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
3583 storiesSUNSET - 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…
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…