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 storiesRopeFormer: Cross-Trial Adaptation from Interaction History for Dynamic Rope Manipulation
arXiv:2609.23432v1 Announce Type: new Abstract: Dynamic rope manipulation is highly sensitive to unknown object dynamics: the same robot motion can produce subs…
Smartphone GNSS Booster: Centimeter-Level Pedestrian Positioning Using a Portable Signal Re-Radiator
arXiv:2609.23456v1 Announce Type: new Abstract: High-precision positioning using the global navigation satellite system (GNSS) embedded in smartphones is demand…
Spiking Neural Network Actor-Critic Proximal Policy Optimization Control for Autonomous UAV Navigation Through Constrained Openings in Civil Infrastructure and Buildings
arXiv:2609.23643v1 Announce Type: new Abstract: Autonomous navigation of unmanned aerial vehicles in constrained three-dimensional environments has been a chall…
Beyond Appearance Shifts: Task-Semantic Action Calibration for VLA Models
arXiv:2609.23650v1 Announce Type: new Abstract: Vision-language-action (VLA) models have achieved strong performance in embodied manipulation, but still lack a …
WOLF: World Model Guided LiDAR Exploration with Predictive Frontiers
arXiv:2609.23656v1 Announce Type: new Abstract: LiDAR-based unmanned aerial vehicle (UAV) exploration builds maps by continually selecting where to observe next…
FlockDiffusion: Assignment-Conditioned Diffusion for Multi-Drone Task Allocation and Completion
arXiv:2609.23745v1 Announce Type: new Abstract: Autonomous multi-drone navigation requires fleets to service distributed objectives in cluttered environments un…
Design and Control of a Cable-Driven Switchable Actuator with Torque/Tension Dual Modes for Exoskeletons
arXiv:2609.23487v1 Announce Type: new Abstract: Existing wearable exoskeleton architectures are typically constrained by a single mechanical output modality, pr…
Object-Centered Reconstruction for Vision-Based 3D Force Estimation
arXiv:2609.23856v1 Announce Type: new Abstract: Excessive force may damage tissue and increase the risk of anastomotic leakage in robotic colorectal surgery. Al…
BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control
arXiv:2609.23896v1 Announce Type: new Abstract: Control barrier functions (CBFs) have become one of the most popular tools for encoding and enforcing state cons…
ReVeal: A Reconstruction-Aware Real-to-Sim Framework for VLA Policy Evaluation
arXiv:2609.23910v1 Announce Type: new Abstract: Simulation-based evaluation provides a scalable and repeatable alternative to real-world evaluation of vision-la…
FinsSim: A Reality-Aligned Integrated Simulation Platform for Underwater Robot Learning
arXiv:2609.23943v1 Announce Type: new Abstract: Underwater robot learning relies on simulators that integrate high-fidelity hydrodynamics, convenient learning i…
RoboTalk: Learning Multi-Robot Communication and Coordination from Multimodal Demonstrations
arXiv:2609.23997v1 Announce Type: new Abstract: Multi-robot collaboration could enable more efficient and scalable solutions to complex robotic tasks, but colla…
Automatic Labelling for Bimanual Mobile Manipulation
arXiv:2609.24059v1 Announce Type: new Abstract: Semantically meaningful subtask labels can provide useful contexts for long-horizon policies, but automatically …
When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping
arXiv:2609.24068v1 Announce Type: new Abstract: Dexterous grasping in clutter poses a basic sensing question: when do tactile measurements and external wrench e…
CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies
arXiv:2609.24118v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies achieve strong performance in robotic manipulation but remain brittle once…
GraspTune: Tactile-Driven Execution Refinement for Robust Grasping
arXiv:2609.24180v1 Announce Type: new Abstract: Visual grasp proposal generation has advanced rapidly, yet converting a selected proposal into a stable physical…
A Topological Representation with Object-Path Graphs for Open-Vocabulary Instance Navigation
arXiv:2609.24189v1 Announce Type: new Abstract: Vision-language navigation requires embodied agents to navigate environments using natural language instructions…
Performance-Preserving Online Adaptation in Social Navigation via Diffusion Steering
arXiv:2609.24317v1 Announce Type: new Abstract: In social navigation, modeling the complex interactions between humans and robots is difficult, and deep reinfor…
LIBERO-VPro: Benchmarking Closed-Loop Visual Robustness of Robotic Foundation Models
arXiv:2609.24350v1 Announce Type: new Abstract: Robotic foundation models achieve impressive performance on standard manipulation benchmarks, yet these evaluati…
Multi-Agent Transportation of Free-Flyers in Microgravity Via Pushing Interaction Under Human-in-the-Loop Control
arXiv:2609.24376v1 Announce Type: new Abstract: We propose a safety-critical framework for the cooperative transportation of passive targets in microgravity, wh…
ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation
arXiv:2609.24497v1 Announce Type: new Abstract: Real-time motion planning remains challenging in large and high-dimensional environments. Prior acceleration of …
TACIT: Tactile Contact Supervision for Spatial Attention in Dexterous Manipulation
arXiv:2609.24507v1 Announce Type: new Abstract: Visuomotor policies trained from a few demonstrations may reproduce demonstrated trajectories without reliably f…
InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality
arXiv:2609.24511v1 Announce Type: new Abstract: Contact-rich precision insertion is a key manipulation skill in robotic assembly. Tight clearances make insertio…
Bridge3D: Enabling Vision-Language-Action Models to See and Act in 3D
arXiv:2609.24525v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have demonstrated remarkable generalization in robotic manipulation via larg…
Estimation and Control of Tensegrity Manipulator Kinematics based on Strut Inclination Angles
arXiv:2609.24535v1 Announce Type: new Abstract: Unlike conventional rigid-link robots defined by discrete joints, continuum robots pose a fundamental challenge …
ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation
arXiv:2609.24563v1 Announce Type: new Abstract: Adapting visuomotor policies to new manipulation tasks often requires substantial manual engineering or teleoper…
Learning tactile perception from high-bandwidth single-point sensing
arXiv:2609.24621v1 Announce Type: new Abstract: Tactile sensing is increasingly being incorporated into learning-based robotic manipulation, yet many existing a…
Feasibility Distance Fields for Heterogeneous Constraints in Robot Configuration Space
arXiv:2609.24632v1 Announce Type: new Abstract: Robot manipulators are monitored by constraint-specific indicators whose units and gradient scales are not compa…
Think Like a World Model, Act Like a VLA: Distilling World-Model Representations into Compact Robot Policies
arXiv:2609.24682v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models map observations to actions with no objective that accounts for how the worl…
AC-DC: Adaptive Communication for Scalable Dynamic Average Consensus in Multi-Robot Ergodic Search
arXiv:2609.24702v1 Announce Type: new Abstract: We study scalable peer-to-peer dynamic average consensus (DC) for multi-robot systems under finite-range, finite…