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 storiesCharacterizing Replay Retention Under Dynamics Shift in Model-Based Reinforcement Learning
arXiv:2609.18167v1 Announce Type: new Abstract: Adapting to changes in robot dynamics requires learning from new data without discarding experience that may sti…
LUMO: Designing Luminous Contact Morphology for Repeatable Whole-Finger Contact Observation
arXiv:2609.18165v1 Announce Type: new Abstract: A low-impedance robot finger reports through joint torque how strongly it is loaded, but the same torque can ari…
Prior Evolution and Task Alignment for Aerial Grasping
arXiv:2609.18153v1 Announce Type: new Abstract: Aerial grasping is a remarkable capability exhibited by predatory birds, allowing them to capture prey through h…
Fetch My Beer: Synthetic-to-real Hierarchical Policy for Smooth Pick-and-place
arXiv:2609.18119v1 Announce Type: new Abstract: Many real-world robotic applications require dynamically sensitive manipulation, where success depends not only …
A Comprehensive Review of Generative Physical Artificial Intelligence
arXiv:2609.18111v1 Announce Type: new Abstract: The integration of large-scale foundation models with physical embodiments has led to significant advancements i…
Characterizing Refraction-Induced Ranging Bias in Underwater Collaborative Localization
arXiv:2609.18073v1 Announce Type: new Abstract: This work studies how refraction-induced bias on acoustic ranging affects multi-agent collaborative localization…
An Efficient Algorithm for Minimum-Pressure Growth Planning of Vine Robots
arXiv:2609.18070v1 Announce Type: new Abstract: Vine robots navigate cluttered environments by extending from their tip. Although their ability to operate in su…
CLASP: A Cluster-Level Autonomous Selective Picking Robot with a Soft Rolling-Band Gripper for Fresh-Market Blueberry Harvesting
arXiv:2609.18051v1 Announce Type: new Abstract: Fresh-market blueberries require selective, gentle picking, which is labor-intensive and expensive. Over-the-row…
Feedback-Modulated Harmonic Policies for Quadruped Locomotion
arXiv:2609.17946v1 Announce Type: new Abstract: Learned quadruped locomotion policies commonly map observations directly to joint-level actions, leaving the per…
Map2Route: Benchmarking Compositional Language-Grounded Route Planning over Semantic Maps
arXiv:2609.17910v1 Announce Type: new Abstract: We introduce Map2Route, a human-curated benchmark for compositional language-grounded route planning over pre-bu…
Adaptive-MHE : A Sampling-Based Adaptive MPC for Legged Loco-Manipulation via Moving Horizon Estimation
arXiv:2609.17832v1 Announce Type: new Abstract: Legged robots have demonstrated a remarkable ability to traverse various terrains, yet generating effective loco…
Timely Activation of Safety Filters via One-Step Reachability Expansion
arXiv:2609.17904v1 Announce Type: new Abstract: Least-restrictive safety filters based on Hamilton-Jacobi reachability provide strong safety guarantees by overr…
ReRadar: Robust Radar Global Localization via Rotation-Equivariant Descriptor Learning
arXiv:2609.18092v1 Announce Type: new Abstract: Global localization with scanning millimeter-wave radar remains challenging because place-recognition descriptor…
Beyond Pixel Similarity: Task-Aware Evaluation of GAN-Based Synthetic Sonar Data for Robotic Perception
arXiv:2609.18100v1 Announce Type: new Abstract: Synthetic data can reduce the cost of collecting and annotating training data for robotic perception, but genera…
${M}^2$Tok: Multi-head Multi-codebook Discrete Action Tokenization for Vision-Language-Action Models
arXiv:2609.18259v1 Announce Type: new Abstract: Recent advancements have successfully adapted autoregressive language models to process multimodal signals, such…
DetAug: Obstacle-Blind Trajectory Augmentation for Zero-shot Obstacle Avoidance
arXiv:2609.18395v1 Announce Type: new Abstract: Policies for robotic manipulation are produced by training on large teleoperated datasets. These datasets typica…
ForwardDLO: Model-Based Bimanual Shape Matching of Unconstrained Deformable Linear Objects
arXiv:2609.18455v1 Announce Type: new Abstract: Ropes, cables, and other deformable linear objects appear in tasks from untangling to cable routing and suturing…
TAO-Force: Unifying Force-Aware Perception and Fast-Slow Control for Contact-Rich Manipulation
arXiv:2609.18497v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have demonstrated strong performance across diverse robotic manipulation tas…
ActiveScale: Scaling Active Perception for Robots across Model, Data, and Hardware
arXiv:2609.18514v1 Announce Type: new Abstract: Active perception is essential for robotic manipulation when fixed viewpoints leave task-relevant information oc…
GroundingVLN: Reasoning and Acting with Grounding for Vision-Language Navigation
arXiv:2609.18581v1 Announce Type: new Abstract: Although vision-language models (VLMs) possess strong visual understanding and reasoning capabilities, existing …
DeformSmith: Physics Harness-Guided Hierarchical Generation of Deformable Assets for Robot Manipulation
arXiv:2609.18620v1 Announce Type: new Abstract: Creating deformable assets for robot manipulation requires jointly specifying their geometry, appearance, and ph…
M$^3$P-R1: Reinforcement Learning for Large Language Model Guided Multi-Modal Motion Planning via MIP Code Generation
arXiv:2609.18669v1 Announce Type: new Abstract: Multi-Modal Motion Planning (M$^3$P) requires joint reasoning over continuous motions and discrete mode transiti…
Imitation Learning for Autonomous Driving in CARLA
arXiv:2609.17757v1 Announce Type: cross Abstract: Behavioral cloning trains a policy offline on expert demonstrations, but deployment is closed loop: each actio…
LiteViLNet: Lightweight Vision-LiDAR Fusion Network for Efficient Road Segmentation
arXiv:2605.21007v3 Announce Type: replace-cross Abstract: Road segmentation is a fundamental perception task for autonomous driving and mobile robotics, where b…
EfficientTDMPC: Improved MPC Objectives for Sample-Efficient Continuous Control
arXiv:2605.16692v3 Announce Type: replace-cross Abstract: We introduce EfficientTDMPC, a sample-efficient model-based reinforcement learning method for continuo…
Not All Agreement Counts as Corroboration: Provenance-Conserving Multi-View Fusion for Typed Action Admission in Human-Robot Collaboration
arXiv:2609.01662v2 Announce Type: replace Abstract: Better probability scores do not establish that evidence has been counted correctly. Repeated inference over…
AERO-VIS: Asynchronous Event-based Real-time Onboard Visual-Inertial SLAM
arXiv:2605.07885v2 Announce Type: replace Abstract: The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual …
Model-Based Adaptive Precision Control for Tabletop Planar Pushing Under Uncertain Dynamics
arXiv:2510.03768v2 Announce Type: replace Abstract: Data-driven planar pushing methods have recently gained attention as they reduce manual engineering effort a…
UWA360CAM: A 360$^{\circ}$ 24/7 Real-Time Streaming Camera System for Underwater Applications
arXiv:2309.12668v3 Announce Type: replace Abstract: Omnidirectional camera is a cost-effective and information-rich sensor highly suitable for many marine appli…
FedGuide: Diffusion Prior Alignment and Value Baseline Guidance for Heterogeneous Federated Reinforcement Learning
arXiv:2609.18964v1 Announce Type: cross Abstract: Federated Reinforcement Learning (FRL) enables collaborative policy learning across distributed agents with he…