Language Navigation (VLN) enables embodied agents to follow natural-language instructions. However, r…