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 storiesHALO: Heterogeneous Admission through Localized Obligations for Safe Agentic Execution
arXiv:2607.27636v1 Announce Type: cross Abstract: Recent agentic AI systems may return a heterogeneous response containing notices, requests, handoffs, and acti…
Cross-Embodiment Transfer via Behavior-Aligned Representations
arXiv:2607.27549v1 Announce Type: new Abstract: Recent progress in large-scale imitation learning for robot manipulation has been driven by leveraging datasets …
CLAM: Continuous Latent Action Models for Robot Learning from Unlabeled Demonstrations
arXiv:2505.04999v2 Announce Type: replace Abstract: Learning robot control policies from demonstrations typically requires action-labeled expert data, which is …
SharedAssembly: A Data Collection Approach via Shared Tele-Assembly
arXiv:2503.12287v2 Announce Type: replace Abstract: High-precision, tight-clearance assembly demonstrations are indispensable for training tactile-aware robotic…
Write-Safe Flow Field Mapping under Ambiguous Onboard Sensing and Localization Drift
arXiv:2607.27713v1 Announce Type: new Abstract: Mobile robots can infer local flow structure from onboard sensing, but a locally plausible estimate is not alway…
RedFlow: Redirect Failure into Action-Level Corrections for Flow-matching VLA Policy
arXiv:2607.27782v1 Announce Type: new Abstract: Flow-matching Vision-Language-Action (VLA) policies have shown strong potential for robotic manipulation but oft…
Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling
arXiv:2607.27511v1 Announce Type: new Abstract: Imitation learning has shown increasing promise for autonomous robotic surgery, yet safe deployment remains chal…
Filling the Pareto-Optimal Front for Affordance Segmentation on Embedded Devices Using RGB-D Cameras
arXiv:2607.28293v1 Announce Type: cross Abstract: While depth sensors have the potential to complement RGB data for affordance segmentation in wearable robots, …
One Future, Every Robot: Label-Efficient Collective-State Prediction with Decentralized JEPA
arXiv:2607.28443v1 Announce Type: new Abstract: Can every robot in a swarm predict the same future collective state from only local observations and bandwidth-l…
Arm2Air: Cross-Embodiment Skeleton Transfer for 3D Relay Formation
arXiv:2607.27627v1 Announce Type: new Abstract: Unmanned aerial vehicle (UAV) relay networks can restore connectivity after communication infrastructure is dama…
A Robust Placeability Metric for Model-Free Unified Pick-and-Place Reasoning
arXiv:2510.14584v3 Announce Type: replace Abstract: Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic sy…
World Action Planner: Generalizable Decision-Making with Action-Conditioned World Models
arXiv:2607.27599v1 Announce Type: cross Abstract: Building generalizable agents for diverse applications remains a fundamental challenge. While imitation learni…
Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness
arXiv:2603.16059v3 Announce Type: replace Abstract: Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by gener…
UniCross: Unified Cross-Skill Dexterous Manipulation Synthesis
arXiv:2607.28198v1 Announce Type: new Abstract: Many dexterous manipulation tasks require the object to remain securely held throughout the interaction. From th…
Compact Task-Aligned Imitation Learning for Laboratory Automation
arXiv:2603.01110v2 Announce Type: replace Abstract: Robotic laboratory automation has traditionally relied on carefully engineered motion pipelines and task-spe…
REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
arXiv:2603.13707v3 Announce Type: replace Abstract: Humanoid loco-manipulation requires coordinated task-space motion planning with stable loco-manipulation com…
Static In, Dynamic Out: Counterfactual Action Augmentation for Moving Object Manipulation
arXiv:2607.27890v1 Announce Type: new Abstract: Visuomotor policies have advanced on manipulation tasks where the target object stays static during execution, b…
FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation
arXiv:2607.28596v1 Announce Type: new Abstract: In contact-rich manipulation, action multimodality and reactivity dominate different stages of a single episode.…
Metrics vs Surveys: An Analysis for Human-Aligned Benchmarking in Social Robot Navigation
arXiv:2510.02941v2 Announce Type: replace Abstract: Social, also called human-aware, navigation is a key challenge for integrating mobile robots into human envi…
SUNSET - A Sensor-fUsioN based semantic SegmEnTation exemplar for ROS-based self-adaptation
arXiv:2601.13732v2 Announce Type: replace Abstract: The fact that robots are getting deployed more often in dynamic environments, together with the increasing c…
FasTac: A Curved Multispectral Vision-Based Tactile Sensor for High-Speed High-Precision 3D Shape and Force Perception
arXiv:2607.28416v1 Announce Type: new Abstract: Curved tactile fingertips for dexterous manipulation must resolve fine contact geometry, distinguish normal and …
Relational Scene Graphs for Object Grounding of Natural Language Commands
arXiv:2602.04635v2 Announce Type: replace Abstract: Robots are finding wider adoption in human environments, increasing the need for natural human-robot interac…
Articulated Object Reconstruction from Rest-State Observation
arXiv:2607.27749v1 Announce Type: cross Abstract: Building interactive digital twins requires recovering both 3D geometry and the kinematic structures that gove…
It's Not Just More Demos: Counterfactual Action Sensitivity Coverage for Data-Efficient Robust Robot Imitation
arXiv:2607.27261v1 Announce Type: new Abstract: Visuomotor imitation learning has demonstrated success for manipulation tasks. However, the trained policies rem…
A Three-Stage Offline SDRE-Based Control Framework for Human Motion Reproduction on a Suspended Bipedal Robot
arXiv:2506.04680v3 Announce Type: replace Abstract: Evaluating lower limb exoskeletons directly with human subjects can expose users to risk when actuator fault…
TacWAM: Anchor-Guided World Action Model with Mechanics-Aware Tactile Prediction
arXiv:2607.28391v1 Announce Type: new Abstract: World Action Models (WAMs) combine future-state prediction with robot action generation, but existing approaches…
RoboBRIDGE: A Modular Framework for Bridging Policies to Robust Real-World Robotic Agents
arXiv:2607.27881v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have attracted growing interest as a scalable approach to robotic manipulati…
TEA-AgriVLN: Traversability Estimation Alarm for Agricultural Vision-and-Language Navigation
arXiv:2607.28474v1 Announce Type: new Abstract: Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires an agent to follow a natural languag…
SemAnCorr: Semantic Anchored Correspondence for Zero-Shot Manipulation Skill Transfer
arXiv:2607.28382v1 Announce Type: new Abstract: Transferring manipulation skills across object instances that share functionality but differ in geometry remains…
Learning Social Robot Navigation By Sensing Human Legs
arXiv:2607.27922v1 Announce Type: new Abstract: Robots navigating among pedestrians typically sense their surroundings with a 2D LiDAR mounted close to the grou…