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 storiesTendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation
arXiv:2609.16256v1 Announce Type: new Abstract: Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most exist…
Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy
arXiv:2609.16186v1 Announce Type: new Abstract: Autonomous soft-tissue cancer surgery has been limited to interventions on organ surfaces, because current syste…
AssemblyGrid v1: A Benchmark for Multi-Robot Production with Temporary Coalitions, Local Information, and Geometric Constraints
arXiv:2609.16075v1 Announce Type: new Abstract: Flexible robotic production requires joint decisions on process progression, material routing, resource assignme…
World-Action Models for Robot Learning and Control: A Survey
arXiv:2609.16074v1 Announce Type: new Abstract: Robots operating in open environments act under partial observability, physical constraints, and dynamic task co…
Structure-Preserving Quantum Circuit Architectures for Robot Kinematics
arXiv:2609.16089v1 Announce Type: new Abstract: Structured spatial data require quantum encodings that preserve geometric relations, expose measurable observabl…
Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions
arXiv:2609.16683v1 Announce Type: new Abstract: Learning humanoid-object interaction requires coordinating whole-body balance, locomotion, and dexterous hand co…
Motion planning in high dimensional spaces hybridizing RRT and HAR via position-direction decoupling
arXiv:2609.16810v1 Announce Type: new Abstract: The exploration of high-dimensional spaces remains a challenging problem, in particular in the presence of narro…
Waggle Dance Inspired Motion Communication for Multiple UAVs in MuJoCo
arXiv:2609.16958v1 Announce Type: new Abstract: The honeybee waggle dance motivates a communication mechanism in which one agent's movement conveys spatial info…
TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics
arXiv:2605.13748v2 Announce Type: replace Abstract: Semidefinite programming (SDP) provides a principled framework for convex relaxations of nonconvex geometric…
QDTraj: Exploration of Diverse Trajectory Primitives for Articulated Objects Robotic Manipulation
arXiv:2604.22551v2 Announce Type: replace Abstract: Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming…
Calibrate Once, Fly Any Team: Residual-Grounded Low-Fidelity Training for Cooperative Drone Swarms
arXiv:2609.17265v1 Announce Type: cross Abstract: Training multi-agent drone-swarm policies directly in high-fidelity (HF) rigid-body physics is accurate but co…
CoAdapt: An LLM-based Framework for Adaptive Collaborative Perception in IIoT Robotic Swarms
arXiv:2609.16852v1 Announce Type: cross Abstract: Industrial IoT environments increasingly deploy autonomous mobile robots for tasks such as material handling, …
EMODY Flow: Emotion-Aware Audio-Driven Full-Body Motion Generation
arXiv:2609.16011v1 Announce Type: cross Abstract: Embodied conversational agents require synchronized full-body motion (body gestures and facial expressions) th…
Modality-Autoregressive World-Action Models
arXiv:2609.17524v1 Announce Type: new Abstract: World-action models (WAMs) jointly model future observations and actions, typically predicting the future as RGB…
Dissecting Motion-Prior Regularization for Data-Scarce Robotic Insertion
arXiv:2609.17484v1 Announce Type: new Abstract: This study asks whether training-time motion-prior regularization can improve insertion success when a diffusion…
Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations
arXiv:2609.17405v1 Announce Type: new Abstract: Legged robots offer a variety of automation applications in real-world scenarios. But areas that are difficult t…
Residual Fault Adaptation for Dexterous In-Hand Manipulation Under Runtime Joint Faults
arXiv:2609.17404v1 Announce Type: new Abstract: Dexterous in-hand manipulation requires coordinated control of multiple actuated joints, and a runtime joint fau…
Port-Hamiltonian Koopman Operator Synthesis for Mechanical Systems
arXiv:2609.17249v1 Announce Type: new Abstract: Finite-dimensional Koopman models enable efficient linear prediction and control of nonlinear robotic systems. H…
Continual Learning for Traversability Prediction with Uncertainty-Aware Adaptation
arXiv:2609.17141v1 Announce Type: new Abstract: Traversability prediction is a critical component of autonomous navigation in unstructured environments, where c…
SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation
arXiv:2609.17035v1 Announce Type: new Abstract: Soft and continuum robots enable manipulation through distributed body deformation and contact, yet translating …
Overcoming technical adoption barriers for mobile service robots in rehabilitation
arXiv:2609.16996v1 Announce Type: new Abstract: Many publications on robotic systems in healthcare describe early-stage work on low technology readiness levels.…
Rethinking Visual Embodiment Dependence in Visuomotor Policies
arXiv:2609.16815v1 Announce Type: new Abstract: Visuomotor policies observe both the task scene and the acting embodiment, allowing embodiment-specific visual c…
The Latent That Never Was: A Forensic Re-run of the CVAE Ablation in Action Chunking Transformer
arXiv:2609.16745v1 Announce Type: new Abstract: Action Chunking Transformers (ACT) are widely used to learn robot manipulation from demonstrations. Their condit…
World Models for Embodied Intelligence: From Plausible to Controllable to Actionable
arXiv:2609.16697v1 Announce Type: new Abstract: World models connect perception and decision-making in embodied intelligence by maintaining hidden state, antici…
IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator
arXiv:2609.16696v1 Announce Type: new Abstract: Autonomous excavator control is challenged by coupled kinematics, actuation lag, and uncertainty. We propose imi…
SAVLA: Symmetry-Aware Vision-Language-Action Models for Robotic Manipulation
arXiv:2609.16641v1 Announce Type: new Abstract: Vision-language-action (VLA) models have become the dominant paradigm for language-conditioned robot manipulatio…
Learning to Optimize UAV Path Planning for Data Sensing in Wireless Sensor Networks
arXiv:2609.16629v1 Announce Type: new Abstract: UAVs have emerged as highly flexible platforms for data sensing in Wireless Sensor Networks (WSNs). Path plannin…
Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets
arXiv:2609.16405v1 Announce Type: new Abstract: Humanoid robots often execute motion commands through whole-body controllers (WBCs) that track targets while mai…
UDAV: Uncertainty-Driven Adaptive VLM Waypoint Planner
arXiv:2609.16368v1 Announce Type: new Abstract: Vision-language models (VLMs) can generate routes directly from aerial imagery for off-road navigation, but thei…
Auto-HSI: Personalized human control of a robot swarm on demand by using LLMs for online automatic code generation
arXiv:2609.16346v1 Announce Type: new Abstract: This paper presents Auto-HSI, a method for generating personalized human-swarm interaction (HSI) interfaces on d…