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
3542 storiesCoNav-UAV: Cooperative Dual-Altitude Aerial Navigation via Stackelberg Learning
arXiv:2608.01802v1 Announce Type: cross Abstract: Target-oriented vision-and-language navigation (VLN) on aerial platforms is attracting growing attention for m…
A Tilt-Rotor UAV with a Gripper for Stable Contact-Based Tasks via Environmental Anchoring
arXiv:2608.01736v1 Announce Type: new Abstract: Maintaining a stable pose during physical interaction is a significant challenge for aerial robots, often limiti…
A Forward-Inverse Dynamic Game Framework for Enhanced Multi-Agent Trajectory Planning
arXiv:2608.01636v1 Announce Type: new Abstract: This paper studies feedback Nash equilibrium (FBNE) seeking for multi-agent trajectory planning in nonlinear dyn…
When Prompts Control Robots: Prompt Injection Attacks in Multi-Agent Robotic Systems
arXiv:2608.00747v1 Announce Type: new Abstract: Large language models are increasingly integrated into autonomous robotic systems for task planning and control,…
SelfWAM: A Self-Grounded Unified World Action Model for Fast Robot Control
arXiv:2608.00725v1 Announce Type: new Abstract: World Action Models (WAMs) improve robot policy learning by jointly modeling actions and future observations. Ho…
An Evidence Hierarchy for Bayesian Object Classification via OSINT-Aided Heterogeneous Sensor Fusion
arXiv:2605.22259v2 Announce Type: replace-cross Abstract: Heterogeneous sensor fusion is vital for detecting, localizing, and classifying CBRNE threats. However…
EndoWAM: A Grounded World-Action Model for Generalizable Endoscopic Navigation
arXiv:2608.01221v1 Announce Type: new Abstract: Autonomous endoscopic navigation can reduce clinicians' operational burden, yet robust control remains challengi…
Adaptive Human-Robot Collaborative Painting Combining Preference-Based Optimization and Dynamic Motion Primitives
arXiv:2608.01981v1 Announce Type: new Abstract: This work presents a human-centered collaborative framework that integrates Preference-Based Optimization (PBO) …
Human-Centered Reflections on Care Robots: A Comparative Study of Caregiver Perspectives
arXiv:2608.02411v1 Announce Type: new Abstract: Care robots are increasingly being introduced into healthcare settings, raising important questions about their …
Rapid Embodiment Adaptation for Quadrupedal Locomotion
arXiv:2608.01506v1 Announce Type: new Abstract: Humans readily adapt their movements as their bodies change through aging, injury, or load carrying, but learnin…
Situation Aware Frontier Prioritization for Quadruped Search and Rescue
arXiv:2608.02571v1 Announce Type: new Abstract: Quadruped robots are a promising platform for search and rescue missions because they can navigate cluttered ind…
FreqNav: Stage-Wise Frequency Routing for Object-Oriented Aerial Vision-Language Navigation
arXiv:2608.00970v1 Announce Type: new Abstract: Object-oriented aerial vision-and-language navigation (VLN) requires searching for a described target and landin…
Identifying and Exploiting Structure in Robot Co-Design
arXiv:2604.11768v2 Announce Type: replace Abstract: Co-design of a robot's morphology and control is a high-dimensional search problem. Efficient search depends…
GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation
arXiv:2604.19522v2 Announce Type: replace Abstract: Bimanual mobile manipulation requires a seamless integration between high-level semantic reasoning and safe,…
QuASH: Using Natural-Language Heuristics to Query Visual-Language Robotic Maps
arXiv:2510.14546v2 Announce Type: replace Abstract: Embeddings from Visual-Language Models are increasingly utilized to represent semantics in robotic maps, off…
Weights or Skills? A Survey of Robot-Learning Techniques: from Action-Predicting Weights to Robots that Write their Own Skills
arXiv:2608.01851v1 Announce Type: new Abstract: Robot learning is splitting into two bets: policies that bake competence into frozen weights (vision-language-ac…
DynamicWAM: Dual-Path Motion Conditioning for World-Action Models in Dynamic Manipulation
arXiv:2608.00793v1 Announce Type: new Abstract: Dynamic manipulation requires robots to infer target motion and respond promptly, yet existing World-Action Mode…
A drone that learns to efficiently find non-uniformly distributed objects in agricultural fields: from simulation to the real world
arXiv:2505.09278v2 Announce Type: replace Abstract: Drones are promising for data collection in precision agriculture but are limited by battery capacity. Drone…
Learning-Based Motion Planning for Dynamic Environments: From Foundational Algorithms to Emerging Paradigms
arXiv:2608.00625v1 Announce Type: new Abstract: Motion planning in dynamic environments is a fundamental problem in robotics, aiming to generate safe and effici…
MixedComplementarityProblems.jl: A Fast, Batched, Open-Source Interior Point Solver for Mixed Complementarity Problems
arXiv:2608.00959v1 Announce Type: cross Abstract: Mixed complementarity problems (MCPs) arise as the first-order optimality conditions of nonlinear programs and…
Probabilistic Reachable-Action Verification of Visuomotor Policies via Set-Based Training
arXiv:2608.02545v1 Announce Type: new Abstract: Reachability analysis for visuomotor policies is difficult because large visual encoders make end-to-end set pro…
TravKAN: Fast and Interpretable Nonlinear Traversability Analysis with Kolmogorov-Arnold Networks
arXiv:2608.02320v1 Announce Type: new Abstract: Traversability analysis is a fundamental capability for autonomous mobile robots operating in unstructured envir…
FlowPilot: Real-Time World-Action Modeling for Agile UAV Navigation
arXiv:2608.00635v1 Announce Type: new Abstract: We present FlowPilot, a compact world-action model for real-time onboard UAV navigation from depth. Unlike map-t…
Environmental resilience via morphological diversity within machines
arXiv:2608.02395v1 Announce Type: new Abstract: Organisms contain diverse, sensorimotor parts across size scales and rapidly adapt to new environments, while ma…
Dynamic UAV-based search operations using probabilistic diffusion modeling of Man Overboard incident victims
arXiv:2608.02093v1 Announce Type: new Abstract: More than 70% of the people that fell overboard cruise ships in the period 2010-2019 lost their lives. This pape…
Who Is Responsible? Self-Adaptation Under Multiple Concurrent Uncertainties With Unknown Sources in Complex ROS-Based Systems
arXiv:2504.20477v4 Announce Type: replace Abstract: Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors a…
Good Weights: Proactive, Adaptive Dead Reckoning Fusion for Continuous and Robust Visual SLAM
arXiv:2509.22910v2 Announce Type: replace Abstract: Given that Visual SLAM relies on appearance cues for localization and scene understanding, texture-less or v…
Bicycle Acrobatics with Reinforcement Learning
arXiv:2608.00880v1 Announce Type: new Abstract: Bicycle robots are fast and energy efficient, but their simple mechanical design and their underactuated and non…
GeminiPainter's sequence-formed pipeline comprised of perception, cognition, planning, and action stages
arXiv:2608.00829v1 Announce Type: new Abstract: We present an autonomous robotic portrait-generation system combining real-time face detection, AI-based sketch …
Learning Panorama-Aware VLA for Mobile Manipulation with Whole-Body Teleoperation
arXiv:2608.02257v1 Announce Type: new Abstract: Mobile manipulation is a key capability for embodied intelligence, enabling robots to accomplish complex multi-s…