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 storiesWoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL
arXiv:2602.13977v2 Announce Type: replace Abstract: Reinforcement learning (RL) promises to unlock capabilities beyond imitation learning for Vision--Language--…
AUSLUN: A Fixed-Hover UAV--USV System for GNSS-Denied Maritime Search and Navigation
arXiv:2606.29875v1 Announce Type: new Abstract: Global navigation satellite system (GNSS) denial can prevent an unmanned surface vehicle (USV) from both finding…
OGM-CBF: Occupancy Grid Map-based Control Barrier Function for Safe Mobile Robot Control with Memory of out of View Obstacles
arXiv:2405.10703v4 Announce Type: replace Abstract: Safe control in unknown environments is a key challenge in mobile robotics. Control Barrier Functions (CBFs)…
ConCent: Contact-Centric Real-to-Sim-to-Real Learning from One Demonstration
arXiv:2606.30268v1 Announce Type: new Abstract: Sim-to-real policy transfer -- deploying policies trained in simulation in the real world -- is a promising para…
TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models
arXiv:2606.29089v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models demonstrate impressive reasoning over visual, semantic, and spatial task var…
Training Vision-Language-Action Models with Dense Embodied Chain-of-Thought Supervision
arXiv:2606.30552v1 Announce Type: new Abstract: Cross-embodiment transfer in vision-language-action (VLA) models remains challenging because low-level state and…
Grounding Sim-to-Real Generalization in Robotic Manipulation: An Empirical Study with Vision-Language-Action Models
arXiv:2603.22876v2 Announce Type: replace Abstract: Learning a generalist control policy for robotic manipulation typically relies on large-scale datasets. Give…
Self-supervised Geometry Reasoning for LiDAR Simultaneous Localization and Mapping
arXiv:2606.30166v1 Announce Type: new Abstract: LiDAR simultaneous localization and mapping (SLAM) relies on local geometric quantities such as covariances, cor…
AERMANI-VLM: Structured Prompting and Reasoning for Aerial Manipulation with Vision Language Models
arXiv:2511.01472v2 Announce Type: replace Abstract: The rapid progress of vision--language models (VLMs) has sparked growing interest in robotic control, where …
Learning Transferable Dynamics Priors from Action to World Modeling
arXiv:2606.29501v1 Announce Type: new Abstract: We study action-conditioned world modeling as a scalable way to learn transferable dynamics priors for robot lea…
Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy
arXiv:2605.27046v2 Announce Type: replace Abstract: Motor thermal management is often overlooked in the context of electrically-actuated robots, particularly le…
Event-Conditioned Diagnostics of Kinematic, Contact, and Object-Permanence Fields in Passive Object-State World Models
arXiv:2606.28455v1 Announce Type: new Abstract: World models can predict future physical states, but prediction accuracy alone does not explain how physical inf…
GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
arXiv:2511.13216v2 Announce Type: replace Abstract: Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured envi…
CylindTrack: Depth-Aware Cylindrical Motion Modeling for Panoramic Multi-Object Tracking
arXiv:2606.30097v1 Announce Type: cross Abstract: Multi-Object Tracking (MOT) is a core capability for embodied perception, and panoramic cameras are attractive…
OpenSPM: An Environment-Transferable Robotic Key Spatial Pose Memory and Closed-Loop High-Frequency Flow-Matching Action Generation Model
arXiv:2606.29936v1 Announce Type: new Abstract: Open-environment tabletop robotic manipulation requires systems to possess semantic understanding, precise geome…
Analytic Concept-Centric Memory for Agentic Embodied Manipulation
arXiv:2606.29774v1 Announce Type: new Abstract: Long-horizon embodied manipulation requires agents to remember persistent objects, track changing scene states, …
Grasp-Oriented Non-Prehensile Manipulation via Learning a Graspability Field
arXiv:2606.30474v1 Announce Type: new Abstract: Non-prehensile manipulation is often used as a preparatory step for robotic grasping, yet existing approaches ty…
Sequential Planning via Anchored Robotic Keypoints
arXiv:2606.30613v1 Announce Type: new Abstract: We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation…
RetrDex: Efficient Object Retrieval in Cluttered Scenes with a Dexterous Hand
arXiv:2502.18423v3 Announce Type: replace Abstract: Retrieving objects buried beneath clutter is both challenging and time-consuming, as complex support relatio…
Tactile Gesture Recognition with Built-in Joint Sensors for Industrial Robots
arXiv:2508.12435v2 Announce Type: replace Abstract: While gesture recognition using vision or robot skins is an active research area in Human-Robot Collaboratio…
SPACE: Swarm Pheromone Fields for Adaptive Collision-Aware Exploration
arXiv:2606.29372v1 Announce Type: new Abstract: Massive robot swarms can explore unknown environments quickly, but adding robots eventually stops helping. Doorw…
Improvement of Robot's Simultaneous Localization and Mapping Using an Effective Transformation to Achieve Linear Model
arXiv:2606.28475v1 Announce Type: new Abstract: Nowadays mobile robots have wide engineering applications. Simultaneous localization and mapping (SLAM) is an im…
Fast and Accurate Outlier-Aware LiDAR Super-Resolution for SLAM Applications
arXiv:2606.28607v1 Announce Type: new Abstract: This work tackles the challenge of enhancing low-resolution LiDAR sensors for SLAM applications through a novel …
Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation
arXiv:2606.29941v1 Announce Type: new Abstract: Visuo-Tactile policies leveraging optical tactile sensors have shown great promise in contact-rich manipulation.…
AeroPlace-Flow: Language-Grounded Object Placement for Aerial Manipulators via Visual Foresight and Object Flow
arXiv:2603.07744v2 Announce Type: replace Abstract: Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined…
What Capable Agents Must Know: Selection Theorems for Robust Decision-Making under Uncertainty
arXiv:2603.02491v3 Announce Type: replace-cross Abstract: As artificial agents become increasingly capable, what internal structure is necessary for an agent to…
Robust Extended Kalman Filter for Land Navigation Using Massive Array of MEMS IMUs
arXiv:2606.29271v1 Announce Type: cross Abstract: We propose a robust Extended Kalman Filter (EKF) architecture for land navigation using an array of hundreds o…
Realtime Wind Estimation using Low Cost Quadrotor Uncrewed Aerial Vehicles
arXiv:2606.30581v1 Announce Type: new Abstract: In environmental monitoring as well as emergency response applications such as wildfires, wind velocity measurem…
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
arXiv:2606.29209v1 Announce Type: new Abstract: We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints cho…
A Physics-Grounded Benchmark for Multi-Agent Dynamics in World Models
arXiv:2606.28757v1 Announce Type: cross Abstract: Generative world models hold immense promise as scalable simulators for autonomous systems, particularly for s…