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 storiesNative Video-Action Pretraining for Generalizable Robot Control
arXiv:2607.08639v1 Announce Type: new Abstract: The advent of video-action models offers a promising path for robot control. Nevertheless, we argue that repurpo…
Towards Soft Robotic Exogloves for Musculoskeletal Manipulation to Reduce Pain and Spasticity
arXiv:2607.07958v1 Announce Type: new Abstract: Hand spasticity and resulting pain affect 12 million people worldwide, including stroke survivors, arthritis pat…
EgoWAM: World Action Models Beyond Pixels with In-the-Wild Egocentric Human Data
arXiv:2607.08436v1 Announce Type: new Abstract: Egocentric human data offers scalable supervision for robot manipulation. However, behavior cloning entangles tr…
Early to Share, Late to Save: Synchronisation-Driven Communication Gating in Bandwidth-Constrained Cooperative VLN
arXiv:2607.08504v1 Announce Type: cross Abstract: Most cooperative Vision-Language Navigation (VLN) methods assume unlimited communication, not considering real…
SASGeo: Stability-Aware Semantic Map Localization for GNSS-Denied UAVs -- A Framework and Synthetic Proof of Concept
arXiv:2607.07737v1 Announce Type: new Abstract: GNSS-denied unmanned aerial vehicles require occasional absolute position fixes to bound the drift of visual-ine…
Monocular Vision Based Control Framework for Grasping
arXiv:2607.07897v1 Announce Type: new Abstract: Grasping in unstructured environments requires handling objects with widely different mechanical properties, fro…
In vivo feasibility study of humanoid robots in surgery
arXiv:2607.07972v1 Announce Type: new Abstract: Recent advances in actuation, control and learning have rapidly pushed humanoid robots from a distant vision tow…
ContactMimic: Humanoid Object Interaction via Contact Control
arXiv:2607.08742v1 Announce Type: new Abstract: Keypoint tracking alone is insufficient for object interaction tasks such as sitting on a chair, wiping a board,…
Idiobionics: The Unification of Privacy and Intelligent Robotic Prostheses
arXiv:2607.07775v1 Announce Type: cross Abstract: The human body is at the center of a growing family of technologies designed to tightly and persistently coupl…
SeFA-Policy: Fast and Accurate Visuomotor Policy Learning with Selective Flow Alignment
arXiv:2511.08583v2 Announce Type: replace Abstract: Developing efficient and accurate visuomotor policies poses a central challenge in robotic imitation learnin…
Understanding and Mitigating the Video-Action Generalization Gap via Temporal Ratio
arXiv:2607.08127v1 Announce Type: cross Abstract: Generative video foundation models exhibit strong compositional priors, yet world-action models (WAMs) and vid…
A New Human-Likeness and Comfort Index for Robot Movements Along Prescribed Paths
arXiv:2607.08620v1 Announce Type: new Abstract: As human-robot interaction rapidly spreads in numerous fields, the subject of robot acceptance gains increasing …
FSD-VLN: Fast-Slow Dual-System Modeling for Aerial Long-Horizon Vision-Language Navigation
arXiv:2607.08359v1 Announce Type: new Abstract: Vision-Language Navigation (VLN) enables UAV autonomous navigation in unknown environments by mapping language i…
Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents
arXiv:2607.08448v1 Announce Type: new Abstract: Language-conditioned manipulation requires both precise contact-rich control and robust reasoning over language,…
Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups
arXiv:2607.08735v1 Announce Type: new Abstract: Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across m…
Large-Language-Models-as-a-Judge in Theory-Agnostic Adaptive Metric-Alignment for Prototypical Networks in Personality Recognition
arXiv:2607.08374v1 Announce Type: cross Abstract: Personality recognition has traditionally been constrained by theory-dependent formulations, where models are …
Post-Training in End-to-End Autonomous Driving
arXiv:2607.08072v1 Announce Type: cross Abstract: End-to-end models that map multimodal inputs directly to future trajectories/maneuvers have emerged as an incr…
D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange
arXiv:2607.07995v1 Announce Type: new Abstract: Multi-robot localization that is accurate and consistent is imperative for downstream tasks such as planning and…
X-ACTA: eXtended Analytic Center Tension distribution Algorithm for fixed and mobile cable-driven-parallel-robot
arXiv:2607.08265v1 Announce Type: new Abstract: Steering Cable-Driven Parallel Robots (CDPRs) beyond their Wrench-Feasible Workspace (WFW) augments their capabi…
Simulator Ensembles for Trustworthy Autonomous Driving Systems Testing
arXiv:2503.08936v3 Announce Type: replace-cross Abstract: Scenario-based testing with driving simulators is extensively used to identify failing conditions of a…
On Exploring Input Resolution Scaling For Anytime LiDAR Object Detection
arXiv:2607.08391v1 Announce Type: new Abstract: Making tradeoffs between execution latency and result utility (i.e., anytime computing) for adapting to dynamic …
Shift & Drift: A Zero-Shot Benchmark for Generalizable and Robust Autonomous Driving Motion Planning
arXiv:2607.07844v1 Announce Type: new Abstract: While closed-loop motion planners trained on large-scale, object-level datasets, e.g., nuPlan, demonstrate stron…
Time-to-Collision Based Dynamic Obstacle Avoidance Using Pretrained Vision Models for Robots in Unstructured Environments
arXiv:2607.07885v1 Announce Type: new Abstract: Dynamic obstacle avoidance in unstructured outdoor environments remains a critical challenge for autonomous mobi…
Swapping Faces, Saving Features: A Dual-Purpose Pipeline for Pedestrian Privacy in ITS
arXiv:2607.08402v1 Announce Type: cross Abstract: Large-scale and diverse datasets are needed to train AI models to take real-time decisions for autonomous vehi…
FabriVLA: A Lightweight Vision-Language-Action Model for Precise Multi-Task Manipulation
arXiv:2607.08575v1 Announce Type: new Abstract: We present FabriVLA, a lightweight Vision-Language-Action model for Precise Multi-Task Manipulation. FabriVLA co…
DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
arXiv:2607.08751v1 Announce Type: new Abstract: Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to sy…
Soft Robotic Exogloves for Dexterous Mobility -- Towards Personalized Rehabilitation
arXiv:2607.07968v1 Announce Type: new Abstract: Soft robotic exogloves can provide hand rehabilitation and assistance. Fitting these gloves often relies on stan…
STEMbot: A Compliant Robot for Under-Canopy Plant Navigation
arXiv:2607.07873v1 Announce Type: new Abstract: The scalability of organic agriculture is partially limited by the labor costs associated with monitoring for pe…
RadLoc: Radar-based 3-DoF Global Localization via Fast, Robust, and Lightweight Spatial Descriptor Across Diverse Environmental Scenarios
arXiv:2607.08115v1 Announce Type: new Abstract: While global localization using spinning radar has gained attention for its robustness to adverse weather and ch…
BiasBench: A reproducible benchmark for tuning the biases of event cameras
arXiv:2504.18235v2 Announce Type: replace-cross Abstract: Event-based cameras are bio-inspired sensors that detect light changes asynchronously for each pixel. …