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 storiesInsect-inspired Visual Point-goal Navigation
arXiv:2601.16806v4 Announce Type: replace-cross Abstract: Insect neuroethology provides a compelling biological template for efficient autonomous navigation. We…
Differential Amplifier-Inspired AmpAttention for Multi-View Robotic Manipulation
arXiv:2607.02845v1 Announce Type: new Abstract: Multi-view robotic manipulation methods with the attention mechanism have recently achieved significant progress…
Anticipatory Reinforcement Learning for Trajectory Tracking
arXiv:2607.03132v1 Announce Type: cross Abstract: Deep reinforcement learning (DRL) in industrial control often suffers from lag and overshoot due to purely rea…
High-Fidelity One-Step Generative Visuomotor Policy via Recursive Correction, Frequency Consistency, and Contrastive Flow Matching
arXiv:2607.03865v1 Announce Type: new Abstract: Generative models such as diffusion and flow matching have advanced robotic visuomotor policies by modeling mult…
Qantara: Bridge-Flow Training for Multi-Paradigm JEPA Control
arXiv:2607.04978v1 Announce Type: cross Abstract: Joint-Embedding Predictive Architectures (JEPAs) underpin a growing family of latent world models for control …
MUSON: A Reasoning-oriented Multimodal Dataset for Socially Compliant Navigation in Urban Environments
arXiv:2512.22867v2 Announce Type: replace-cross Abstract: Socially compliant navigation requires structured reasoning about dynamic pedestrians and physical con…
DRBA: Dynamic Robotic Balance Assistant -- An assist-as-needed gait and balance rehabilitation robot for versatile training
arXiv:2607.03027v1 Announce Type: new Abstract: The decline of human balance control due to aging and pathological conditions increases fall risk, a major conce…
Think Proprioceptively: State-Grounded Visual Token Selection for VLA Policies
arXiv:2602.06575v2 Announce Type: replace Abstract: Vision-language-action (VLA) models typically inject proprioception only as a late conditioning signal, prev…
A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization
arXiv:2604.06025v2 Announce Type: replace Abstract: The performance of legged robots depends strongly on both mechanical design and control, motivating co-desig…
Layout-independent actuation allocator for fin-actuated marine robots
arXiv:2607.03204v1 Announce Type: new Abstract: In this study, we propose a layout-independent control allocator capable of zero-shot deployment across diverse …
Closed-loop vs. Open-loop Kalman Filter Architectures in Airborne Aided Inertial Navigation
arXiv:2607.03338v1 Announce Type: new Abstract: Closed-loop (or feedback) error-state Kalman filters with their relatives and offspring are the state-of-the-art…
Look Before You Leap: Distilling Tree Search into Action Evaluation for Frozen VLA Models
arXiv:2607.03751v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models acquire broad embodied capabilities through large-scale pretraining, yet the…
CableTract: A Co-Designed Cable-Driven Field Robot for Low-Compaction, Off-Grid Capable Agriculture
arXiv:2604.09938v2 Announce Type: replace Abstract: Conventional field operations spend most of their energy moving the tractor body, not the implement. Yet fea…
Conflict-Based Search for Multi-Agent Path Finding with Elevators
arXiv:2602.20512v2 Announce Type: replace Abstract: This paper investigates a problem called Multi-Agent Path Finding with Elevators (MAPF-E), which seeks confl…
Flocking phase transition and threat responses in bio-inspired autonomous drone swarms
arXiv:2512.21196v2 Announce Type: replace Abstract: Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. …
Occluding the Solution Space: Planner-Agnostic Adversarial Attacks on Tolerance-Aware Manipulation
arXiv:2607.03758v1 Announce Type: new Abstract: Adversarial attacks on motion planning are crucial for evaluating and quantifying the intrinsic robustness of ro…
Strouhal-Aware Model Predictive Control for Efficient Multi-Fin Flapping Locomotion
arXiv:2607.03216v1 Announce Type: new Abstract: Efficient flapping propulsion hinges on operating within a narrow Strouhal number window, a principle nature has…
Mitigating Covariate Shift in Imitation Learning for Autonomous Vehicles Using Latent Space Generative World Models
arXiv:2409.16663v5 Announce Type: replace Abstract: We propose the use of latent space generative world models to address the covariate shift problem in autonom…
Integrated Graph Search and Model Predictive Control for Smooth and Efficient Path Planning in Autonomous Vehicles
arXiv:2607.04259v1 Announce Type: new Abstract: Path planning is a fundamental component of autonomous vehicles, where achieving safe, comfortable, and dynamica…
CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty
arXiv:2607.03557v1 Announce Type: new Abstract: While recent research has focused heavily on dexterous grasp pose generation, less attention has been devoted to…
OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies
arXiv:2607.03723v1 Announce Type: new Abstract: Visual policies learned from human videos, teleoperation, and robot demonstrations offer scalable motion priors,…
Adaptive Entropy-Driven Sensor Selection in a Camera-LiDAR Particle Filter for Single-Vessel Tracking
arXiv:2603.08457v2 Announce Type: replace Abstract: Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: ca…
LLM-as-a-Verifier: A General-Purpose Verification Framework
arXiv:2607.05391v1 Announce Type: cross Abstract: Scaling pre-training, post-training, and test-time compute have become the central paradigms for improving the…
Hope for the Best, Prepare for the Worst: Occlusion-Aware Contingency Planning for Autonomous Vehicles
arXiv:2607.03155v1 Announce Type: new Abstract: The deployment of autonomous vehicles in urban environments introduces significant safety challenges, particular…
Scalable Dexterous Robot Learning with AR-based Remote Human-Robot Interactions
arXiv:2602.07341v2 Announce Type: replace-cross Abstract: This paper focuses on the scalable robot learning for manipulation in the dexterous robot arm-hand sys…
TiROD: Tiny Robotics Dataset and Benchmark for Continual Object Detection
arXiv:2409.16215v4 Announce Type: replace Abstract: Detecting objects with visual sensors is crucial for numerous mobile robotics applications, from autonomous …
WinTA-GIL: Windowed Trajectory Alignment for GNSS-IMU-LiDAR Heading Refinement in Intermittent Signal Environments
arXiv:2607.04879v1 Announce Type: new Abstract: Although multi-source fusion positioning systems have achieved significant progress, accurate and reliable headi…
Derivations of Error-State Kalman Filter Kinematics for Globally Applicable Aided Inertial Navigation Systems
arXiv:2607.03211v1 Announce Type: new Abstract: Global navigation systems require state estimation algorithms that handle Earth's curvature, Earth's rotation, a…
LH-AVLN: A Benchmark for Long-Horizon Audio-Visual-Language Navigation
arXiv:2607.03920v1 Announce Type: new Abstract: Embodied navigation is moving toward long-horizon missions, yet existing long-horizon benchmarks are largely aco…
InternVLA-A1.5: Unifying Understanding, Latent Foresight, and Action for Compositional Generalization
arXiv:2607.04988v1 Announce Type: new Abstract: Unified models for robot manipulation aim to equip one policy with both the semantic priors of pretrained VLMs a…