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 storiesMR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control
arXiv:2609.16041v1 Announce Type: new Abstract: Visual torque feedback supports underwater bilateral teleoperation, but the benefit of mixed reality (MR) over c…
Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity
arXiv:2609.16040v1 Announce Type: new Abstract: Bilateral control-based imitation learning captures both position and force information, making it well suited t…
Gradient-Free Neural Hamilton-Jacobi Reachability for Scalable Safety-Critical Control
arXiv:2609.14087v1 Announce Type: new Abstract: Hamilton-Jacobi (HJ) reachability provides a principled framework for synthesizing safety certificates and robus…
When Faster VLA Deployment Changes Closed-Loop Behavior: Task Success-Latency Analysis of SmolVLA Across PyTorch and ONNX Variants
arXiv:2609.14146v1 Announce Type: new Abstract: Vision-language-action (VLA) deployment can reduce inference latency while changing closed-loop task behavior. W…
Visible Touch: Rendering Contact for Visuomotor Policies
arXiv:2609.14156v1 Announce Type: new Abstract: Integrating contact information into visuomotor policies remains an open problem. Touch is essential to robust m…
ITA-LaCAM: A Complete and Scalable TAPF Solver via Assignment-Aware Configuration-Space Search
arXiv:2609.14208v1 Announce Type: new Abstract: Combined Target Assignment and Path Finding (TAPF) requires assigning targets for agents while simultaneously pl…
VGFM: Expressive Robot Policies via Dense Value Guidance in Flow Matching
arXiv:2609.14261v1 Announce Type: new Abstract: Recent robot learning paradigms increasingly rely on large offline datasets of robotic interactions to train con…
Orientation Control of Soft Robots via Adiabatic Spectral Submanifolds
arXiv:2609.14376v1 Announce Type: new Abstract: Soft robots are commonly sought for safety-critical interactions in delicate environments, where accurate positi…
From Learned-Mode AV-Traffic Pairing to Planner Decisions: A Marginal-Preserving Study on Argoverse 2
arXiv:2609.14997v1 Announce Type: new Abstract: Joint motion forecasts pair each autonomous-vehicle (AV) future with surrounding traffic, but actor-level metric…
Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation
arXiv:2609.15012v1 Announce Type: new Abstract: Can changing only the language instruction redirect a VLA policy's end effector, or does the visually driven mot…
Task-Distribution-Aware Counterweight Synthesis and Constrained Co-Design for Serial Manipulators
arXiv:2609.15082v1 Announce Type: new Abstract: Passive counterweights are simple gravity compensators, but a counterweight selected from a single pose is not g…
LieSpline-DP: Lie-Group B-Spline Diffusion Policy for Smooth Robot Manipulation
arXiv:2609.15162v1 Announce Type: new Abstract: Diffusion Policy (DP) is a powerful Learning from Demonstration (LfD) method for robotic manipulation, yet it su…
X-WBC: A Cross-Embodiment Foundation Model for Humanoid Whole-Body Control
arXiv:2609.15213v1 Announce Type: new Abstract: Scaling humanoid whole-body control toward general-purpose deployment requires large human motion corpora and tr…
Low Clearance Hinge Joint Mechanism Based on 3D Printing on Sheet Fabrication Methodology
arXiv:2609.15276v1 Announce Type: new Abstract: This paper presents a low-clearance hinge joint mechanism based on the 3D printing on sheet fabrication method. …
Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter
arXiv:2609.15447v1 Announce Type: new Abstract: Combining aerial thrust with spring-loaded hopping makes monopedal quadcopters promising for locomotion over com…
InterSocialBench: Benchmarking Human and LLM Preferences for Companion-Robot Social Behavior
arXiv:2609.15455v1 Announce Type: new Abstract: Companion robots face everyday situations in which several feasible behaviors may be appropriate, yet different …
P-POSEMEM: Projective Semantic Memory for Consistent Language Grounding under Pose-Graph Rewrites
arXiv:2609.15475v1 Announce Type: new Abstract: A robot following language instructions needs its semantic memory to keep naming the same physical object while …
StereoPatch: Patch-Aligned RGB-Depth Fusion for Spatial Perception in Robot Manipulation
arXiv:2609.15509v1 Announce Type: new Abstract: Recent advances in robot imitation learning have produced visuomotor policies that predict actions directly from…
DIDO: Distilling Interaction-Centric Dynamics into One-Step Denoising for World Action Models
arXiv:2609.15570v1 Announce Type: new Abstract: World Action Models (WAMs) use video generation models to predict future visual dynamics for robotic manipulatio…
An Information-Space Perspective to Scene Graph Sufficiency for Robotic Task Planning
arXiv:2609.15587v1 Announce Type: new Abstract: Planning in complex environments requires task specifications grounded in representations that capture objects, …
Dynamics-Informed Reinforcement Learning for Agile and Energy-Efficient Locomotion of a Monopedal Hopping Quadcopter
arXiv:2609.15399v1 Announce Type: new Abstract: Although aerial-legged robots offer combined agility and efficiency, controlling high-speed hopping under comple…
Continuous Manifold-Decomposed Impedance Retargeting for Contact-Rich Imitation Learning
arXiv:2609.15716v1 Announce Type: new Abstract: CMDIR extends Manifold-Decomposed Impedance Retargeting (MDIR) to transform fixed-impedance demonstrations into …
Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands
arXiv:2609.15726v1 Announce Type: new Abstract: Tactile sensing provides contact information that can be difficult to infer from vision alone, but tactile hardw…
JEPLO: Joint-Embedding Predictive Learning for LiDAR-Based Legged Locomotion
arXiv:2609.15770v1 Announce Type: new Abstract: Light detection and ranging (LiDAR) remains less explored than RGB-D sensing for perceptive legged locomotion, a…
Uncertainty-Guided Sparse Refinement for Action Chunking Transformer Policies
arXiv:2609.15840v1 Announce Type: new Abstract: Learning chunk-based visuomotor policies for long-horizon robot manipulation remains challenging. Recent action-…
DuctAM: A Duct-Assisted Quadrotor-Based Aerial Manipulator Enabling High-Force Push-and-Pull Interactions
arXiv:2609.15861v1 Announce Type: new Abstract: Uncrewed Aerial Manipulators (UAMs) extend the capabilities of Uncrewed Aerial Vehicles (UAVs) from perception t…
Real-time Learning and Evolution in Robotic Art Installations
arXiv:2609.13352v1 Announce Type: cross Abstract: We present three robotic art installations which explore the aesthetics of adaptive behavior. Through embodied…
BLInD: Learning Driver Intent as a Distribution over Future Ego Trajectories
arXiv:2609.13941v1 Announce Type: cross Abstract: We present BLInD (Blind Learned Intent Distribution), a compact network that maps recent vehicle-state history…
LPA-CWM: A Learned Physical Adjudicator for Motion Reasoning with Counterfactual World Models
arXiv:2609.14073v1 Announce Type: cross Abstract: Counterfactual world models (CWM) extract motion from pretrained video predictors by comparing factual and int…
Real-Time Synthesis of Robust Controlled Invariant Sets for Monotone Systems
arXiv:2609.14115v1 Announce Type: cross Abstract: Safety-critical control of autonomous systems requires formal safety certificates, such as controlled invarian…