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 storiesMirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs
arXiv:2606.20048v1 Announce Type: new Abstract: Image-based behaviour cloning leverages demonstrations captured from ubiquitous RGB cameras. However, it remains…
Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online
arXiv:2509.00271v2 Announce Type: replace Abstract: We introduce a novel History-Aware VErifier (HAVE) to disambiguate uncertain scenarios online by leveraging …
ARC: Adaptive Robust Joint State and Covariance Estimation
arXiv:2606.20428v1 Announce Type: new Abstract: Sensor measurements are frequently corrupted by outliers and non-Gaussian noise. These imperfections in the sens…
ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments
arXiv:2606.19675v1 Announce Type: new Abstract: Legged robots are increasingly deployed in forests for ecological surveying and monitoring, yet their autonomy i…
Learning Category-level Last-meter Navigation from RGB Demonstrations of a Single-instance
arXiv:2512.11173v3 Announce Type: replace Abstract: Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation acti…
PiDR: Physics-Informed Inertial Dead Reckoning for Autonomous Platforms
arXiv:2601.03040v2 Announce Type: replace Abstract: A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of …
Robust Assembly State Reasoning from Action Recognition for Human-Robot Collaboration
arXiv:2606.20150v1 Announce Type: new Abstract: Human Action Recognition (HAR) is frequently investigated in Human-Robot Collaboration (HRC) research to underst…
Belt-Finger: An Affordable Soft Belt-Driven Gripper for Dexterous In-Hand Manipulation
arXiv:2606.20193v1 Announce Type: new Abstract: Parallel-jaw grippers are the default manipulator choice in robotics because they are simple, robust, and inexpe…
Stable Transformer-Actor-Critic Model Predictive Control: A Contraction Analysis Approach
arXiv:2606.20197v1 Announce Type: new Abstract: Actor-Critic Model Predictive Control (MPC) effectively addresses complex, non-convex control problems, but guar…
Autonomous Driving with Priority-Ordered STL Specifications Under Multimodal Uncertainty
arXiv:2606.20336v1 Announce Type: new Abstract: Autonomous vehicles must plan trajectories that satisfy a multitude of requirements on safety, passenger comfort…
An Infrastructure-less, Control-Independent Solution to Relative Localisation of a Team of Mobile Robots using Ranging Measurements
arXiv:2606.20365v1 Announce Type: new Abstract: The ability to localise teams of robots is essential for applications ranging from robotic fleets in unstructure…
LIT-GS: LiDAR-Inertial-Thermal Gaussian Splatting for Illumination-Robust Mapping
arXiv:2606.20424v1 Announce Type: new Abstract: Gaussian Splatting has enabled real-time neural rendering, yet existing LiDAR-inertial-visual (LIV) Gaussian map…
Increasing Resilience of Continuum Robots via Motion Planning Algorithms
arXiv:2606.20495v1 Announce Type: new Abstract: This paper presents an experimental study of motion planning for resilient continuum robots. In this study we ma…
Generating Robot Hands from Human Demonstrations
arXiv:2606.20549v1 Announce Type: new Abstract: Robot learning has advanced rapidly in learning control, but learning the physical body of a robot remains much …
Safe, Real-Time Active Model Discrimination and Fault Diagnosis for Nonlinear Systems via Differentiable Reachability
arXiv:2606.19590v1 Announce Type: new Abstract: We present a safe, real-time algorithm for active fault diagnosis and model discrimination for uncertain continu…
HilDA: Hierarchical Distillation with Diffusion for Advancing Self-Supervised LiDAR Pre-trainin
arXiv:2606.20189v1 Announce Type: cross Abstract: Leveraging Vision Foundation Models (VFMs) for camera-to-LiDAR knowledge distillation offers a promising solut…
VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation
arXiv:2504.15535v2 Announce Type: replace Abstract: The acoustic response of an object can reveal a lot about its global state, for example its material propert…
TaCauchy: An Extensible FEM Framework for Vision-Based Tactile Simulation
arXiv:2606.20426v1 Announce Type: new Abstract: Vision-based tactile sensors require high-fidelity simulation for reinforcement learning, yet existing approache…
CoLI: A Reproducible Platform for Continuum Robot Learning via Monolithic 3D Printing and Isomorphic Teleoperation
arXiv:2606.20389v1 Announce Type: new Abstract: Continuum robots offer strong potential for manipulation tasks due to their high degrees of freedom, compliant s…
Finetuning Vision-Language-Action Models Requires Fewer Layers Than You Think
arXiv:2606.20246v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models pre-trained on massive video-robot datasets have revolutionized robotic mani…
Mobile Target Search with Imperfect Perception: A Partially Observable Stochastic Game Theoretical Approach
arXiv:2606.20232v1 Announce Type: new Abstract: This paper investigates mobile target search under imperfect perceptions caused by sensor limitations, malicious…
FlowMaps: Modeling Long-Term Multimodal Object Dynamics with Flow Matching
arXiv:2606.20209v1 Announce Type: new Abstract: Joint spatial and temporal understanding of 3D scenes is a crucial requirement for robots deployed in everyday h…
TASC: Task-Aware Shared Control for Relational Telemanipulation
arXiv:2509.10416v2 Announce Type: replace Abstract: We present TASC, a Task-Aware Shared Control framework for relational telemanipulation that infers task-leve…
Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level
arXiv:2605.09383v2 Announce Type: replace Abstract: In safety-critical scenarios, the protection level of the autonomous navigation system is crucial for enabli…
Bring My Cup! Personalizing Vision-Language-Action Models with Visual Attentive Prompting
arXiv:2512.20014v3 Announce Type: replace Abstract: While Vision-Language-Action (VLA) models generalize well to generic instructions, they struggle with person…
Stiffness Optimization for Concentrated Bending in Magnetically Actuated Catheters: Maintaining Steerability under Gradient Stiffness
arXiv:2605.25005v2 Announce Type: replace Abstract: Achieving both efficient pushability (propulsion transmission) and proximally concentrated bending for steer…
Movement Primitives in Robotics: A Comprehensive Survey
arXiv:2601.02379v2 Announce Type: replace Abstract: Biological systems exhibit a continuous stream of movements, consisting of sequential segments, that allow t…
On Feedback Speed Control for a Planar Tracking
arXiv:2604.09795v2 Announce Type: replace-cross Abstract: This paper investigates a planar tracking problem between a leader and follower agent. We propose a no…
AION: Aerial Indoor Object-Goal Navigation Using Dual-Policy Reinforcement Learning
arXiv:2601.15614v2 Announce Type: replace Abstract: Object-Goal Navigation (ObjectNav) requires an agent to autonomously explore an unknown environment and navi…
PTLD: Sim-to-real Privileged Tactile Latent Distillation for Dexterous Manipulation
arXiv:2603.04531v3 Announce Type: replace Abstract: Tactile dexterous manipulation is essential to automating complex household tasks, yet learning effective co…