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 storiesEmbracing Flow Unsteadiness: A High-Throughput Learning Platform Enables Vortex-Exploiting Bioinspired Propulsion
arXiv:2609.14254v1 Announce Type: cross Abstract: Biological swimmers and flyers exploit unsteady vortices for propulsion, whereas engineered vehicles usually s…
S3-Tracker: Self-Supervised Surgical Tissue Tracking With Contrastive Random Walks
arXiv:2609.14313v1 Announce Type: cross Abstract: Robust point tracking in endoscopic videos is essential for computer-assisted intervention and autonomous robo…
PredTac: Learning Contact-Rich Manipulation with Predicted Touch
arXiv:2609.15198v1 Announce Type: new Abstract: Contact-rich manipulation benefits from tactile feedback, yet physical tactile sensors introduce hardware, calib…
HarnessVLN: Unifying Training-Free Embodied Navigation through an Agent Harness
arXiv:2609.15195v1 Announce Type: new Abstract: Embodied navigation requires agents to interpret visual observations, accumulate spatial knowledge, and execute …
C$^2$Nav: Compare Before You Commit for Zero-Shot Vision-and-Language Navigation
arXiv:2609.15142v1 Announce Type: new Abstract: Zero-shot vision-and-language navigation in continuous environments (VLN-CE) increasingly places foundation visi…
Legislating World-Model-Based Planning with Legal Reasoning
arXiv:2609.15113v1 Announce Type: new Abstract: As robotic systems grow more general, legal norms are needed to integrate them into society. This paper extends …
Comparing Trajectories from Positions Alone: Curvature-Based Time Alignment and Drift Error Metric
arXiv:2609.14936v1 Announce Type: new Abstract: In field robotics, acquiring independent large-scale reference trajectories more accurate than the evaluated est…
HydroMap: Probabilistic Water Surface Elevation Mapping for Semantic Scene Representation in Inland Waterways
arXiv:2609.14903v1 Announce Type: new Abstract: Autonomous surface vehicles operating in inland waterways require a persistent representation of both surroundin…
Assistance Torque Estimation via Dynamics-Aware Optimization for Lower-Limb Exoskeleton in Complex Environments
arXiv:2609.15352v1 Announce Type: new Abstract: Ground-truth human joint torque estimation relies on motion capture systems, which suffer from limited outdoor u…
Understanding User Preferences of a Slope-Aware Variable-Admittance Filter for a Robot Guide Dog
arXiv:2609.15362v1 Announce Type: new Abstract: This letter investigates how the parameters of a slope-aware variable-admittance filter influence user preferenc…
From Prediction to Decision: World-Model-Guided Action Selection for Continuous Pile Excavation
arXiv:2609.15382v1 Announce Type: new Abstract: Wheel-loader excavation is a sequential decision problem in which every scoop changes the terrain available to s…
Flow-Matched Motion Priors: Online Optimal-Transport Rewards for Imitation Learning
arXiv:2609.15631v1 Announce Type: new Abstract: Learning a motion prior requires a reward that guides a policy from its current behavior toward demonstrated mot…
Tracking the Ground: Online Lidar Identification of Robot-Induced Soil Deformation in Agricultural Environments
arXiv:2609.15667v1 Announce Type: new Abstract: Agriculture faces many challenges, and robotic systems can play an important role in addressing them by improvin…
Volumetric Harmonic Field Navigation for Quadrotors
arXiv:2609.15680v1 Announce Type: new Abstract: Quadrotor navigation in cluttered 3-D environments requires global guidance while local motion remains subject t…
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
arXiv:2603.29050v2 Announce Type: replace-cross Abstract: Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain.…
On-Demand Human Assistance for Task Continuation under Physical Action Failures in LLM-based Planning
arXiv:2603.28156v2 Announce Type: replace Abstract: While robot action planning based on large language models (LLMs) has advanced remarkably, continuing a task…
SLAM Adversarial Lab: An Extensible Framework for Visual SLAM Robustness Evaluation under Adverse Conditions
arXiv:2603.17165v2 Announce Type: replace Abstract: We present SAL (SLAM Adversarial Lab), a modular framework for evaluating visual SLAM systems under adversar…
SEA-Nav: Efficient Policy Learning for Safe and Agile Quadruped Navigation in Cluttered Environments
arXiv:2603.09460v2 Announce Type: replace Abstract: Efficiently learning safe and agile quadruped navigation in densely cluttered environments remains difficult…
Compositional Shift Algebra: Extrapolating Mixed Robot Shifts Without Mixed Finetuning
arXiv:2609.13651v1 Announce Type: new Abstract: Robot deployments rarely change one mechanism at a time: cameras, action interfaces, and physical dynamics often…
From Vision to Harvest: Benchmarking Vision-Language Models for Multi-Arm Robotic Fruit Harvesting
arXiv:2609.13606v1 Announce Type: new Abstract: Multi-arm robotic harvesting offers a promising path to improve harvesting efficiency and reduce reliance on man…
Differential Realizability of Static Control Allocation in Multirotors: An Impossibility under Nonredundant Full Actuation and a Pseudoinverse Obstruction under Redundant Actuation
arXiv:2609.13588v1 Announce Type: new Abstract: Control allocation for multirotors with bidirectional propellers is commonly formulated in signed-thrust variabl…
Touch2Trace: Tactile-Driven Imitation Learning for Dexterous Cable Tracing
arXiv:2609.15921v1 Announce Type: new Abstract: Dexterous manipulation of deformable objects demands continuous fingertip-level regulation of pressure, friction…
Beyond Single-Axis Testing: Paired Evaluation of Compound Robustness in Vision-Language-Action Policies
arXiv:2609.15940v1 Announce Type: new Abstract: Vision-language-action policies are typically evaluated one perturbation at a time, providing a useful diagnosis…
Koopman-Based Robust Model Predictive Control for Nonlinear Systems with Stochastic Intermittent Measurements
arXiv:2609.02079v2 Announce Type: replace Abstract: Intermittent state measurements pose fundamental challenges to model predictive control of constrained nonli…
Distributed Safe Cooperative Vector Field for Trajectory Curvature Constrained Multi-Robot Systems
arXiv:2609.15266v1 Announce Type: new Abstract: Trajectory curvature constraints are inherent in practical multi-robot systems due to the limited turning capabi…
A Vision Based Framework Integrating Attention and Action Cues for Interpretable Cognitive Workload Assessment in Human Robot Collaborative Assembly
arXiv:2609.15232v1 Announce Type: new Abstract: The introduction of human-robot collaboration (HRC) in industrial assembly operations is revolutionizing the man…
STAGE: Diagnosing Semantic Transfer at Grounded Execution in Embodied Agents
arXiv:2609.13458v1 Announce Type: new Abstract: Embodied language grounding requires more than identifying the referent of an instruction: recovered semantics m…
Runtime-Incremental Transformer for Reinforcement-Learning-Based Adaptive Control
arXiv:2609.13545v1 Announce Type: new Abstract: Learning-based adaptive control of robotic manipulators with non-observable friction memory has been addressed b…
Attention-DP3: Spatially Object-aware 3D Diffusion Policy via Geometry-aligned Attentional Conditioning
arXiv:2609.13318v1 Announce Type: new Abstract: 3D point-cloud observations are inherently ambiguous in complex, cluttered manipulation scenes, where target obj…
Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics
arXiv:2609.13290v1 Announce Type: new Abstract: Achieving biological-level running speeds has largely been pursued through advances in control algorithms, which…