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 storiesA Tendon-Driven Robotic Jellyfish with Constrained Soft Actuation and Depth Control via Reinforcement Learning
arXiv:2609.29132v1 Announce Type: new Abstract: Jellyfish-inspired robots offer a compliant and efficient approach to underwater locomotion, but achieving large…
OREN-X: Octree Residual Network for Real-Time Multi-Modal Mapping
arXiv:2609.29157v1 Announce Type: new Abstract: To achieve general-purpose autonomy over long horizons, a robot needs to maintain spatial environment informatio…
Representation World Model: Learning States, Transition and Executable Plans in Representation
arXiv:2609.29171v1 Announce Type: new Abstract: We propose the Representation World Model (RWM), which learns states, transitions, and executable plans directly…
ADM-Planner: LLM-Guided Long-Horizon Planning for Mobile Manipulators with Attention-Enhanced Dynamic Memory
arXiv:2609.29212v1 Announce Type: new Abstract: Large language models can decompose mobile-manipulation goals into long action sequences, but the resulting plan…
Dense-Joint-Based Obstacle-Aided Locomotion with a Joint-Repositionable Snake Robot
arXiv:2609.29261v1 Announce Type: new Abstract: Obstacle-aided locomotion is a fundamental capability for snake robots to traverse complex environments. However…
EgoSpeedUp: Transferring Human Manipulation Tempo to Robot Policies
arXiv:2609.29310v1 Announce Type: new Abstract: Robot manipulation policies trained through imitation learning inherit not only the demonstrated behavior but al…
A Simple Gripper Interface for Simulator-Agnostic Cloth Manipulation
arXiv:2609.29340v1 Announce Type: new Abstract: This paper presents a grasping model for cloth manipulation specifically tailored to ease the deployment of robo…
FMCW-LIO: A Doppler LiDAR-Inertial Odometry
arXiv:2609.29374v1 Announce Type: new Abstract: Conventional LiDAR-inertial odometry (LIO) or simultaneous localization and mapping (SLAM) methods heavily rely …
Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for Doppler LiDAR-Inertial Systems
arXiv:2609.29375v1 Announce Type: new Abstract: Robust initialization is crucial for online systems. In the letter, a high-frequency and resilient initializatio…
Decoupled Early Exits for Task-Dependent Compute Allocation in Flow-Matching VLAs
arXiv:2609.29382v1 Announce Type: new Abstract: Flow-matching Vision-Language-Action (VLA) models have emerged as a potential solution for generalist robot cont…
Robo-Harness K1: Harnessing Robot-Use Agents via Perception Augmentation
arXiv:2609.29389v1 Announce Type: new Abstract: Foundation vision-language models (VLMs) understand objects, instructions, and spatial relations, yet translatin…
RACaP: Agentic Reasoning, Acting, and Coding as Policies for Evolvable Robot Learning
arXiv:2609.29394v1 Announce Type: new Abstract: General-purpose robot agents must learn from experience, transfer to new tasks, and act efficiently. Code as Pol…
WRAP: Fixtureless Wrench-aware Multi-Robot Assembly Planning
arXiv:2609.29407v1 Announce Type: new Abstract: Assembly using robots often requires specially designed fixtures, or relies on top-down only assembly strategies…
Singularity Analysis for the Perspective-Four and Five-Line Problems
arXiv:2609.29417v1 Announce Type: new Abstract: This paper deals with image-based visual servoing and pose estimation by observing four and five lines. Our main…
UCON: Uncertainty-aware Navigation with Historical Re-association in Dynamic Environments
arXiv:2609.29419v1 Announce Type: new Abstract: Autonomous navigation in dynamic environments is hindered by two fundamental challenges: perception instability …
Temperament Engineering: Designing Strategic Behavioural Diversity in Robot Swarms
arXiv:2609.29423v1 Announce Type: new Abstract: No two robots are truly identical: calibration, battery state, sensor drift and wear give every swarm a distribu…
Coupled State-Space Modelling, Control, and Policy Distillation for Hybrid Rigid-Pneumatic Manipulators
arXiv:2609.29424v1 Announce Type: new Abstract: Hybrid manipulators combine motorized rigid joints with pressure-actuated origami segments. Published arms of th…
RoboLDA: A Probabilistic Generative Model for Uncovering Embodied Hierarchical Structures in Voxel-based Soft Robots
arXiv:2609.29490v1 Announce Type: new Abstract: Recent advances in robotics highlight hierarchical configurations of robot morphology, where multiple levels of …
Generative Evolutionary Design of Voxel-Based Soft Robots with Provable Optimality
arXiv:2609.29491v1 Announce Type: new Abstract: Voxel-based soft robots (VSRs) present a promising avenue for developing artificial organisms with lifelike inte…
Free the Language Model From the Vision Encoder: Semantic Serialization as a Perception Interface for Small Language Models
arXiv:2609.29601v1 Announce Type: new Abstract: End-to-end vision-language models (VLMs) bind visual competence to the scale of their language model: as the lan…
Markerless Multi-Modal Autonomous Robotic Inspection of Large Space Structures
arXiv:2609.29644v1 Announce Type: new Abstract: Future orbital infrastructures, such as deployable antennas, solar farms, and large orbital platforms will requi…
Do World Models Make Better Robots? A Survey of Evaluation Benchmarks for Predictive Embodied Intelligence
arXiv:2609.29669v1 Announce Type: new Abstract: Robot learning now advances along two tracks that rarely meet. On one side, direct Vision-Language-Action (VLA) …
Combining Evasive and Braking Reactions for Safety Reference Models in Automated Vehicles
arXiv:2609.29738v1 Announce Type: new Abstract: Computational models of careful and competent human drivers are essential for scenario-based evaluation of autom…
From Target Selection to Digging: A Learning-Based Framework for Continuous Autonomous Excavation
arXiv:2609.29750v1 Announce Type: new Abstract: Repeated excavation continuously reshapes pile geometry, requiring an autonomous excavator to adapt its digging …
PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation
arXiv:2609.29760v1 Announce Type: new Abstract: Humans typically rely on vision, touch, hearing, and proprioception to perceive contact and adapt their actions …
Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning
arXiv:2609.29822v1 Announce Type: new Abstract: Robotic imitation learning often relies on external cameras, yet local interaction cues such as object proximity…
GPT-6-Astra Lights Up Embodied Navigation: Evaluation in Zero-Shot Vision-and-Language Navigation in Continuous Environments
arXiv:2609.29861v1 Announce Type: new Abstract: We investigate whether GPT-6-Astra, a general-purpose foundation model, can navigate unfamiliar environments usi…
MorphIK: Morphology-Conditioned Neural Inverse Kinematics for Unknown Robots
arXiv:2609.29908v1 Announce Type: new Abstract: Neural models can learn to generate various solutions to the inverse kinematics problem from data, but are usual…
High-Voltage Optocoupler Amplifier for Electrostatic Actuators
arXiv:2609.29914v1 Announce Type: new Abstract: Many electrostatic actuators require multi-kilovolt drive voltages at sub-milliamp currents, a task poorly suite…
Pairwise Approximation Can Select the Wrong Multi-Robot Plan
arXiv:2609.29929v1 Announce Type: new Abstract: Multi-robot coordination methods often score a joint plan from singleton and pairwise terms, leaving out the ter…