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 storiesVisuomotor Robotic Pruning in Planar Orchards Using Hybrid Reinforcement Learning
arXiv:2609.24906v1 Announce Type: new Abstract: Dormant tree pruning is labor-intensive yet essential for maintaining modern high-productivity fruit orchards. I…
Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface
arXiv:2609.24896v1 Announce Type: new Abstract: Dexterous grasping requires deciding where to grasp, reaching the target, and maintaining stable contact. We con…
LLM-based Conversational AI Knowledge Assistant for MyBuddy Humanoid Robot
arXiv:2609.24742v1 Announce Type: new Abstract: Humanoid robots are increasingly being popular and developed for human-centered applications, yet their ability …
Touch2Robot: Robot Touch in the Human Demonstration Loop
arXiv:2609.24660v1 Announce Type: new Abstract: Human demonstrations offer a scalable way to collect manipulation data, but their contacts may be unstable or in…
From Semantic Decisions to Feasible Trajectories: Self-Evolving LLM-Guided Optimal Control for Narrow-Space Parking
arXiv:2609.24631v1 Announce Type: new Abstract: Autonomous parking in nonconvex and narrow environments remains challenging. Although optimal-control methods ca…
Smoothness as a Constraint for Stable Humanoid Locomotion
arXiv:2609.24552v1 Announce Type: new Abstract: Embodied AI systems, particularly humanoid robots deployed in real world scenarios require whole-body control po…
FoldQuantVLA: Native Low-Bit Quantization of Vision-Language-Action Models via Consistent Folding
arXiv:2609.24433v1 Announce Type: new Abstract: Low-bit vision-language-action inference must reduce observation-to-action latency while preserving robot behavi…
Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback
arXiv:2609.24413v1 Announce Type: new Abstract: In this work, we propose a haptic update control law that uses reaction torques to correct axial misalignment du…
vla.simd: Efficient CPU Inference for Language-Conditioned Manipulation
arXiv:2609.24274v1 Announce Type: new Abstract: Deploying language-conditioned manipulation without a dedicated GPU requires efficient inference and action chun…
ME-Brain-1.0: Memory, Cognition and Action for Evolving Embodied Intelligence
arXiv:2609.24271v1 Announce Type: new Abstract: Current embodied systems largely rely on pretrained capabilities that remain fixed after deployment, limiting th…
Odometry-Aided Real-Time Mapping for Underwater Robots Using Forward-Looking Sonar
arXiv:2609.24195v1 Announce Type: new Abstract: Reliable perception is essential for underwater vehicles operating in complex environments, where light attenuat…
OpenFlyScan: A Quality-Guided Aerial Reconstruction System for Consumer Drones
arXiv:2609.24253v1 Announce Type: new Abstract: 3D Gaussian Splatting (3DGS) provides high-fidelity scenes for large-scale embodied simulation, but constructing…
Audio-based UAV Localization with Adaptive Temporal Correspondence via Reinforcement Learning
arXiv:2609.24218v1 Announce Type: new Abstract: Audio-based localization provides a low-cost and illumination-independent sensing solution for anti-UAV early wa…
StenoVLA-3D: 3D-Aware Reasoning VLA for Navigation Through Gastrointestinal Stenoses
arXiv:2609.24187v1 Announce Type: new Abstract: Autonomous endoscopic navigation requires the policy model to predict actions from texture-poor monocular observ…
Object-Centric Conditioning for Visuomotor Flow Matching
arXiv:2609.24155v1 Announce Type: new Abstract: Robot visuomotor policies are commonly formulated as autoregressive, diffusion-based, or more recently, flow mat…
MimicAgent: Quadruped Skills via Prompt-to-Trajectory Generation
arXiv:2609.24145v1 Announce Type: new Abstract: We present MimicAgent, a prompt-to-trajectory generation framework for learning dynamic quadruped skills. Althou…
Ask Before It Tells: Benchmark-to-Robot Body-Cue Transfer for a Question-First Bedside Robot
arXiv:2609.24099v1 Announce Type: new Abstract: Body-cue recognition can support assistive robots, but benchmark accuracy does not guarantee reliable behavior u…
Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions
arXiv:2609.24062v1 Announce Type: new Abstract: Hyper-redundant robots are well suited for confined-space manipulation due to their high dexterity, but safe ope…
Toward Human-in-the-Loop Robot Failure Recovery: Bridging Communication Gaps in Human-Robot Collaboration
arXiv:2609.24055v1 Announce Type: new Abstract: Robots can recover from failures by asking bystanders for help, but effective human-in-the-loop recovery require…
AquaOrbit: Sim-to-Real Reinforcement Learning for Underwater Target Orbiting under Intermittent Visual Feedback
arXiv:2609.24054v1 Announce Type: new Abstract: Intermittent visual loss disrupts target-relative feedback during underwater orbiting, making it difficult to ma…
What Matters in Designing World Action Models: An Empirical Study
arXiv:2609.24048v1 Announce Type: new Abstract: World Action Models (WAMs) have emerged as a promising paradigm for generalizable robot control. Despite the gro…
Anticipatory Robot Goalkeeping via Monotone Optimal Stopping
arXiv:2609.23976v1 Announce Type: new Abstract: Robots engaged in fast physical interactions often need to act before the intent of another agent is fully known…
Structured World-State Reasoning for Agentic Robotic Search
arXiv:2609.23841v1 Announce Type: new Abstract: Long-horizon robotic search must resolve natural language against heterogeneous, incomplete, and often ambiguous…
Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations
arXiv:2609.23792v1 Announce Type: new Abstract: We consider robotic motion planning and control under unknown dynamics with hybrid state observations, where sta…
PackLab: A Comprehensive Framework for Developing, Training, and Evaluating MLLMs in Robotic Bin Packing
arXiv:2609.23784v1 Announce Type: new Abstract: Robotic bin packing requires long-horizon sequential decision-making, as each object placement affects the avail…
EgoWild2Dex: Learning Dexterous Robotic Manipulation from In-the-Wild Human Experience
arXiv:2609.23755v1 Announce Type: new Abstract: Egocentric human data provide a principled source of supervision for learning dexterous robot manipulation. Unli…
Marginal Calibration Does Not Compose: Hidden Dependence in Modular Robot Navigation
arXiv:2609.23731v1 Announce Type: new Abstract: Robotic systems are typically composed of multiple independently developed modules that work together to perceiv…
TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation
arXiv:2609.23580v1 Announce Type: new Abstract: Reactive vision--language--action (VLA) models struggle with long-horizon manipulation when visually similar obs…
PINGU: Extending Air-Bearing Spacecraft Emulators with Open-Source Actuators and Learned Control for Contact-Rich Proximity Operations
arXiv:2609.23554v1 Announce Type: new Abstract: Low-cost planar air-bearing testbeds have matured into a standard proxy for free-flying spacecraft GNC, but they…
Imagine then Verify: Affordance-Targeted Active Perception for Task-Oriented Grasping in Cluttered Scenes
arXiv:2609.23504v1 Announce Type: new Abstract: Task-oriented grasping (TOG) requires robots to grasp functional parts of objects (e.g., the handle of a mug for…