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 storiesOptimal Constrained sc-LTL Planning in MDPs via Switching Policies
arXiv:2608.05021v1 Announce Type: new Abstract: We study the synthesis of optimal policies for planning problems on Markov decision processes with both objectiv…
Learning When to Stop: Prefix-Optimal Dynamic Diffusion Policies for Continuous Control
arXiv:2608.05084v1 Announce Type: cross Abstract: Diffusion policies are a powerful policy class for continuous control, but their iterative denoising process c…
Suppression Sticks, Locality Is Fragile: A Closed-Loop Target-and-Control Audit of Task-Vector Negation in VLA Policies
arXiv:2608.04692v1 Announce Type: new Abstract: Task-vector arithmetic offers a closed-form way to modify a model, yet its behavioral locality remains unclear i…
SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation
arXiv:2608.04196v1 Announce Type: new Abstract: Recent years have witnessed an explosive trend of scaling ego-centric human videos for robot manipulation, yet i…
AI-based single-shot structured-light depth reconstruction for real-time laparoscopic surgical guidance
arXiv:2608.05109v1 Announce Type: cross Abstract: Significance. Accurate intraoperative depth perception is important for autonomous and semi-autonomous robotic…
Seeking Physics in Diffusion Noise
arXiv:2603.14294v3 Announce Type: replace-cross Abstract: Do video diffusion models encode signals predictive of physical plausibility? We probe intermediate de…
DreamWAM: Beyond RGB Future Prediction for World Action Models
arXiv:2608.04996v1 Announce Type: new Abstract: World Action Models (WAMs) learn action-relevant representations by predicting how the observed world will evolv…
Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM
arXiv:2507.04004v3 Announce Type: replace Abstract: This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simu…
SafeLand: Safe Autonomous Landing in Unknown Environments with Bayesian Semantic Mapping
arXiv:2603.17430v2 Announce Type: replace Abstract: Autonomous landing of uncrewed aerial vehicles (UAVs) in unknown, dynamic environments poses significant saf…
Learning Direct Control Policies with Flow Matching for Autonomous Driving
arXiv:2605.14832v2 Announce Type: replace Abstract: We present a flow-matching planner for autonomous driving that directly outputs actionable control trajector…
Arnold: A multi-task, multi-embodiment muscle transformer policy
arXiv:2508.18066v2 Announce Type: replace Abstract: Controlling high-dimensional and nonlinear musculoskeletal models of the human body is a foundational scient…
Deliberate Before You Fly: Vision-Guided Spatial Deliberation for UAV See-and-Reach Navigation
arXiv:2608.04825v1 Announce Type: new Abstract: UAV see-and-reach navigation requires an aerial agent to approach a language-specified target visible in its ini…
A Vision-based Control Framework for Real-time Autonomous UUV Operations
arXiv:2608.04723v1 Announce Type: new Abstract: This paper presents a fully integrated vision-based framework for real-time and robust localization, autonomous …
A Low-Cost Hybrid Reservoir Computing Model for Isolated Sign Language Video Recognition
arXiv:2608.03444v1 Announce Type: new Abstract: Sign language recognition (SLR) enhances communication between hearing and hearing-impaired individuals. Althoug…
Pivot-Centric Trajectory Prediction: Bridging Long Horizons via Dynamical Guidance
arXiv:2608.03521v1 Announce Type: new Abstract: Forecasting precise future motion of surrounding agents is essential for reliable autonomous vehicles. However, …
Fusion-Poly: A Polyhedral Framework Based on Spatial-Temporal Fusion for 3D Multi-Object Tracking
arXiv:2603.08199v2 Announce Type: replace-cross Abstract: LiDAR-camera 3D multi-object tracking (MOT) combines rich visual semantics with accurate depth cues to…
CrossScope: A Role-Asymmetric World Model for Joint Dual-Scope Surgical Video Prediction
arXiv:2608.03211v1 Announce Type: cross Abstract: Visual world models typically learn future dynamics from a single observation stream, limiting their ability t…
LiLa-WAM: Lightweight Latent Reasoning World-Action Model for Robotic Manipulation
arXiv:2608.03701v1 Announce Type: new Abstract: World-action modeling has emerged as a promising paradigm for robotic control, as it empowers models to go beyon…
How Should Vision-Language-Action Models Use Proprioceptive State?
arXiv:2608.03052v1 Announce Type: new Abstract: Recent Vision-Language-Action (VLA) models almost universally take robot proprioceptive state as input, yet wire…
Learning Context-Aware Motion Priors for Humanoid Control
arXiv:2608.03234v1 Announce Type: new Abstract: Motion priors provide powerful guidance for learning naturalistic humanoid behaviors. However, existing methods …
Designing Social Robots for Inclusive Child Wellbeing Assessment: Insights from Communities Supporting Developmental Language Disorder and Forced Migration
arXiv:2608.03820v1 Announce Type: new Abstract: Assessing children's wellbeing and mental health can be particularly challenging for children experiencing commu…
Quo Vadis, World Modeling?
arXiv:2608.02713v1 Announce Type: cross Abstract: Continually improving agents require dynamic interaction feedback beyond static supervision, yet direct real-e…
PACE: Physics Augmentation for Coordinated End-to-end Reinforcement Learning toward Versatile Humanoid Table Tennis
arXiv:2509.21690v5 Announce Type: replace Abstract: Humanoid table tennis (TT) demands rapid perception, proactive whole-body motion, and agile footwork under s…
Toward Certified Functional Safety for Industrial Humanoid Robots: The Fail-Passive Gap and a Feasibility Study
arXiv:2608.02809v1 Announce Type: new Abstract: Industrial humanoid robots are constrained less by locomotion or manipulation capability than by the immaturity …
Flying over The Uncertain Nature (FORTUNE): Intelligent and Humanistic 3D Path Planning for Low-Altitude Collaboration
arXiv:2608.03408v1 Announce Type: new Abstract: The proliferation of low-altitude intelligent agents is increasing the demand for timely and socially responsibl…
Shaping Wind-Tunnel Airflow for Unmanned Aerial Vehicles using Online Learning
arXiv:2608.03378v1 Announce Type: new Abstract: The development and testing of advanced aerial robots require experiments in controlled environments with tailor…
Passively Safe Convex Guidance for Cislunar Rendezvous and Proximity Operations
arXiv:2608.03060v1 Announce Type: new Abstract: This paper presents purely convex programs for passively safe impulsive rendezvous and proximity operations in c…
PhyAI: Real-Time Physical AI at the Edge, Scalable Rollouts in the Cloud
arXiv:2608.03682v1 Announce Type: cross Abstract: Physical AI policies require inference throughout their lifecycle, including model evaluation, cloud reinforce…
Multimodal Plant Root Phenotyping with Integration of 3D Skeleton Extraction and Language Analysis
arXiv:2608.03109v1 Announce Type: cross Abstract: Plant root phenotyping is fundamental to understanding below-ground structures, optimizing crop management, an…
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
arXiv:2608.02886v1 Announce Type: new Abstract: Safely navigating polytopic environments while respecting the dynamics, control, and exact geometry of the under…