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 storiesGORDON: Graph-based Object-centric Rewards for Decomposition of Long-Horizon Manipulation
arXiv:2608.03753v1 Announce Type: new Abstract: Learning long-horizon manipulation skills with reinforcement learning remains challenging due to the complexity …
A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces
arXiv:2608.03103v1 Announce Type: new Abstract: Diffusion policies have shown strong performance in learning complex, multi-modal behaviors for robotic manipula…
Tired Actor: Fatigue-Informed Character Control
arXiv:2608.03528v1 Announce Type: new Abstract: Replicating human behavior with physics simulation has been a long-expected goal in character animation. Existin…
Bridging Online and Offline Handwriting via Differentiable Physical Rendering
arXiv:2608.03198v1 Announce Type: cross Abstract: Realistic handwritten text generation plays an important role in numerous applications, such as font design, b…
Stochastic Multiple Shooting Trajectory Optimization via Sequential Local Policy Evaluation
arXiv:2608.03978v1 Announce Type: new Abstract: Stochastic single shooting trajectory optimization methods such as Model Predictive Path Integral control (MPPI)…
A Wearable Stiffness-Rendering Haptic Device with a Honeycomb Jamming Mechanism for Bilateral Teleoperation
arXiv:2608.03002v1 Announce Type: new Abstract: This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a w…
Unified Visuomotor Targets: Supervising VLAs Beyond Physical Actions
arXiv:2608.03563v1 Announce Type: new Abstract: VLA models are trained to predict robot actions from visual and language observations. This is a natural choice,…
ValueFormer: A Causal Transformer Value Function with Stage-Aware Labels for Semi-Autonomous Vision-Language-Action Policies
arXiv:2608.02958v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies trained by behavior cloning fail silently: from the action stream alone, a…
Mixed-Initiative Human-Robot Teaming under Suboptimality with Online Bayesian Adaptation
arXiv:2403.16178v2 Announce Type: replace Abstract: For effective human-agent teaming, robots and other artificial intelligence (AI) agents must infer their hum…
Stiffness Copilot: An Impedance Policy for Contact-Rich Teleoperation
arXiv:2603.14068v2 Announce Type: replace Abstract: In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. Th…
PLS-Calib: A Partial Least Squares Framework for Event Camera and Odometry Calibration under Ground Motion Constraints
arXiv:2608.03296v1 Announce Type: new Abstract: Accurate extrinsic rotation calibration between sensors is fundamental to the performance of robotic perception …
Graph Neural Planning and Predictive Control for Multi-Robot Communication-Constrained Unlabeled Motion Planning
arXiv:2605.19209v2 Announce Type: replace Abstract: The multi-robot unlabeled motion planning problem of concurrently assigning robots to goals and generating s…
GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
arXiv:2604.25459v2 Announce Type: replace Abstract: Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively paral…
MIMIC-MJX: Neuromechanical Emulation of Animal Behavior
arXiv:2511.20532v3 Announce Type: replace-cross Abstract: The primary output of the nervous system is movement and behavior. While recent advances have democrat…
Semantic Haptic Feedback Enhances Dexterous Robotic Teleoperation
arXiv:2608.02780v1 Announce Type: new Abstract: In robot teleoperation, haptic feedback can be used to help human operators accomplish dexterous manipulation ta…
Electrostatic Clutch-Based Mechanical Multiplexer with Increased Force Capability
arXiv:2501.08469v5 Announce Type: replace Abstract: As robotic systems become increasingly articulated, conventional actuation still dedicates one motor to each…
ETA: A New Agentic Paradigm for Embodied Tasks
arXiv:2608.03924v1 Announce Type: new Abstract: When will robots have their ChatGPT moment? Such a breakthrough requires a general-purpose robot that can handle…
EvoHIL: Self-Evolving Reward and Flow-Matched Policy Optimization for Robust Human-in-the-Loop Reinforcement Learning
arXiv:2608.03872v1 Announce Type: new Abstract: Human-in-the-loop reinforcement learning (HIL-RL) enables robots to learn contact-rich manipulation from limited…
POMDPs for Autonomous Science Exploration
arXiv:2608.03155v1 Announce Type: new Abstract: Autonomous exploration missions require decision-making under sensor uncertainty and computational constraints, …
PFM-HR: Pose Flow Matching for Humanoid Robots
arXiv:2608.03227v1 Announce Type: new Abstract: Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require or…
RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation
arXiv:2608.03387v1 Announce Type: new Abstract: Humanoid robots have the potential to perform dexterous manipulation in human environments, yet acquiring divers…
DigitCode: Symbolic Tokenization of Hand Motion by Anatomical Units
arXiv:2608.03127v1 Announce Type: new Abstract: Hand motion carries the finest-grained information in human activity, yet the representations behind hand genera…
PACE: Adaptive Budget Allocation for Time-Efficient Embodied Planning
arXiv:2608.03034v1 Announce Type: new Abstract: Reasoning-enhanced large language models have achieved remarkable improvements in planning tasks, yet their depl…
Structure-Aware Robust Fine-Tuning: Defending Vision-Language-Action Robots Against Physical Attention Hijacking
arXiv:2608.03231v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies promise general robotic manipulation, but their robustness against physica…
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation
arXiv:2608.02653v1 Announce Type: new Abstract: Existing humanoid whole-body control systems still fall short of the way humans move through cluttered terrain: …
DeRP: An Algorithm for Self-Assembly of Power-Delivery Networks using Recursive Branching in Information-Limited Environments
arXiv:2608.02904v1 Announce Type: new Abstract: Delivering sustained power to distributed equipment in unstructured field environments using pre-planned wired n…
Principles of Robot Autonomy
arXiv:2608.03496v1 Announce Type: new Abstract: Autonomous robots are moving rapidly from research labs into everyday life - on roads, in the air, in warehouses…
Forbidden Region Dynamic Active Constraints in Robot-Assisted Minimally Invasive Surgery
arXiv:2608.03010v1 Announce Type: new Abstract: In robot-assisted surgery, Forbidden Region Active Constraints (FRAC) represent a control strategy that helps ma…
Continue or Replan? Bernoulli-Continuation Policy Learning for Adaptive Horizon Execution
arXiv:2608.03483v1 Announce Type: new Abstract: Existing chunk-based Vision-Language-Action (VLA) models execute a fixed number of actions (i.e., execution hori…
Risk Occupancy: A New and Efficient Paradigm through Vehicle-Road-Cloud Collaboration
arXiv:2408.07367v3 Announce Type: replace Abstract: This paper proposes a novel 4D risk occupancy (RiskOcc) perception paradigm under the Vehicle-Road-Cloud int…