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 storiesCounterPlay: Counterfactual Post-Training for Self-Play Driving Policies
arXiv:2609.21617v1 Announce Type: new Abstract: Self-play in high-throughput simulators yields driving policies with robust closed-loop performance, but improve…
Potential-Field Action Representation for Reinforcement Learning in Contact-Rich Manipulation
arXiv:2609.21609v1 Announce Type: new Abstract: Model-free reinforcement learning can acquire contact-rich robotic manipulation skills through trial-and-error i…
DPed-VLN: A Benchmark for Socially Compliant Vision-and-Language Navigation in Dynamic Pedestrian Environments
arXiv:2609.21504v1 Announce Type: new Abstract: Vision-and-language navigation (VLN) has advanced rapidly in static indoor environments, but robots operating in…
Adaptive Rollout Truncation Based on Epistemic Uncertainty for Efficient Offline World Model Training
arXiv:2609.21482v1 Announce Type: new Abstract: Accurate neural world models are central to model-based robotics, where they enable robots to predict future sta…
MicroHookACT: Monocular Microscopic Vision Guided Visuomotor Policy for Flexible Microelectrode Hooking
arXiv:2609.21365v1 Announce Type: new Abstract: Automated needle-loop hooking is a critical step in flexible microelectrode (FME) implantation. This paper prese…
Safe Real-Time Policy Steering via Noise-Space Trajectory Optimization for One-Step Generative Policies
arXiv:2609.21220v1 Announce Type: new Abstract: Generative robot policies can represent diverse, multimodal behaviors, but adapting pretrained policies to deplo…
Visual Navigation Transformer with Pose Attention
arXiv:2609.21212v1 Announce Type: new Abstract: Learned navigation policies typically consume observations as a temporally ordered history, with positional enco…
Stochastic Neural Signed Swept Volume for Real-time Chance-Constrained Trajectory Optimization
arXiv:2609.21211v1 Announce Type: new Abstract: Collision-free motion planning requires reliable collision models from sensed environments and validation of sta…
OpenRoIS: A Community-Driven Open-Source Middleware Implementing the Robotic Interaction Service (RoIS) Framework for Physical Robots and Virtual Agents
arXiv:2609.21178v1 Announce Type: new Abstract: Service applications for human-robot interaction are commonly written against the hardware-specific interfaces o…
MA-LIPP: Cooperative Multi-Agent Load-Aware Informative Path Planning for Heterogeneous Robot Teams
arXiv:2609.21167v1 Announce Type: new Abstract: Field robotics missions often require physical samples to be returned to laboratories for analysis, making path …
AthenaZero: A low-inertia, bimanual robot for dynamic manipulation
arXiv:2609.19194v1 Announce Type: new Abstract: AthenaZero is a bimanual manipulator designed to minimize inertia without compromising control authority. By uti…
DITTO: Dexterous Interface for Transparent TeleOperation
arXiv:2609.19196v1 Announce Type: new Abstract: Collecting data for manipulation with high-DOF hands is challenging, as interfaces must capture rich hand motion…
ULOHA: An Underwater Bimanual Robot System for Robot Learning
arXiv:2609.19200v1 Announce Type: new Abstract: Underwater visuomotor policy learning has focused primarily on single manipulators, while bimanual imitation lea…
REACT: A Fully Spiking State-Space Model for Real-Time Event-Driven Temporal Perception
arXiv:2609.19204v1 Announce Type: new Abstract: Robotic systems operating in dynamic environments require visual perception that evolves continuously with the i…
4D Radar Perception Algorithms for Autonomous Driving: A Review
arXiv:2609.19216v1 Announce Type: new Abstract: Research on 4D millimeter-wave radar perception algorithms has flourished in recent years, extending from signal…
Grasping by interconnection: robust closing motions from coarse object templates
arXiv:2609.19228v1 Announce Type: new Abstract: Dexterous robot hands must often grasp objects whose shape, size, and pose are known only approximately. Grasp p…
Learning Safe Humanoid Navigation from Reduced Order Models
arXiv:2609.19272v1 Announce Type: new Abstract: Research in humanoid robotics has achieved rapid progress in locomotion, and recent results have pushed the boun…
OHRID-Retail: An Open Multimodal Dataset of Human Activity in Retail Environments
arXiv:2609.19302v1 Announce Type: new Abstract: Open datasets describing human behavior in environments shared with mobile robots remain limited, particularly f…
A Morphing Aerial Robot With Thruster-Integrated Flexible Continuum Links for Shape Adaptive Aerial Manipulation
arXiv:2609.19328v1 Announce Type: new Abstract: In recent years, aerial manipulation has attracted increasing attention as a key to expand the application of ae…
SemSafe-3DGS: Semantic Risk-Aware Active Navigation in Uncertain 3D Gaussian Splatting Maps
arXiv:2609.19330v1 Announce Type: new Abstract: Autonomous robots operating in partially observed environments must navigate safely while acquiring observations…
Dynamic-LIVO: A Dynamic-Aware LiDAR-Inertial-Visual Odometry System Using Spatio-Temporal Normals
arXiv:2609.19336v1 Announce Type: new Abstract: This paper proposes Dynamic-LIVO, a dynamic-aware LiDAR-Inertial-Visual Odometry (LIVO) system for robust state …
ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots
arXiv:2609.19340v1 Announce Type: new Abstract: Humanoid loco-manipulation requires adaptive whole-body coordination to seamlessly integrate locomotion and phys…
Kinematics-Grounded Agentic AI for Robotic Additive Manufacturing Process Planning
arXiv:2609.19347v1 Announce Type: new Abstract: Robotic additive manufacturing (AM) extends material-extrusion printing beyond gantry kinematics but makes proce…
Design and Experimental Validation of a 3D Printed Torsional Series Elastic Actuator for Safe Human Robot Interaction
arXiv:2609.19367v1 Announce Type: new Abstract: Ensuring intrinsic safety in physical human robot interaction (pHRI) is a critical requirement for social and se…
Enhancing the Perception of Safety and Comfort during Physical Human-Robot Handshake Interactions by Integrating Flexible Elements into a Robotic Arm
arXiv:2609.19375v1 Announce Type: new Abstract: Safety and comfort in human-robot physical in-teractions are essential aspects in the development of social tech…
Task-Oriented Active Learning of Residual Dynamics for Model Predictive Path Integral Control
arXiv:2609.19378v1 Announce Type: new Abstract: Online residual learning can reduce model mismatch in predictive control, but passive data collection may fail t…
From Rollout to Reset: A Graph-Based Harness for Autonomous Long-Horizon Manipulation Evaluation
arXiv:2609.19413v1 Announce Type: new Abstract: Robot manipulation policies are improving quickly, and real-robot evaluation remains the standard evidence for t…
Predict Before You Deploy: Offline Prediction of Quantization-Induced Task Degradation for World Action Models
arXiv:2609.19441v1 Announce Type: new Abstract: World action models (WAMs) rely on video-generation backbones, requiring substantial memory and compute for depl…
From Wizard-of-Oz Human-Robot Dialogue Collection to a Taxonomy of Robot Response Decisions: A Retrospective Analysis of Assistive Pilot Interactions
arXiv:2609.19447v1 Announce Type: new Abstract: Robots that follow natural-language instructions in everyday indoor environments must act on incomplete human ut…
Winning a Won Game: Strict Reach-Avoid-Stay Control Barrier Functions for High-Dimensional Black-Box Systems
arXiv:2609.19449v1 Announce Type: new Abstract: Robots must complete their tasks and maintain the achieved outcomes while avoiding safety failures at all times.…