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 storiesHAP: A Hand-Driven Active Perception Framework for Egocentric Head Motion Prediction
arXiv:2609.18548v1 Announce Type: cross Abstract: Egocentric motion forecasting has primarily focused on hands and manipulated objects, leaving future human hea…
Missing Bridges: Composition-Aware Active Imitation Learning
arXiv:2609.18004v1 Announce Type: cross Abstract: Active imitation learning reduces expert effort by allowing a learner to request the demonstrations it needs. …
Loco-Loco-RL: Low-Cost Terrain Mapping for Humanoid Locomotion with Reinforcement Learning
arXiv:2609.19041v1 Announce Type: new Abstract: Informative terrain perception is important for robust reinforcement learning policies in humanoid locomotion. S…
Information-Based Trajectory Planning for Spacecraft-to-Spacecraft Tracking and Navigation in Cislunar Space
arXiv:2609.19012v1 Announce Type: new Abstract: We present a trajectory planning method that balances information collection and control effort to improve cislu…
Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator
arXiv:2609.18930v1 Announce Type: new Abstract: Bipedal loco-manipulation enables robots to interact with objects beyond the nominal workspace of their arms by …
CaSCo: Cascade-Aware Soft-Collision Motion Planning
arXiv:2609.18910v1 Announce Type: new Abstract: Conventional motion planning treats collision as a binary constraint, although contact with different objects ca…
SEAM: Submap-Anchored Evidence for Lifelong LiDAR Mapping under Trajectory Deformation
arXiv:2609.18819v1 Announce Type: new Abstract: We propose SEAM, a LiDAR-based lifelong mapping framework. Instead of relying on a single anchor spanning the en…
Asymptotically Optimal Multi-Robot Task and Motion Planning
arXiv:2609.18813v1 Announce Type: new Abstract: Multi-robot task and motion planning (MR-TAMP) requires jointly reasoning about discrete task decisions and cont…
AdaGeoVLN: Selective Geometry Across Representation Depth and Navigation Time for Vision-Language Navigation
arXiv:2609.18789v1 Announce Type: new Abstract: Vision-language navigation requires aligning language with visual observations while maintaining spatial underst…
Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation
arXiv:2609.18763v1 Announce Type: new Abstract: Whole-body humanoid teleoperation commonly combines a motion-tracking policy with a separate dexterous-hand reta…
Active perception for robotic harvesting: 3D reconstruction and localisation of tomatoes hidden within clusters in a Mediterranean greenhouse
arXiv:2609.18738v1 Announce Type: new Abstract: Automating robotic harvesting in intensive agriculture within Mediterranean greenhouses requires overcoming sign…
Calibrated Probabilistic Obstruction Reasoning with Vision-Language Models for Grasping in Clutter
arXiv:2609.18718v1 Announce Type: new Abstract: Retrieving a target from clutter requires deciding whether to grasp the target, remove a blocker, or defer. Exis…
WeaveRL: Weaving Reconstruction into Scene-Aware Fabrics for Perceptive Reinforcement Learning
arXiv:2609.18685v1 Announce Type: new Abstract: Reinforcement learning allows robots to acquire complex skills, but producing policies for geometrically complex…
VLA-ULAP: Interleaving Cloud VLA Calls with Ultra-Lightweight Local Action Prediction at the Edge
arXiv:2609.18663v1 Announce Type: new Abstract: Billion-parameter vision--language--action (VLA) policies demand substantial onboard power, while communication …
From Gameplay to Policy: Towards Scalable Robot Data Collection via Gamified Robot-Free Interaction
arXiv:2609.18650v1 Announce Type: new Abstract: Learning generalizable robot manipulation policies requires large-scale and diverse interaction data, yet collec…
Benchmarking Visual-Inertial Odometry in Subterranean Environments Under Sensor Degradation, Miscalibration, and Dynamic Occlusion
arXiv:2609.18628v1 Announce Type: new Abstract: Visual-inertial odometry (VIO) is a core capability for autonomous operation in GPS-denied subterranean environm…
InterMASH: A Unified Geometric Representation for Grasp Synthesis
arXiv:2609.18504v1 Announce Type: new Abstract: Grasp synthesis aims to generate stable and physically plausible hand--object interactions, and has become a fun…
Real-Time Bounded Catenary Solver for UAV Tether Modeling
arXiv:2609.18482v1 Announce Type: new Abstract: For non-stationary tethered multirotor UAVs in real-world conditions, simulating the forces imposed on the drone…
UAVs Meet Embodied Intelligence: Bridging Human Intents and Flying Dynamics Via Harnessing Physical-Digital AI Agents
arXiv:2609.18326v1 Announce Type: new Abstract: Unmanned aerial vehicles (UAVs) extend embodied intelligence into continuous three-dimensional space, where perc…
A3P5 NEMESIS Integrated Rover Design for Environmental Reconnaissance and Robotic Sampling with Reproducible Mobility Analysis and an External Data Machine Learning Calibration Benchmark
arXiv:2609.18245v1 Announce Type: new Abstract: A3P5 NEMESIS is a four-wheel rover intended to combine remote inspection, environmental observation and lightwei…
ForceDelta-VLA: Distilling Force-Conditioned ActionCorrections for Contact-Rich Manipulation
arXiv:2609.18242v1 Announce Type: new Abstract: Force-aware Vision-Language-Action (VLA) policies improve contact-rich manipulation, but typically combine task-…
CANTABILE: Learning Expressive Dynamics for Robotic Piano Performance
arXiv:2609.18213v1 Announce Type: new Abstract: Robotic piano playing has emerged as a standard benchmark for dexterous bimanual manipulation, yet progress on i…
WholeBodyWAM: Learning Whole-Body World Action Models with Scalable Motion Priors
arXiv:2609.18197v1 Announce Type: new Abstract: Humanoid whole-body manipulation requires coordinated whole-body dynamics, yet large-scale trajectories from a t…
TacBPM: A Tactile-conditioned Behavior Prior Model for Dexterous Reorientation
arXiv:2609.18174v1 Announce Type: new Abstract: Dexterous in-hand manipulation requires policies that coordinate high-DoF hand joints through intermittent, cont…
Approximating High Dimensional Self-Motion Manifolds via Deep Generative Models
arXiv:2609.18169v1 Announce Type: new Abstract: Self-motion manifold (SMM) characterizes the geometric structure of the infinite inverse kinematic solutions set…
Technical Report: One-Step Drifting Action Heads for GR00T N1.7
arXiv:2609.18108v1 Announce Type: new Abstract: One-step action generation can substantially reduce the inference cost of vision-language-action (VLA) policies,…
Online Multimodal Workload Assessment in Contact-Rich Physical Human-Robot Interaction
arXiv:2609.18031v1 Announce Type: new Abstract: Contact-rich physical human--robot interaction (pHRI) imposes time-varying demands associated with physical inte…
DRT&R: Direct Radar Teach & Repeat
arXiv:2609.17766v1 Announce Type: new Abstract: Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such …
Vision-Language Grounded Task-Context-Aware Imitation Learning for Robotic Disassembly
arXiv:2609.17714v1 Announce Type: new Abstract: Real-world robotic disassembly requires long-horizon execution, where robots must perform ordered sequences of m…
Flexible-body Modeling, Kinematic Identification, and Assembly Accuracy of Overconstrained Spatial Linkages
arXiv:2609.17627v1 Announce Type: new Abstract: Overconstrained rational single-loop linkages are efficient, compact, and low-cost custom mechanisms, yet their …