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 storiesScene-Q: Confidence-Aware Coarse-to-Fine Querying of 3D Scenes with Selective VLM Reasoning
arXiv:2609.20235v1 Announce Type: cross Abstract: Indoor mobile robots require open-vocabulary scene understanding that grounds natural-language queries in a co…
Worst-Case Hidden-Vehicle Trajectory Search in Spatiotemporal Occlusion Regions
arXiv:2609.20480v1 Announce Type: new Abstract: Occlusion creates fundamental uncertainty in autonomous driving. Existing methods often propagate frame-wise hyp…
CoreSense: Traceable Failure Recall and Conflict-Aware Belief Gating for Auditable Robot Decisions
arXiv:2609.19512v1 Announce Type: new Abstract: Robots can recall prior failures without knowing whether recalled evidence remains valid, conflicts with current…
Semantic SLAM in Precision Agriculture using Bayesian Inference
arXiv:2609.20604v1 Announce Type: new Abstract: This paper presents a real-time semantic world modeling framework specialized for precision agriculture using au…
INSPECT: Learning Robot View Selection from Assistant Use
arXiv:2609.20615v1 Announce Type: new Abstract: Robots inspecting an assembly must determine which parts are present and whether they are correctly installed. D…
HOPHY: A Hierarchical Hypergraph Representation for Off-Road Path and Mission Planning
arXiv:2609.20694v1 Announce Type: new Abstract: Mission-level autonomy for disaster response, search and rescue, and tactical UGV operations requires repeated p…
Underwater Visual Target Tracking with Target-Specific Depth Estimation and Adaptive Model-Fusion Predictive Control
arXiv:2609.20731v1 Announce Type: new Abstract: Vision-based underwater target tracking is challenged by unreliable depth measurements and unknown target motion…
RoboGPU: Accelerating GPU Collision Detection for Robotics
arXiv:2603.01517v2 Announce Type: replace-cross Abstract: Autonomous robots are anticipated to be deployed soon in domains ranging from transportation to health…
Boreas Road Trip: A Multi-Sensor Autonomous Driving Dataset on Challenging Roads
arXiv:2602.16870v2 Announce Type: replace Abstract: The Boreas Road Trip (Boreas-RT) dataset extends the multi-season Boreas dataset to new and diverse location…
StageGuard: Learning Stage Transitions for Long-Horizon Robot Tasks via Agentic Distillation
arXiv:2609.20791v1 Announce Type: new Abstract: Hierarchical planning frameworks combine skills from multiple robot control policies for long-horizon task execu…
MoWAM: Explicit Future Motion Prediction for Efficient World Action Models
arXiv:2609.20709v1 Announce Type: new Abstract: World Action Models (WAMs) improve robot policy learning by incorporating future dynamics, yet explicitly genera…
Time-Efficient Iterative Learning Planning for Safety-Critical Dynamic Obstacle Avoidance
arXiv:2609.20435v1 Announce Type: new Abstract: Autonomous mobile robots require timeefficient planning and safety-critical dynamic obstacle avoidance under con…
GAVEL: Graph World Models for Verified and Efficient Long-Horizon LLM Task Planning
arXiv:2609.19315v1 Announce Type: new Abstract: Large language models (LLMs) provide a flexible interface for long-horizon robot planning, but generated plans o…
Real-Time Service Robot Replanning via Simple Button Interaction for Improved Task Success and User Experience
arXiv:2609.17541v1 Announce Type: new Abstract: Service robots must respond to unexpected instructions in real-world environments. However, robots cannot detect…
Predictive Varanus: Combining CSP Conformance Monitoring with Predictive LTL Runtime Verification
arXiv:2609.17625v1 Announce Type: new Abstract: Runtime Verification is well suited to autonomous and robotic systems because it checks the behaviour that is ac…
LEAP: Learning Emergent Active Perception for Quadruped Navigation
arXiv:2609.17628v1 Announce Type: new Abstract: Active perception allows autonomous agents to select their viewpoints rather than passively process the viewpoin…
RAF-VLA: Representation Alignment with the Future for End-to-End Autonomous Driving
arXiv:2609.17728v1 Announce Type: new Abstract: Recent Vision-Language-Action (VLA) models for autonomous driving have incorporated world modeling by predicting…
CALOS: Control-Affine Lyapunov On-manifold Safety Layer for Safe Deep Reinforcement Learning for Quadrotors
arXiv:2609.17758v1 Announce Type: new Abstract: Deep Reinforcement Learning has demonstrated remarkable capability in quadrotor control, yet learned policies of…
HINT-Plan: Human Intention-Aware Robot Task Planning in Context-Rich Environments using Vision Language Models
arXiv:2609.17771v1 Announce Type: new Abstract: Approaches to incorporating human awareness into mobile robot decision-making mainly focus on collision avoidanc…
SPROUT: The Open-Source Soft Growing Robot for Search and Rescue
arXiv:2609.17781v1 Announce Type: new Abstract: Soft robotic systems have long been theorized as ideal candidates for use in search and rescue operations; howev…
Learning Multi-Humanoid Pickup and Transport via Decentralized Object-Centric Control
arXiv:2609.17824v1 Announce Type: new Abstract: We study cooperative multi-humanoid pickup and transport of objects with varying size, weight, and geometry, req…
VCTP: Vehicle-Conditioned Terrain Planning for Off-Road Navigation
arXiv:2609.17834v1 Announce Type: new Abstract: A vehicle's heading affects both the surfaces beneath its tires and its pitch and roll. We present Vehicle-Condi…
Multi-Session Multimodal Underwater Mapping with Acoustic and Optical Imaging
arXiv:2609.17929v1 Announce Type: new Abstract: Accurate seafloor mapping is essential for marine science, archaeology, and environmental monitoring. However, i…
Causal-History Test-Time Scaling for Failure Recovery in Autoregressive World-Action Models
arXiv:2609.18016v1 Announce Type: new Abstract: World-action models (WAMs) have emerged as a promising paradigm for robot manipulation by jointly modeling futur…
Geometric Shortcuts for Complex Trunk Postures: Dual-Helicity Coupling Enables Low-Dimensional Control
arXiv:2609.18050v1 Announce Type: new Abstract: How do elephant trunks generate complex postures without relying solely on fine segmental activation? We propose…
Not All Layers Need Tuning: Diagnosing and Directing Adaptation in Vision-Language-Action Models
arXiv:2609.18084v1 Announce Type: new Abstract: Fine-tuning a Vision-Language-Action (VLA) model for a new deployment environment is expensive, yet most methods…
OpenDexGrasp: Open-vocabulary Task-Oriented Dexterous Grasping
arXiv:2609.18117v1 Announce Type: new Abstract: Dexterous grasp synthesis has advanced rapidly in generating stable and physically plausible hand poses, but rea…
Energy-Regularized Imitation Learning for Force- and Work-Aware Robotic Manipulation
arXiv:2609.18164v1 Announce Type: new Abstract: This paper studies energy-aware manipulation as a physically grounded learning problem. We define a joint-space …
OmniRisk: Omnidirectional Trajectory-Risk Learning for Agile Quadrotor Dynamic Avoidance
arXiv:2609.18191v1 Announce Type: new Abstract: Agile quadrotor avoidance of fast-moving obstacles requires anticipating collisions and selecting feasible maneu…
WAVE-Go: World-Model Navigation with Adaptive Execution for Wheel-Legged Robots
arXiv:2609.18193v1 Announce Type: new Abstract: World models can anticipate the consequences of navigation actions, but predicted action sequences may become in…