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 storiesSegDiff: Segmented Trajectory Diffusion for Consistent and Adaptive Robot Manipulation
arXiv:2607.11027v1 Announce Type: new Abstract: Imitation learning enables robots to acquire manipulation skills from demonstrations by mapping observations to …
A Compact Top-Loading Robot for Endovascular Interventions: Design, Control and Evaluation
arXiv:2607.11779v1 Announce Type: new Abstract: Robot-assisted endovascular intervention can potentially reduce radiation exposure, improve surgeon ergonomics, …
VIA: Visual Interface Agent for Robot Control
arXiv:2607.11119v1 Announce Type: new Abstract: Robot manipulation is a complex task that requires visual understanding, physical reasoning, planning, and close…
Replanning Human-Robot Collaborative Tasks with Vision-Language Models via Semantic and Physical Dual-Correction
arXiv:2602.14551v2 Announce Type: replace Abstract: Human-robot collaborative assembly requires robots to interpret ambiguous corrective instructions while prod…
Tracking Through Decoupling Singularities: A Singularity-Robust Homotopy-Continuation Extension of Feedback Linearization
arXiv:2607.10436v1 Announce Type: cross Abstract: Input--output feedback linearization fails at decoupling singularities, where the decoupling matrix loses rank…
From World Action Models to Embodied Brains: A Roadmap for Open-World Physical Intelligence
arXiv:2607.11689v1 Announce Type: new Abstract: Artificial general intelligence ultimately requires agents that can reason and act in the physical world. Action…
Desc++: Efficient Descriptor Enhancement for Data Association in Existing Visual SLAM Systems
arXiv:2607.11099v1 Announce Type: new Abstract: Reliable visual data association is fundamental to visual SLAM (V-SLAM), as it directly determines the quality o…
Diffusion-Residual Model Predictive Steering Control for Vehicle Stabilization at the Limit of Handling under Model Uncertainty
arXiv:2607.10243v1 Announce Type: new Abstract: At the limit of handling, a stabilizing MPC depends on the yaw-rate reference it tracks and the stable-handling …
Toward Autonomous Soft Robotic Endovascular Navigation via Imitation Learning
arXiv:2510.09497v2 Announce Type: replace Abstract: In endovascular surgery, endovascular interventionists push a thin tube called a catheter, guided by a thin …
A low-cost mockup to simulate robotic laser cutting in nuclear decommissioning
arXiv:2605.08947v2 Announce Type: replace Abstract: This paper introduces a low-cost experimental mockup to simulate the laser cutting process of containers in …
GraspGraphNet: Graph-Structured Multi-Embodiment Dexterous Grasp Generation
arXiv:2607.11031v1 Announce Type: new Abstract: Dexterous grasp generation across robot hands is challenging because hands differ in kinematic topology, actuati…
InCoM: Intent-Driven Perception and Structured Coordination for Mobile Manipulation
arXiv:2602.23024v5 Announce Type: replace Abstract: Mobile manipulation is a fundamental capability for general-purpose robotic agents, requiring both coordinat…
Diffusion for Long-Horizon Multi-Robot Path Planning in Human-Shared Environments
arXiv:2607.09911v1 Announce Type: new Abstract: Multi-robot path planning in human-shared environments requires a delicate balance between robust inter-robot co…
Real-Time Rulebook-Aware Nonlinear MPC for Autonomous Driving with Priority-Biased Tiered Slacks
arXiv:2607.10975v1 Announce Type: new Abstract: Autonomous-vehicle motion planners must resolve conflicts among safety, regulation, comfort, and efficiency in r…
See like a Robot: Robot-Centric Pointmaps for Vision-Language-Action Models
arXiv:2607.11498v1 Announce Type: new Abstract: Vision-language-action (VLA) models predict robot actions from visual observations and language instructions. Th…
More Structure, Not More Capacity: Object-Centric Representations for Visuomotor Imitation Learning
arXiv:2607.09825v1 Announce Type: new Abstract: Robotic manipulation policies rely on pre-trained vision models that give either a global scene embedding or a d…
WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $LDL^\top$ Factorization
arXiv:2607.11603v1 Announce Type: new Abstract: This paper introduces numerical optimizations for maximizing throughput on GPU when solving large batches (10,00…
Rethinking Gaussian Trajectory Predictors: Calibrated Uncertainty for Safe Planning
arXiv:2603.10407v2 Announce Type: replace Abstract: Accurate trajectory prediction is critical for safe autonomous navigation in crowded environments. While man…
FlashBEV: Fast and Memory-Efficient Exact BEV Transformation with IO-Awareness
arXiv:2607.10071v1 Announce Type: cross Abstract: Bird's-eye-view (BEV) perception is a core component of camera-based 3D understanding in autonomous driving, w…
SLIDER: Sparse History-Guided Aerial Robot Target Search using Sliding Local Maps
arXiv:2607.10553v1 Announce Type: new Abstract: Efficient exploration and target search in large-scale unknown environments remain challenging for aerial robots…
ActiveFly-Bench: Aligning Embodied Question Answering with Vision-Language-Action for Aerial Embodied Perception
arXiv:2607.10180v1 Announce Type: new Abstract: We introduce ActiveFly-Bench, the first benchmark to bridge cyberspace reasoning and physical-world interaction …
Accelerating Sampling-Based Control via Learned Linear Koopman Dynamics
arXiv:2603.05385v2 Announce Type: replace Abstract: This paper presents an efficient model predictive path integral (MPPI) control framework for systems with co…
OmniSCS: Omni Safety-Critical Scenario Synthesis for Autonomous Driving via a Fully Editable Driving World
arXiv:2607.09764v1 Announce Type: new Abstract: The synthesis of safety-critical scenarios (SCS) and their evaluation through closed-loop simulations are crucia…
Mapping Pamir: Multi-Session Visual-Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck
arXiv:2607.10925v1 Announce Type: new Abstract: This paper presents a framework for multi-session mapping of underwater environments utilizing an affordable act…
Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control
arXiv:2607.10625v1 Announce Type: new Abstract: Language-conditioned Imitation Learning (IL) is essential for enabling robots to perform complex tasks following…
RoboNav-Arm: Agentic AI-Driven Navigation and Obstacle Avoidance for Robotic Manipulator in Cluttered Environments
arXiv:2607.09716v1 Announce Type: new Abstract: Robotic manipulators operating in unstructured environments face significant challenges in safely executing goal…
SmoothTurn: Learning to Turn Smoothly for Agile Navigation with Quadrupedal Robots
arXiv:2603.12842v2 Announce Type: replace Abstract: Quadrupedal robots show great potential for valuable real-world applications such as fire rescue and industr…
ERR@HRI 3.0 Challenge: Multimodal Detection of Errors and Anticipation in Human-Robot Interactions
arXiv:2607.11570v1 Announce Type: new Abstract: As robots become increasingly integrated into human environments, their ability to detect and respond to errors …
Runtime Safety Filtering for Learned Small UAS Separation Policies under GNSS Degradation
arXiv:2607.10014v1 Announce Type: new Abstract: Learning-based separation assurance for small Unmanned Aircraft Systems (sUAS) achieves near-zero collision rate…
3D Scene Graph Prediction: Generating Hierarchical Models from Partially Observed Environments
arXiv:2607.10879v1 Announce Type: new Abstract: Generating realistic 3D indoor scenes is an area of growing interest in computer vision and robotics. Existing m…