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 storiesLearning Stable In-Grasp Manipulation in a Non-Dropping Action Space
arXiv:2606.28196v1 Announce Type: new Abstract: Traditionally, dexterous manipulation controllers are designed using analytic models constrained by strong assum…
AO-ARC: Almost-Surely Asymptotically Optimal Multi-Robot Motion Planning with ARC
arXiv:2606.27495v1 Announce Type: new Abstract: We present AO-ARC, an anytime multi-robot motion planning (MRMP) method that achieves initial solution times on …
Direct Action-Head Injection of A Grounded 3D Point Unlocks Spatial and Task Generalization
arXiv:2606.27663v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models leverage large-scale vision-language pretraining for flexible robot manipula…
WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation
arXiv:2606.28320v1 Announce Type: new Abstract: Scaling imitation learning requires large datasets, yet human teleoperation inevitably produces mixed-quality de…
Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions
arXiv:2505.05517v3 Announce Type: replace-cross Abstract: Functional grasping is essential for enabling dexterous multi-finger robot hands to manipulate objects…
RS-Diffuser: Risk-Sensitive Diffusion Planning with Distributional Value Guidance
arXiv:2606.27766v1 Announce Type: cross Abstract: Offline reinforcement learning enables policy learning from fixed datasets without additional environment inte…
Orientation Matters: Learning Radiation Patterns of Multi-Rotor UAVs In-Flight to Enhance Communication Availability Modeling
arXiv:2604.02827v2 Announce Type: replace Abstract: The paper presents an approach for learning antenna Radiation Patterns (RPs) of a pair of heterogeneous quad…
Swarm sign language: motion-based communication between drones
arXiv:2606.27883v1 Announce Type: new Abstract: In stealth-constrained swarm robotics, visual communication provides a critical alternative to active radio tran…
DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand
arXiv:2606.28323v1 Announce Type: new Abstract: Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a…
SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
arXiv:2606.28276v1 Announce Type: new Abstract: Training and evaluating robot policies in the real world is costly and difficult to scale. We introduce SimFound…
Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?
arXiv:2606.26428v1 Announce Type: new Abstract: Multi-fingered robots promise the speed and dexterity of human hands, yet challenging problems such as precise a…
Monte Carlo Tree Search with Tensor Factorization for Optimization Problems in Robotics
arXiv:2507.04949v3 Announce Type: replace Abstract: Many robotic tasks, such as inverse kinematics, motion planning, and contact-rich manipulation, can be formu…
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots
arXiv:2606.26425v1 Announce Type: new Abstract: Humanoid robots could take on physically demanding, hazardous, and repetitive work in spaces built for humans. H…
FC-Vision: Real-Time Visibility-Aware Replanning for Occlusion-Free Aerial Target Structure Scanning in Unknown Environments
arXiv:2602.13720v2 Announce Type: replace Abstract: Autonomous aerial scanning of target structures is crucial for practical applications, requiring online adap…
CycleRL: Sim-to-Real Deep Reinforcement Learning for Robust Autonomous Bicycle Control
arXiv:2603.15013v3 Announce Type: replace Abstract: Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, co…
Tactile-WAM: Touch-Aware World Action Model with Tactile Asymmetric Attention
arXiv:2606.26663v1 Announce Type: new Abstract: World Action Models (WAMs) generate actions together with predicted futures, offering a powerful interface for r…
Layered Outer-Loop Control for Disturbance-Robust Multi-Waypoint UAV Arrival
arXiv:2606.26315v1 Announce Type: new Abstract: Disturbance-robust UAV position control is easy to demonstrate in benign simulations but much harder to make fas…
PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation
arXiv:2606.26741v1 Announce Type: new Abstract: Humanoid motion imitation requires not only accurate perception of human kinematics but also faithful reproducti…
VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity
arXiv:2606.27344v1 Announce Type: new Abstract: Dexterous manipulation depends on contact events that are fast, local, and often visually occluded. Piezoelectri…
KRVF: A Source-Aware Semantic Voxel World Representation for Edge Mobile Manipulation
arXiv:2606.26321v1 Announce Type: new Abstract: Mobile manipulators need world models that are current, queryable, semantically meaningful, and usable under edg…
BAT-Nav: Budget-Aware Arbitration and Termination for Long-Horizon Semantic Navigation
arXiv:2605.16932v2 Announce Type: replace Abstract: Long-horizon semantic navigation asks a robot to localize multiple open-vocabulary targets under a finite ac…
UAV-MapFusion: RTK-Aligned Uncertainty-Aware Coarse-to-Fine Multi-Session UAV Mapping
arXiv:2606.26928v1 Announce Type: new Abstract: Large-scale point cloud maps are essential for robotics and spatial intelligence tasks. UAVs provide an efficien…
NavIsaacLab: Generating Realistic Crowd via Parallel Robot Learning for Benchmarking Human-aware Navigation
arXiv:2606.26265v1 Announce Type: new Abstract: Robot autonomous navigation that accounts for surrounding human activities is crucial for ensuring both safety a…
How Should a Simulation-to-Reality Transfer Budget Be Spent?
arXiv:2606.22062v2 Announce Type: replace Abstract: Simulation-to-reality transfer, often called sim-to-real transfer, is a central challenge in robot learning.…
OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
arXiv:2606.26201v1 Announce Type: new Abstract: Learning long-horizon humanoid loco-manipulation poses a dual challenge: it requires not only the robust executi…
Racing a Wheeled Quadruped: Active Load Transfer Mitigation via Model Predictive Control
arXiv:2606.26313v1 Announce Type: new Abstract: This paper presents a hierarchical control framework using model predictive control (MPC) and reinforcement lear…
TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes
arXiv:2606.26215v1 Announce Type: new Abstract: How do we learn to hit a tennis backhand? Not from a thousand hours of tennis tournaments on TV - we work with a…
Scalable Behavior Cloning with Open Data, Training, and Evaluation
arXiv:2606.27375v1 Announce Type: new Abstract: We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the…
Learning Motion Feasibility from Point Clouds in Cluttered Environments
arXiv:2606.26700v1 Announce Type: new Abstract: Motion feasibility prediction plays a central role in robotics, particularly in task and motion planning and man…
Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure
arXiv:2606.26588v1 Announce Type: new Abstract: A central challenge in deploying learned robot policies is inference-time behavior steering: redirecting a polic…