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 storiesBeyond Visual Quality: A Study of Test-Time Planning with World Action Models
arXiv:2609.24745v1 Announce Type: new Abstract: World action models generate actions together with visual predictions of their consequences. These paired output…
A Switched Adaptive Control Framework for Aerial Manipulators Under Dynamic Transitions
arXiv:2609.24761v1 Announce Type: new Abstract: Aerial manipulators represent the forefront of aerial robotics. Although potentially capable of complex interact…
H2RBench: A Real-to-Sim Benchmark for Evaluating Human-to-Robot Transfer
arXiv:2609.24778v1 Announce Type: new Abstract: Learning robot manipulation policies from human video demonstrations constitutes a promising avenue for scalable…
Minimum Time Trajectories for a Car-Like Mobile Robot Moving with Rigid Wheels Under Non-Sliding Constraints
arXiv:2609.24832v1 Announce Type: new Abstract: This paper studies the minimum time trajectoriesvof a car-like mobile robot navigating in an obstacle free envir…
CAST: Collision-Aware Assembly with Construction Robots using Simultaneous Trajectory Estimation and Planning
arXiv:2609.24841v1 Announce Type: new Abstract: Multi-robot systems have shown increasing viability in construction due to their ability to execute high-precisi…
Range-Aided SLAM Initialization Exploiting Accurate Heading Information
arXiv:2609.24846v1 Announce Type: new Abstract: This paper presents a novel initialization method for range-aided simultaneous localization and mapping (RA-SLAM…
SE(3) Neural Potential Fields for 6-DoF Trajectory Planning Directly from Images Without Explicit 3D Reconstruction
arXiv:2609.24864v1 Announce Type: new Abstract: Reaching a 6-DoF grasp pose in clutter requires a collision-free trajectory, conventionally obtained by reconstr…
Learning to Drive on Mars: Visual Multimodal Traversability Estimation for Off-World Navigation
arXiv:2609.24952v1 Announce Type: new Abstract: Autonomous navigation on Mars requires vehicles to distinguish between traversable terrains across diverse and v…
DexTacWAM: A Visuo-Tactile World-Action Model for Dexterous Manipulation
arXiv:2609.24976v1 Announce Type: new Abstract: Dexterous manipulation depends on contact dynamics that are often only partially observable from vision. Recent …
MIGU: Multimodal Instruction Grounding under Uncertainty for Manipulation Planning
arXiv:2609.24995v1 Announce Type: new Abstract: Understanding natural human instructions is crucial for deploying robots in human-centric environments. We study…
Correcting Learning-based Perception for Safety
arXiv:2609.22108v1 Announce Type: cross Abstract: Learning-enabled perception is important in many autonomous systems. Unlike traditional sensors, the boundary …
Image Frame Dynamic Object Segmentation and Ego Motion Estimation using Radar Image Fusion
arXiv:2609.22857v1 Announce Type: cross Abstract: Dynamic object segmentation and ego-motion estimation are closely coupled problems in autonomous driving, as a…
Computationally efficient safe exploration in reinforcement learning
arXiv:2609.22919v1 Announce Type: cross Abstract: Reinforcement learning in real-life applications requires safety guarantees during exploration. Typical reinfo…
General Collaborative Intelligence: Architecting Cognition for Resilient Multi-Agent Ecosystems
arXiv:2609.22967v1 Announce Type: cross Abstract: Multi-agent unmanned systems are moving from isolated, ego-centric sensing toward collaborative intelligence, …
Conflicting Pattern Formation by Teams of Anonymous, Fully Disoriented Robots
arXiv:2609.23454v1 Announce Type: cross Abstract: Two groups of autonomous, anonymous, and oblivious mobile robots are deployed in the two-dimensional Euclidean…
Partial-Scan-and-Move Source Seeking for Mobile Robots
arXiv:2609.23786v1 Announce Type: cross Abstract: This paper presents a partial-scan-and-move strategy for source seeking with a mobile robot equipped with an o…
Highly-Efficient Differentiable Simulation for Robotics
arXiv:2409.07107v3 Announce Type: replace Abstract: Robotics simulators have improved significantly in computational speed and scalability, enabling them to gen…
HiBerNAC: Hierarchical Brain-inspired Robotic Neural Agent Collective for Disentangling Complex Manipulation
arXiv:2506.08296v3 Announce Type: replace Abstract: Recent advances in multimodal vision-language-action (VLA) models have revolutionized traditional robot lear…
When Digital Twins Meet Large Language Models: Realistic, Interactive, and Editable Simulation for Autonomous Driving
arXiv:2507.00319v3 Announce Type: replace Abstract: Simulation frameworks have been key enablers for the development and validation of autonomous driving system…
ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality
arXiv:2510.02464v2 Announce Type: replace Abstract: We present the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for inte…
A Recipe for Efficient Sim-to-Real Transfer in Manipulation with Online Imitation-Pretrained World Models
arXiv:2510.02538v2 Announce Type: replace Abstract: We are interested in solving the problem of imitation learning with a limited amount of real-world expert da…
Macro-Scale Electrostatic Origami Motor
arXiv:2601.21976v2 Announce Type: replace Abstract: Origami structures have been an active area of research due to their high volume-to-mass ratio, packability,…
NavDreamer: Video Models as Zero-Shot 3D Navigators
arXiv:2602.09765v2 Announce Type: replace Abstract: Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from la…
HybridFlow: A 2-NFE Generative Policy for Real-Time Robotic Manipulation
arXiv:2602.13718v2 Announce Type: replace Abstract: Generative policies for robotic manipulation must balance action accuracy with inference latency. We present…
Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport
arXiv:2603.03768v2 Announce Type: replace Abstract: Full-stack human-robot collaboration (HRC) can become brittle when replacing a planner, partner model, coord…
Unified Learning of Temporal Task Structure and Action Timing for Bimanual Robot Manipulation
arXiv:2603.06538v2 Announce Type: replace Abstract: Bimanual manipulation requires both temporal task structure - which actions precede or overlap others - and …
SmallSatSim: A GPU-Accelerated Microgravity Robotics Toolkit for Planning, Control, and Policy Learning
arXiv:2603.14598v2 Announce Type: replace Abstract: Microgravity rendezvous and close proximity operations (RPO) is a growing area of interest for applications …
Scaling Sim-to-Real VLA Reinforcement Learning with Generative 3D Worlds
arXiv:2603.18532v3 Announce Type: replace Abstract: The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has m…
Visibility-Aware Mobile Grasping in Dynamic Environments
arXiv:2605.02487v4 Announce Type: replace Abstract: We consider mobile grasping in unknown and dynamic environments, where a robot must approach and grasp a tar…
PerchRL: Vision-Based Agile Perching on Inclined Platforms under Rapid and Irregular Motion
arXiv:2606.03441v3 Announce Type: replace Abstract: Autonomous vision-based perching of quadrotors on moving inclined platforms is critical for air-ground colla…