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 storiesBelief-Space Perception Routing under Coupled Sensor Faults and Compute Contention
arXiv:2608.00322v1 Announce Type: new Abstract: A robot that has to see and react on a fixed clock runs into two problems at once. Its cameras degrade in rain, …
Grounded Vision-Language Interpreter for Long-Horizon Bimanual Task and Motion Planning
arXiv:2506.03270v3 Announce Type: replace Abstract: While recent advances in vision-language models have accelerated language-guided robot planning, their black…
Bridging the Sim-to-Real Gap in Parallel-Link Leg Mechanisms via Simulator-Side Dynamics Normalization
arXiv:2608.01697v1 Announce Type: new Abstract: This paper addresses the sim-to-real gap in dynamics arising when a parallel-link mechanism is represented by a …
bFaaaP: An Inclusive, Head-Angle Piano-Pedal Interaction that Quantitatively Reproduces a Pianist's Intended Pedalling -- Foot-Free, for Acoustic and Electronic Pianos
arXiv:2608.00633v1 Announce Type: cross Abstract: Expressive piano performance depends on the sustain (damper) pedal, operated by foot, excluding players who ca…
LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts
arXiv:2608.00820v1 Announce Type: new Abstract: FastSAC-style methods significantly reduce humanoid motion training time but often suffer from notable performan…
TRACE: Ergodic Trajectory Optimization for Active Scene Reconstruction
arXiv:2608.02304v1 Announce Type: new Abstract: Existing active reconstruction systems with Gaussian-splatting maps select observations greedily, optimizing a s…
SIPTraj: Map-Free End-to-End Trajectory Prediction via Physics-Guided Scene Interaction
arXiv:2608.00779v1 Announce Type: new Abstract: Trajectory prediction of surrounding agents is a prerequisite for safe planning and decision making in autonomou…
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin
arXiv:2608.02080v1 Announce Type: new Abstract: Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but …
MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping
arXiv:2608.02014v1 Announce Type: new Abstract: Cross-embodiment dexterous grasping aims to synthesize stable grasps across heterogeneous multi-fingered hands w…
Diffusion-Based Body Schema Learning Enabling Abnormal-State Adaptation in Musculoskeletal Robots
arXiv:2608.01029v1 Announce Type: new Abstract: Musculoskeletal robots require an internal body schema that remains consistent under a wide range of physical st…
When Replanning Becomes the Bottleneck: Budgeted Replanning for Embodied Agents
arXiv:2608.01428v1 Announce Type: new Abstract: Embodied agents replan frequently to recover from execution drift, partial observability, and coordination hazar…
Sparse Meets Dense: Correspondence Guided Robotic Manipulation with Rigid-Deformable Interactions
arXiv:2608.01083v1 Announce Type: new Abstract: Manipulation involving rigid-deformable interactions, such as hanging clothes or dressing humans, is common in d…
DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration
arXiv:2608.01452v1 Announce Type: new Abstract: Dynamic manipulation is a critical capability for robots operating in complex and dynamic environments, where ro…
StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior
arXiv:2608.02385v1 Announce Type: new Abstract: Humanoid motion trackers perform reliably within learned tracking distributions, but falls can move the robot in…
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
arXiv:2608.00730v1 Announce Type: new Abstract: Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for…
Stipple: Real-Time Incremental Gaussian Splatting with Visual-Inertial Tracking
arXiv:2608.00931v1 Announce Type: new Abstract: 3D Gaussian Splatting (3DGS) provides efficient rendering of photo-realistic scenes, but its heavy preprocessing…
TWINS: A Tactile Wearable Isomorphic Arm Networked System for Contact-Rich Manipulation Learning
arXiv:2608.01733v1 Announce Type: new Abstract: Recent advances in robot learning for manipulation have increased the importance of collecting real-world demons…
First Deployable Dynamic-CoM: A Unified Policy and Method-Agnostic Benchmark for Humanoid Single-Leg Balance
arXiv:2608.00500v1 Announce Type: new Abstract: Unified humanoid policies handle agile whole-body motion, yet stumble on a simple demand: staying balanced on on…
RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking
arXiv:2509.20717v2 Announce Type: replace Abstract: Long-horizon, high-dynamic motion tracking on humanoids remains brittle: retargeted reference motions are ty…
Certifying Plans under Model Mismatch: A Trilemma for Reachability from Scarce Data
arXiv:2608.02453v1 Announce Type: new Abstract: Sim-to-real policies are designed under nominal dynamics, but target-system trials may yield only a few isolated…
Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control?
arXiv:2608.02547v1 Announce Type: new Abstract: Action chunking---predicting and executing multiple actions instead of a single action---has proven to be a crit…
Assistant Placement Aria: A Benchmark for Egocentric Placement Assistance
arXiv:2608.00652v1 Announce Type: new Abstract: Human assistance in robotics spans around several tasks such as navigation, object manipulation, and placement, …
ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulation
arXiv:2608.02326v1 Announce Type: new Abstract: Humans perform long-horizon manipulation by retaining knowledge of what earlier actions have established while c…
Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data
arXiv:2608.02580v1 Announce Type: new Abstract: Learning generalizable robot manipulation policies requires large-scale and diverse demonstration data. Egocentr…
Action Chunk Scheduling for Batched Robot Policy Serving
arXiv:2608.00337v1 Announce Type: new Abstract: Deploying robot foundation models at scale is the next step towards realizing the potential of general-purpose r…
Embodied Passive Aeroacoustic Perception Enables Relative Sensing and Pursuit Between Aerial Robots
arXiv:2608.00401v1 Announce Type: new Abstract: Aerial robots generate structured aeroacoustic fields during flight, yet these signals have been underexplored a…
Developing Combined Manipulation and Locomotion Skills with Interaction Representation and Skill Composition
arXiv:2608.00208v1 Announce Type: new Abstract: This paper addresses how to enable a humanoid robot to learn motion policies based on developmental principles a…
Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations
arXiv:2608.00263v1 Announce Type: new Abstract: Contact planning in robotics requires models that are both computationally efficient and physically accurate. Sp…
OmniAI: A Surface-Adaptive Aerial Projection Interface for Human--Drone Interaction
arXiv:2608.00721v1 Announce Type: new Abstract: Drones in human environments often lack spatially grounded in- terfaces for situated communication. We present O…
MoRAL: Sensor-Grounded BEV Reasoning for Compact VLMs toward Edge-Oriented Autonomous Driving
arXiv:2608.02449v1 Announce Type: cross Abstract: Deploying vision-language models (VLMs) for safety-critical spatial reasoning on resource-constrained autonomo…