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 storiesPLAT: Sparse Timed Keyframe Motion Tracking for Humanoid Control via Privileged Latent Transition Learning
arXiv:2609.25754v1 Announce Type: new Abstract: Humanoid motion tracking policies rely on dense frame-by-frame references, limiting their use as high-level moti…
MedVLA: A Hierarchical Vision-Language-Action Framework for Closed-Loop Precision Medical Robot Manipulation
arXiv:2609.25756v1 Announce Type: new Abstract: Precision medical robotics demands adaptive decision-making under strict safety, interpretability, and execution…
MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark
arXiv:2609.25813v1 Announce Type: new Abstract: This short report documents our entry to the COMFORT Localization Benchmark (IROS 2026), evaluated on the GrandT…
Intrinsic open sources key parts of its platform for easier development
With Intrinsic Core, the company is making key parts of its manipulation platform available to robotics developers. The post Intrinsic open sources key parts of…
OJOx: Specification-Conditioned Demonstrations for Embodied AI in Construction
arXiv:2609.22289v1 Announce Type: new Abstract: Large-scale egocentric and whole-body human demonstrations are becoming a primary source of data for embodied in…
ReliCAD: From Uncertain LLM Generation to Reliable Parametric CAD Modeling
arXiv:2609.22325v1 Announce Type: new Abstract: Large language models have shown considerable potential for natural-language-driven parametric CAD modeling. How…
React When You Need To: Event-Triggered Asynchronous Inference for VLA Policies
arXiv:2609.22587v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models commonly predict action chunks, limiting their ability to react to environme…
VT-Bridge: Bridging Pretrained Foundation VLAs to VTLAs via Lightweight Residual Adaptation
arXiv:2609.22606v1 Announce Type: new Abstract: Vision-Tactile-Language-Action (VTLA) models have demonstrated clear advantages over Vision-Language-Action (VLA…
From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly
arXiv:2609.22609v1 Announce Type: new Abstract: Insertion is a fundamental operation in robotic construction assembly, where variations in material properties a…
SHAFT: A Slack-Compensating, Helical-Buckling-Attenuating Flexible-Shaft Transmission for Lightweight Multi-DoF Manipulation
arXiv:2609.22677v1 Announce Type: new Abstract: Lightweight and slim manipulators enable safe operation in human living environments. Proximal actuation using r…
A Direct Rigid Transmission 2-DoF Wrist Extension for Tendon-Driven Hand
arXiv:2609.22681v1 Announce Type: new Abstract: Dexterous manipulation in confined spaces requires local control of hand orientation. Without a wrist, a dextero…
StateMem: Single-State Residual Memory with Adaptive Inference for Vision-Language-Action Policies
arXiv:2609.22684v1 Announce Type: new Abstract: Memory-dependent robotic manipulation often requires later actions to use information from earlier interactions.…
BEACON: Belief-Enabled Adaptive CONtrol for Imitation Learning under Uncertainty
arXiv:2609.22730v1 Announce Type: new Abstract: Robot manipulation tasks often involve hidden state information that cannot be directly observed and must be inf…
Task-Oriented Co-Design and Optimization of Geared Actuators for Robotic Applications
arXiv:2609.22795v1 Announce Type: new Abstract: Different tasks performed by legged robots impose distinct torque and speed requirements on actuators. Existing …
ARCGym: Benchmarking Deep Reinforcement Learning in Autonomous Robotic Colonoscopy
arXiv:2609.22803v1 Announce Type: new Abstract: Simulations for learning-based autonomous colonoscopic navigation focus mainly on fully actuated capsule robots,…
Kinematic Interface for the Wild: Modular Bimanual Loco-Manipulation Capture from 360$^{\circ}$ Cameras Alone
arXiv:2609.22809v1 Announce Type: new Abstract: A wrist-mounted camera for UMI-style data collection must do two jobs: record the manipulation and localize in t…
ForceRFT: Refining VLA Actions through Force-Guided Residual Reinforcement Learning
arXiv:2609.22840v1 Announce Type: new Abstract: Force-conditioned vision-language-action (VLA) policies can respond to contact, but when trained solely on demon…
PileBelief: Persistent Physical State for Interaction-Driven World Modeling
arXiv:2609.22858v1 Announce Type: new Abstract: World models allow robots to anticipate action consequences before execution. This capability is especially valu…
A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation
arXiv:2609.22871v1 Announce Type: new Abstract: In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their rel…
Stable and Efficient Real-World Online VLA Post-Training via Asynchronous Replay-Anchored Policy Improvement
arXiv:2609.22888v1 Announce Type: new Abstract: Online post-training of vision-language-action (VLA) models requires efficient use of robot interaction and reli…
"Dear LLaVA, Please Drive": A Depth-Aware Vision-Language Agent for Closed-Loop Robotic Control
arXiv:2609.22925v1 Announce Type: new Abstract: Vision-language models (VLMs) provide a compelling foundation for reasoning-driven mobile navigation, offering r…
An Empirical Study and Open Testbed for Federated Fine-Tuning of Vision-Language-Action Models
arXiv:2609.22973v1 Announce Type: new Abstract: Adapting a pretrained Vision-Language-Action (VLA) model to a new robot, environment, or task requires demonstra…
A Horizon-slicing Approach to Minimum Obstacle Displacement Planning for Robot Navigation
arXiv:2609.22974v1 Announce Type: new Abstract: In this paper, we investigate the Minimum Obstacle Displacement Planning problem from a robot motion planning pe…
Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization
arXiv:2609.23037v1 Announce Type: new Abstract: We present a fast numerical method for safe continuous-time motion planning under Temporal Logic (TL) specificat…
On the Control of Mobile Ad-Hoc Agent Deployments in Partially Observed Space
arXiv:2609.23060v1 Announce Type: new Abstract: We study the online deployment of mobile ad hoc networks in unknown orthogonal environments, formalized as the P…
Selective Commitment for Language-Guided Object Retrieval under Partial Observability
arXiv:2609.23131v1 Announce Type: new Abstract: Language-guided object retrieval under partial observability requires deciding whether to gather more evidence, …
Probabilistic Scene Graphs: Hierarchical Representation and Real-time System
arXiv:2609.23144v1 Announce Type: new Abstract: 3D scene graphs provide semantically rich and hierarchical representations for robot perception. However, existi…
Steering Through Contact: A Finite-Support Motion Model for Single-Track Center-Articulated Robots
arXiv:2609.23271v1 Announce Type: new Abstract: Trajectory planning and control in field robotics rely on predicting how propulsion and steering affect vehicle …
Safety-Critical Control under Uncertainty via Adaptive Conformal Quantile Prediction Intervals
arXiv:2609.23280v1 Announce Type: new Abstract: Safety-critical control under uncertainty requires uncertainty representations that are both statistically valid…
Towards Reliable Underwater Diver-Robot Interaction: Gesture Design, Interaction Logic, and Real-World Evaluation
arXiv:2609.23392v1 Announce Type: new Abstract: Underwater human--robot interaction requires gesture commands that are both easy for divers to use and reliable …