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 storiesAn MRI-Guided Robotic System to Improve Hippocampal Access for Epilepsy Interventions
arXiv:2609.13572v1 Announce Type: new Abstract: This paper presents an MRI-guided robotic system that improves hippocampal access by delivering a curved needle-…
GROOVE: Geometry-Guided Reduction of Operational-Space Jerk in VLA Execution
arXiv:2609.13695v1 Announce Type: new Abstract: Chunked vision language action (VLA) policies execute several commands per query, but jerk within chunks and acr…
How to Better Train VLAs: Lessons Learned From the REAL-I Challenge at ICRA 2026
arXiv:2609.13679v1 Announce Type: new Abstract: How can robot policies learn more effectively from a fixed demonstration budget? The first Real-world Embodied A…
Co-Speech with You: Training-Free Personalization of Robot Co-Speech Gestures
arXiv:2609.13876v1 Announce Type: new Abstract: Personal robots should adapt their co-speech gesture style to a new user without requiring model retraining. We …
MessyMem: Learning-from-Doing Memory for Mobile Manipulation
arXiv:2609.15976v1 Announce Type: new Abstract: Mobile manipulators deployed across many rooms and visits should improve with experience: after discovering that…
Unlabeled Multi-Robot Motion Planning with Improved Separation Trade-offs
arXiv:2603.19502v2 Announce Type: replace-cross Abstract: We study unlabeled MRMP for unit-disk robots in a polygonal environment. Although the problem is hard …
Large-FOV RGBD Imaging via Structured PSF Coding in a Bio-inspired Monocentric System
arXiv:2510.25314v2 Announce Type: replace-cross Abstract: High-fidelity large-field-of-view (LFOV) 3D sensing, essential for autonomous platforms, is hindered b…
EvoNav-Bench: Benchmarking Lifelong Navigation in Evolving Environments
arXiv:2609.08292v2 Announce Type: replace Abstract: Lifelong navigation (LN) requires an embodied agent to solve a sequence of navigation subtasks in the same e…
Colosseum V2: Benchmarking Generalization for Vision-Language-Action Models
arXiv:2605.27759v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models demonstrate promising generalization in robotic manipulation, driven by …
Generating Realistic Safety-Critical Scenarios for Vehicle-Pedestrian Interactions
arXiv:2605.17229v2 Announce Type: replace Abstract: Automated driving system deployment requires rigorous validation across safety-critical vehicle-pedestrian i…
GEGLU-Transformer for IMU-to-EMG Estimation with Few-Shot Adaptation
arXiv:2604.25670v2 Announce Type: replace Abstract: Reliable estimation of neuromuscular activation is a key enabler for adaptive and personalized control in we…
SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM
arXiv:2601.10814v3 Announce Type: replace Abstract: Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a lo…
Ergodic Trajectory Planning with Dynamic Sensor Footprints
arXiv:2512.08661v2 Announce Type: replace Abstract: This paper addresses the problem of trajectory planning for information gathering with a dynamic and resolut…
Steering Generative Robot Policies with Lexicographic Preferences
arXiv:2609.15014v1 Announce Type: new Abstract: Pretrained generative robot policies can produce effective behaviors across diverse environments, but deployment…
IMPACT-VLA: Interaction-aware Multimodal Propagation Attribution via Counterfactual Trajectories for Vision-Language-Action Policies
arXiv:2609.15005v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies perform robot manipulation tasks using multimodal inputs such as visual ob…
Primitive-Informed Sampling-Based MPC for Multi-Fingered Dexterous Manipulation
arXiv:2609.14868v1 Announce Type: new Abstract: We present a primitive-informed sampling-based model predictive control (MPC) framework for multi-fingered dexte…
A Personalized Dynamic Balance Evaluation Paradigm for Hip Exoskeleton-Assisted Walking under Unexpected Ground Perturbations
arXiv:2609.14765v1 Announce Type: new Abstract: Hip exoskeletons may improve recovery from unexpected gait perturbations, yet personalizing assistance remains d…
A Novel Robot-Assisted Learning Pedagogy for Children with ASD
arXiv:2609.14710v1 Announce Type: new Abstract: Interaction paradigms used in robot-assisted autism intervention have historically employed robots as teachers, …
NavPatch: Evidence-Guided Object-Level Costmap Correction with Vision-Language Models
arXiv:2609.14543v1 Announce Type: new Abstract: Mobile robots typically rely on geometric maps for obstacle avoidance and path planning, but the resulting obsta…
EcoBoat: Design and Experimental Validation of an Autonomous Body-Board Boat For Cleaning Water Bodies
arXiv:2609.14450v1 Announce Type: new Abstract: Cleaning water bodies such as swimming pools and lakes typically demands significant manual effort or reliance o…
Multi-Task Visual Perception Network with LLM Conditioning for Autonomous Navigation
arXiv:2609.14297v1 Announce Type: new Abstract: Long-term navigation for service robots faces crit- ical challenges like the accumulation of odometry drift and …
Learning Communication-Conditioned Generative Policies for Decentralized Multi-Agent Collision Avoidance
arXiv:2609.14268v1 Announce Type: new Abstract: In this work, we propose a decentralized communication-conditioned generative framework for multi-agent collisio…
Novel Ex-vivo Calf Brain Model with Integrated Sub-Skull Force Sensors to Access Simulated Neurosurgical Procedures
arXiv:2609.14198v1 Announce Type: new Abstract: Surgical tissue manipulation demands precision; however, tool-tissue manipulation force magnitudes under realist…
DreamSat-Bench: Development and Initial Testing of a Testbed for AI-Based Pose Estimation from 3D Reconstruction
arXiv:2609.14183v1 Announce Type: new Abstract: This paper presents the development and initial testing of DreamSat-Bench, a modular rendezvous and proximity op…
GIFT: Glove-Inferred Force Transfer: Force-Aware Human-to-Robot Skill Transfer from a Wearable Sensing Glove to a Robot Hand Without Tactile Sensors
arXiv:2609.14173v1 Announce Type: new Abstract: Human-to-robot skill transfer from sensing gloves has so far relied on shared hardware: the same tactile glove w…
Mobile Multi-Robot Navigation under Runtime Uncertainty via Koopman Operator Learning and Nonlinear Model Predictive Control
arXiv:2609.14058v1 Announce Type: new Abstract: In this work, we developed a nonlinear model predictive control (NMPC) framework that employs learned dynamics v…
What Makes an Efficient VLA? Navigating Action-Head Design, Scaling, and Latency
arXiv:2609.13984v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models combine a pretrained vision encoder, a language backbone, and an action head…
Rethinking the Implications of Human Feedback for Preference Learning in Human-Robot Collaboration
arXiv:2609.13982v1 Announce Type: new Abstract: In Human-Robot Interaction, the standard approach to learn a reward model that represents human preferences for …
Decentralized Multi-Robot Task Allocation Under Degraded Communication: A Benchmark of Performance, Reliability, and Computation
arXiv:2609.13711v1 Announce Type: new Abstract: Selecting a decentralized Multi-Robot Task Allocation (MRTA) method for embedded deployment on autonomous platfo…
Diffusion-Based Generation of Gait Trajectories
arXiv:2609.14642v1 Announce Type: cross Abstract: Generation of musculoskeletal gait trajectories conditioned on patient-specific parameters remains a key chall…