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 storiesVision-based Goal-Reaching Control for Mobile Robots Using a Hierarchical Learning Framework
arXiv:2601.00610v2 Announce Type: replace Abstract: Reinforcement learning (RL) has strong potential in robotics, but exploration-based training complicates saf…
GPA-RAM: Grasp-Pretraining Augmented Robotic Attention Mamba for Spatial Task Learning
arXiv:2504.19683v4 Announce Type: replace Abstract: Fine-grained robotic manipulation often fails when inaccurate initial grasps propagate errors and necessitat…
FibVLA: An Efficient Temporal Vision-Language-Action Model with Fibonacci Sampling
arXiv:2607.29596v1 Announce Type: new Abstract: Vision-language-action models (VLAs), which leverage the cognition of multimodal information to infer physical-w…
Diagnosing Compositional Generalization in Sequential Robot Tasks
arXiv:2607.29687v1 Announce Type: new Abstract: Sequential robot manipulation requires policies to execute novel combinations of familiar instruction components…
LEMUR: Learning to Align with Multi-Objective Reinforcement Learning from Preference Feedback
arXiv:2607.29559v1 Announce Type: cross Abstract: Reinforcement Learning (RL) systems are typically trained using a single, well-specified scalar reward functio…
SAGP: Semantic Affordance-Guided Grasp Planning via Coarse-Zone VLM Reasoning
arXiv:2607.29374v1 Announce Type: new Abstract: Geometry-based grasp planners ensure physically valid grasps but ignore functional semantics, often generating g…
Safe Vision Language Action Models via Barrier Enhanced Flow Matching
arXiv:2607.29569v1 Announce Type: new Abstract: This article presents a modular inference framework that integrates Flow Matching generative models with formal …
Vision-Based Agile Landing on Turbulent Waters
arXiv:2605.23717v2 Announce Type: replace Abstract: Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion …
Outcome-Guided Distillation: A Teacher-Student Framework to Advance VLM Reasoning in Autonomous Driving
arXiv:2607.29052v1 Announce Type: new Abstract: End-to-end (E2E) autonomous driving aims to learn a direct mapping from visual observations to control actions. …
Receding-Horizon Next-Best-View Planner for Autonomous Leaf Surface Reconstruction
arXiv:2607.28995v1 Announce Type: new Abstract: Accurate plant leaf modeling is fundamental to downstream tasks such as plant growth monitoring, and phenotyping…
TransGraspNet: Physically and Geometrically Consistent Manipulation of Transparent Labware
arXiv:2607.29567v1 Announce Type: new Abstract: Manipulating transparent laboratory glassware that contains liquid is inherently safety-critical: even small geo…
STAGE: STyle-controllable Action GEneration for personalized autonomous driving
arXiv:2607.29517v1 Announce Type: new Abstract: Driving style refers to the behavioral preferences that drivers maintain during driving, shaped by their diverse…
MDIR: A Task-Manifold Impedance Retargeting Method for Contact-Rich Teleoperation
arXiv:2607.29271v1 Announce Type: new Abstract: Fixed Cartesian impedance makes contact-rich teleoperation demonstrations practical, but gains that secure progr…
Automated Straight-line Sewing of Stretchable Fabrics with Different Lengths
arXiv:2607.29464v1 Announce Type: new Abstract: Different Length Alignment Sewing (DLAS), which involves stretching the shorter fabric to match the longer one a…
Advances, challenges, and opportunities for legged robots
arXiv:2607.28952v1 Announce Type: new Abstract: Humanoid and quadrupedal robots have the potential to revolutionize the way we work, interact, and coexist with …
ASVSim (AirSim for Surface Vehicles): A High-Fidelity Simulation Framework for Autonomous Surface Vehicle Research
arXiv:2506.22174v3 Announce Type: replace Abstract: The transport industry has recently shown significant interest in unmanned surface vehicles (USVs), specific…
Homotopy-Aware Corridor Generation without Predefined Reference Paths
arXiv:2607.29513v1 Announce Type: new Abstract: Generating safe corridors is essential for collision-free robotic motion planning, yet most existing methods rel…
Balancing of Humanoid with Object Mass: Trade-off Analyses and Lifting Control
arXiv:2607.29625v1 Announce Type: new Abstract: The demand for humanoid loco-manipulation tasks with an object has recently increased, and most existing control…
TacPrint: A Wearable Fingertip Tactile Sensor for Human-to-Robot Contact Reproduction
arXiv:2607.29231v1 Announce Type: new Abstract: Human-centric data collection is emerging as a significant paradigm for robot skill acquisition, but seamlessly …
TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation
arXiv:2607.29285v1 Announce Type: new Abstract: Action chunking shortens the effective decision horizon of robot imitation learning by predicting multiple futur…
ActFovea: Runtime Safeguarding for VLA Policies via Spatiotemporal Visual-Action Consistency
arXiv:2607.29169v1 Announce Type: new Abstract: Vision-language-action (VLA) policies achieve strong performance in robotic manipulation but remain vulnerable t…
Auto-JEPA: A Latent World Model of Continuous Intent for End-to-End Autonomous Driving
arXiv:2607.29031v1 Announce Type: new Abstract: Existing autonomous-driving world models typically perform dense prediction of future videos, occupancy states, …
ST-WAM: Semantic-Temporal World Action Model for Robust Manipulation under Visual Distribution Shifts
arXiv:2607.28993v1 Announce Type: new Abstract: World Action Models (WAMs) have emerged as a promising paradigm by jointly modeling robot actions and future vis…
Leveraging Image Generators to Address Data Scarcity: The Gen4Regen Dataset for Forest Regeneration Mapping
arXiv:2605.05627v2 Announce Type: replace-cross Abstract: Sustainable forest management relies on precise species composition mapping, yet traditional ground su…
FBFM: A Training-Free Asynchronous Feedback Mechanism for Flow-Matching in World-Action Models Execution
arXiv:2607.29235v1 Announce Type: new Abstract: Although world-action models (WAMs) enhance long-horizon robot control by predicting visual evolution before act…
CLIFT: Turning Gemini Robotics On-Device into Humanoid Specialists via Non-Invasive Closed-Loop Iterative Fine-Tuning
arXiv:2607.29172v1 Announce Type: new Abstract: While robot foundation models are growing increasingly capable, the strongest models are typically trained on pr…
DuetHOI: Language-Guided Bimanual Hand--Object Motion Generation with Articulation Planning and Contact Refinement
arXiv:2603.08390v3 Announce Type: replace Abstract: Bimanual articulated-object interaction generation requires a model to capture the evolution of object artic…
HAM-VLN: Harnessing Hierarchical Agentic Memory for Zero-Shot Vision-and-Language Navigation
arXiv:2607.29600v1 Announce Type: new Abstract: Vision-and-language navigation (VLN) enables robots to follow instructions in previously unseen environments. Re…
The Open Motion Planning Library 2.0
arXiv:2605.29301v2 Announce Type: replace Abstract: The Open Motion Planning Library (OMPL), first released in 2008, has become a cornerstone of the motion plan…
Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination
arXiv:2607.29227v1 Announce Type: new Abstract: We present a real-time upper-body human-to-humanoid motion imitation framework driven by neuromorphic event-base…