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 storiesLightweight 3D Object Detection via Mamba-Based Knowledge Distillation
arXiv:2608.03490v1 Announce Type: new Abstract: 3D object detection using light detection and ranging (LiDAR) sensors requires a balance between accuracy and co…
Accelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation
arXiv:2608.03159v1 Announce Type: new Abstract: This research proposes a constrained motion planning framework for robot manipulators in human-robot interaction…
Design and Evaluation of an AI-Enabled Cloud-Edge Architecture for Connected Precision Agriculture Farms
arXiv:2608.03816v1 Announce Type: new Abstract: Plant diseases cause significant yield losses worldwide, with tomato crops particularly susceptible to early bli…
Bimanual Manipulation Within an 8 GB Budget: Zero-Copy Sensing and Quantized ACT on an Entry-Level Jetson
arXiv:2608.03938v1 Announce Type: new Abstract: Bimanual manipulation policies trained with imitation learning are typically evaluated on workstation or datacen…
Active Stiffness Control of a Supportive Continuum Robot
arXiv:2608.03677v1 Announce Type: new Abstract: Supportive continuum robots (SCRs) enhance the load-bearing capability of an operative continuum robot by mechan…
Neurosymbolic Reasoning with Incremental Knowledge for Sample Efficient Hierarchical Reinforcement Learning
arXiv:2608.02993v1 Announce Type: cross Abstract: (Flat) Reinforcement Learning (RL) agents face significant challenges in environments with sparse rewards that…
Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study
arXiv:2608.02811v1 Announce Type: new Abstract: Robotic systems must operate under uncertainty while satisfying complex task and safety specifications. Monitori…
Track4Action: Distilling World-Centric 3D Tracker into Vision-Language-Action Policies
arXiv:2608.03727v1 Announce Type: new Abstract: Action labels tell a vision-language-action (VLA) policy which robot commands to imitate, but not how those comm…
FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR
arXiv:2509.17390v3 Announce Type: replace Abstract: While 3D Gaussian Splatting (3DGS) has emerged as a strong representation for photorealistic rendering, its …
CUDA MPC: A GPU-Native Solver for Model Predictive Control
arXiv:2608.03051v1 Announce Type: new Abstract: Model Predictive Control (MPC) delivers constraint-aware control, but its reliance on online optimization limits…
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
arXiv:2605.22882v4 Announce Type: replace-cross Abstract: Video world models can generate realistic futures from a single instruction, but they often fail to tr…
SLAMFormer-$\infty$: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing
arXiv:2608.03429v1 Announce Type: cross Abstract: We introduce the Infinite SLAM Transformer (SLAMFormer-$\infty$), the first geometric transformer capable of s…
Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure
arXiv:2608.02895v1 Announce Type: new Abstract: Accurate localization remains a key challenge in swarm robotics, particularly for self-reconfigurable systems th…
Human Centric Embodied Intelligence for Soft Wearable Robotics
arXiv:2608.03556v1 Announce Type: new Abstract: Soft wearable robots have evolved rapidly from proof-of-concept devices into promising platforms for rehabilitat…
Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles
arXiv:2608.02834v1 Announce Type: new Abstract: We present a biconvex approach for minimum-time motion planning around convex obstacles that is guaranteed to co…
Path-conditioned Reinforcement Learning-based Local Planning for Long-Range Navigation
arXiv:2603.13888v2 Announce Type: replace Abstract: Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generat…
Gated Memory Policy: In-Context Memorization and Adaptation
arXiv:2604.18933v2 Announce Type: replace Abstract: Robotic manipulation tasks exhibit varying memory requirements, ranging from Markovian tasks that require no…
GraspMeanFlow: SE(3)-Equivariant MeanFlow for Few-Step 6-DoF Grasp Generation
arXiv:2608.03295v1 Announce Type: new Abstract: Recent data-driven methods for synthesizing 6-DoF grasp poses use generative models to learn complex grasp pose …
On-the-fly hand-eye calibration for the da Vinci surgical robot
arXiv:2601.14871v3 Announce Type: replace Abstract: In Robot-Assisted Minimally Invasive Surgery (RMIS), accurate tool localization is crucial to ensure patient…
Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
arXiv:2608.03116v1 Announce Type: new Abstract: Motion retargeting approaches often prioritize kinematic similarity over whole-body dynamics, contact consistenc…
EmbodiedVAE: Disentangled Video VAE for Efficient and Controllable Embodied Manipulation
arXiv:2608.02990v1 Announce Type: new Abstract: Latent diffusion models (LDMs) have recently significantly advanced embodied learning in constructing powerful e…
From Routes to Steps: Separating Semantic Progress from Local Execution in Vision-and-Language Navigation
arXiv:2608.03143v1 Announce Type: cross Abstract: Vision-and-Language Navigation (VLN) requires an agent to follow a route-level instruction by executing its co…
VertiAKD: Adaptive Off-Road Kinodynamics on Vertically Challenging Terrain
arXiv:2608.00945v1 Announce Type: new Abstract: Off-road mobility requires autonomous mobile robots to generalize across heterogeneous vehicle fleets and contin…
3D-CovDiffusion: 3D-Aware Diffusion Policy for Coverage Path Planning
arXiv:2510.03011v2 Announce Type: replace Abstract: Diffusion models have shown strong potential for robot skill learning, yet their role in coverage path plann…
Swimm3R: Splatting with Medium-aware SfM for Underwater 3D Reconstruction
arXiv:2608.00950v1 Announce Type: cross Abstract: We propose Swimm3R, a unified framework that combines medium-aware structure-from-motion (SfM) with Underwater…
DreamTrajectory: Trajectory-Guided Action Generation with World Model Alignment for Mobile Manipulation
arXiv:2608.01381v1 Announce Type: new Abstract: Mobile manipulation requires a robot to coordinate base and arm motion under continuously changing viewpoints an…
Multi-View Unified Camera Fields: Geometry-Shaped Action-Facing Representations for RGB-Only Multi-Camera VLA Policies
arXiv:2608.01826v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have shown strong generalization in robotic manipulation, yet complex contac…
The Gate, Not the Cache: Gate Provenance Bounds the Closed-Loop Reliability of Training-Free VLA Token Skipping
arXiv:2608.00391v1 Announce Type: new Abstract: Token skipping is a widely used training-free way to accelerate vision--language--action (VLA) models by bypassi…
Roomer: Reflective Object-Grounded Model Editing and Repair for 3D Indoor Layout Synthesis
arXiv:2608.01973v1 Announce Type: new Abstract: Existing indoor layout generators produce globally plausible layouts yet may retain local violations such as col…
Track-Guided Hierarchical Reinforcement Learning for Autonomous Vehicle Drifting with Minimum-Lap-Time Planning
arXiv:2608.00113v1 Announce Type: new Abstract: In Formula 1, drivers optimize racing lines within tire grip limits to minimize lap times; however, in rally rac…