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.
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5 Physical AI Infrastructure Platforms Shaping Robotics in 2026
From accelerated computing and simulation to data operations, open-source tooling, validation engineering, and continuous learning, these five platforms represe…
StructureGS: Structure-aware Gaussian Splatting for Articulated Object Reconstruction
arXiv:2607.26889v1 Announce Type: cross Abstract: Reconstructing articulated objects with multiple movable parts is essential for understanding object structure…
Practice Makes Policies: Bootstrapping and Consolidating Robotic Capabilities from Zero Human Demonstrations
arXiv:2607.26809v1 Announce Type: new Abstract: General-purpose robotic manipulation requires robots to perform diverse tasks in open-world environments while i…
Temporally Centered SIGReg Improves Multi-Task LeWorldModel Learning: From Analysis to Method
arXiv:2607.26924v1 Announce Type: cross Abstract: Recent work on LeWorldModel (LeWM) has shown that the Sketched Isotropic Gaussian Regularizer (SIGReg) enables…
Invariant Extended Kalman Filtering with Partial Orientation Measurement Integration: Theoretical Derivations and Application to Autonomous Surface Vessels
arXiv:2506.10850v2 Announce Type: replace Abstract: Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for u…
Global Exponential Stabilization of the Kinematic Bicycle Model of a Car in Polar Coordinates
arXiv:2607.26442v1 Announce Type: cross Abstract: At parking speeds, the kinematic bicycle is the prevailing model for car-like vehicles. Yet, despite its wide …
MetaKoopman: Bayesian Meta-Learning of Koopman Operators for Modeling Structured Dynamics under Distribution Shifts
arXiv:2607.26345v1 Announce Type: cross Abstract: Modeling and forecasting nonlinear dynamics under distribution shifts is essential for robust decision-making …
Global Sensitive-Based Input Shaping for UAV-Payload Precision Motion Control
arXiv:2607.26717v1 Announce Type: cross Abstract: This work presents a comprehensive analysis and design of global sensitivity-based input shapers for a 3D Unma…
RLMM-Flow: A Flow-based Mobile Manipulation Framework with Latent-Space Reinforcement Learning
arXiv:2607.26460v1 Announce Type: new Abstract: Mobile manipulation requires generating whole-body action chunks that jointly satisfy goal reaching, collision a…
Time-delay Control Using a New Nonlinear Adaptive Law for Cable-Driven Robots
arXiv:2607.26383v1 Announce Type: cross Abstract: Cable-driven manipulators exhibit strong nonlinearities and low structural stiffness, which make precise contr…
VidMap: Exploiting Temporal Structure for Video-Based Structure-from-Motion
arXiv:2607.27194v1 Announce Type: cross Abstract: Accurately recovering the camera's calibration and metric poses for any unconstrained video would unlock large…
MoMo: Dial Motion Mode in Robot Manipulation with Spatiotemporal Action Tokenization
arXiv:2607.26315v1 Announce Type: new Abstract: To operate effectively across diverse contexts, robots must not only perform manipulation tasks accurately but a…
Dense Soft Weighting for Radar Ego-Velocity Estimation
arXiv:2607.26980v1 Announce Type: new Abstract: Sensing ego-velocity estimation is fundamental to state estimation in visually degraded environments, where came…
Convex Collision-Free Regions
arXiv:2607.26901v1 Announce Type: cross Abstract: Convex Collision-Free Regions (CCFR) is a collision handling method that explicitly represents local convex fe…
From Passive Video to Editable Experience: Physically Grounded Experience Synthesis for Embodied Intelligence
arXiv:2607.26903v1 Announce Type: cross Abstract: The key bottleneck in embodied AI is not model architecture but data. Although billions of human manipulation …
RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight
arXiv:2512.08574v2 Announce Type: replace Abstract: This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (N…
Controlled Experiments on Lane Changing by Transitional Autonomous Vehicle: Dataset and Behavioral Insights
arXiv:2607.27085v1 Announce Type: new Abstract: This paper presents the North Carolina Transitional Autonomous Vehicle Lane-Changing (NC-tALC) dataset and uses …
Route by Kinematics, Act by Observation: Kinematics-Supervised Expert Routing in MoE-Augmented VLA
arXiv:2607.26807v1 Announce Type: new Abstract: While MoE augments VLA via expert specialization, router suffers from ineffective expert routing owing to the ki…
TurboVLA: Real-Time Vision-Language-Action Model at 32 Hz on an RTX 4090 with <1 GB VRAM
arXiv:2607.27205v1 Announce Type: cross Abstract: Vision-language-action (VLA) models commonly adopt an LLM-centric $V \to L \to A$ pathway, where visual observ…
From Uncertainty to Determinism: Coarse-to-Fine Visual Floorplan Localization without Ray Matching
arXiv:2607.26817v1 Announce Type: new Abstract: Visual Floorplan Localization (FLoc) has emerged as a promising solution for indoor localization by matching ego…
Task and Skill Planning: Hierarchical Robot Planning with Black-Box Skills
arXiv:2504.17901v3 Announce Type: replace Abstract: Task and motion planning (TAMP) is a well-established approach for solving long-horizon robot planning probl…
Vision-TL-Action: Neuro-Symbolic Trajectory Generation from Visual Observations and Temporal Logic
arXiv:2607.26770v1 Announce Type: new Abstract: Temporal logic (TL) provides a compositional language for the formulation of long horizon robotic tasks, but exi…
Self-Configurable Mesh-Networks for Scalable Distributed Submodular Bandit Optimization
arXiv:2602.19366v2 Announce Type: replace-cross Abstract: We study how to scale distributed bandit submodular coordination under realistic communication constra…
SG-CoT: An Ambiguity-Aware Robotic Planning Framework using Scene Graph Representations
arXiv:2603.18271v3 Announce Type: replace Abstract: Ambiguity poses a major challenge to large language models (LLMs) used as robotic planners. In this letter, …
HumanCLAW: Can Vision-Language Models Act Through a Body?
arXiv:2607.27180v1 Announce Type: cross Abstract: Evaluating whether a vision-language model (VLM) can act through a physical body is challenging. The outcome o…
ContactFlow: A video action conditioning that transfers across embodiments
arXiv:2607.26579v1 Announce Type: new Abstract: World models offer a promising route toward robot planning by enabling agents to imagine and verify the conseque…
PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking
arXiv:2606.00537v2 Announce Type: replace Abstract: Recent vision-language-action and diffusion-based robot policies often use action chunking, where each polic…
ActSWM: Action-Sensitive World Models for Long-Horizon Planning in Open-World Games
arXiv:2607.26712v1 Announce Type: new Abstract: Latent world models support efficient model-predictive control by optimizing future control sequences in latent …
CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation
arXiv:2607.26789v1 Announce Type: new Abstract: Vision-language-action (VLA) policies commonly execute long-horizon mobile manipulation through open-loop action…
Enfold: Folding World-Generator Computation into Predictive Representations for Efficient Embodied Control
arXiv:2607.26657v1 Announce Type: new Abstract: World generative models are typically used through what they produce: a rendered future, a video-conditioned act…