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
3542 storiesPEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling
arXiv:2608.08773v1 Announce Type: new Abstract: Long-horizon multi-part object disassembly requires robots to compute feasible sequences of collision-free remov…
SG-WAM: Text-Grounded and Spatial-aware Semantic Guidance for World-Action Models
arXiv:2608.08839v1 Announce Type: new Abstract: World-Action Models (WAMs) have emerged as a promising paradigm for robotic manipulation. However, most existing…
Hierarchical Topology-Aware Planning and Control of Underwater Vehicle-Manipulator Systems in Confined Environments
arXiv:2608.08871v1 Announce Type: new Abstract: This paper addresses autonomous intervention with an underwater vehicle--manipulator system (UVMS) in confined, …
SHRIMP: Iterative Refinement of Robot Task Plans
arXiv:2608.08884v1 Announce Type: new Abstract: As collaborative robots have entered domains such as manufacturing, agriculture, and healthcare, programming or …
Estimation of Spacecraft Inertia Tensor Using Attitude-Only Data from Torque-Free Motion
arXiv:2608.08886v1 Announce Type: new Abstract: We present an attitude-only framework for estimating a spacecraft's normalized inertia tensor from torque-free r…
From Operational Design Domain to Action: A Systematic Behavioral Taxonomy for Autonomous Driving
arXiv:2608.08941v1 Announce Type: new Abstract: Operational Design Domain (ODD) specifications describe where an automated driving system (ADS) is permitted to …
Personalized Lower-limb Exoskeleton Assistance via Preference-based Bayesian Optimization
arXiv:2608.09015v1 Announce Type: new Abstract: A significant challenge in exoskeleton robotics is the need to dynamically adapt control profiles to individual …
Latent World Models with Monotone Planning Costs for Image-Goal Navigation
arXiv:2608.09073v1 Announce Type: new Abstract: Image-goal navigation with latent world models requires not only accurate future prediction, but also a planning…
UnsDrive: Towards Robust End-to-End Autonomous Driving in Unstructured Scenes
arXiv:2608.09098v1 Announce Type: new Abstract: End-to-end planning has shown strong promise for autonomous driving, but most existing methods are designed for …
ROEVO: Robust Organized Edge Feature-based Visual Odometry Using RGB-D Cameras
arXiv:2608.09112v1 Announce Type: new Abstract: This work presents a visual odometry (VO) system that leverages image edge features. Edges are spatially express…
Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation
arXiv:2608.09125v1 Announce Type: new Abstract: Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous soluti…
High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing
arXiv:2608.09127v1 Announce Type: new Abstract: Despite the demand for robots in high-value clinical tasks like bathing, contemporary systems still lack the saf…
SpeedTuning: Speeding Up Policy Execution with Lightweight Reinforcement Learning
arXiv:2608.09138v1 Announce Type: new Abstract: While learned robotic policies hold promise for advancing generalizable manipulation, their practical deployment…
Particle-Based Conformal Prediction for Contact-Aware Uncertainty Calibration in Stratified Configuration Spaces
arXiv:2608.09166v1 Announce Type: new Abstract: Reliable uncertainty representation is essential for deploying autonomous systems that interact with their envir…
SAIN: Structure-Aware Interactive Navigation with Active Dialogue Grounding for Mobile Robot
arXiv:2608.09196v1 Announce Type: new Abstract: Most existing vision-language navigation tasks assume that instructions are complete and unambiguous. However, r…
Ultra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction
arXiv:2608.09198v1 Announce Type: new Abstract: Conventional robotic grippers often use high-ratio transmissions to generate grasping torque and external force …
Task-Oriented Formation Decision via Reinforcement Learning: Herding an Attacking Swarm
arXiv:2608.09258v1 Announce Type: new Abstract: Multi-robot systems can accomplish tasks that are difficult for a single robot by organizing into task-specific …
WorldSimProbe: Diagnosing Simulator Faithfulness in Action-Conditioned World Models for Embodied Manipulation
arXiv:2608.09298v1 Announce Type: new Abstract: Action-conditioned world models (ACWMs) promise to provide embodied AI with scalable predictive simulators for p…
SAFE-CHEM: Uncertainty-Aware Policy Switching for Robust Robotic Chemistry
arXiv:2608.09303v1 Announce Type: new Abstract: The deployment of autonomous robotic systems in chemistry laboratories is accelerating experimental workflows an…
DH-VLM: Dual-Horizon Cooperative Latent Reasoning for Autonomous Driving
arXiv:2608.09333v1 Announce Type: new Abstract: Large-scale language models for autonomous driving enable enhanced global understanding and long-horizon plannin…
JEPA-WAM: Learning Vision-Language-Action Policies with Joint-Embedding World Modeling
arXiv:2608.09381v1 Announce Type: new Abstract: Robust robot control benefits from explicitly modeling state transitions, but video-generation world action mode…
Beyond the Plane: Coupling Planar Vehicle Dynamics with Three-Dimensional Road Geometry
arXiv:2608.09402v1 Announce Type: new Abstract: Simulation is crucial for developing and testing autonomous driving systems. In particular, the development of l…
Skills in Weights, Memory in Code: Hybrid Learning for Memory-Dependent Robot Manipulation
arXiv:2608.09410v1 Announce Type: new Abstract: Modern vision-language-action (VLA) policies have acquired broad manipulation skills, but typically generate eac…
VANE: Reliable Test-Time Training for Vision-Language-Action Models via Future Visual Representation Prediction
arXiv:2608.09448v1 Announce Type: new Abstract: Test-time training (TTT) offers a lightweight way to adapt vision--language--action (VLA) policies from unlabele…
Graph-Guided Safe Diffuser: Topological Graph Guidance for Safe Diffusion Planning
arXiv:2608.09484v1 Announce Type: new Abstract: Many diffusion-based planners enforce safety through inference-time guidance, but such interleaved trajectory de…
Rethink Before You Execute: Adaptive Execution for World Action Models
arXiv:2608.09492v1 Announce Type: new Abstract: World Action Models (WAMs) jointly predict future actions and the evolution of the environment. At each inferenc…
Tether-Inertial Localization for Planetary Drones
arXiv:2608.09515v1 Announce Type: new Abstract: Recent developments in planetary exploration have shown the potential of Unmanned Aerial Vehicles (UAVs), such a…
HarnessWAM: Bridging Prediction and Deliberation in World Action Models
arXiv:2608.09516v1 Announce Type: new Abstract: World Action Models (WAMs) jointly learn environmental dynamics and robot actions, introducing priors over physi…
Robotic Fabric Alignment System for Sewing Using Global Local Weighted ICP
arXiv:2608.09528v1 Announce Type: new Abstract: Accurate fabric alignment is a critical step that must be performed before sewing. This paper presents a novel a…
Model-Based Systems Engineering Framework for SysML-Driven Design of Autonomous UAVs
arXiv:2608.09547v1 Announce Type: new Abstract: Autonomous Unmanned Aerial Vehicles (UAVs) are complex cyber-physical systems that require the coordinated integ…