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 storiesHuman-Centric Grasp State Assessment: Toward Transferring Subjective Evaluation to Robots
arXiv:2609.17540v1 Announce Type: new Abstract: We propose a framework that transfers tacit human subjective criteria to robotic systems for the appropriate gra…
OLogic to share how robots can learn from human demonstrations at RoboBusiness
OLogic CEO Ted Larson will explore the foundations of egocentric robot learning and the technical challenges involved in building these systems. The post OLogic…
ConGraspXL: Controllable Constraint-Conditioned Dexterous Grasping Motion Synthesis
arXiv:2609.16319v1 Announce Type: new Abstract: Dexterous grasping is usually conducted for specific tasks, leading to heterogeneous constraints such as specifi…
Geometry vs Structure: Graph-Based Diagnostics for LiDAR Point-Cloud Simulation Fidelity
arXiv:2609.16378v1 Announce Type: new Abstract: Digital twins provide a scalable and cost-effective complement to real-world testing for validating autonomous-d…
XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation
arXiv:2609.16437v1 Announce Type: new Abstract: Collecting high-quality robot data for contact-rich manipulation tasks is essential for enabling robots to acqui…
Dense to MoE Adaptation for Compact Vision Language Action Policies
arXiv:2609.16503v1 Announce Type: new Abstract: Vision language action (VLA) policies continue to grow in parameter count, making deployment on resource-constra…
UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data
arXiv:2609.16504v1 Announce Type: new Abstract: Human videos provide demonstrations of dexterous manipulation but lack robot-executable actions and tactile meas…
ProxiDex: Learning Dynamics-Guided Proximity Policy for Dexterous Manipulation
arXiv:2609.16586v1 Announce Type: new Abstract: Multi-finger dexterous manipulation relies on stable hand-object interactions, yet these interactions are partia…
Differentiable Mesh State Estimation via Factor Graph Inference for Deformable Object Reconstruction
arXiv:2609.16686v1 Announce Type: new Abstract: Estimating deformable object states remains a fundamental challenge in robotics and simulation. We propose a nov…
The Robot Data Factory
arXiv:2609.16705v1 Announce Type: new Abstract: Physical AI requires more than increasingly large robot datasets: intelligent robots acquire knowledge through c…
CorrRisk-WM: Corridor-Conditioned Risk World Modeling for Safety-Critical Trajectory Planning
arXiv:2609.16724v1 Announce Type: new Abstract: Safe local planning requires forecasting surrounding-agent motion and evaluating candidate-specific risks, since…
BRAVE-6D: Benchmark for Robotic Active Vision in 6DOF Pose Estimation
arXiv:2609.17106v1 Announce Type: new Abstract: Detecting and grasping small objects remains a significant challenge in robotics. Active vision, where the robot…
Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand
arXiv:2609.17172v1 Announce Type: new Abstract: A walking robotic hand must use the same fingers to move its body, support its weight, and interact with the env…
TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer
arXiv:2609.17198v1 Announce Type: new Abstract: Autonomous nano-UAV navigation requires accurate ego-motion estimation under stringent size, weight, power, and …
FluxVLA Engine: A One-Stop VLA Engineering Platform for Embodied Intelligence
arXiv:2609.17210v1 Announce Type: new Abstract: Vision-language-action (VLA) models, world-action models (WAMs), and offline reinforcement learning methods are …
Swim-and-Breach at Palm Scale: A Rudder-Steered Two-Propeller Underwater Robot Platform with Differential-Thrust Pitch Control
arXiv:2609.17240v1 Announce Type: new Abstract: We present a palm-scale (65 mm, 34 g) swim-and-breach robot platform. Two vertically stacked propellers provide …
DriveMCP: An Agentic AI framework for Advanced Driver Assistance System
arXiv:2609.17247v1 Announce Type: new Abstract: An agentic AI driver-assistance framework that integrates perception, compliance reasoning, vehicle-state interp…
CAD-Based Relation Learning and Geometric-Symbolic Planning for Robotic Assembly
arXiv:2609.17263v1 Announce Type: new Abstract: Assembly Sequence Planning (ASP) remains a challenging problem due to its combinatorial nature, making exhaustiv…
XPACE: Joint World and Action Modeling from Heterogeneous Experience
arXiv:2609.17372v1 Announce Type: new Abstract: A general-purpose robot needs to draw on diverse experience, choose actions, and anticipate how those actions wi…
Exact Fusion and Coordinated Exploration in Multi-Robot Active Inference
arXiv:2609.17384v1 Announce Type: new Abstract: Robot teams that learn a common environment model exchange belief summaries and plan by the expected information…
Gaussian Processes for Modelling Spatial Fields with Robot Swarms
arXiv:2609.17463v1 Announce Type: new Abstract: Robot swarms, by virtue of their decentralised architecture, are a natural tool for scalable, robust modelling o…
Estimating Uncertain Spatial Relationships in Robotics
arXiv:1304.3111v2 Announce Type: cross Abstract: In this paper, we describe a representation for spatial information, called the stochastic map, and associated …
GeoLAM: Learning Geometry-Grounded Latent Actions from Unlabeled Human Videos
arXiv:2609.17099v1 Announce Type: cross Abstract: Human videos provide rich manipulation experience, but extracting action representations that preserve useful …
RobResilience: Implementing and Evaluating a Resilience Framework for Cyber-Physical Embodied Systems
arXiv:2609.17349v1 Announce Type: cross Abstract: In embodied cyber-physical systems, active cyberattacks pose an immediate threat not just to data, but to phys…
ENCP: Episode-Normalized Conformal Prediction for Vision-and-Language Navigation
arXiv:2609.17499v1 Announce Type: cross Abstract: Uncertainty estimation for Vision-Language-Navigation (VLN) models is a critical task since it can help identi…
ISS Policy : Scalable Diffusion Policy with Implicit Scene Supervision
arXiv:2512.15020v3 Announce Type: replace Abstract: Vision-based imitation learning has enabled impressive robotic manipulation skills, but action imitation alo…
Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control
arXiv:2512.23650v3 Announce Type: replace Abstract: Humans intuitively move to sound, but current humanoid robots lack expressive improvisational capabilities, …
Real-Time Non-Contact Force Compensation for Wrist-Mounted Force/Torque Sensors in Haptic-Enabled Robotic Surgery Training
arXiv:2604.23696v2 Announce Type: replace Abstract: Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to…
Spheriverse: 3D Scene Understanding from Spherical Observations in the Wild
arXiv:2609.09012v2 Announce Type: replace-cross Abstract: Spherical observations provide global visual context for 3D scene understanding. However, visual infor…
DGSG-Mind: Dynamic 3D Gaussian Scene Graphs for Long-Term Scene Understanding and Grounding
arXiv:2605.29879v3 Announce Type: replace-cross Abstract: Integrating open-vocabulary semantic information into dynamic 3D scene representations is essential fo…