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 storiesQuantifying Spectral Differences in Vehicle Between Production Autonomous and Human-Driven Vehicles Across Driving Scenarios
arXiv:2609.12609v1 Announce Type: new Abstract: Differences in vehicle kinematic characteristics between production autonomous vehicles (PAVs) and human-driven …
Online Material Estimation for Conditioned Diffusion Policy in Shaping Deformable Linear Objects
arXiv:2609.12634v1 Announce Type: new Abstract: Shape control of deformable linear objects (DLOs) is challenging for imitation learning because deformation beha…
Size Doesn't Matter: Material-State Reinforcement Learning for Excavator Transferable Soil Manipulation
arXiv:2609.12677v1 Announce Type: new Abstract: Earthmoving tasks such as excavation, backfilling, or embankment construction require deliberate repositioning o…
High-Fidelity Multi-Body Simulator for Autonomous Racing
arXiv:2609.12795v1 Announce Type: new Abstract: We present a custom high-fidelity vehicle dynamics simulation environment for testing and validation of Autonomo…
A Multi-Vehicle Dataset with Camera, LiDAR, and Radar Sensors and Scanned 3D Models for Custom Auto-Annotation using RTK-GNSS
arXiv:2609.12871v1 Announce Type: new Abstract: Datasets are a crucial element in the development of perception algorithms. They relate sensor measurement data …
Before the Tipping Point: Force-Guided Active Perception for Shape-Agnostic Estimation of 3D Centers of Mass
arXiv:2609.12894v1 Announce Type: new Abstract: Estimating the 3D center of mass of unknown objects is challenging when grasping is infeasible, geometry is irre…
Distributed Stochastic Optimal Control for Pattern-Oriented Swarms
arXiv:2609.12959v1 Announce Type: new Abstract: While offering significant promise for diverse applications, pattern-oriented swarms encounter multifaceted chal…
ASTRIL-MPC: Autonomous Traversal Framework of Articulated Tracked Robots with Language-Guided Neural-Kinematic MPC
arXiv:2609.13083v1 Announce Type: new Abstract: In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environm…
Efficient Vision-Language-Action Management and Serving for Robot Factories
arXiv:2609.12075v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models show high robotic manipulation capabilities via a two-stage design: a Visi…
The Iterative Equivariant Filter
arXiv:2609.12328v1 Announce Type: cross Abstract: This paper presents the iterative equivariant filter (IterEqF). The iterative extended Kalman filter (IterEKF)…
UniPart: Towards Zero-shot Language-Grounded 3D Part Segmentation for Embodied Interaction
arXiv:2609.12898v1 Announce Type: cross Abstract: Fine-grained robotic manipulation depends on understanding parts, not only whole objects. Existing 3D foundati…
RoMu4o: A Robotic Manipulation Unit For Orchard Operations Automating Proximal Hyperspectral Leaf Sensing
arXiv:2501.10621v3 Announce Type: replace Abstract: Driven by the need to address labor shortages and meet the demands of a rapidly growing population, robotic …
ATLAS Navigator: Active Task-driven LAnguage-embedded Gaussian Splatting
arXiv:2502.20386v2 Announce Type: replace Abstract: We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots …
FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations
arXiv:2503.00785v2 Announce Type: replace Abstract: How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core …
Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis
arXiv:2511.05809v2 Announce Type: replace Abstract: For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world,…
Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
arXiv:2603.00338v2 Announce Type: replace Abstract: This paper presents a general end-to-end framework for constructing robust and reliable layered safety filte…
NS-VLA: Towards Neuro-Symbolic Vision-Language-Action Models
arXiv:2603.09542v3 Announce Type: replace Abstract: Vision-Language-Action (VLA) models are formulated to ground instructions in visual context and generate act…
Dynamic Properties and Motion Reproducibility of a Compact Pneumatically Actuated Humanoid Upper Body for Data-Driven Control
arXiv:2603.14787v3 Announce Type: replace Abstract: Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential…
Optimal Solutions for the Moving Target Vehicle Routing Problem with Obstacles via Lazy Branch-and-Price
arXiv:2603.21880v5 Announce Type: replace Abstract: The Moving Target Vehicle Routing Problem with Obstacles (MT-VRP-O) seeks trajectories for several agents th…
AnyView: Synthesizing Any Novel View in Dynamic Scenes
arXiv:2601.16982v2 Announce Type: replace-cross Abstract: Modern generative video models excel at producing convincing, high-quality outputs, but struggle to ma…
Trajectory Tracking Control Design for Autonomous Helicopters with Guaranteed Error Bounds
arXiv:2603.08045v2 Announce Type: replace-cross Abstract: This paper presents a systematic framework for computing formally guaranteed trajectory tracking error…
An Empirical Markov Chain Car-Following (MC-CF) Model
arXiv:2603.27909v2 Announce Type: replace-cross Abstract: Car-following behavior is fundamental to traffic flow theory, yet traditional models often fail to cap…
PhysCodeBench: Benchmarking Physics-Aware Symbolic Simulation of 3D Scenes via Self-Corrective Multi-Agent Refinement
arXiv:2604.23580v2 Announce Type: replace Abstract: Translating natural-language descriptions of physical phenomena into executable simulation code requires bot…
Comfort by Construction: Adaptive, Comfort-Bounded Action Spaces for Learned Driving Policies
arXiv:2609.13011v1 Announce Type: new Abstract: Data-driven driving simulators command accelerations and steering rates from a fixed grid without constraining t…
From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics
arXiv:2609.12883v1 Announce Type: new Abstract: Magnetic levitation (MagLev) systems have great potential for application in high-mix, low-volume manufacturing …
Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper
arXiv:2609.12737v1 Announce Type: new Abstract: Robots are increasingly used in unstructured environments. The need for them to safely grasp unknown objects wit…
Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining
arXiv:2609.12721v1 Announce Type: new Abstract: Applying an imitation learning policy to a new manipulation task usually requires collecting new demonstrations …
A Hierarchical Coverage Path Planning Algorithm for Unknown Environments
arXiv:2609.12595v1 Announce Type: new Abstract: This paper presents an online coverage path planning algorithm for unknown environments. During navigation, the …
STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation
arXiv:2609.12549v1 Announce Type: new Abstract: Dexterous manipulation requires coordinated multi-finger control and effective tactile feedback, yet learning th…
ArtManip: Category-Level Articulated In-Hand Manipulation
arXiv:2609.12498v1 Announce Type: new Abstract: Category-level in-hand manipulation of articulated objects is a formidable yet underexplored challenge for dexte…