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 storiesGLAMDRING: Gait Learning And Morphology co-Design via Reinforcement LearnING of CPGs
arXiv:2609.19452v1 Announce Type: new Abstract: Robots are moving out of the structured factory floor and into unstructured environments such as disaster sites,…
Pose-aware Legged Robot Semantic Exploration with Omnidirectional Perception in Confined Unknown Environments
arXiv:2609.19460v1 Announce Type: new Abstract: Semantic exploration in confined environments requires both environment mapping and detailed observation of targ…
FASA: Feedback-Aware Sampling Adaptation for Efficient Diffusion-Based VLA Models
arXiv:2609.19475v1 Announce Type: new Abstract: Diffusion-based Vision-Language-Action (VLA) models achieve strong performance in embodied tasks, but their iter…
Self-excited actuation enables adaptive and resilient flapping-wing flight
arXiv:2609.19480v1 Announce Type: new Abstract: The muscles that power insect flight fall into one of two categories: 1) synchronous muscles that contract under…
PIVOT: Perception-aware Independent Viewpoint Online Optimization
arXiv:2609.19510v1 Announce Type: new Abstract: A fundamental assumption in robotic perception is that the sensor's field of view (FoV) is fixed relative to the…
AURORA: A Natural Language-Driven Agentic Framework for Understanding, Reasoning, and Orchestrating Reliable Air-Ground Co-Simulation
arXiv:2609.19527v1 Announce Type: new Abstract: Air-ground transportation research increasingly relies on co-simulation, yet constructing scenarios remains labo…
SLAMSqueezeBench: Comparing SLAM Systems under Resource Constraints
arXiv:2609.19533v1 Announce Type: new Abstract: Simultaneous localization and mapping (SLAM) is one of the services running on an autonomous robot. It is typica…
Navigate or Relocate? Planning Among Movable Obstacles in Unknown Environments
arXiv:2609.19541v1 Announce Type: new Abstract: Conventional robot planning methods seek collision-free paths to a goal but fail when all paths are blocked. In …
VABench: Measuring Embodied Spatial Intelligence through Visual Demonstrations, Active Perception, and Metric Control
arXiv:2609.19554v1 Announce Type: new Abstract: Spatial intelligence requires more than describing object locations. Under incomplete observation, models must i…
Tele-Traversability: Rethinking Traversability for Teleoperated Ground Robots in Terrain Navigation
arXiv:2609.19577v1 Announce Type: new Abstract: Teleoperation, a human-in-the-loop control scheme, allows a human operator to remotely command and guide a mobil…
Recovering Aggressively Pruned Vision-Language-Action Models with Offline Hidden-State Distillation
arXiv:2609.19579v1 Announce Type: new Abstract: Vision-language-action (VLA) models let robots follow language instructions, but their language backbones of sev…
OmniCalib: Target-Free, Task-Structured Self-Calibration for Humanoid Robots
arXiv:2609.19582v1 Announce Type: new Abstract: Assembly, wear, and component replacement perturb the sensor extrinsics and joint zeros encoded by a humanoid CA…
Quantifying Mechanical Intelligence in Legged Robots with Information Theory
arXiv:2609.19588v1 Announce Type: new Abstract: Mechanical intelligence, loosely defined as the reduction in control burden afforded by a robot's physical form,…
WorldContact: A Contact-Centric World Model for Scalable Robot Learning
arXiv:2609.19600v1 Announce Type: new Abstract: Adapting robots to new objects and tasks requires interaction experience that can be costly to obtain. We presen…
TacSushi: Tactile-Grounded World-Action Modeling for Dexterous Sushi Manipulation
arXiv:2609.19613v1 Announce Type: new Abstract: Dexterous food manipulation requires control under deformation, occlusion, and uncertain contact. We present Tac…
EmbodiedMind: Adaptive Data Curation and Prefix-Tree Reinforcement Learning for Efficient Embodied Intelligence
arXiv:2609.19659v1 Announce Type: new Abstract: Training embodied foundation models typically requires massive-scale datasets and extensive computational resour…
ReShoot: Generative Visual Domain Randomization of Recorded Robot Demonstrations for Visuomotor Policy Learning
arXiv:2609.19661v1 Announce Type: new Abstract: Imitation-learned robot policies are frequently overfit to the visual conditions present in their training demon…
Runtime Safety Filtering for Two-Terminal Hazards in Robotic Battery Recycling
arXiv:2609.19665v1 Announce Type: new Abstract: Runtime safety filters for learned manipulation policies typically define unsafe states as unions of object-wise…
Towards High-DoF Dexterous Manipulation through VLA Post-Training
arXiv:2609.19666v1 Announce Type: new Abstract: Imitation-learned vision--language--action (VLA) foundation models acquire broad manipulation capabilities by sc…
VAST: V2X/Dynamic Map-Aware Autonomous Driving Systems Validation Toolchain
arXiv:2609.19681v1 Announce Type: new Abstract: Cooperative autonomous driving in the IoT-to-Edge-to-Cloud continuum requires system-level validation across veh…
LYRIC: Language-Driven Physics-Based Character Control for Contact-Rich Whole-Body Object Interaction
arXiv:2609.19688v1 Announce Type: new Abstract: We present LYRIC, a generative flow-matching controller for language-driven physics-based contact-rich interacti…
UniExo: Unified Multi-Skill Policies for Musculoskeletal Locomotion and Co-Adaptive Exoskeleton Control
arXiv:2609.19690v1 Announce Type: new Abstract: Daily locomotion encompasses diverse activities and frequent transitions between them, yet most exoskeleton cont…
Decoupling Physical Speed from Path Parameterization in Singularity-Free Guiding Vector Fields
arXiv:2609.19726v1 Announce Type: new Abstract: The existing singularity-free guiding vector field (SF-GVF) with an additional virtual coordinate can eliminate …
Equivariant Filter Design for Acoustic and Depth Aided Inertial Navigation Systems
arXiv:2609.19742v1 Announce Type: new Abstract: Autonomous Underwater Vehicles (AUVs) navigating without GPS typically fuse inertial measurements with acoustic …
LIFD: Anchored Diffusion for 3D-Aware Scene Memory in Robotic Manipulation
arXiv:2609.19796v1 Announce Type: new Abstract: Robotic manipulation under partial observability requires spatial information that extends beyond the current vi…
Affective Shared Autonomy: Temporal Affect Dynamics and Subjective Evaluation in Bimanual Teleoperation Tasks
arXiv:2609.19802v1 Announce Type: new Abstract: Physical teleoperation integrates human cognitive flexibility with robotic precision, yet demanding manipulation…
HEROIC: Heterogeneous Evidential Reasoning for Open-Vocabulary Identification and Cross-Robot Collaboration
arXiv:2609.19803v1 Announce Type: new Abstract: Multi-agent heterogeneous air-ground robot teams are attractive for open world search, with applications for rec…
Vehicle Trajectory Prediction via Neural Fusion of Multiple EKF-Based Trajectory Candidates
arXiv:2609.19813v1 Announce Type: new Abstract: Predicting the future trajectories of surrounding vehicles in autonomous driving is important for collision risk…
RotateIt! Fast and Reliable Single-Arm Garment Unfolding via Online-Adaptive Dynamic Rotation
arXiv:2609.19817v1 Announce Type: new Abstract: Robotic garment unfolding is essential for downstream tasks, yet quasi-static methods require repeated actions, …
TADreamer: Zero-Shot Language-Guided 3D Navigation for Terrestrial-Aerial Bimodal Robots via Video Imagination
arXiv:2609.19824v1 Announce Type: new Abstract: Language-guided navigation for terrestrial-aerial bimodal robots requires selecting routes and locomotion modes …