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 storiesPerSeM: Persistent Semantic Memory for Long-Horizon Open-Vocabulary UAV Mapping
arXiv:2609.19542v1 Announce Type: cross Abstract: Open-vocabulary segmentation enables rich semantic perception for UAVs, but frame-wise predictions can remain …
Selective Cotton Boll Localization for Robotic Harvesting: Evaluation of Deep Learning Vision Models Under Field Conditions
arXiv:2609.19592v1 Announce Type: cross Abstract: This study developed and evaluated a deep-learning-based perception framework for selective robotic cotton pic…
From Intent to Action: Benchmarking LLM Safety in Vehicle Voice Command Authorization
arXiv:2609.19630v1 Announce Type: cross Abstract: Large language models (LLMs) are increasingly integrated into vehicle voice assistants. But linking natural-la…
Beyond Patch Removal: Persistent Adversarial Effects in Vision-Language-Action Policies
arXiv:2609.19669v1 Announce Type: cross Abstract: Adversarial patches to Vision-Language-Action (VLA) policies can cause both immediate action corruption and pe…
Constraint-Safe Graph-Context Scoring for Stable Point-Feature Labels Under Text-Width and Accessibility-Inspired Profiles
arXiv:2609.19848v1 Announce Type: cross Abstract: Point-feature label placement on interactive maps must reconcile geometric validity, display yield, local plac…
Astronex-World 1.0: Real-Time Interactive World Model Foundation
arXiv:2609.20034v1 Announce Type: cross Abstract: We present Astronex-World 1.0, an open controllable video world-model foundation. Given a text prompt (text-to…
JEPA-WAM: Connecting Generated Visual Instructions to World Action Models through JEPA Latent Representations
arXiv:2609.20277v1 Announce Type: cross Abstract: World Action Models (WAMs) have demonstrated strong robotic manipulation capabilities by augmenting pretrained…
EliGSiR: Continual RGB-D Mapping with Gaussian Splatting under Bounded Compute
arXiv:2609.20348v1 Announce Type: cross Abstract: Conventional 3D Gaussian Splatting assumes a closed set of observations and long optimization schedules. Conti…
SenseFuse: Label-Free Fusion of Image and Shape Encoders for Open-Vocabulary 3D Instance Segmentation
arXiv:2609.20475v1 Announce Type: cross Abstract: Open-vocabulary scene understanding is fundamental for robotics, laying the groundwork for spatial reasoning a…
S4R: Scaling for Rigid-Body Interpenetration Resolution
arXiv:2609.20524v1 Announce Type: cross Abstract: Rigid-body interpenetration frequently occurs in procedurally assembled and generated scenes and must be remov…
FunArt: Decoding Functional Structure and Articulation from Generative 3D Latents
arXiv:2609.20673v1 Announce Type: cross Abstract: To operate effectively in human environments, robots must identify articulated objects, segment their movable …
AntiGrounding: Executable Robot Trajectories as Visual Prompts for VLM-Guided Manipulation
arXiv:2506.12374v3 Announce Type: replace Abstract: Natural-language manipulation instructions specify the task goal but leave the underlying robot trajectory u…
Distributed Event-Triggered Distance-Based Formation Control for Multi-Agent Systems
arXiv:2509.12390v3 Announce Type: replace Abstract: This paper addresses collaborative formation control for multi-agent systems with limited resources. We cons…
Modelling and Model-Checking a ROS2 Multi-Robot System using Timed Rebeca
arXiv:2511.15227v2 Announce Type: replace Abstract: Model-based development accelerates prototyping, enables earlier experimentation, and ensures rigorous valid…
Sim-and-Human Co-training for Data-Efficient and Scene-Generalizable Bimanual Manipulation
arXiv:2601.19406v2 Announce Type: replace Abstract: Real-robot demonstrations are prohibitively expensive, while simulation data and real-world human demonstrat…
Drag-Aware Aerodynamic Manipulability for Torque-Limited Redundant Multirotors: Aerodynamic Promptness based on the Symmetric Acceleration Capacity
arXiv:2603.07998v2 Announce Type: replace Abstract: Aerodynamic promptness quantifies how rotor-speed variations generate multirotor wrench variations, but its …
Degeneracy-Resilient Teach and Repeat for Geometrically Challenging Environments Using FMCW Lidar
arXiv:2603.10248v3 Announce Type: replace Abstract: Teach and Repeat (T&R) topometric navigation enables robots to autonomously repeat previously traversed path…
Geometrically-Constrained Radar-Inertial Odometry via Continuous Point-Pose Uncertainty Modeling
arXiv:2604.02745v2 Announce Type: replace Abstract: Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reli…
StarVLA-$\alpha$: Reducing Complexity in Vision-Language-Action Systems
arXiv:2604.11757v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for building general-purpo…
ANCHOR: A Physically Grounded Closed-Loop Framework for Robust Home-Service Mobile Manipulation
arXiv:2604.25323v2 Announce Type: replace Abstract: Recent advances in open-vocabulary mobile manipulation have brought robots into real domestic environments. …
Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots
arXiv:2605.20561v2 Announce Type: replace Abstract: Isoperimetric robotic trusses can adapt to different tasks and environments due to their high strength-to-we…
Stabilizing Fast Dynamical Systems Using Time-of-Flight Cameras
arXiv:2606.09237v2 Announce Type: replace Abstract: Time-of-flight cameras are popular in robotics because they provide direct depth information and are compact…
Learn2Drive: A neural network-based framework for socially compliant automated vehicle control
arXiv:2510.21736v2 Announce Type: replace Abstract: This study introduces a novel control framework for adaptive cruise control (ACC) in automated driving, leve…
M3-Tele: A Unified Multimodal Teleoperational Framework for Compliant Whole-Body Mobile Manipulation
arXiv:2609.07859v2 Announce Type: replace Abstract: Executing contact-rich tasks efficiently requires the seamless integration of whole-body coordination and ph…
DynaWeightPnP: Toward global real-time 3D-2D solver in PnP without correspondences
arXiv:2409.18457v2 Announce Type: replace-cross Abstract: This paper addresses a special Perspective-n-Point (PnP) problem: estimating the optimal pose to align…
Emergent interactions lead to collective frustration in robotic matter
arXiv:2507.22148v3 Announce Type: replace-cross Abstract: Artificial intelligence and robotic systems are increasingly deployed as interacting collectives of le…
Robotic Video World Models: A Survey of Applications, Research Challenges, Future Directions
arXiv:2601.07823v2 Announce Type: replace-cross Abstract: Video world models have emerged as promising candidates for high-fidelity world models, offering the p…
Complementary Filtering on SO(3) for Attitude Estimation with Scalar Measurements
arXiv:2604.08099v2 Announce Type: replace-cross Abstract: This paper proposes a complementary filter on SO(3) for attitude estimation from scalar measurements c…
G2G: Exploiting Intra-Group Geometry for Inter-Group Pose Estimation
arXiv:2606.08284v3 Announce Type: replace-cross Abstract: Recovering the relative 6-DoF pose between two image groups underlies cross-sequence relocalization an…
FAMOS: Feed-Forward 3D Articulation Modeling from Sparse Observations
arXiv:2609.20817v1 Announce Type: cross Abstract: Modeling articulated objects from sparse monocular views is challenging because each observation reveals only …