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 storiesBrace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation
arXiv:2609.25486v1 Announce Type: new Abstract: Forceful manipulation is challenging for humanoid robots because interaction forces can disturb whole-body balan…
RoboMP-DINOv2: Prompts, Not Filters for Robust Robot Manipulation
arXiv:2609.25506v1 Announce Type: new Abstract: Robot manipulation policies must generalize across visual shifts while preserving scene context relevant to acti…
A Deployment Study of Identity-Gated Drone Gesture Control
arXiv:2609.25511v1 Announce Type: new Abstract: Vision-based gesture control accepts commands from any hand in the camera field of view, which is unsafe in shar…
Digital Twin-Driven VR Teleoperation with Multi-View Spatial Perception for Surgical Robots
arXiv:2609.25527v1 Announce Type: new Abstract: Current robot-assisted minimally-invasive surgery (RMIS) platforms provide a fixed console for the surgeon to vi…
HABILIS Brain 0: Geometry-Change Supervision for Vision-Language-Action and Residual Flow Recovery
arXiv:2609.25558v1 Announce Type: new Abstract: Vision-language-action policies benefit from geometric supervision, but current-frame geometry alone does not ex…
IndustrialVLA-Bench: A Traceable Multi-Axis Evaluation of Open Robot Policy Models
arXiv:2609.25562v1 Announce Type: new Abstract: Open robot policies increasingly follow two paradigms: vision-language-action models (VLAs) directly map observa…
Recording Hand-Held Laparoscopic Instrument Motion in the Operating Room: Magnetometer-Free Fusion of Inertial, Range and Visual Sensing
arXiv:2609.25577v1 Announce Type: new Abstract: Most minimally invasive procedures are still performed with hand-held laparoscopic instruments, yet only the end…
CableVLA: Simulation-Privileged Global-Local Representation Learning for Cable Routing
arXiv:2609.25606v1 Announce Type: new Abstract: Cable routing requires coordinated control of global cable topology and changing local contacts. We present Cabl…
Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation
arXiv:2609.25619v1 Announce Type: new Abstract: This work investigates how to enable general multi-finger robotic hands to perform the complete tool manipulatio…
From Instrument-Mounted Demonstrations to In-Vivo Execution: Learning Bimanual Laparoscopic Appendectomy Without Robot-Collected Demonstrations
arXiv:2609.25625v1 Announce Type: new Abstract: Most minimally invasive surgery is still performed with hand-held laparoscopic instruments, and the surgeon's in…
MachEmbodied-U0: Unified Understanding and Generation Model for Embodied Intelligence
arXiv:2609.25627v1 Announce Type: new Abstract: General-purpose robot control requires models to understand task intent, identify where to interact, capture how…
PAKT: Physically-Aligned Kinesthetic Teaching for Reinforcement Learning
arXiv:2609.25630v1 Announce Type: new Abstract: Real-world reinforcement learning (RL) systems still struggle with the demands of contact-rich industrial manipu…
Acoustic Ellipses: Bio-Inspired Omnidirectional Echolocation in Cooperative Multi-Agent Systems using Frequency Sweeps
arXiv:2609.26085v1 Announce Type: new Abstract: Inspired by the flight and song of birds, we propose an approach that enables cooperating agents to effectively …
Design and Implementation of an Ultra-Low-Cost Wall-Climbing Robot for Infrastructure Crack Detection
arXiv:2609.26130v1 Announce Type: new Abstract: Crack detection is a crucial process to ensure the safety and longevity of buildings and other infrastructure. I…
Toward Self-Repairing Ubiquitous Robots Using Goal-Oriented Agentic AI in Human-Robot Interactions
arXiv:2609.26155v1 Announce Type: new Abstract: Ubiquitous robotic systems often lack traditional visual interfaces, making natural language interaction importa…
CODA: Depth-Aligned Scene Completion and Object Decomposition from a Single RGB-D Image
arXiv:2609.25654v1 Announce Type: new Abstract: Robots operating safely in cluttered everyday environments often need to infer scene geometry from partial obser…
History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots
arXiv:2609.25658v1 Announce Type: new Abstract: Deterministic dynamics modeling of tendon-driven continuum robots remains challenging owing to uncertainties in …
Deploying Foundation Models for Embodied Navigation
arXiv:2609.25666v1 Announce Type: new Abstract: We present and tackle two problems associated with deploying Foundation Models (FMs) on Embodied Agents performi…
CDKF-Track: Cluster-aware Data-Driven Kalman Filtering for Cooperative 3D Multi-Object Tracking
arXiv:2609.25668v1 Announce Type: new Abstract: Multi-Object Tracking (MOT) is essential for EdgeAI perception systems, where accurate object localization and r…
Teaching Reinforcement Learning and Humanoid Robotics to High-School Students: An Expert-Validated Curriculum Design on a Low-Cost Open Platform
arXiv:2609.25674v1 Announce Type: new Abstract: Lower cost open source robots and reinforcement learning (RL) simulation tools create new opportunities for prec…
SG-CPG: Severity-Gated Central Pattern Generators for Adaptive Quadruped Locomotion under Continuous Actuator Degradation
arXiv:2609.25687v1 Announce Type: new Abstract: An animal with a weakened limb does not necessarily switch its gait, instead it unloads the affected limb, re-co…
MatcherCompass: A Deployment-Aware Benchmark to Guide Image Matcher Selection in the Wild
arXiv:2609.25688v1 Announce Type: new Abstract: Field robots operating across time of day and sensing modalities require accurate image correspondences within o…
MotionForge: A Data Generation Pipeline and Large-Scale Benchmark for Long-Horizon Manipulation of Dynamic Objects with Domain Shifts
arXiv:2609.25689v1 Announce Type: new Abstract: Recent advances in learning-based robot policies have demonstrated promising progress, yet they are predom- inan…
Induced Riemannian Metrics for Motion Planning with Constraints
arXiv:2609.25695v1 Announce Type: new Abstract: In constrained motion planning problems, task and loop-closure constraints restrict a robot's motion to a curved…
The Cartesian Hand: In-Hand Manipulation with All-Linear Fingers
arXiv:2609.25696v1 Announce Type: new Abstract: Robotic manipulation has increasingly pursued human-like dexterous hands with many articulated degrees of freedo…
Zephyron: Integrated Design and Analytical Evaluation of a Solar-Assisted Mobile Manipulator for Multimodal Environmental Reconnaissance and Distributed Visual Inference
arXiv:2609.25709v1 Announce Type: new Abstract: Environmental reconnaissance needs mobile platforms that carry sensors, preserve measurement context, and return…
Designing an Efficient Excavator Bucket for Lunar ISRU: A Comparative Study with Vision-Based Fill and Displacement Analysis
arXiv:2609.25724v1 Announce Type: new Abstract: This paper present a spiral-cavity wheel for lunar regolith excavation and a sensor-light evaluation stack that …
AgriGen: Large-Scale Scene Generation Framework for Photorealistic Agricultural Robotics Simulation
arXiv:2609.25725v1 Announce Type: new Abstract: Agricultural robotics is advancing rapidly, yet progress remains constrained by limited field access, lack of co…
Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking
arXiv:2609.25746v1 Announce Type: new Abstract: ICP-based 3D Gaussian Splatting (3DGS) SLAM tracks in real time by registering incoming frames against map Gauss…
Fisheye-VLA: Decoupling Coverage and Acuity for Manipulation with a Single Fisheye Camera
arXiv:2609.25750v1 Announce Type: new Abstract: Manipulation requires both broad scene awareness and detailed local feedback, yet conventional camera rigs provi…