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 storiesThink When It Matters: Conditional VLM Reasoning for Social Navigation with RL Policies
arXiv:2607.10991v1 Announce Type: new Abstract: As mobile robots become more integrated into everyday human environments, social robot navigation is becoming es…
Robotic Contextual Awareness for Human-Robot Collaboration and Environmental Understanding
arXiv:2607.10372v1 Announce Type: new Abstract: The transition of autonomous mobile robots from controlled industrial settings to dynamic, human-centric environ…
Self-Healing Visual Recovery for Autonomous Ground Vehicles Using Camera-Only Visual Odometry
arXiv:2607.11686v1 Announce Type: new Abstract: Low-cost unmanned ground vehicles are often used in indoor places like warehouses, inspection corridors, and far…
GeoGS-SLAM: Online Monocular Reconstruction Using Gaussian Splatting with Geometric Priors
arXiv:2607.11184v1 Announce Type: new Abstract: SLAM methods based on 3D Gaussian Splatting (3DGS) have demonstrated impressive tracking and mapping performance…
Safer Trajectory Planning with CBF-guided Diffusion Model for Unmanned Aerial Vehicles
arXiv:2604.17527v3 Announce Type: replace Abstract: Safe and agile trajectory planning is essential for autonomous systems, especially during complex aerobatic …
Artificial Foveated Perception for Mitigating Shortcut Learning in Robotic Foundation Models
arXiv:2607.10655v1 Announce Type: new Abstract: Robotic foundation models have recently made substantial progress in multi-task capability, cross-embodiment tra…
Plug-and-Play Reweighting for Resilient Collaborative Decision-Making in Connected Autonomous Driving
arXiv:2607.10037v1 Announce Type: new Abstract: Collaborative decision-making is a fundamental capability in multi-robot systems, such as connected autonomous v…
Towards Human-level Dexterous Teleoperation
arXiv:2607.11481v1 Announce Type: new Abstract: Humans routinely wield tools, swap grasps, and reposition objects within a single hand, seamlessly orchestrating…
D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions
arXiv:2607.10842v1 Announce Type: new Abstract: A key limitation on the use of diffusion models in robotic planning is their inability to inherently enforce saf…
MIRA: A Modular Open-Source Micro-UAV for Indoor Research
arXiv:2607.11785v1 Announce Type: new Abstract: Indoor robotics research increasingly relies on micro-UAVs whose airframe, electronics, and control software are…
A Risk-Field Enhanced Closed-Loop Digital Twin Framework for Autonomous Driving Safety Validation
arXiv:2607.09772v1 Announce Type: new Abstract: Autonomous driving systems require reliable safety validation before real-world deployment. However, large-scale…
Robust bipedal locomotion on flowable slopes via foot-driven terrain manipulation
arXiv:2607.11855v1 Announce Type: new Abstract: Bipedal robots are challenging to control because they operate close to instability, where small variations in f…
VehAnchor: Metadata-Free Metric Scale Recovery from Vehicle Cues in Aerial Imagery
arXiv:2603.04277v2 Announce Type: replace Abstract: Autonomous aerial robots operating in GPS-denied or communication-degraded environments frequently lose acce…
Closed-Loop Control with Rule-Aligned Small Language Models and Multi-Agent Self-Correction
arXiv:2607.09713v1 Announce Type: cross Abstract: A key step toward autonomous industrial operation is the ability to create and reconfigure control policies fr…
ProAct: A Benchmark and Multimodal Framework for Structure-Aware Proactive Response
arXiv:2602.03430v3 Announce Type: replace Abstract: While passive agents merely follow instructions, proactive agents align with higher-level objectives, such a…
CoRL-MPPI: Enhancing MPPI With Learnable Behaviours For Efficient And Provably-Safe Multi-Robot Collision Avoidance
arXiv:2511.09331v3 Announce Type: replace Abstract: Decentralized collision avoidance is a core challenge for scalable multi-robot systems. A promising approach…
From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing
arXiv:2607.10170v1 Announce Type: new Abstract: Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. Howe…
Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots
arXiv:2607.09968v1 Announce Type: new Abstract: State estimation is essential for quadruped robots, enabling robust locomotion, navigation, and control. While m…
Towards Predictive, Aligned, and Scalable Robot Learning
arXiv:2607.11270v1 Announce Type: new Abstract: Learning, at its core, extends beyond memorization to the ability to reason and solve novel problems by navigati…
RVN-Bench: A Benchmark for Reactive Visual Navigation
arXiv:2603.03953v2 Announce Type: replace Abstract: Safe visual navigation is critical for indoor mobile robots operating in cluttered environments. Existing be…
X-GuideAR: An Augmented Reality Framework to Mitigate Radiation Exposure during Fluoroscopic Guidance
arXiv:2607.10873v1 Announce Type: cross Abstract: Achieving optimal screw placement for orthopedic surgeries requires frequent alignment checks and multiple ana…
TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation
arXiv:2607.10132v1 Announce Type: new Abstract: Dynamic loco-manipulation requires legged robots to coordinate whole-body motion while maintaining stable physic…
Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classification
arXiv:2607.10706v1 Announce Type: new Abstract: The action space poses a major challenge in robot learning, since it is often high-dimensional, can span long ti…
Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation
arXiv:2607.11884v1 Announce Type: new Abstract: Robotic manipulation is inherently multi-frame: local actions may be simple in an end-effector frame, while tran…
EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos
arXiv:2607.09701v1 Announce Type: new Abstract: Steerability is a defining capability of generalist robot policies, yet remains largely absent in dexterous-hand…
Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems
arXiv:2602.03435v2 Announce Type: replace Abstract: Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynami…
Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors
arXiv:2607.10815v1 Announce Type: new Abstract: Humanoid roller-skating is difficult because the robot must coordinate whole-body balance, rolling contacts, and…
Whole-Body Semantic-to-Actuation Grounding of Elephant-Inspired Soft-Trunk Motion via Lightweight Flow Matching
arXiv:2607.11018v1 Announce Type: new Abstract: For close-contact human-robot interaction (HRI), trunk-like continuum manipulators provide a physical channel fo…
Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion
arXiv:2607.11004v1 Announce Type: new Abstract: We present a manipulation planning system based on affordance recognition and action effect prediction. The syst…
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
arXiv:2607.11041v1 Announce Type: new Abstract: Loco-manipulation has recently shown promising capabilities; however, achieving high-precision control, managing…