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 storiesDesign of Adaptive PID Controller Based On Asynchronous Advantage Actor Critic Learning Method for QuadCopter Control
arXiv:2609.21082v1 Announce Type: new Abstract: Quadcopters offer great utility in many applications, but their nonlinear nature and disturbance sensitivity pre…
A High-Payload Wall-Climbing Robot Using Passive Bistable Suction Cups
arXiv:2609.21584v1 Announce Type: new Abstract: Wall-climbing robots capable of scaling vertical surfaces could help automate hazardous or labor intensive tasks…
Outcome-Conditioned End-Effector Geometry Across Vision-Language-Action Policies
arXiv:2609.21659v1 Announce Type: new Abstract: Vision-language-action (VLA) policies solve the same manipulation task through different action interfaces, but …
NeuRIO: A Streaming Neural Estimator for Zero-Shot Sim-to-Real Multi-Robot Relative Inertial Odometry
arXiv:2609.21707v1 Announce Type: new Abstract: We present NeuRIO, a streaming neural estimator for anchor-free 6-DoF relative inertial odometry using only iden…
Towards the Vision-Sound-Language-Action Paradigm: The HEAR Framework for Sound-Centric Manipulation
arXiv:2603.16086v2 Announce Type: replace Abstract: While recent Vision-Language-Action (VLA) models have begun to incorporate audio, they typically treat sound…
Bayesian Safety Guarantees for Port-Hamiltonian Systems with Learned Energy Functions
arXiv:2512.24493v3 Announce Type: replace-cross Abstract: Control barrier functions for port-Hamiltonian systems inherit model uncertainty when the Hamiltonian …
Refining Ground Truth Poses in Autonomous Driving Datasets via Neural Rendering
arXiv:2504.15776v2 Announce Type: replace-cross Abstract: Public autonomous driving datasets underpin the training and benchmarking of perception, mapping, and …
Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots
arXiv:2609.02306v2 Announce Type: replace Abstract: Accurate joint encoder offsets are essential for kinematic consistency in humanoid lower limbs, yet existing…
DexPIE: Stable Dexterous Policy Improvement from Real-World Experience
arXiv:2606.09615v2 Announce Type: replace Abstract: Dexterous manipulation presents substantial challenges for imitation learning due to its high-dimensional ac…
Goal-Oriented Reactive Simulation for Closed-Loop Trajectory Prediction
arXiv:2603.24155v3 Announce Type: replace Abstract: Current trajectory prediction models are primarily trained in an open-loop manner, which often leads to cova…
Rectify, Don't Regret: On-Policy Closed-Loop Training for Multimodal Trajectory Prediction
arXiv:2603.23393v2 Announce Type: replace Abstract: Current trajectory prediction models are primarily trained in an open-loop manner, which often leads to cova…
Allometric Scaling Laws for Bipedal Robots
arXiv:2603.22560v4 Announce Type: replace Abstract: Legged robots operate across a wide range of physical scales, but how their designs should be adapted as siz…
HERMES: A Holistic End-to-End Risk-Aware Multimodal Embodied System with Vision-Language Models for Long-Tail Autonomous Driving
arXiv:2602.00993v2 Announce Type: replace Abstract: End-to-end autonomous driving models increasingly benefit from large vision-language models for semantic und…
Robotic Tele-Operation for Upper Aerodigestive Tract Microsurgery: System Design and Validation
arXiv:2601.06617v4 Announce Type: replace Abstract: Upper aerodigestive tract (UADT) treatments frequently employ transoral laser microsurgery (TLM) for procedu…
Multi-viewpoint Geo-localization with Event Cameras
arXiv:2609.21219v1 Announce Type: cross Abstract: Robot localization is an ongoing challenge that demands mapping and positioning systems that are tolerant to v…
ASGARD: Action-Space Guard for UAV Resilience via Reinforcement Learning
arXiv:2609.20982v1 Announce Type: cross Abstract: Reinforcement learning (RL) controllers have been recently adopted for Unmanned Aerial Vehicles (UAV) navigati…
LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control
arXiv:2609.22075v1 Announce Type: new Abstract: Safe whole-body control requires coordinating collision avoidance and balance under high-dimensional, nonlinear …
Duty Factor Predicts Robust Constrained Quadrupedal Locomotion Across Gait Types
arXiv:2609.22073v1 Announce Type: new Abstract: Quadrupedal robots are increasingly deployed in environments where locomotion must remain robust to disturbances…
Gripper-Aware Automatic Dense Packing of Irregular Objects
arXiv:2609.22062v1 Announce Type: new Abstract: Automatic dense packing is widely desired in warehouse operations but remains a fundamental challenge in robotic…
SkelWAM: A Skeleton-Guided World-Action Model for Zero-Shot Cross-Embodiment Manipulation
arXiv:2609.21983v1 Announce Type: new Abstract: Reusing manipulation experience across robot embodiments is important for scaling robot learning and reducing re…
GALA: Geometry-Aware Latent Action Modeling for Vision-Language-Action Model Pretraining across Embodiments
arXiv:2609.21948v1 Announce Type: new Abstract: Learning large-scale vision-language-action (VLA) models from multi-embodiment datasets remains challenging due …
MAAP: Multi-Agent Active Perception for Collaborative Manipulation
arXiv:2609.21929v1 Announce Type: new Abstract: Multi-agent manipulation naturally produces multiple task-driven viewpoints: every arm carries a wrist camera an…
AcousticDiffusion: Semantically Conditioned Audio-Guided Diffusion Policy for Search-and-Rescue Assistance
arXiv:2609.21792v1 Announce Type: new Abstract: Navigating toward human callers is an important capability for rescue robots operating where visual contact is d…
Compact but Moving: Intervention-Relevant Geometry in Recurrent World Models
arXiv:2609.21787v1 Announce Type: new Abstract: Learned world models may have compact interventions even when their recurrent state is high-dimensional, but it …
TRACE: Coverage Path Planning for Unknown Environments Using Hierarchical Coverage Tree
arXiv:2609.21777v1 Announce Type: new Abstract: This paper presents a novel online coverage path planning (CPP) algorithm, called TRACE, for real-time coverage …
Scaling Vision-Language Reward Learning for Robot Manipulation in Parallel Simulation
arXiv:2609.21767v1 Announce Type: new Abstract: Vision-language models (VLMs) can replace human annotators in preference-based reward learning, but sequential A…
PSR: Predictive Sensorimotor Representation Learning for Contact-Rich Manipulation
arXiv:2609.21753v1 Announce Type: new Abstract: Contact-rich manipulation requires policies to generate precise actions by reasoning over contact forces, robot …
Understanding Engagement and Intrusiveness in Assistive Human-Robot Interaction Using Individual Traits
arXiv:2609.21744v1 Announce Type: new Abstract: Robot assistance is particularly crucial in unfamiliar tasks, where users must understand task requirements whil…
Sandwich-Residuals: Parameter-Efficient Test-time Adaptation of World Models
arXiv:2609.21740v1 Announce Type: new Abstract: Latent world models enable planning by predicting the effects of actions in a learned representation space, but …
ZeroTouch: Tactile-Supervised Visual Contact Estimation for Contact-Rich Manipulation
arXiv:2609.21726v1 Announce Type: new Abstract: Reliable robotic grasping benefits from estimating the evolving physical interaction and selecting a grasp-depen…