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 storiesSampling-Based MuJoCo MPC for Double-Pendulum Sway Suppression on a Shipboard Crane
arXiv:2603.16407v4 Announce Type: replace Abstract: Transferring heavy payloads in maritime settings relies on efficient crane operation, limited by hazardous d…
GenPHRI: Agentic Generative Simulation for Physical Human-Robot Interaction
arXiv:2604.08664v2 Announce Type: replace Abstract: Real-world physical human-robot interaction (pHRI) development is costly and slow, while simulation requires…
When Search Becomes Memory: Accelerating Robot Design Discovery with Self-Evolving Skills
arXiv:2605.25832v2 Announce Type: replace Abstract: Large language models (LLMs) are increasingly used as proposal generators for evolutionary robot design, yet…
Streaming-WAM: Action-Conditioned World-Action Model for Asynchronous Robot Manipulation
arXiv:2609.28927v1 Announce Type: new Abstract: World action models (WAMs) that use future visual prediction at inference time incur substantial generation cost…
RoboRecover: Benchmarking Robot Policy Recovery under Execution Deviations
arXiv:2609.28952v1 Announce Type: new Abstract: Robot-policy benchmarks increasingly cover diverse tasks and preset out-of-distribution conditions, but typicall…
ActGaze: Learning Action-Grounded Gaze through Counterfactual Visual Interventions for High-Precision Manipulation
arXiv:2609.28955v1 Announce Type: new Abstract: Current Vision-Language-Action (VLA) models often struggle with high-precision robotic manipulation. We attribut…
Outcome-Sensitive Motion Search for Impact-Aware Dexterous Catching
arXiv:2609.29020v1 Announce Type: new Abstract: Skilled humans can catch fast-moving objects softly by coordinating interception, velocity matching, and follow-…
HarnessPAI: An Evolving Harness for Physical AI
arXiv:2609.29166v1 Announce Type: new Abstract: Physical AI aims to build embodied agents that perceive the world, understand and reason about it, and decide ho…
Anthropomimetic Soft Robotic Forearm with Independently Articulated Carpal Bones Enabling Human-Like Adaptive Stiffness Modulability
arXiv:2609.29176v1 Announce Type: new Abstract: The human wrist exhibits adaptive stiffness modulability: joint stiffness anisotropy can be actively regulated t…
Assessing the Impact of Fleet Size on Crowdsourced Mapping Using a Dissimilarity Measure
arXiv:2609.29198v1 Announce Type: new Abstract: Accurate digital maps are essential for Advanced Driver Assistance Systems (ADAS) or Autonomous Driving (AD), pr…
AdaHVLA: Adaptive Harnesses for Long-Horizon Vision-Language-Action Execution
arXiv:2609.29204v1 Announce Type: new Abstract: Vision-language-action (VLA) models offer strong local control and instruction following but often struggle with…
C-space Analysis using Tropical Geometry
arXiv:2609.29355v1 Announce Type: new Abstract: Configuration space~(C-space) of a mechanism is a real variety describing the set of feasible configurations tha…
BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video
arXiv:2609.29850v1 Announce Type: new Abstract: Learning executable motions from human videos offers a scalable solution for humanoid robots to acquire demonstr…
World Action Agent: Harnessing VLMs for Robot Manipulation via World Action Rehearsal
arXiv:2609.29964v1 Announce Type: new Abstract: General-purpose vision-language models (VLMs) bring broad knowledge and spatial reasoning to robot manipulation,…
Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation
arXiv:2609.30023v1 Announce Type: new Abstract: Imitation learning enables robots to acquire manipulation skills from demonstrations, but the resulting policies…
RHINO-AR: An Augmented Reality Exhibit for Teaching Mobile Robotics Concepts in Museums
arXiv:2604.16384v2 Announce Type: replace Abstract: Understanding autonomous mobile robots is challenging for people without robotics expertise, because key pro…
FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception
arXiv:2604.21331v3 Announce Type: replace Abstract: Current dexterous manipulation systems commonly rely on external or wrist-mounted cameras for visual feedbac…
RotVLA: Rotational Latent Action for Vision-Language-Action Model
arXiv:2605.13403v2 Announce Type: replace Abstract: Latent Action Models (LAMs) have emerged as an effective paradigm for handling heterogeneous datasets during…
SCoCaT: Success Conditioned Constrained Reinforcement Learning for Spacecraft Docking
arXiv:2609.06061v2 Announce Type: replace Abstract: Termination-based constrained reinforcement learning is attractive for safety-critical robotic deployments: …
Continuous Online Fault Detection for Mobile Robots via Adaptive Edge Models
arXiv:2609.29194v1 Announce Type: new Abstract: Mobile robots require robust, real-time fault detection capable of continuous adaptation on constrained edge har…
TRACE: Interactive Bi-Directional Tracing of Monochrome Cables Amid Clutter
arXiv:2609.29103v1 Announce Type: new Abstract: Accurate state estimation (tracing) of Deformable Linear Objects (DLOs) such as cables is a critical challenge f…
TactileStep: Sole Tactile Learning for Regulating Foot-Terrain Interaction in Humanoid Locomotion
arXiv:2609.28959v1 Announce Type: new Abstract: Humanoid parkour policies can traverse various terrains, but task completion may mask challenges of harsh landin…
A Field-Deployable GNSS-based Navigation Stack for Outdoor Mobile Robots
arXiv:2609.28933v1 Announce Type: new Abstract: Outdoor robots require more than an accurate receiver and a path-tracking law: the navigation system must preser…
MSK-Bench: Benchmarking Full-Body Musculoskeletal Motor Control Across Tasks, Control Paradigms, and Physiological Metrics
arXiv:2609.26872v1 Announce Type: new Abstract: Musculoskeletal (MSK) humanoids provide a physiologically grounded embodiment for studying full-body motor contr…
Bend the Clock: Predicting Ahead to Beat Latency in Event-Based Object Detection
arXiv:2609.26919v1 Announce Type: new Abstract: Event cameras promise low-latency perception for high-speed robotic systems, where even short delays can render …
Spiderbot: An Open-Source Energy-Efficient Hexapod with Passive Gravity Compensation
arXiv:2609.26989v1 Announce Type: new Abstract: Hexapod robots can achieve static stability with fewer actuated joints than bipeds or quadrupeds, yet many platf…
Humanoid Locomotion with a Fly-Inspired Recurrent Controller
arXiv:2609.27001v1 Announce Type: new Abstract: We investigate humanoid locomotion with a fly-inspired recurrent controller and identify the pathways supporting…
Learning Expressive Humanoid Locomotion from Monocular Runway Videos for Robot Fashion Shows
arXiv:2609.27003v1 Announce Type: new Abstract: Runway walking requires coordinated control of posture, stride, foot placement, and whole-body motion to effecti…
MultiPush: Learning to Rearrange with Teams of Car-Like Pushers
arXiv:2609.27005v1 Announce Type: new Abstract: We focus on the problem of rearranging multiple objects within a constrained workspace via pushing using a team …
Laser-Tracker-Assisted Camera-to-Robot Calibration for Mobile Robots
arXiv:2609.27006v1 Announce Type: new Abstract: We present a laser-tracker-assisted hand-eye calibration method for camera-equipped mobile robots. The method co…