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 storiesP$^2$Calib: Utilizing Pattern Priors for LiDAR-Camera Extrinsic Calibration
arXiv:2609.07516v2 Announce Type: replace Abstract: Target-based LiDAR-camera extrinsic calibration is a prerequisite for multi-sensor fusion in robotics. Howev…
NaRPA: Navigation and Rendering Pipeline for Astronautics
arXiv:2211.01566v2 Announce Type: replace-cross Abstract: This paper presents the applications of scientific ray-tracing in modeling and simulating light transp…
Rough Stochastic Pontryagin Maximum Principle and an Indirect Shooting Method
arXiv:2502.06726v4 Announce Type: replace-cross Abstract: We derive first-order Pontryagin optimality conditions for stochastic optimal control with determinist…
On Learning Spatial Structure from Pre-Beamforming Per-Antenna Range-Doppler Radar Measurements
arXiv:2604.01921v2 Announce Type: replace-cross Abstract: Automotive radar perception pipelines commonly construct angle-domain representations via beamforming …
R3D: Revisiting 3D Policy Learning
arXiv:2604.15281v2 Announce Type: replace-cross Abstract: 3D policy learning promises superior generalization and cross-embodiment transfer, but progress has be…
Predicted-Flow Control Barrier Functions for Real-Time Safe Optimal Control
arXiv:2606.00297v2 Announce Type: replace-cross Abstract: Control barrier functions (CBFs) provide real-time safety guarantees through pointwise conditions on t…
RankQ: Offline-to-Online Reinforcement Learning via Self-Supervised Action Ranking
arXiv:2605.11151v3 Announce Type: replace-cross Abstract: Offline-to-online reinforcement learning (RL) improves sample efficiency by leveraging pre-collected d…
Computationally Efficient Density-Driven Optimal Control via Analytical KKT Reduction and Contractive MPC
arXiv:2603.18503v2 Announce Type: replace-cross Abstract: Efficient coordination for collective spatial distribution is a fundamental challenge in multi-agent s…
Generalizable Optimal Control with Transformers: One Policy Across Diverse Systems
arXiv:2603.14910v2 Announce Type: replace-cross Abstract: Classical optimal control designs a separate controller for each plant. Even for the Linear Quadratic …
vla.cpp: A Unified Inference Runtime for Vision-Language-Action Models
arXiv:2606.08094v2 Announce Type: replace Abstract: Deploying vision--language--action (VLA) models on robots requires adapting model-specific inference pipelin…
Preserving Full 6-DOF Actuation Under Abrupt Total Rotor Failures: Passive Fault-Tolerant Flight Control Using a Biaxial-Tilt Hexacopter
arXiv:2606.05663v2 Announce Type: replace Abstract: Abrupt total rotor failures can invalidate nominal allocation despite remaining wrench capability. This pape…
Orchestrating Wheeled Mobile Robots Online without Conflicts
arXiv:2605.18441v2 Announce Type: replace Abstract: Formation control of wheeled mobile robots (WMRs) has been widely studied due to its broad applications. How…
Stochastic Barrier Certificates in the Presence of Dynamic Obstacles
arXiv:2604.20208v2 Announce Type: replace Abstract: In this work, we focus on safety verification of stochastic systems in dynamic environments. We introduce bo…
SCRAMPPI: Contingency-Constrained Planning using Hamilton-Jacobi Reachability
arXiv:2603.26995v2 Announce Type: replace Abstract: Autonomous robots commonly aim to achieve a nominal objective while minimizing a cost. Without contingency p…
3PoinTr: From Human Videos to Robot Policies with 3D Point-Track Plans
arXiv:2603.08485v3 Announce Type: replace Abstract: Human videos could reduce the reliance on expensive robot demonstrations, but extracting task-relevant featu…
SAIL: Test-Time Scaling for In-Context Imitation Learning with VLM
arXiv:2603.08269v2 Announce Type: replace Abstract: In-context imitation learning allows robots to acquire skills from demonstrations, yet one-shot trajectory g…
Stability-Aligned Residual Adaptation for Rapid Recovery from Dynamics Shifts
arXiv:2603.07775v2 Announce Type: replace Abstract: Robotic systems deployed beyond controlled environments encounter abrupt and unobserved dynamics shifts that…
Robot Programming with Augmented Reality: The Role of Spatial Ability
arXiv:2602.03544v2 Announce Type: replace Abstract: Programming a robot arm requires users to interpret coordinate frames, joint rotations, and trajectories tha…
Correct-by-Construction Vision-based Pose Estimation using Geometric Generative Models
arXiv:2601.17556v2 Announce Type: replace Abstract: We consider the problem of vision-based pose estimation for autonomous systems. While deep neural networks h…
Safe Learning for Contact-Rich Robot Tasks: A Survey from Classical Learning-Based Methods to Safe Foundation Models
arXiv:2512.11908v3 Announce Type: replace Abstract: Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dyna…
GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots
arXiv:2509.17582v2 Announce Type: replace Abstract: Most modern approaches to quadruped locomotion focus on using Deep Reinforcement Learning (DRL) to learn pol…
Sim2Real Diffusion: Leveraging Foundation Vision Language Models for Adaptive Automated Driving
arXiv:2507.00236v4 Announce Type: replace Abstract: Simulation-based design, optimization, and validation of autonomous vehicles have proven to be crucial for t…
Toward a foundation model for forest point clouds
arXiv:2609.24787v1 Announce Type: cross Abstract: Forest inventories increasingly rely on artificial intelligence (AI) models to derive forest attributes from l…
Relationally Grounded Latent World Models for Autonomous Driving
arXiv:2609.24626v1 Announce Type: cross Abstract: Latent world models learn predictive representations for autonomous driving, but the relational semantics thes…
Colon3R: Cross-Domain 3D Reconstruction from Monocular Colonoscopic Video
arXiv:2609.23961v1 Announce Type: cross Abstract: Monocular colonoscopic 3D reconstruction is important for surgical robotic colonoscopy, but remains challengin…
MaskVLA: Visual Masking Against Trajectory Overfitting of Vision-Language-Action Model
arXiv:2609.23565v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models integrate vision-language understanding with executable robot actions, ena…
BiView-Touch: Learning Bimanual Tactile Representations by Cross-Hand Completion
arXiv:2609.23352v1 Announce Type: cross Abstract: Bimanual interaction produces complementary tactile views of the same physical process, yet existing tactile r…
Orientation-Aware Control and Trajectory Design for Aerial RIS-Assisted Wireless Communications
arXiv:2609.23157v1 Announce Type: cross Abstract: Aerial Reconfigurable Intelligent Surfaces (ARISs) can enhance wireless connectivity in obstructed environment…
Task aware Dynamic Movement Primitives for failure detection and recovery in contact rich manipulation
arXiv:2609.23151v1 Announce Type: cross Abstract: Assembly remains a challenging robotic manipulation task in presence of tight tolerances and complex contact i…
Toward Mission-Critical ISAC: Reliable Energy-Aware Coordination in UAV Swarms
arXiv:2609.22292v1 Announce Type: cross Abstract: Unmanned aerial vehicle (UAV) swarms deployed in mission-critical applications must simultaneously track a mob…