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 storiesManual, Joystick, or Haptic Control? An In Vitro Comparison of Navigation Strategies for Robotic Interventional Neuroradiology Procedures
arXiv:2607.07253v1 Announce Type: new Abstract: Objective: To evaluate robotic controller interfaces for interventional neuroradiology procedures in-vitro incor…
Agent-Exploitation Affordances: From Basic to Complex Representation Patterns
arXiv:2607.07475v1 Announce Type: new Abstract: In robotics, the capability of an artificial agent to represent the range of its action possibilities, i.e. affo…
PLED-VINS: A Point-Line Event-Based Visual Inertial SLAM for Dynamic Environments
arXiv:2607.07374v1 Announce Type: new Abstract: Dynamic environments remain a fundamental challenge for visual SLAM, where unreliable observations from moving o…
DAG-Based QoS-Aware Dynamic Task Placement for Networked Multi-Stage Control Pipelines
arXiv:2605.19887v2 Announce Type: replace-cross Abstract: Current Physical AI (PAI) relies heavily on closed-loop visual-servoing pipelines, whose perception an…
Object Search in Partially-Known Environments via LLM-informed Model-based Planning and Prompt Selection
arXiv:2603.23800v2 Announce Type: replace Abstract: We present a novel LLM-informed model-based planning framework, and a novel prompt selection method, for obj…
Dual Latent Memory in Vision-Language-Action Models for Robotic Manipulation
arXiv:2607.07608v1 Announce Type: new Abstract: Mainstream Vision-Language-Action (VLA) models predict actions primarily from the current observation under a Ma…
Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting
arXiv:2607.07491v1 Announce Type: new Abstract: Advances in learning-based robotic manipulation, such as Vision-Language-Action (VLA) models and Video Action Mo…
Safe Reinforcement Learning using Ideas from Model Predictive Control
arXiv:2607.07252v1 Announce Type: cross Abstract: Reinforcement learning (RL) enables the synthesis of control policies directly from data, making it highly app…
Zero-Human Demonstration End-to-end Autonomous Driving with Trajectory Scorer
arXiv:2510.24108v2 Announce Type: replace Abstract: Human demonstrations are widely considered the cornerstone of end-to-end (E2E) autonomous driving despite hu…
EmbodiedGen V2: An Agentic, Simulation-Ready 3D World Engine for Embodied AI
arXiv:2607.07459v1 Announce Type: new Abstract: We present EmbodiedGen V2, a generative 3D world engine for building executable sim-ready environments for embod…
Shared Modular Recurrence in Contextual MDPs for Universal Morphology Control
arXiv:2506.08630v3 Announce Type: replace-cross Abstract: A universal controller for any robot morphology would greatly improve computational and data efficienc…
Preference-Calibrated Human-in-the-Loop Reinforcement Learning for Robotic Manipulation
arXiv:2606.03949v2 Announce Type: replace Abstract: Human-in-the-loop reinforcement learning (HIL-RL) improves sample efficiency in real-robot manipulation thro…
RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperation
arXiv:2607.06558v1 Announce Type: new Abstract: Scaling robot learning requires massive, diverse trajectory data, yet collection is currently bottlenecked by ph…
Learning to Throw Objects Safely in Multi-Obstacle Environments
arXiv:2607.06388v1 Announce Type: new Abstract: Robotic throwing enables fast and efficient object placement beyond the robot's immediate workspace, but reliabl…
Training-Free Acceleration for Vision-Language-Action Models with Action Caching and Refinement
arXiv:2607.06370v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have emerged as a promising approach for generalizable robotic manipulations…
Quaternion-Averaging-Based Adaptive Complementary Filter for Pedestrian Dead Reckoning With a Foot-Mounted AHRS
arXiv:2607.05451v1 Announce Type: new Abstract: Pedestrian Dead Reckoning (PDR) can be applied to indoor navigation systems. GPS suffers from signal degradation…
MP-MPPI: A Motion Primitive Guided Sampling-Based Optimizer for Model Predictive Control
arXiv:2607.06123v1 Announce Type: new Abstract: This paper proposes a novel method that extends the Model Predictive Path Integral (MPPI) method with motion pri…
$\pi_0$-EqM: Equilibrium Matching for Closed-Loop Vision-Language-Action Control
arXiv:2605.23128v2 Announce Type: replace Abstract: Currently, Vision-Language-Action (VLA) models have become the most adopted paradigm for robotic manipulatio…
Geometry-Aware Infrastructure-Anchored Denoiser for UWB Sensing and Work-Zone Reconstruction
arXiv:2607.05449v1 Announce Type: cross Abstract: Accurate work-zone geometry perception is critical for intelligent transportation systems, and ultra-wideband …
O3N: Omnidirectional Open-Vocabulary Occupancy Prediction
arXiv:2603.12144v2 Announce Type: replace-cross Abstract: Understanding and reconstructing the 3D world through omnidirectional perception is becoming increasin…
Choose What to Observe: Task-Aware Semantic-Geometric Representations for Visuomotor Policy
arXiv:2603.07875v2 Announce Type: replace Abstract: Visuomotor policies learned from demonstrations often overfit to nuisance visual factors in raw RGB observat…
Learning 4D Geometric Priors for Inference-Efficient World Action Models
arXiv:2607.05468v1 Announce Type: new Abstract: World Action Models (WAMs) have shown strong potential for robotic manipulation by jointly modeling visual futur…
Thor: Towards Human-Level Whole-Body Reactions for Intense Contact-Rich Environments
arXiv:2510.26280v3 Announce Type: replace Abstract: Humanoids hold great potential for service, industrial, and rescue applications, in which robots must sustai…
Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning
arXiv:2607.06501v1 Announce Type: new Abstract: We consider an open-world planning setting in which service robots must operate in unknown environments with inc…
Delay-Aware Active Triangulation with Uncertainty-Driven Multi-Agent Reinforcement Learning for Counter-UAS
arXiv:2607.05957v1 Announce Type: new Abstract: Multi-agent active visual triangulation enables precise 3D localization of aerial targets by coordinating mobile…
Diagnosing Semantic Handoff Failures in Agent-Orchestrated Vision-Language-Action Skill Composition
arXiv:2607.06256v1 Announce Type: new Abstract: Long-horizon household tasks require robots to compose many language-conditioned skills, yet the boundary betwee…
From Foundation to Application: Improving VLA Models in Practice
arXiv:2607.06403v1 Announce Type: new Abstract: Despite recent progress of VLA foundation models, the disparity between laboratory conditions and real-world app…
Dynamic Evaluation of Classical and Control-Aware Optimal Trajectory Planning in Robot Manipulators
arXiv:2607.05544v1 Announce Type: new Abstract: Trajectory planning strongly influences tracking accuracy, actuator demand, and overall execution behavior in ro…
UniLM-Nav: A Unified Framework for Zero-Shot Last-Mile Navigation
arXiv:2607.06537v1 Announce Type: new Abstract: Mobile manipulation requires a robot to navigate to a target object or receptacle and then perform intended mani…
IndoorR2X: Indoor Robot-to-Everything Coordination with LLM-Driven Planning
arXiv:2603.20182v4 Announce Type: replace Abstract: Although robot-to-robot (R2R) communication improves indoor scene understanding beyond what a single robot c…