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 storiesElevator-VIGS: Separating Elevator Motion from Robot Motion in Visual-Inertial Gaussian Splatting SLAM
arXiv:2609.23491v1 Announce Type: new Abstract: We present Elevator-VIGS, a visual-inertial 3D Gaussian Splatting SLAM system that keeps tracking and mapping th…
FeasibleFlow: One-Step Joint Transport of Configuration Feasibility and Trajectories for End-to-End Driving
arXiv:2609.23488v1 Announce Type: new Abstract: End-to-end autonomous driving maps current observations directly to future trajectories, yet those trajectories …
BiRoAD: Learning Shared and Role-Adaptive Representations for Bimanual Manipulation
arXiv:2609.23445v1 Announce Type: new Abstract: Bimanual manipulation requires policies that coordinate two arms while adapting their functional roles to scene …
RiverVLN: Phase-Grounded Temporal Vision--Language Navigation for Unmanned Surface Vehicles
arXiv:2609.23423v1 Announce Type: new Abstract: Vision-language navigation (VLN) has largely been developed for indoor and terrestrial robots, where language ca…
Latent Telepathy: Multi-Robot Communication with Self-Supervised Perceptual Latents
arXiv:2609.23269v1 Announce Type: new Abstract: In a decentralized multi-robot team under partial observability, the fact that decides a robot's next action is …
Scenario MPC with STL Specifications and Pareto-Based Feasibility Repair
arXiv:2609.23263v1 Announce Type: new Abstract: Temporal logic is a formal language for reasoning about system behaviors over time. Signal temporal logic (STL),…
AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy
arXiv:2609.23133v1 Announce Type: new Abstract: Recent advances in vision-language-action models have stimulated growing interest in underwater embodied intelli…
Verti-WM: A Physics-Aided Exteroceptive World Model for Off-Road Reinforcement Learning
arXiv:2609.23118v1 Announce Type: new Abstract: Reinforcement learning for off-road navigation requires extensive vehicle-terrain interaction data, which are co…
Search, Ground, Plan: Functional Sufficiency for Task and Motion Planning under Incomplete Scene Knowledge
arXiv:2609.23113v1 Announce Type: new Abstract: Foundation models (FMs) have expanded task and motion planning (TAMP) to manipulation problems specified through…
Transferring the Intelligence of VLMs to Robotic Control
arXiv:2609.22966v1 Announce Type: new Abstract: Humans can seamlessly adapt to both physical and digital worlds, suggesting that while a digital-to-real gap exi…
Prescribed-Time Contracting-Boundary Control of a Tendon-Driven Flexible Arm
arXiv:2609.22963v1 Announce Type: new Abstract: This study develops a prescribed-time performance-shaping control method for curvature tracking of a single-segm…
MIRA-PRM: Mission-Informed Reusable Roadmap Planning for Mobile Gas-Sensing Inspection
arXiv:2609.22954v1 Announce Type: new Abstract: Mobile gas-sensing inspection requires a mobile platform to reliably reach ordered sampling poses. We present MI…
H-VLA: Hierarchical Vision-Language-Action Model with Key-Action Reasoning and Motion Planning in a Unified Action Space
arXiv:2609.22895v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have shown strong potential for robotic manipulation, but many existing meth…
SmoLSTM: A Compact Vision-Language-Action Model with Recurrent Memory that Persists
arXiv:2609.22854v1 Announce Type: new Abstract: Vision-language-action models often predict actions from only the current observation, which can leave tasks inv…
Distributed Infrastructure Sensors and Cues for Robotic Fire-Fighting and Safety System on a Lunar Base
arXiv:2609.22786v1 Announce Type: new Abstract: There are renewed efforts to build a lunar base and house a team of astronauts on the Moon for extended periods.…
AquaWorld: Structure-Consistent Underwater World Generation for Robot Simulation
arXiv:2609.22670v1 Announce Type: new Abstract: Underwater robot simulation requires diverse environments in which terrain, scene composition, tasks, and curren…
FRAMES: Failure Recovery And Monitoring of Embodied Skills for Humanoid Loco-Manipulation
arXiv:2609.22538v1 Announce Type: new Abstract: Large language model (LLM) planners can decompose natural-language instructions and select reusable robot skills…
Latent Policy Steering: An Efficient and Flexible Framework for Cross-Embodiment Transfer
arXiv:2609.22521v1 Announce Type: new Abstract: The performance of learned robot visuomotor policies depends heavily on the size and quality of their training d…
Layered e-skin for Shear Sensing
arXiv:2609.22493v1 Announce Type: new Abstract: This paper presents a stacked two-layer force-sensing resistor (FSR) array designed for robotic fingertips that …
VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies
arXiv:2609.22462v1 Announce Type: new Abstract: Vision-language-action (VLA) models enable increasingly general-purpose robotic manipulation, but such learned p…
Behavior Trees for Robotic Systems: An Empirical Study on Practices and Experiences
arXiv:2609.22404v1 Announce Type: new Abstract: Over the last decade, behavior trees (BT) have become one of the dominant behavior models for coordinating missi…
Active Spatial Inspection for Effective and Efficient Embodied Exploration
arXiv:2609.22385v1 Announce Type: new Abstract: Achieving high task success and efficiency remains a central pursuit in embodied exploration. Existing framework…
EditWM: Event-Decomposed World Modeling with Incremental Correction for End-to-End Autonomous Driving
arXiv:2609.22317v1 Announce Type: new Abstract: World models support autonomous driving by predicting the scene evolution associated with candidate trajectories…
When Does Test-Time Physical Diagnosis Pay? A Frozen Policy Buys Evidence It Never Reads
arXiv:2609.22299v1 Announce Type: new Abstract: When a robot faces unfamiliar physical conditions, a common approach is to collect evidence about what changed a…
ORDER: A Fictitious-World Benchmark for Domain-Adaptive Embodied AI
arXiv:2609.22285v1 Announce Type: new Abstract: Adapting language models to new domains via continual pre-training raises a basic evaluation problem: if the tra…
CHOREO: Every Humanoid Skill as a Trajectory
arXiv:2609.22274v1 Announce Type: new Abstract: Recent advances in humanoid robotics have produced diverse skills through reinforcement learning, motion imitati…
D3DWA: Adaptive Weight and Prediction-Horizon for Dynamic Window Approach via Dueling Double Deep Q-Network
arXiv:2609.22276v1 Announce Type: new Abstract: The Dynamic Window Approach (DWA) is widely used for local navigation, but its performance depends strongly on p…
REBOOT: From Failure to Recovery - A Dataset and Benchmark for Precision Assembly
arXiv:2609.22591v1 Announce Type: new Abstract: Robot learning policies fail in characteristic ways: they stall in uncertain states, drift during contact-rich a…
Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation
arXiv:2609.22829v1 Announce Type: new Abstract: Collecting whole-body demonstrations for humanoid manipulation mostly relies on teleoperation, which is costly a…
Splat-CBF: Safe Next-Best-View Control in 3D Gaussian-Splat Maps
arXiv:2609.23100v1 Announce Type: new Abstract: Where to look and how to move? A robot navigating an unmapped environment must do both at once, and the two goal…