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 storiesMAPLE-RF: Efficient Probabilistic RF Source Localization in Partially Explored Environments
arXiv:2609.21026v1 Announce Type: new Abstract: Localizing a radio-frequency (RF) transmitter from received signals often requires a model of the environment to…
DEXTERA: From a Single Image to Deployable Dexterous Manipulation via Real-to-Sim-to-Real
arXiv:2609.21045v1 Announce Type: new Abstract: Collecting real-world robot data for dexterous manipulation is costly and time-consuming. While high-fidelity ph…
Constraint-Unified MPC for Over-Actuated Surface Vehicles with Post-Detection Fault Reconfiguration
arXiv:2609.21046v1 Announce Type: new Abstract: Choreographed aquatic performances require small autonomous surface vehicles to track precise paths under per-th…
Dynamic Modeling and LQR Control of a Single Coaxial Drone with 2DOF Thrust Vectoring Mechanism
arXiv:2609.21099v1 Announce Type: new Abstract: Coaxial rotor drones have generated considerable interest because of energy efficiency and small size, but they …
Dynamics-Induced Commitment in Learning-Based Robotic Penalty Kicks
arXiv:2609.21100v1 Announce Type: new Abstract: Learning in robotic games is constrained not only by strategic information but also by what the body can still e…
Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations
arXiv:2609.21107v1 Announce Type: new Abstract: While learning from human motions has enabled highly dynamic humanoid skills such as dancing and martial arts in…
Demonstration Synthesis from a Single Scan via Gaussian Splatting for Visuomotor Policy Learning
arXiv:2609.21112v1 Announce Type: new Abstract: Training a visuomotor policy calls for abundant demonstrations that closely match the target environment, yet co…
Noctif3R: Feed-Forward Monocular Real-Time SLAM for Photon-Limited Scenes on Embedded Hardware
arXiv:2609.21114v1 Announce Type: new Abstract: Robots carrying out tasks in dark environments need to localize from a single RGB camera, in light so low that t…
MetaPusher: Meta Learning and Planning for Nonprehensile Manipulation of Unseen Objects with Rapid Online Adaption
arXiv:2609.21122v1 Announce Type: new Abstract: Manipulating previously unseen objects remains challenging, as their dynamics depend on latent physical properti…
SAGE: Safety-Aligned Gradient Enforcement for Human--Robot Collaboration
arXiv:2609.21130v1 Announce Type: new Abstract: Multi-party human-robot collaboration poses a dual challenge: robot decisions should remain interpretable and au…
Diverse and Adaptable Arm Coordination for Octopus-Crawling via Diffusion-Based Uncertainty-Aware Optimization
arXiv:2609.21138v1 Announce Type: new Abstract: Octopus crawling motivates soft robots that exploit redundancy, yet discovering and organizing diverse coordinat…
Same World, Different Knowledge: When Isolated Audits Misjudge World-Model Repairs
arXiv:2609.21155v1 Announce Type: new Abstract: A repair favored under an isolated input fault can be inferior when deployed modules share the faulty informatio…
When to Waddle: A Comparative Study of Bipedal Torso-Stabilization on Low-Friction Surfaces
arXiv:2609.21185v1 Announce Type: new Abstract: Low-friction surfaces challenge bipedal locomotion by limiting the contact forces available during stepping. Ins…
Robust Structureless Monocular Visual Inertial Initialization Exploiting Line Features and Vanishing Points
arXiv:2609.21186v1 Announce Type: new Abstract: Accurate initialization is essential for reliable visual-inertial odometry (VIO), but it is often ill-conditione…
Fewer Steps, Better Actions: Rethinking Flow-Matching Inference for VLA Policies
arXiv:2609.21216v1 Announce Type: new Abstract: Vision-language-action (VLA) policies based on flow matching generate action chunks through repeated evaluations…
SafeStage: Evaluating Safety Before, During, and After Vision-Language-Conditioned Robot Manipulation
arXiv:2609.21223v1 Announce Type: new Abstract: Vision-language-conditioned robot policies integrate perception, language understanding, and control for general…
FOCAL-VLA: Subtask-Guided Geometry Distillation and Implicit World Modeling for Vision-Language-Action Models
arXiv:2609.21228v1 Announce Type: new Abstract: Vision-language-action (VLA) models built on pretrained vision-language models have demonstrated strong performa…
LOInK: Learned Optimal Inverse Kinematics via Structured Neural Surrogate Models
arXiv:2609.21275v1 Announce Type: new Abstract: We introduce Learned Optimal Inverse Kinematics (LOInK), a method to generate approximately optimal solutions to…
NaViRrator: Robot Navigation from Human-Readable Maps through a Learned Visual Route
arXiv:2609.21316v1 Announce Type: new Abstract: Human-readable maps provide an intuitive interface for specifying robot destinations, but connecting their schem…
FAN: Foresight Action Normalization for Continual Adaptation of Vision-Language-Action Models
arXiv:2609.21358v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models pre-trained on large-scale, closed datasets have demonstrated remarkable suc…
ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation
arXiv:2609.21369v1 Announce Type: new Abstract: This paper presents a comprehensive framework for robot manipulation failure analysis that includes binary failu…
Stabilizing Trajectory Outputs in End-to-End Autonomous Driving via SC-IMM Based Teacher Signals
arXiv:2609.21404v1 Announce Type: new Abstract: End-to-End autonomous driving models commonly predict future waypoints from sensor inputs and convert them into …
FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion
arXiv:2609.21447v1 Announce Type: new Abstract: Humanoid locomotion over complex terrain requires anticipating footholds that may no longer be visible at touchd…
Skel-WAM: A Hand-Skeleton-Conditioned World Action Model for Human-to-Robot Manipulation Transfer
arXiv:2609.21514v1 Announce Type: new Abstract: Robot demonstrations are expensive to collect and often provide limited distributional coverage of task variatio…
AgenticSwarm: Semantic Perception and Adaptive Task Allocation for Heterogeneous Multi-UAV Missions
arXiv:2609.21716v1 Announce Type: new Abstract: Multi UAV missions in complex environments require the system to understand both the surrounding scene and the i…
A Novel Path-Tracking Algorithm for Automated Tractor-Trailer Forward and Backward Maneuvers
arXiv:2609.21718v1 Announce Type: new Abstract: Fully autonomous tractor--trailer systems are increasingly deployed in logistics, agriculture, and industrial en…
Visual Proactivity: Enhancing Human-Robot Collaboration Through Intent Communication
arXiv:2609.21729v1 Announce Type: new Abstract: As robots transition from performing repetitive tasks to collaborating with humans, understanding human intent b…
When Should Robots Intervene? Balancing Engagement and Intrusiveness in Human-Robot Interaction
arXiv:2609.21734v1 Announce Type: new Abstract: Designing effective Human-Robot Interaction in task-oriented settings requires carefully balancing user engageme…
ForceTwin: Physics-informed Digital Twins for Robotic Manipulation from Instrumented Human Interaction
arXiv:2609.21751v1 Announce Type: new Abstract: Manipulating objects requires understanding not only their motion, but also the physical properties that determi…
CRISP: Contact-Rich Robotic Simulation Platform with Extensive Geometries and Contact Solvers
arXiv:2609.21761v1 Announce Type: new Abstract: We present CRISP (Contact-RIch Simulation Platform), a high-fidelity physics engine tailored for complex multi-c…