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 storiesSquare Root Gauss-Newton iLQR
arXiv:2609.21053v1 Announce Type: cross Abstract: The iterative Linear Quadratic Regulator (iLQR) is a widely used algorithm for nonlinear trajectory optimizati…
When Should a Failing Robot Ask? Initiating Corrective Human-Robot Dialogue from Audited Sensor Evidence
arXiv:2609.21942v1 Announce Type: new Abstract: A robot that fails at a task faces the first decision in corrective dialogue: act on its own diagnosis, consult …
CommitFlow: Semantic Commitment Verification and Local Correction for Long-Horizon Robot Manipulation VLA Execution
arXiv:2609.21908v1 Announce Type: new Abstract: Although vision-language-action (VLA) policies have advanced rapidly, long-horizon execution may still progress …
VIRGA: Virtual-Agent-Intermediated Riemannian Geometry for Active-Sensing Air-Ground Coordination
arXiv:2609.21883v1 Announce Type: new Abstract: Air-ground autonomy becomes harder when the unmanned aerial vehicle (UAV) must remain observable by a gimbal lig…
LunaDrive: A Delay-Compensated High-Voltage GaN FET-Based Motor Driver for Dynamic Robots with Flat BLDC Motors
arXiv:2609.21818v1 Announce Type: new Abstract: The performance improvement of high-power flat BLDC motors has accelerated the development of dynamic robots. Ho…
A Sim-to-Real Integration Pipeline for Training and Deployment of Chunk-Based VLA Manipulation Policies
arXiv:2609.21817v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have become a prominent paradigm for mapping multimodal inputs, including se…
Contact-Rich Motion Planning via GPU-Parallel Mode Evaluation
arXiv:2609.21803v1 Announce Type: new Abstract: Contact-rich motion planning (CRMP) is essential for robotic manipulation and locomotion, yet remains computatio…
RAYA: Learning Where and When to Intervene for Robot Recovery
arXiv:2609.21690v1 Announce Type: new Abstract: A robot can predict failure and still be unable to prevent it. By the time a safety mechanism reacts, the nomina…
SynthDemo-RL: Breaking the Zero-Reward Barrier in VLA Adaptation with LLM-Guided Synthetic Demonstrations
arXiv:2609.21650v1 Announce Type: new Abstract: Fine-tuning Vision-Language-Action (VLA) models commonly relies on human teleoperation demonstrations, while rei…
Towards Fine-Grained Object Manipulation: SAM3-Guided Visuomotor Policy with Persistent Memory Learning and Focused Visual Conditioning
arXiv:2609.21621v1 Announce Type: new Abstract: Fine-grained object (FO) manipulation requires robots to distinguish a specified FO from visually similar object…
Tilt as a Certified Resource: Preserving Motor Wrench-Rate Authority on Articulated Multirotors
arXiv:2609.21580v1 Announce Type: new Abstract: Fully-actuated multirotor aerial vehicles must not only track nominal wrenches but retain the "readiness" to mod…
SABER: Learning Attention-based Semantic Affordance for Legged Locomotion
arXiv:2609.21572v1 Announce Type: new Abstract: Perceptive legged locomotion has advanced rapidly by integrating terrain geometry into learned policies, yet the…
2nd Place Solution to the HANDS 2026 Workshop Challenge-Dexterous Grasp Motion Track: Single-Shot Trajectory Warping for Grasp Motion Generation
arXiv:2609.21511v1 Announce Type: new Abstract: This report describes our 2nd place solution to the HANDS 2026 workshop challenge (Dexterous Grasp Motion track)…
FORTE: Task-Adaptive Force Capability Optimization for Mobile Manipulators
arXiv:2609.21497v1 Announce Type: new Abstract: Effective physical interaction control in robotic manipulation requires not only kinematically feasible motion b…
Learning Distance-Conditioned Object Transport for Humanoid Loco-Manipulation from a Single Motion Clip
arXiv:2609.21467v1 Announce Type: new Abstract: Motion tracking can reproduce humanoid loco-manipulation from a single retargeted motion clip, but a policy trai…
AtomEgo: Exploring Ego-Robot Integration for Embodied Foundation Model Pretraining
arXiv:2609.21461v1 Announce Type: new Abstract: Embodied foundation models are constrained by the limited scale and diversity of robot demonstrations, motivatin…
Robotic Multiphase Interaction: Manipulating Coupled Liquid and Solid Dynamics with a World Model
arXiv:2609.21448v1 Announce Type: new Abstract: This work presents \textit{Robotic Multiphase Interaction (RMI)}, a setting in which liquid enters a porous mate…
A Unified Dynamic Force Guidance Framework for Performance-Optimized Kinesthetic Teaching
arXiv:2609.21416v1 Announce Type: new Abstract: Collaborative robots are increasingly deployed in industrial scenarios characterized by frequent product changeo…
MarineCraft: Enabling Rapid Prototyping of Underwater Robots via Modular Construction
arXiv:2609.21396v1 Announce Type: new Abstract: Underwater robot development is often hindered by the complexities of waterproofing and wiring, which significan…
AVT-Fabric: Active Visuo-Tactile Perception via Adaptive Evidence Selection for Efficient Robotic Fabric Comparison
arXiv:2609.21377v1 Announce Type: new Abstract: Robotic fabric comparison needs to actively combine visual appearance and tactile cues. Here, we present AVT-Fab…
The EventCV Library for Event-Based Robotic Vision
arXiv:2609.21330v1 Announce Type: new Abstract: Event cameras detect per-pixel brightness changes asynchronously on microsecond timescales, with high dynamic ra…
LEMCA: LLM-Guided Synthesis of Efficient Mode-Switching Control Architectures
arXiv:2609.21319v1 Announce Type: new Abstract: Physical control tasks in the natural world, such as driving or object manipulation, frequently exhibit dramatic…
Stability-aware Residual Reinforcement Learning Framework for Robotic Manipulator Disturbance Compensation
arXiv:2609.21307v1 Announce Type: new Abstract: Although conventional controllers and disturbance observers (DOBs) are the standard for precision tracking in ma…
VLA-Scope: Shift-Aware Failure Prediction for Vision-Language-Action Models
arXiv:2609.21246v1 Announce Type: new Abstract: Vision-language-action (VLA) models map visual observations and natural-language instructions to robotic actions…
KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos
arXiv:2609.21229v1 Announce Type: new Abstract: Learning robot manipulation policies typically requires substantial demonstration data, which are costly to coll…
AirSplan: Risk-Aware Motion Planning for Quadrotors in Cluttered 3D Gaussian Splats
arXiv:2609.21226v1 Announce Type: new Abstract: Quadrotors are increasingly deployed in applications such as agriculture, infrastructure inspection, and mainten…
AeRove: A Compact Bimodal Aerial-Terrestrial Drone with Rapid Bistable Reconfiguration for Close-Range Pipeline Inspection
arXiv:2609.20965v1 Announce Type: new Abstract: Close-proximity pipeline inspection is challenging for standard drones due to high hovering power consumption, a…
Shake to Learn: Dynamic Interrogation of Hidden Object Physics for Robotic Manipulation with Physical Reservoir Computing
arXiv:2609.20970v1 Announce Type: new Abstract: Many physical properties relevant to robotic manipulation are hidden from vision. A sealed object, for example, …
SPARROW: Survival-POMCP for Adaptive Robot Routing, Observation, and Waiting
arXiv:2609.21008v1 Announce Type: new Abstract: Temporary obstacles that may block a robot's planned route create a sequential navigation problem: a robot must …
PlantShade: Predicting Plant Shadows for Lighting-Aware Robotic Agricultural Operation
arXiv:2609.21059v1 Announce Type: new Abstract: Plant growth and agricultural production form the foundation of a country's sustainable development and directly…