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 storiesKoopman Dreamer: Spectrally Constrained Latent Dynamics for Stable World-Model Imagination
arXiv:2607.19719v1 Announce Type: cross Abstract: Latent world models improve sample efficiency in continuous control by optimizing policies over imagined laten…
V2F: Vision-Informed Grasp Force Prediction for Damage-Aware Robotic Handling of Date Fruits
arXiv:2607.19804v1 Announce Type: new Abstract: This paper presents a vision-informed grasp force prediction framework for robotic handling of date fruits. Addr…
Morphing MILR: Design and control of a cable-driven limbless robot with rolling joints for maneuvering in complex environments
arXiv:2607.19714v1 Announce Type: new Abstract: Limbless robots offer exceptional mobility in confined and cluttered environments due to their slender bodies an…
A Splitting Architecture for Exact Reduced Coulomb Friction
arXiv:2607.19599v1 Announce Type: cross Abstract: Existing approaches to frictional contact dynamics typically either modify the Coulomb law to improve numerica…
Defer to Plan: Adaptive Multi-Agent Fusion for End-to-End V2X Driving
arXiv:2607.19774v1 Announce Type: new Abstract: Vehicle-to-everything-aided autonomous driving (V2X-AD) significantly enhances driving performance through infor…
What Matters in Humanoid General Motion Tracking? An Empirical Study
arXiv:2607.19903v1 Announce Type: new Abstract: Humanoid general motion tracking requires policies that can follow diverse whole-body references while maintaini…
Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats
arXiv:2607.20352v1 Announce Type: new Abstract: Aquatic self-reconfigurable robots must assemble into desired shapes while ensuring safe interactions among mult…
EgoRecovery: Acquiring Failure Recovery Ability Through Human Recovery Demonstration
arXiv:2607.19745v1 Announce Type: new Abstract: Robust embodied robots should be able to recover from failures and retry tasks in order to operate reliably in u…
EA-Nav: Learning Safe Visual Navigation Policies with Embodiment Awareness
arXiv:2607.19880v1 Announce Type: new Abstract: Cross-embodiment navigation is a key challenge in embodied intelligence. Due to differences in embodiment, the s…
Unified Prediction and Planning via Conflict-Aware Disjoint Parameter Training
arXiv:2607.19971v1 Announce Type: new Abstract: Accurate motion prediction of surrounding agents and safe motion planning are two closely coupled key tasks for …
Milo, a Fully Autonomous Indoor/Outdoor Robotic Guide Dog
arXiv:2607.19530v1 Announce Type: new Abstract: Many Blind and Low-Vision (BLV) people rely on guide dogs for moment-to-moment navigation, such as staying on pa…
Contact-Persistent Full Actuation for Aerial Physical Interaction
arXiv:2607.19708v1 Announce Type: new Abstract: Fully actuated unmanned aerial vehicles (UAVs) are usually certified through rank conditions on a control-alloca…
Remote ID Spoofing-Aware Trajectory Planning for Small Unmanned Aerial Systems
arXiv:2607.19650v1 Announce Type: new Abstract: This work presents a decentralized, spoofing-aware trajectory planning framework for small unmanned aerial syste…
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
arXiv:2510.18348v2 Announce Type: replace Abstract: State-of-the-art perceptive Reinforcement Learning controllers for legged robots typically either (i) impose…
Learning Personalized Safety Interventions for Haptic Human-Robot Shared Control
arXiv:2607.19534v1 Announce Type: new Abstract: Haptic feedback provides an implicit channel for communicating safety intentions during human-robot shared contr…
Dynamic Multi-Agent Pickup and Delivery in Robotic Cellular Warehousing Systems
arXiv:2606.05669v2 Announce Type: replace Abstract: Robotic Cellular Warehousing Systems (RCWS) give rise to multi-agent pickup and delivery (MAPD) processes in…
KineBench: Benchmarking Embodied World Models via IDM-Free Kinematic Grounding
arXiv:2607.19876v1 Announce Type: new Abstract: Evaluating the physical consistency of embodied world models(EWMs) is a critical open challenge. While closed-lo…
Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids
arXiv:2607.20345v1 Announce Type: new Abstract: Closing the gap between benchmark performance and reliable real-world operation remains a central challenge for …
ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation
arXiv:2607.19479v1 Announce Type: new Abstract: Existing teleoperation systems are often tailored to specific robot hardware and task domains, limiting their sc…
Robots Acquire Manipulation Skills in Seconds from a Single Human Video
arXiv:2607.20033v1 Announce Type: new Abstract: The ability to acquire skills rapidly and effortlessly while retaining those already mastered is essential for r…
VG3S: Visual Geometry Grounded Gaussian Splatting for Semantic Occupancy Prediction
arXiv:2603.06210v2 Announce Type: replace-cross Abstract: 3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understa…
Clinical Pathways as Safety Specifications for Physical AI in Hospital Wards
arXiv:2607.19827v1 Announce Type: new Abstract: Ensuring safety in Physical AI systems operating in real-world environments is a critical challenge, particularl…
NavVerse: Benchmarking Indoor-to-Outdoor Embodied Navigation in Continuous Robot Simulation
arXiv:2607.19695v1 Announce Type: new Abstract: Robots deployed in delivery, campus, and emergency-response settings often need to navigate from buildings to st…
Courteous Anticipation: Improving Long-Lived Task Planning in Persistent Shared Environments
arXiv:2607.20289v1 Announce Type: new Abstract: We consider a task planning scenario in which robots sharing a persistent environment are assigned tasks one at …
LENS: LLM-guided Environment Simplification for Planning and Control in Clutter
arXiv:2607.19633v1 Announce Type: new Abstract: Despite recent advances in general-purpose robotic manipulation, real-world multi-object clutter remains challen…
Digital Twin Modeling of a Highly Automated Agricultural Tractor
arXiv:2607.19912v1 Announce Type: cross Abstract: In efforts to increase research efficiency and availability, a digital twin of our research tractor (AMX G-tra…
DINS-IO: Learned Inertial Odometry via Differentiable INS Consistency
arXiv:2607.20232v1 Announce Type: new Abstract: The training of learned inertial odometry depends on dense, high-precision position ground truth from motion cap…
Emergent Autonomous Drifting for Collision Avoidance in Real-World Winter Driving Scenarios
arXiv:2607.19484v1 Announce Type: new Abstract: Real-world collision avoidance is a core motivation for studying the dynamics and control of high sideslip drift…
Diffusion ReRoll: Revisable Denoising for Robotic Sequential Prediction
arXiv:2607.19919v1 Announce Type: new Abstract: We propose Diffusion ReRoll, a diffusion-based framework for robotic sequential prediction that enables revisabl…
Don't Fool Me Twice: Adapting to Adversity in the Wild with Experience-Driven Reasoning
arXiv:2605.31119v2 Announce Type: replace Abstract: In robotics, dangers and adversity modes are often embodiment-specific and relative to each agent. A frontie…