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 storiesReal-World Cooperative Bimanual Dexterous Grasp of Large Objects from Single-View Observations
arXiv:2608.10383v1 Announce Type: new Abstract: Bimanual dexterous grasping of large objects is a critical challenge in robotic manipulation. However, most exis…
Nonlinear Model Predictive Control via Sequential Convex Programming for Drone-to-Drone Docking
arXiv:2608.10542v1 Announce Type: new Abstract: Autonomous mid-air docking of multi-rotor vehicles under disturbance-driven target motion poses a constrained no…
BooST: Bridging Semantics and Motions for Efficient Skill Transfer
arXiv:2608.10600v1 Announce Type: new Abstract: Skill abstraction---the process of learning reusable and temporally extended behaviors---has emerged as a key pa…
Toward the Cognitive--Physical Limits of Embodied Intelligence through a World-Model-Centric Autonomous Racing Agent
arXiv:2608.10618v1 Announce Type: new Abstract: Embodied artificial intelligence aims to develop agents that perceive, reason, and act through continuous intera…
OAA: Three Phases of Vocal Guidance in Human-Drone Teleoperation
arXiv:2608.10651v1 Announce Type: new Abstract: Voice-guided teleoperation requires systems that adapt to the evolving dynamics of human guidance. Yet most voic…
Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
arXiv:2608.10656v1 Announce Type: new Abstract: Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting dis…
Immersive Micromanipulation Integrating Pipette and Injector Operations with McKibben-Based Haptic Sensations for Workload Reduction
arXiv:2608.10033v1 Announce Type: cross Abstract: Intracytoplasmic sperm injection (ICSI) requires advanced micromanipulation techniques but relies solely on vi…
Wind-Informed Rapid Flight-Planning in Complex Urban Topologies via Machine Learning and Experimental Validation
arXiv:2608.10309v1 Announce Type: cross Abstract: Advanced air mobility operations hold the potential to enhance and expand regional transportation of both peop…
Dreamer-SAC: Off-Policy Learning in Latent World Models for Sample-Efficient Autonomous Driving
arXiv:2608.10386v1 Announce Type: cross Abstract: Sample-efficient reinforcement learning for autonomous driving is often limited by the trade-off between data …
Hidden in Plain Sight: Diffusion-Based Unrestricted Robotic Attacks on Vision-Language-Action Models
arXiv:2608.10393v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have shown strong capabilities in controlling robots across diverse manipu…
Automatic Field-of-View Adjustment for a View-Expansive Microscope via LSTM-Based Gaze and Pipette Motion Interpretation
arXiv:2608.10401v1 Announce Type: cross Abstract: Intracytoplasmic sperm injection (ICSI) operators frequently adjust the field-of-view (FOV) during procedures,…
Deployment Is Not Destiny: Robot Recomposition in the Field with Unseen Software, Hardware, and Compute Payloads
arXiv:2608.11063v1 Announce Type: new Abstract: The tight coupling of subsystems in most robots, though a natural consequence of their complexity, leads to mono…
JEPA-WAM: Stage-Level Joint-Embedding Prediction for World-Action Models in Robot Manipulation
arXiv:2608.10780v1 Announce Type: new Abstract: Generalist robot policies aim to map multimodal observations and linguistic task instructions to actions across …
Embodied Multimodal Grounding for Open-Vocabulary Mobile Manipulation via Semantic 3D Gaussian Splatting
arXiv:2608.10756v1 Announce Type: new Abstract: Embodied mobile manipulation requires language, visual observations, three-dimensional scene structure, and acti…
TCAM for Autonomous Deformable Manipulation: The RMC2 Champion System for WBCD 2026 Track 4
arXiv:2608.10718v1 Announce Type: new Abstract: This technical report describes the RMC2 Team's champion solution for the WBCD 2026 Track 4: Deformable Manipula…
JitTrack: Onboard Multi-Object Tracking Against Viewpoint Jitter for Agile UAVs
arXiv:2608.10485v1 Announce Type: new Abstract: Multi-object tracking (MOT) onboard agile unmanned aerial vehicles (UAVs) remains challenging due to severe view…
Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models
arXiv:2608.10484v1 Announce Type: new Abstract: Action verbs describe not only the physical outcomes of actions, but also how those actions are performed. Yet a…
PBD-AG: Persistent Baseline-Delta Active Graphs with Uncertainty-Aware Inspection for Long-Horizon Service Robots
arXiv:2608.10449v1 Announce Type: new Abstract: Long-horizon service robots require persistent world models that can be built autonomously in unseen environment…
A 26-Gram Tailless Butterfly-Inspired Flapping-Wing Robot with Onboard Attitude Control
arXiv:2602.06811v3 Announce Type: replace Abstract: Butterfly-inspired flapping-wing robots use broad compliant wings and low-frequency actuation, but pronounce…
Multisource Human-in-the-Loop Digital Twin Testbed for Connected and Autonomous Vehicles in Mixed Traffic Flow
arXiv:2603.17751v5 Announce Type: replace Abstract: In the emerging mixed traffic environments, Connected and Autonomous Vehicles (CAVs) have to interact with s…
Reconfiguration of pivoting cube ensembles under local sensing constraints using geometric deep learning
arXiv:2509.03140v2 Announce Type: replace-cross Abstract: We demonstrate that local sensing is sufficient for effective global reconfiguration of homogeneous pi…
Distributional Uncertainty and Adaptive Decision-Making in System Co-design
arXiv:2603.14047v3 Announce Type: replace-cross Abstract: Complex engineered systems require coordinated design choices across heterogeneous components under co…
Generalizing deep reinforcement learning across cable-driven parallel robot configurations with actuator-level policies
arXiv:2608.07546v1 Announce Type: new Abstract: Cable-driven parallel robots (CDPRs) present diverse configurations and complex control challenges, which can be…
SC$^{2}$-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments
arXiv:2608.07548v1 Announce Type: new Abstract: Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to make fine-grained navigati…
Self Supervised Learning from Automatically Generated Demonstrations for Visual Robotic Manipulation
arXiv:2608.07553v1 Announce Type: new Abstract: Robotic manipulation often requires object specific programming, manual data annotation, or calibrated perceptio…
You Don't Need To Stay in The Loop: An Agentic Robotics Loop for Robot-Policy Improvement
arXiv:2608.07555v1 Announce Type: new Abstract: Coding agents such as Claude Code and Codex close the software loop: a main agent manages the loop, subagents an…
AeroDPO: Unleashing Lightweight UAV Navigation with High-Fidelity Perception and Automated Preference Optimization
arXiv:2608.07557v1 Announce Type: new Abstract: Vision-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) requires rapid and reactive control in complex…
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
arXiv:2608.07558v1 Announce Type: new Abstract: Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interaction…
Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators
arXiv:2608.07573v1 Announce Type: new Abstract: Model Predictive Path Integral (MPPI) control is widely used in manipulation for its gradient-free, parallel han…
Reconfigurable Structural Robotic Assembly: Interlocking 3D Aggregations with Self-Aligning Compound Nested Lattice Modules
arXiv:2608.07576v1 Announce Type: new Abstract: Robotic construction systems often treat the material system and the robot as separate design problems, locating…