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 storiesDL-VINS-Factory: A Modular Framework for Learned Visual Front-Ends in Visual-Inertial SLAM
arXiv:2607.01757v1 Announce Type: cross Abstract: Deep-learning features excel in visual matching, yet their practical value in tightly coupled visual-inertial …
DL-SLAM: Enabling High-Fidelity Gaussian Splatting SLAM in Dynamic Environments based on Dual-Level Probability
arXiv:2607.01860v1 Announce Type: new Abstract: Recent advances in 3D Gaussian Splatting (3DGS) have enabled significant progress in dense dynamic Simultaneous …
SPOT: Spatio-Temporal Obstacle-free Trajectory Planning for UAVs in Unknown Dynamic Environments
arXiv:2602.01189v3 Announce Type: replace Abstract: We address the problem of reactive motion planning for quadrotors operating in unknown environments with dyn…
Learning Semantic Atomic Skills for Multi-Task Robotic Manipulation
arXiv:2512.18368v2 Announce Type: replace Abstract: Scaling imitation learning to diverse multi-task robot manipulation remains challenging due to suboptimal de…
CoFL-S: Spatially Queryable Sector Flow Fields for Local Language-Conditioned Navigation
arXiv:2607.02222v1 Announce Type: new Abstract: Vision-Language Navigation has increasingly emphasized high-level instruction reasoning, memory, global map cons…
From Actions to Understanding: Conformal Interpretability of Temporal Concepts in LLM Agents
arXiv:2604.19775v2 Announce Type: replace-cross Abstract: Large Language Models (LLMs) are increasingly deployed as autonomous agents capable of reasoning, plan…
MetaTune: Adjoint-based Meta-tuning via Robotic Differentiable Dynamics
arXiv:2603.27313v2 Announce Type: replace Abstract: Disturbance observer-based control has shown promise in robustifying robotic systems against uncertainties. …
Path planning for unmanned naval surface vehicles
arXiv:2607.01631v1 Announce Type: new Abstract: There nowadays is a myriad of approaches to real-time avoidance of fixed obstacles for unmanned surface vehicles…
Guided Action Flow: Q-Guided Inference for Flow-Matching Vision-Language-Action Policies
arXiv:2607.02092v1 Announce Type: new Abstract: Flow-matching vision-language-action policies generate robot action chunks through an iterative transport proces…
Physically Native World Models: A Hamiltonian Perspective on Generative World Modeling
arXiv:2605.00412v3 Announce Type: replace-cross Abstract: World models have recently re-emerged as a central paradigm for embodied intelligence, robotics, auton…
WorldSample: Closed-loop Real-robot RL with World Modelling
arXiv:2607.02431v1 Announce Type: new Abstract: Reinforcement learning (RL) can overcome the demonstration-coverage limitation of imitation learning (IL) by all…
Learning Agile Intruder Interception using Differentiable Quadrotor Dynamics
arXiv:2607.02472v1 Announce Type: new Abstract: This paper presents a methodology for learning a control policy to intercept an intruder using the 3D direction …
A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning
arXiv:2607.01554v1 Announce Type: new Abstract: This study proposes a reconfigurable rocker-bogie mechanism that achieves efficient turning motion with a small …
ACID: Action Consistency via Inverse Dynamics for Planning with World Models
arXiv:2607.02403v1 Announce Type: new Abstract: Decision-time planning with action-conditioned world models has become a popular paradigm for embodied control. …
QuadRocket: An Aerial Robotic Testbed for Adaptive Thrust-Vector Control of Rocket-Like Vehicles
arXiv:2607.02474v1 Announce Type: new Abstract: This paper presents QuadRocket, a quadrotor-based rocket prototype that provides a low-cost, low-risk platform f…
Overthink-Triggered Slowdown Attacks on LVLM-Based Robotic Systems
arXiv:2607.01518v1 Announce Type: cross Abstract: Large Vision-Language Models (LVLMs) have been increasingly integrated into robotic systems. However, these mo…
VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation
arXiv:2607.02503v1 Announce Type: new Abstract: Contact-rich manipulation requires policies to react to local deformation, pressure, slip, and friction, yet the…
A Stereo Visual SLAM System Using Object-Level Motion Estimation and Geometric Filtering Based on Cross Disparity
arXiv:2607.02005v1 Announce Type: new Abstract: This paper presents OCD SLAM, a dynamic stereo visual SLAM framework that extends ORB-SLAM2 by jointly addressin…
CoRe: Combined Rewards with Vision-Language Model Feedback for Preference-Aligned Reinforcement Learning
arXiv:2607.01721v1 Announce Type: new Abstract: Reward design remains a central challenge in reinforcement learning (RL). Hand-crafted rewards are often difficu…
NeoMap: Training-free Novel-View Synthesis from Single Images and Videos
arXiv:2607.01962v1 Announce Type: cross Abstract: We study the challenging problem of novel view video synthesis from single images or monocular videos. Existin…
Neuro-Symbolic Safety Guidance for Vision-Language-Action Models via Constrained Flow Matching
arXiv:2607.01378v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities across robotic manip…
The Moving Eye: Enhancing VLA Spatial Generalization via Hybrid Dynamic Data Collection
arXiv:2607.02322v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have shown remarkable promise in generalized robotic manipulation. However, …
VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon
arXiv:2607.01804v1 Announce Type: new Abstract: Vision-Language-Action (VLA) foundation models have recently achieved strong progress in embodied intelligence. …
Lightweight Safe Reinforcement Learning for End-to-End UAV Navigation
arXiv:2607.01794v1 Announce Type: new Abstract: With the rapid development of autonomous aerial systems, Unmanned Aerial Vehicles (UAVs) are increasingly deploy…
See Silhouettes in Motion with Neuromorphic Vision
arXiv:2605.17984v2 Announce Type: replace-cross Abstract: Quasi-bimodal objects, such as text, road signs, and barcodes, play a basic yet vital role in daily vi…
HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum
arXiv:2607.02332v1 Announce Type: new Abstract: General motion tracking and teleoperation offer a promising path to scalable humanoid skill acquisition, yet mos…
Human Supervisor Workload Prediction: Lag Horizon Selection
arXiv:2505.15939v2 Announce Type: replace Abstract: Teleoperation systems must be aware of the human's workload during missions to maintain operator performance…
One Demonstration Is Enough for Real-World Robotic Reinforcement Learning
arXiv:2607.01651v1 Announce Type: new Abstract: Learning effective robot control policies on physical hardware is challenging due to costly data collection and …
Exact equivariance, kept through training, buys zero-shot generalisation across the symmetry group
arXiv:2606.03003v2 Announce Type: replace-cross Abstract: A latent world model built from an equivariant encoder and predictor inherits a provable symmetry of i…