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 storiesGuidedAttention: Interpretable and Correctable Visual Attention for OOD-Robust Robot Manipulation via Imitation Learning
arXiv:2607.21049v1 Announce Type: new Abstract: End-to-end visuomotor policies provide little opportunity for humans to understand or correct the policy's visua…
OLIVE: Online Low-Rank Incremental Learning for Efficient Adaptive Exoskeletons
arXiv:2606.05234v2 Announce Type: replace Abstract: Wearable exoskeleton systems hold promise for restoring mobility in individuals with physical impairments, y…
SevDiff: Severity-Conditioned Diffusion for Long-Tail Conflict Trajectory Generation
arXiv:2607.20549v1 Announce Type: cross Abstract: Trajectory datasets used in ADAS evaluation are heavily biased toward routine driving; genuine vehicle-to-vehi…
A Real-Time Generalized Nash Equilibrium Framework for Interaction-Aware Autonomous Driving in Mixed Traffic
arXiv:2607.21043v1 Announce Type: new Abstract: Safe and efficient navigation in mixed-traffic environments remains a critical challenge for Autonomous Vehicles…
Factorized Spatio-Temporal Convolutions for Human Pose Estimation from Planar Lidar
arXiv:2607.21309v1 Announce Type: new Abstract: Localizing nearby humans and estimating their facing direction are key capabilities for safe navigation and soci…
FORGE-plus: Force-Budgeted Recovery for Contact-Rich Assembly with a Frozen LLM Supervisor
arXiv:2607.21227v1 Announce Type: new Abstract: Force-conditioned reinforcement learning (RL) enables tight-clearance assembly under a commanded force ceiling, …
Decentralized UAV Swarms for Ground Target Protection in GPS- and Communication-Denied Environments
arXiv:2607.20710v1 Announce Type: new Abstract: The presence of UAVs in military operations has recently increased, also increasing the demand for defense syste…
What Matters for Simulation to Online Reinforcement Learning on Real Robots
arXiv:2602.20220v2 Announce Type: replace Abstract: We investigate what specific design choices enable successful online reinforcement learning (RL) on physical…
Interaction Dynamics Modeling and Predictive Control for Safe Steerable Catheter--Tissue Interaction
arXiv:2607.20939v1 Announce Type: cross Abstract: Safe steerable catheter control is fundamentally a problem of interaction dynamics: the tip must follow a plan…
Distributed Model-Based Diffusion For Scalable Multi-Robot Trajectory Optimization
arXiv:2607.20992v1 Announce Type: new Abstract: Trajectory optimization for multi-robot systems remains a critical challenge, particularly when navigating highl…
A real-time RGB-D perception pipeline for autonomous impact hammers in mining: self-filtering, rock segmentation and rock-breaking poses generation
arXiv:2607.20748v1 Announce Type: new Abstract: Impact hammers, also known as rock-breakers, are essential machines in mining operations, where they perform sec…
Is Your Safe Controller Actually Safe? A Critical Review of CBF Tautologies and Hidden Assumptions
arXiv:2603.06954v2 Announce Type: replace Abstract: This tutorial provides a critical review of the practical application of Control Barrier Functions (CBFs) in…
ZONDA: Zero-shot Object Navigation with Dynamic Avoidance in Multi-floor Environments
arXiv:2607.21025v1 Announce Type: new Abstract: In Object Goal Navigation task, existing methods are typically restricted to static and single-floor environment…
RL-MACRO: A Cybernetic Closed-Loop Intelligence Framework for Multimodal Adaptive Robotic Craniotomy
arXiv:2607.21113v1 Announce Type: new Abstract: Autonomous robotic craniotomy requires continuous regulation of tool-tissue interactions to mitigate mechanical …
GS-Agent: Creating 4D Physical Worlds With Generative Simulation
arXiv:2607.21522v1 Announce Type: new Abstract: Creating dynamic and physically realistic 4D worlds from natural language descriptions is both fascinating and c…
Emergent Compositional Skills in Mixture-of-Experts VLAs
arXiv:2607.20771v1 Announce Type: new Abstract: We consider the problem of learning compositional robot policies end-to-end from expert demonstrations, without …
Scalable Low-Cost Laboratory Automation: A Digital Twin-Integrated Robotic Platform for Autonomous Liquid Handling (RAINBOTTM)
arXiv:2607.20662v1 Announce Type: new Abstract: Laboratory automation accelerates discovery, yet its adoption is constrained by the high cost, proprietary desig…
The Sensation Modulating Network:Haltability as the architectural ground for object-directed phenomenology
arXiv:2605.26856v2 Announce Type: replace-cross Abstract: We propose the Sensation Modulating Network (SMN): the cognitive agent as the whole body, organized at…
Do World Action Models Generalize Better than VLAs? A Robustness Study
arXiv:2603.22078v4 Announce Type: replace Abstract: Robot action planning in the real world is challenging as it requires not only understanding the current sta…
VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memory
arXiv:2603.04910v2 Announce Type: replace Abstract: Imitation learning from human demonstrations has achieved significant success in robotic control, yet most v…
pacSTL: PAC-Bounded Signal Temporal Logic from Data-Driven Reachability Analysis
arXiv:2511.00934v3 Announce Type: replace-cross Abstract: Signal Temporal Logic (STL) is an expressive language for specifying behaviors of dynamical systems fr…
AXIS: A Growable Community-Driven Data Engine for Scalable Robot Manipulation
arXiv:2607.21588v1 Announce Type: new Abstract: Learning effective robot manipulation policies requires diverse, high-quality demonstrations, yet existing data …
Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control
arXiv:2603.04038v3 Announce Type: replace Abstract: Imitation learning (IL) has shown strong potential for contact-rich precision insertion tasks. However, its …
Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation
arXiv:2607.21582v1 Announce Type: new Abstract: Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies…
Beyond Episodic Evaluation: Memory Architectural Bottlenecks in Sequential Embodied Question Answering
arXiv:2607.21571v1 Announce Type: new Abstract: Embodied question answering (EQA) is traditionally evaluated under an episodic formulation, where agents solve e…
Enhancing Glass Surface Reconstruction via Depth Prior for Robot Navigation
arXiv:2604.18336v3 Announce Type: replace Abstract: Indoor robot navigation is often compromised by glass surfaces, which severely corrupt depth sensor measurem…
Q-SpiRL: Quantum Spiking Reinforcement Learning for Adaptive Robot Navigation
arXiv:2605.20801v2 Announce Type: replace Abstract: Adaptive robot navigation in dynamic environments requires policies that can reach the target reliably while…
URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation
arXiv:2607.20912v1 Announce Type: new Abstract: Learning-based manipulation policies usually predict robot actions from sensory observations and leave their exe…
HERMES: Heterogeneous Edge-Relational Multi-Head Embedded SSM Attention for Traffic Conflict Prediction at Signalized Intersections
arXiv:2607.20505v1 Announce Type: new Abstract: Surrogate safety measures (SSMs) enable proactive traffic safety assessment, but many existing methods evaluate …
Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer
arXiv:2607.20665v1 Announce Type: new Abstract: Multi-drone payload transportation has emerged as a promising research paradigm with potential applications in c…