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 storiesDragMesh-2: Physically Plausible Dexterous Hand-Object Interaction with Articulated Objects
arXiv:2606.15133v1 Announce Type: new Abstract: Dexterous interaction with articulated objects is important for household, assistive, and humanoid manipulation,…
Deep Learning-Based Lunar Crater Terrain Relative Navigation
arXiv:2606.14776v1 Announce Type: new Abstract: Accurate position estimation is crucial for the successful implementation of future lunar landings using autonom…
From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges
arXiv:2604.21391v2 Announce Type: replace Abstract: Bridging high-level semantic understanding with low-level physical control remains a persistent challenge in…
Action with Visual Primitives
arXiv:2605.22183v3 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have emerged as a promising paradigm for generalist robotic manipulation…
Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
arXiv:2606.08059v2 Announce Type: replace Abstract: Humanoid behavior foundation models aim to acquire reusable whole-body control policies from broad human mot…
AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning
arXiv:2606.09777v2 Announce Type: replace Abstract: Force and tactile sensing are indispensable in contact-rich manipulation. However, force-aware robot learnin…
CoIRL-AD: Collaborative-Competitive Imitation-Reinforcement Learning in Latent World Models for Autonomous Driving
arXiv:2510.12560v2 Announce Type: replace-cross Abstract: End-to-end autonomous driving models trained with imitation learning (IL) often generalize poorly, par…
AVA-VLA: Improving Vision-Language-Action models with Active Visual Attention
arXiv:2511.18960v4 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models have shown remarkable progress in embodied tasks recently, but mos…
Whole-Brain Connectomic Graph Model Enables Whole-Body Locomotion Control in Fruit Fly
arXiv:2602.17997v3 Announce Type: replace-cross Abstract: Animals perform coordinated whole-body movements under the control of neural systems shaped by brain-w…
FDIO: Frequency Decomposed Inertial Odometry
arXiv:2511.15645v4 Announce Type: replace-cross Abstract: Pedestrian inertial odometry (PIO) estimates autonomous pedestrian motion using only acceleration and …
NIMO: A Software Platform for Closed-Loop Materials Exploration with Diverse AI Algorithms
arXiv:2606.15522v1 Announce Type: cross Abstract: Self-driving laboratories (SDLs), where artificial intelligence proposes subsequent experiments and robotic sy…
Self-Driving Negotiator: An interactive, verifiable benchmark for social negotiation and theory of mind under hidden intent
arXiv:2606.15139v1 Announce Type: cross Abstract: Autonomous driving is full of tiny social negotiations: a driver presses forward, another yields, a pedestrian…
Impedance MPC with Patient-Torque Estimation for Knee Rehabilitation Exoskeletons
arXiv:2606.13485v1 Announce Type: cross Abstract: Knee rehabilitation exoskeletons must enforce a prescribed joint trajectory while remaining safely compliant w…
DataLadder: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid
arXiv:2606.16776v1 Announce Type: new Abstract: Generalist robot policies require trustworthy evaluation and robot-usable training data, but both are difficult …
An Augmented Reality Brain-Robot Interface for Generalist Robot Arm Manipulation
arXiv:2606.16413v1 Announce Type: new Abstract: The integration of augmented reality (AR) and EEG-based brain-computer interfaces (BCIs) offers a promising path…
PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty
arXiv:2606.15654v1 Announce Type: new Abstract: Real-world robot task planning must operate under both stochastic action execution and partial observability, ye…
Learning Context-Aware Neural ODE Dynamics for Adaptive Robotic Control
arXiv:2606.15469v1 Announce Type: new Abstract: Robotic systems deployed in uncertain and dynamically changing environments often face variations in contact con…
OSDAG: Online Scheduling for Efficient Multi-Robot Collaboration
arXiv:2606.15255v1 Announce Type: new Abstract: Coordinating heterogeneous multi-robot systems (MRS) for complex, long-horizon tasks requires both flexible high…
An Autonomous Subgram SMA-Based Swimmer
arXiv:2606.15028v1 Announce Type: new Abstract: We present the Swima, a bioinspired 900-mg swimmer propelled by two 10-mg high-work-density (HWD) actuators driv…
Synthetic-to-Real Pipeline for Safe Landing Zone Detection
arXiv:2606.14767v1 Announce Type: new Abstract: As Uncrewed Aerial Vehicles (UAVs) transition toward higher levels of autonomy, the ability to perform unassiste…
VANDERER: Map-Free Exploration using Future-Aware and Visual-Curiosity-Guided Diffusion Policy
arXiv:2606.14879v1 Announce Type: new Abstract: Mobile agents require efficient exploration strategies to map unseen environments and autonomously plan tasks. T…
Computing Smooth Geodesics under Two-Sided Curvature Bounds with Applications to Robotics and Image Analysis
arXiv:2606.14794v1 Announce Type: new Abstract: Curvature of planar curves serves as a key regularization term for computing second-order minimal paths, due to …
Multimodal Physiological Assessment of Contact-Rich Physical Human-Robot Interaction Under Varying Environmental Conditions
arXiv:2606.14969v1 Announce Type: new Abstract: Physical human-robot interaction (pHRI) in real-world settings exposes operators to fluctuating environmental co…
Inference-time Policy Steering via Vision and Touch
arXiv:2606.14981v1 Announce Type: new Abstract: Inference-time steering adapts pre-trained generative robot policies during deployment by verifying candidate ac…
LV-Calib: LiDAR-Camera Extrinsic Calibration with Boundary-Response Modeling
arXiv:2606.15010v1 Announce Type: new Abstract: We present LV-Calib, a calibration framework for LiDAR-camera extrinsic estimation and LiDAR boundary-response c…
Design and Fabrication of a Spin Coater with In-Situ Optical Measurement for Soft Thin Films
arXiv:2606.15068v1 Announce Type: new Abstract: Spin coating is widely used for fabrication of thin polymer and elastomer films, yet reliable thickness verifica…
Covariance-Regulated Recursive Koopman Learning for Nonlinear Systems with Uncertain Time-Varying Dynamics
arXiv:2606.15317v1 Announce Type: new Abstract: Offline models for autonomous robots often fail under time-varying dynamics outside their training distribution.…
Understanding and Modeling Perceived Cognitive and Physical Strain Dynamics for Planning-Oriented Human-Robot Collaboration in Prefabricated Construction
arXiv:2606.15494v1 Announce Type: new Abstract: Human-robot collaboration (HRC) in prefabricated construction requires planning approaches that consider not onl…
Reinforcement Learning-Guided Retrieval with Soft Fusion for Robust Multimodal Imitation Learning under Missing Modalities
arXiv:2606.15514v1 Announce Type: new Abstract: Robotic systems perceive the world through multiple input modalities -- including visual camera streams and natu…
Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation
arXiv:2606.15550v1 Announce Type: new Abstract: The success of generative models in language and visual generation has inspired extensive applications to genera…