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 storiesImproving Cross-embodiment Transfer in Latent Action Models with Action-Similarity Supervision
arXiv:2609.19846v1 Announce Type: new Abstract: As generalist robot policies gain vision and language from web-scale pretraining, demonstrations remain costly t…
GR2PO: Group Relative Return Policy Optimization for Continuous Robot Control
arXiv:2609.19850v1 Announce Type: new Abstract: Actor-critic architecture has been widely used in continuous robot control. However, they rely on learning a val…
Feeling Terrain Before Crossing: World Models for Off-Road Navigation
arXiv:2609.19863v1 Announce Type: new Abstract: Navigation world models plan by foresight, predicting the future that each candidate action sequence produces an…
Learning Reliable Parking Policies via Offline Reinforcement Learning with Quantized Action Representations
arXiv:2609.19894v1 Announce Type: new Abstract: Parking is a routine yet safety-critical task for autonomous vehicles operating in urban environments. However, …
Learning and Transferring Closed-Loop Robot Software
arXiv:2609.19906v1 Announce Type: new Abstract: Closed-loop robot policies require observation processing, state management, and situation-dependent branching, …
Distributed Model Predictive Control with Connectivity-based Contracts
arXiv:2609.19912v1 Announce Type: new Abstract: Teams of mobile robots rely on continuous communication with their neighbors for coordination, yet most distribu…
Co-VLA: Consensus-based Federated Training for Vision-Language-Action Models
arXiv:2609.19923v1 Announce Type: new Abstract: Vision-language-action models (VLAs) have emerged as a promising paradigm for general-purpose robot learning, wi…
Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement
arXiv:2609.19946v1 Announce Type: new Abstract: A geometrically valid placement can still be difficult to execute because the selected grasp changes the require…
LapaTrack-3D: 6 DoF pre-operative shape tracking for laparoscopic surgery
arXiv:2609.19954v1 Announce Type: new Abstract: This work proposes a real-time 6 Degree-of-Freedom (6 DoF) tracking algorithm for monocular laparoscopic surgery…
Hybrid Residual Reinforcement Learning for Contact-Rich Robotic Book Insertion
arXiv:2609.19962v1 Announce Type: new Abstract: Placing a grasped book into a tight shelf is a compact but difficult contact-rich control problem: millimetre-sc…
MaskHarness-WAM: Instance-Grounded Harnessing for Long-Horizon Robot Manipulation
arXiv:2609.19974v1 Announce Type: new Abstract: Long-horizon robot manipulation requires not only stable local visuomotor control, but also continuous target tr…
Compliance for Free: Learning Identifiable Impedance via Bilateral Teleoperation
arXiv:2609.19976v1 Announce Type: new Abstract: Vision-language-action models tell a robot where to move, but not how hard to push. Contact-rich tasks depend on…
DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion
arXiv:2609.20035v1 Announce Type: new Abstract: This paper presents dynamics-relaxed model predictive control (DR-MPC), a novel MPC formulation for legged locom…
Mechanical Precision Weeding with a Quadruped Robot
arXiv:2609.20048v1 Announce Type: new Abstract: Herbicide-based weed control is increasingly unsustainable due to rising weed resistance and the adverse environ…
FlipToSee: A Probabilistic Stable Placement Prior for Active Visual Exploration via Regrasping
arXiv:2609.20078v1 Announce Type: new Abstract: Active visual exploration of tabletop objects often requires reorienting an unknown resting object onto a differ…
Graph-Based Design of Soft Grippers with Multi-Objective Quality-Diversity Optimisation
arXiv:2609.20087v1 Announce Type: new Abstract: Effective manipulation across diverse objects is critical for applications ranging from agricultural harvesting …
Safety-Critical Scenanrio Emerges from Initial Scene
arXiv:2609.20103v1 Announce Type: new Abstract: Safety-critical driving scenario generation has largely focused on manipulating the behavior of surrounding agen…
AnyViewDex: View-Invariant Dexterous Manipulation from RGB Observations
arXiv:2609.20107v1 Announce Type: new Abstract: Visuomotor policies for multi-fingered dexterous manipulation are highly sensitive to camera viewpoint shifts. T…
Universal Navigation Interface: Robot-Free Data for Wheeled Robot Navigation
arXiv:2609.20114v1 Announce Type: new Abstract: Collecting real-world navigation data for mobile robots typically requires platform-specific teleoperation, maki…
GPT-6-Astra in a Navigation Workflow: Behavioral Analysis in Zero-Shot Vision-and-Language Navigation in Continuous Environments
arXiv:2609.20116v1 Announce Type: new Abstract: We study GPT-6-Astra in a zero-shot Vision-and-Language Navigation in Continuous Environments (VLN-CE) system, w…
VLN on the Fly: An Onboard Vision-Language Navigation Stack for Aerial Robots
arXiv:2609.20191v1 Announce Type: new Abstract: Running vision-language navigation fully onboard an aerial robot is hard, since grounding, planning, and control…
Strategic Transformer for Resource-Constrained Multi-Object Navigation in Ultra-Large-Scale Environments
arXiv:2609.20227v1 Announce Type: new Abstract: Resource-constrained multi-object navigation in vast indoor environments ($>2,000\text{ m}^2$) poses significant…
LLM-Guided Transformation of Non-Critical Driving Scenes into Safety-Critical Scenarios Using Augmented Reality
arXiv:2609.20318v1 Announce Type: new Abstract: Testing Autonomous Driving Systems (ADS) requires realistic safety-critical scenarios, but collecting such data …
Implementation of Tightly-Coupled SLAM Fusion of GPS, IMU, and LiDAR for Autonomous Vehicles
arXiv:2609.20321v1 Announce Type: new Abstract: Autonomous vehicles depend entirely on Simultaneous Localization and Mapping (SLAM) to navigate safely in unknow…
RoboFind: Multi-Agent Personalized Object Search for People Who Are Blind or Have Low Vision
arXiv:2609.20330v1 Announce Type: new Abstract: Blind and low-vision users often need to locate a specific personal object rather than an arbitrary instance of …
Navi-Agent: Unlocalized Monocular Navigation Agent
arXiv:2609.20388v1 Announce Type: new Abstract: Vision-Language Navigation in Continuous Environments (VLN-CE) requires an embodied agent to execute long-horizo…
Imagine-TAMP: Imagination-Guided Task and Motion Planning in Partial Observability
arXiv:2609.20396v1 Announce Type: new Abstract: Robots operating in cluttered environments must often manipulate objects whose locations are only partially obse…
Resilient Motion Planning for Free-Flying Space Robots under Actuator Failures
arXiv:2609.20407v1 Announce Type: new Abstract: Free-flying robots rely on multiple thrusters to maneuver in space. If one or more of these thrusters fail, the …
Spatial-Semantic Uncertainty in VLM-Based Target Search: Balancing Exploration and Identification
arXiv:2609.20443v1 Announce Type: new Abstract: Robots searching for a target from a natural-language description must determine not only where to search, but a…
Visual Sim-to-Real Learning for Robotic Insertion under Geometric Variations: Application to Rebar Installation
arXiv:2609.20477v1 Announce Type: new Abstract: Rebar insertion is among the most repetitive and physically demanding tasks on construction sites, and a contact…