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 storiesMamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models
arXiv:2409.07163v3 Announce Type: replace Abstract: Diffusion models have been widely employed in the field of 3D manipulation due to their efficient capability…
Grounded Semantic Re-Binding for Robust Instruction Generalization in Vision-Language-Action Models
arXiv:2608.02497v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models excel in robotic manipulation but suffer catastrophic performance drops when…
TANGO-VIO: Triangulation-Aware Navigation with Guaranteed Feature-Observability for Visual-Inertial Odometry
arXiv:2608.02079v1 Announce Type: new Abstract: In vision-aided navigation and visual-inertial odometry, the quality of triangulated three-dimensional feature p…
Complete Motion Planning using Workspace-Fibered Decomposition for nR-Planar Manipulator
arXiv:2608.01172v1 Announce Type: new Abstract: We propose a workspace-fibered decomposition framework for motion planning in nR planar redundant manipulators o…
Learning Smooth SE(3) Trajectories under Left-Invariant Riemannian Metrics
arXiv:2608.01562v1 Announce Type: new Abstract: Optimal trajectory generation for rigid-body motions on Lie groups can be formulated as a variational problem th…
STAR-VLM: Spatiotemporal Grounding Vision-Language Models for Motion and Velocity Estimation via Automotive Radar Supervision
arXiv:2608.01535v1 Announce Type: cross Abstract: Vision-language models (VLMs) are emerging as a key component of embodied intelligence, with growing applicati…
A Robotic System for Automated Manufacturing of Dielectric Elastomer Actuators
arXiv:2608.00369v1 Announce Type: new Abstract: This letter presents an automated robotic manufacturing system for soft capacitors which operate as actuators an…
Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation
arXiv:2608.02316v1 Announce Type: new Abstract: State estimation is a key component in model-based control of walking robots and, more broadly, applicable where…
Localization in Spatiotemporal Fields via Environmental PDEs
arXiv:2608.00272v1 Announce Type: new Abstract: This paper proposes a localization framework that uses spatiotemporal fields governed by partial differential eq…
From Representational Complementarity to Dual Systems: Synergizing VLM and Vision-Only Backbones for End-to-End Driving
arXiv:2602.10719v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) driving augments end-to-end (E2E) planning with language-enabled visual backbon…
Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control
arXiv:2608.00206v1 Announce Type: new Abstract: Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiri…
FeDepth: Federated Learning for Depth Estimation under Robot Heterogeneity
arXiv:2608.01129v1 Announce Type: new Abstract: Although recent robot perception research emphasizes training on data from diverse environments to improve gener…
GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking
arXiv:2608.01410v1 Announce Type: new Abstract: General-purpose humanoid trackers can execute diverse references, but their zero-shot coverage depends on large …
MemoAct: Atkinson-Shiffrin-Inspired Hierarchical Memory-Augmented Policy for Robotic Manipulation
arXiv:2603.18494v2 Announce Type: replace Abstract: Memory-augmented robotic policies are essential in handling memory-dependent tasks. However, existing approa…
Long-Term Memory for VLA-based Agents in Open-World Task Execution
arXiv:2604.15671v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have demonstrated significant potential for embodied decision-making; ho…
ProtoAct: Turning Wet-Lab Protocols into Embodied Robotic Actions
arXiv:2608.01690v1 Announce Type: new Abstract: Biological wet-lab protocols are written for trained researchers and often leave routine operations, state-depen…
Hermite Curves as Trajectory Priors for Vision-Language-Action Models
arXiv:2608.01265v1 Announce Type: new Abstract: Despite recent progress in Vision-Language-Action (VLA) models for robotic manipulation, the action chunk remain…
ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction
arXiv:2608.01824v1 Announce Type: new Abstract: Fusing tactile signals has proven effective for contact-rich manipulation, enabling robots to perceive contact s…
MROPE: A Multi-Robot Safe Cooperative Strategy via combined Predictive Safety Filters and Ellipse-based Constraint Compression
arXiv:2607.29203v1 Announce Type: new Abstract: Deploying drone swarms to track a dynamic target in cluttered environments presents severe computational and saf…
D-VLC: Decentralized Vision-Language Collaboration for Heterogeneous Embodied Multi-Robot Systems in Unknown Environments
arXiv:2607.29009v1 Announce Type: new Abstract: Multi-robot systems, particularly heterogeneous robot swarms, can improve the efficiency of complex task executi…
WCM: A World Critic Model for Vision-Language-Action Reinforcement Learning
arXiv:2607.29613v1 Announce Type: new Abstract: Reinforcement learning (RL) post-training of Vision-Language-Action (VLA) models has shown strong promise for ro…
RayViT: Ray-Conditioned Visual Representations for Viewpoint-Robust Imitation Learning
arXiv:2607.29622v1 Announce Type: new Abstract: Visual imitation learning enables robots to acquire visuomotor skills directly from images, yet RGB observations…
Fast Feature Field ($\text{F}^3$): A Predictive Representation of Events
arXiv:2509.25146v2 Announce Type: replace-cross Abstract: This paper develops a mathematical argument and algorithms for building representations of data from e…
Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization
arXiv:2603.09956v2 Announce Type: replace Abstract: We present the KinoDynamic Motion Retargeting (KDMR) framework, a novel approach for humanoid locomotion tha…
CorrelationFlow: A Training-Free Geometric Approach for LiDAR Scene Flow Estimation
arXiv:2607.29237v1 Announce Type: cross Abstract: LiDAR scene flow estimation has settled into a monoculture: nearly all recent methods share the same feed-forw…
AquaJEPA: Action-Conditioned Multimodal Predictive Representations for Underwater Robot Dynamics
arXiv:2607.29393v1 Announce Type: new Abstract: Underwater robots combine complementary sensors whose reliability changes abruptly with water visibility, viewpo…
Tri-Space Operational Control of Redundant Multilink and Hybrid Cable-Driven Parallel Robots Using an Iterative-Learning based Reactive Approach
arXiv:2607.29500v1 Announce Type: new Abstract: Cable-Driven Parallel Robots (CDPRs) are a type of parallel mechanism in which cables are used as actuators. Due…
BWM: A Low-Cost High-Fidelity World Simulator for Robot Learning
arXiv:2607.29302v1 Announce Type: new Abstract: Reliable robot learning requires a world simulator that can predict action consequences before execution on phys…
Dual-Force: Enhanced Offline Diversity Maximization under Imitation Constraints
arXiv:2501.04426v2 Announce Type: replace-cross Abstract: Offline diversity maximization under imitation constraints can transform demonstration data into a set…
Combining Large Language Models and Symbolic Reasoning for Multi-Robot Temporal Planning through Explainable Knowledge Bases
arXiv:2502.19135v2 Announce Type: replace-cross Abstract: We present PLANTOR, a framework for generating and executing multi-robot task plans from natural-langu…