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 storiesDPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
arXiv:2510.07152v3 Announce Type: replace Abstract: Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aw…
Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality
arXiv:2608.00600v1 Announce Type: new Abstract: Standard multifingered grasp execution architectures plan a collision-free trajectory to a selected grasp pose a…
SyncPlan: Long-Horizon LLM Coordination with Explicit Synchronization and Adaptive Correction
arXiv:2608.01652v1 Announce Type: new Abstract: LLM-based multi-agent coordination faces a fundamental trade-off between efficiency and adaptivity in dynamic en…
ACDC: Adaptive Curriculum Planning with Dynamic Contrastive Control for Goal-Conditioned Reinforcement Learning in Robotic Manipulation
arXiv:2603.02104v3 Announce Type: replace Abstract: Goal-conditioned reinforcement learning has shown considerable potential in robotic manipulation; however, e…
Sampling-Based Visibility Task Planning
arXiv:2608.01027v1 Announce Type: new Abstract: Robot Task and Motion Planning (TAMP) algorithms enable autonomous operation by incorporating the specific funct…
OC-VLA++: Monocular Geometry-Guided Cross-View Consistency for Viewpoint-Robust Robotic Manipulation
arXiv:2608.01066v1 Announce Type: new Abstract: We propose OC-VLA++, an extension of OC-VLA for viewpoint generalization under limited camera coverage. While OC…
ARMOR: Robust Reinforcement Learning-based Control for UAVs under Physical Attacks
arXiv:2506.22423v2 Announce Type: replace-cross Abstract: Unmanned Aerial Vehicles (UAVs) depend on onboard sensors for perception, navigation, and control. How…
DexMani: Human-Derived Manipulability Guidance for Dexterous Rotation
arXiv:2608.00554v1 Announce Type: new Abstract: Dexterous object rotation is a sequential contact problem: each support, release, and re-contact decision must b…
Towards General Language-Conditioned Latent Safety Filters
arXiv:2608.00315v1 Announce Type: new Abstract: Robot policies are becoming increasingly general, with vision-language-action (VLA) models enabling a single pol…
FRA-NBV: A Fast and Reflectivity-Aware Next-Best-View Strategy
arXiv:2608.01950v1 Announce Type: new Abstract: Autonomous 3D reconstruction with depth sensors is strongly affected by reflective surfaces, which cause missing…
Hybrid Impedance-Admittance Control with Multi-Link Aerial Robot for Contact-Rich Surface Sliding Task
arXiv:2608.01800v1 Announce Type: new Abstract: Multi-link aerial robots can actively deform their articulated structures during flight, giving them strong pote…
VespaSeg: A Resource-Aware Ground-then-Segment Pipeline for Referring Expression Segmentation
arXiv:2608.01077v1 Announce Type: new Abstract: Referring expression segmentation requires language conditioned localization and pixel-accurate masks, but monol…
Minute-Scale Training for Microrobot Navigation
arXiv:2608.00854v1 Announce Type: new Abstract: Microrobots hold significant potential for various applications, where targeted navigation is a basic requiremen…
RADAR Perception for Dynamic Obstacle Avoidance onboard small-scale Quadrotor UAVs
arXiv:2608.01855v1 Announce Type: new Abstract: Fast dynamic obstacle avoidance (DOA) on uncrewed aerial vehicles (UAVs) demands not only low-latency control an…
Disentangling Visuo-Tactile Foresight: Oracle-Guided Interface Discovery for World Action Models
arXiv:2608.00547v1 Announce Type: new Abstract: Contact-rich manipulation remains challenging because successful control depends on physical interaction cues th…
Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them
arXiv:2608.01402v1 Announce Type: new Abstract: We address the problem of understanding when and why Vision-Language-Action models struggle with contact-rich ma…
Stress-Relief Annealing: Polynomial-Time Simulation-Free Layout Optimization for Automated Warehouses
arXiv:2608.01024v1 Announce Type: cross Abstract: We study the problem of optimizing physical layouts for automated warehouses, where hundreds to thousands of r…
RIT*: Riemannian Informed Trees for Cost-Adaptive Optimal Motion Planning
arXiv:2608.00822v1 Announce Type: new Abstract: We present Riemannian Informed Trees (RIT*), a planning framework that replaces Euclidean primitives in batch-in…
RL Bootstrapping of OpenVLA-OFT for a Novel Robot Embodiment
arXiv:2608.01013v1 Announce Type: new Abstract: Adapting a pretrained vision-language-action (VLA) policy to a new robot usually assumes embodiment-specific dem…
StochSIPP: Safe Interval Path Planning in Stochastic Dynamic Environments
arXiv:2608.00792v1 Announce Type: new Abstract: Safe navigation under uncertain time-dependent blockage requires anticipating observations before committing to …
From Digital to Physical Reservoir Computing: Co-Optimizing Soft Robotic Reservoirs via Dynamics Matching
arXiv:2608.00484v1 Announce Type: new Abstract: Soft robotic substrates are promising for Physical Reservoir Computing (PRC) because their compliant nonlinear d…
Any House Any Task: Scalable Long-Horizon Planning for Abstract Human Tasks
arXiv:2602.12244v2 Announce Type: replace Abstract: Open world language conditioned task planning is crucial for robots operating in large-scale household envir…
SynAgent: Generalizable Cooperative Humanoid Manipulation via Solo-to-Cooperative Agent Synergy
arXiv:2604.18557v2 Announce Type: replace-cross Abstract: Controllable cooperative humanoid manipulation is a fundamental yet challenging problem for embodied i…
RF-HOI: Recognize Human-Object Interaction with Radio Frequency Signals
arXiv:2608.00289v1 Announce Type: cross Abstract: Recognizing Human-Object Interactions (HOI) is essential for intelligent systems, underpinning applications in…
Learning to Predict Contact Force Distributions from Vision Leveraging Object Geometry Priors
arXiv:2608.00464v1 Announce Type: new Abstract: Based on vision and prior experience, humans can make rough physical predictions and adjust their manipulation s…
LOCUS-DT: Localization via Observation-Conditioned Uncertainty Scoring with Digital Twins
arXiv:2608.00406v1 Announce Type: cross Abstract: Accurate indoor localization is essential for emerging applications in robotic navigation and search and rescu…
Perception-and-action system for humanoid robot task execution in construction
arXiv:2608.01600v1 Announce Type: new Abstract: Humanoid robots, with their human-like shape and multi-tasking capabilities, are well-aligned with human-dominat…
Uncovering and Mitigating Positional Blind Spots in Vision-Language-Action Models
arXiv:2608.01573v1 Announce Type: new Abstract: Recent Vision-Language-Action (VLA) models achieve promising performance in robotic manipulation, typically meas…
Foundation Models in Robotics: A Comprehensive Review of Methods, Models, Datasets, Challenges and Future Research Directions
arXiv:2604.15395v2 Announce Type: replace Abstract: Over the recent years, the field of robotics has been undergoing a transformative paradigm shift from fixed,…
TS-MAMP: A Remanufactured Agricultural Robot Powered by Second-Life EV Components and NMS-Free On-Device Weed Detection
arXiv:2608.02270v1 Announce Type: new Abstract: Agriculture 4.0 robotic systems improve field efficiency yet remain too capital-intensive for the fragmented sma…