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 storiesExtending the Speed Limit of Quadrupedal Locomotion via Refined Actuator Modeling and Adaptive Command Scheduling
arXiv:2609.13289v1 Announce Type: new Abstract: Achieving high-speed locomotion in quadrupedal robots remains highly challenging, as actuators operate near thei…
Seeing What the Vehicle Sees: Video-Augmented Virtual Reality for Physical Autonomous Vehicles
arXiv:2609.13224v1 Announce Type: new Abstract: Autonomous vehicles are expected to improve road safety and efficiency, but passengers often remain uncertain ab…
ShieldVLA: Feasibility-Aware Safety Alignment for Vision-Language-Action Models
arXiv:2609.13231v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models demonstrate strong generalization in robotic manipulation and navigation, bu…
Harnessing human expertise for high-precision robotic assembly in industrialized construction: A sample-efficient installer-in-the-loop interactive reinforcement learning framework
arXiv:2609.13234v1 Announce Type: new Abstract: Industrialized construction imposes stringent precision requirements on robotic assembly of modular components s…
Learning Manipulation-Sufficient Representations via Outcome Bottlenecks
arXiv:2609.13235v1 Announce Type: new Abstract: Networked manipulation endpoints couple perception to actuation across compute- and bandwidth-limited links, yet…
Self-Evolving AI for Humanoids: Mechanisms, Safety, and Evaluation of Post-Deployment Self-Improvement
arXiv:2609.13236v1 Announce Type: new Abstract: Humanoid robots are becoming an important part of embodied artificial intelligence, driven by advances in reinfo…
GzDRL: Reproducible and Scalable Deep Reinforcement Learning with Gazebo
arXiv:2609.13243v1 Announce Type: new Abstract: We present GzDRL, a novel single-process reinforcement learning (RL) framework for Gazebo that overcomes longsta…
Physical Kernel: Structured Visual Latents for Dark Manipulation
arXiv:2609.13244v1 Announce Type: new Abstract: We study dark manipulation: after a brief lit Write encodes z0 = Enc(rgb), a policy pi(z) and open-loop dynamics…
Ergodic Control and Controlled Diffusion for Robot Learning: Review and Tutorial
arXiv:2609.13295v1 Announce Type: new Abstract: Diffusion learning leverages the statistical mechanism of diffusion processes for learning, reasoning, and infer…
Bridging Thought and Action: Taming Long-Horizon Instability in Open-Source LLM Agents with a MetaTool-Enhanced ROS Framework
arXiv:2609.13335v1 Announce Type: new Abstract: Large Language Models (LLMs) have enabled more natural human-robot interaction, but open-source models often exh…
Chance-Constrained Belief-Space Maneuver Planning for Autonomous Collision Avoidance Under Uncertainty
arXiv:2609.13428v1 Announce Type: new Abstract: Increasing conjunction frequency in low Earth orbit places growing pressure on spacecraft operators to determine…
How Well Do Pseudo-Rigid Body Models Capture Real Plants? In-Field Validation of Simulated Blueberry Canes
arXiv:2609.13627v1 Announce Type: new Abstract: Many labor-intensive tasks in fruit production such as pruning require physically interacting with the plant (e.…
Does Online Gravity Estimation Matter? Revisiting a Silent Design Split in LiDAR-Inertial Odometry
arXiv:2609.13675v1 Announce Type: new Abstract: LiDAR-inertial odometry (LIO) systems differ in whether they continue estimating gravity after initialization. W…
GeomVLA: Unifying Scene, Motion, and Action in 3D
arXiv:2609.13812v1 Announce Type: new Abstract: We present GeomVLA, a Vision-Language-Action (VLA) model that unifies perception, latent scene motion prediction…
EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion
arXiv:2609.14432v1 Announce Type: new Abstract: Existing humanoid locomotion systems primarily focus on stability and task execution, while integrating expressi…
Fault Diagnosis for Underwater Vehicles using Moving Horizon Estimation and Gaussian Processes
arXiv:2609.14539v1 Announce Type: new Abstract: This work proposes a model-based fault detection and diagnosis framework for underwater vehicles subject to actu…
GLAM: Training a latent world model over global spatiotemporal memory for active exploration and navigation
arXiv:2609.14561v1 Announce Type: new Abstract: Active exploration and semantic navigation require an embodied agent to build memory from partial observations, …
Robotic Servo Tracking of Moving Targets with Dynamic Imitation Constraints
arXiv:2609.14589v1 Announce Type: new Abstract: Imposing explicit trajectory constraints in robot visual servoing remains challenging. Existing tracking methods…
REVOLVE: An Automated Closed-Loop Framework for Evolving Robot Manipulation with Minimal Human Intervention
arXiv:2609.14633v1 Announce Type: new Abstract: Recent advances in data-driven robot manipulation policies have substantially improved task execution and genera…
Skill Composition for Legged Robot Reinforcement Learning
arXiv:2609.14647v1 Announce Type: new Abstract: Robots, and humanoid robots in particular, are increasingly competent at individual behaviors, each obtained by …
An Adaptive Fixed-Time Line-of-Sight Guidance Scheme for 3D Path Following of Underwater Vehicles: Theory and Experiment
arXiv:2609.14756v1 Announce Type: new Abstract: Reliable path tracking is crucial for autonomous underwater vehicles (AUVs) operating in dynamic and uncertain m…
Belief-Adaptive Online Autonomy for Quadrotor UAV Navigation under GNSS Degradation in Urban Environments
arXiv:2609.14806v1 Announce Type: new Abstract: Reliable online autonomy is critical for quadrotor operation in urban airspaces, where global navigation satelli…
Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters
arXiv:2609.14935v1 Announce Type: new Abstract: Multi-robot Control Barrier Function (CBF) safety filters can become infeasible, but a failed quadratic program …
Two-Stage Personalized Gait Phase Estimation in Stroke Survivors During Exoskeleton-Assisted Walking: An Offline Feasibility Study
arXiv:2609.14984v1 Announce Type: new Abstract: This study evaluated personalized gait phase estimation for stroke survivors using functional inertial measureme…
Planning in the Backbone: DiffAdapterVLA for Native Continuous Trajectory Generation with Driving VLMs
arXiv:2609.15322v1 Announce Type: new Abstract: Pretrained driving vision-language models (VLMs) integrate visual, route, language, and driving context into ric…
ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids
arXiv:2609.15988v1 Announce Type: new Abstract: Safe control of humanoid robots remains challenging due to their high-dimensional dynamics, contact-rich interac…
Early Prediction of Satellite Collision Probability Using a Hybrid TCN-Transformer Model for a CDM-Based Conjunction Analysis Framework
arXiv:2609.13191v1 Announce Type: cross Abstract: The rapid expansion of operational satellites and orbital debris has increased the frequency of close approach…
Part Grounding, Not Action Knowledge: Locating the Bottleneck in VLM Affordance Prediction
arXiv:2609.13225v1 Announce Type: cross Abstract: Benchmarks agree that vision-language models reason poorly about low-level manipulation, but an aggregate accu…
GroundBench: A Factorized, Counterfactual Benchmark for Locating VLM Affordance Failures
arXiv:2609.13308v1 Announce Type: cross Abstract: A companion evaluation found that naming the target part in a manipulation prompt increased action accuracy by…
ReMemNav: Memory-Based Decision Correction and Target Verification for Zero-Shot Object Navigation
arXiv:2603.26788v3 Announce Type: replace Abstract: Zero-shot object navigation requires agents to locate unseen targets in unfamiliar environments without prio…