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 storiesDATAFARM: Distribution-Aligned Task and Motion Planning for Fine-Tuning Vision-Language-Action Models
arXiv:2609.12316v1 Announce Type: new Abstract: Collecting high-quality robot data remains a fundamental challenge for training robot foundation models. Task an…
Chain-SLAM: Globally Consistent Backend for Multi-Session LiDAR SLAM via Chained Loop Closure
arXiv:2609.12221v1 Announce Type: new Abstract: Maintaining consistency over long spatial and temporal horizons remains a fundamental challenge in large-scale L…
Guardrailed Meta-Agent Loops: Stress-Testing Policy Pinning, Budget Bounds, and Crash Recovery
arXiv:2609.12216v1 Announce Type: new Abstract: Self-improving agent workflows create an audit problem when the same controller can change both its behavior and…
An Automated Thickness Evaluation Procedure Using an Integrated Structured Light 3D Camera in a Robotic Bioprinting Framework
arXiv:2609.12206v1 Announce Type: new Abstract: Bioprinting is emerging as a tissue engineering technique to replace common treatment methods for large scale in…
Scenario-Independent Criticality Assessment and Prediction for Vulnerable Road Users in Autonomous Driving
arXiv:2609.11947v1 Announce Type: new Abstract: Increasing safety is the primary objective of automated vehicles. Achieving this goal requires reliable safety m…
Pelican-Sim 1.0: A General World Model Simulator for Embodied Intelligence
arXiv:2609.12036v1 Announce Type: new Abstract: In this technical report, we propose Pelican-Sim 1.0, a general world model simulator for embodied intelligence …
A Physics-Based Closed-Loop Robotic Bioprinting Framework Towards Volumetric Muscle Loss Treatment
arXiv:2609.12159v1 Announce Type: new Abstract: Robotic bioprinting and Direct Ink Writing (DIW) are being explored towards the treatment of Volumetric Muscle L…
Pneumatic neurons for soft robots enable inflate-and-fire networks for rhythmic motion
arXiv:2609.12258v1 Announce Type: new Abstract: Animals coordinate their movements through distributed neural circuits, but soft robots still typically depend o…
Breaking the Vision-Action Shortcut: Latent Interface Training for Generalizable Robotics Foundation Models
arXiv:2609.12641v1 Announce Type: new Abstract: Robot foundation models achieve strong in-distribution performance but often degrade under visual distribution s…
Driving Context-guided Model Predictive Planning and Control for Autonomous Car Racing at the Limit and Beyond
arXiv:2609.12660v1 Announce Type: new Abstract: This paper presents a Model Predictive Control-based motion planning and control pipeline for autonomous car rac…
ARC: Autonomous Robotics Compliance A Three-Layer Governance Architecture for Deployed Autonomous Systems
arXiv:2609.12932v1 Announce Type: new Abstract: Proposed governance framework for autonomous robotic systems, introducing a three-layer compliance architecture …
Global Path Planner with Multi-Model Switching
arXiv:2609.13015v1 Announce Type: new Abstract: This work enhances global path planning via a pure-pursuit controller with multi-model kinematic switching that …
DRS-VPT: Directly Relocalizing in a Scan with Vision Point Transformers
arXiv:2609.12557v1 Announce Type: cross Abstract: We present DRS-VPT, a feed-forward transformer architecture for foundational image-to-scan registration. Given…
OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots
arXiv:2603.11072v2 Announce Type: replace Abstract: We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more i…
DropVLA: An Action-Level Backdoor Attack on Vision-Language-Action Models
arXiv:2510.10932v5 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models map multimodal perception and language instructions to executable …
RoboDreamer: Anticipatory Humanoid Locomotion with Predictive State-Space Models
arXiv:2609.07096v2 Announce Type: replace Abstract: Humanoid locomotion requires control policies that remain stable under imperfect sensing while exploiting te…
SkillX: Unified Multi-Skill Policy Learning for Humanoid Soccer
arXiv:2609.06718v2 Announce Type: replace Abstract: Humanoid soccer is a challenging testbed for dynamic whole-body control, requiring robots to coordinate bala…
Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models
arXiv:2604.23272v2 Announce Type: replace Abstract: Humans understand and interact with the real world by relying on diverse physical feedback beyond visual per…
Design, modelling and experimental validation of single and multisloped bipenniform architecture-based shape memory alloy-driven linear actuator
arXiv:2511.23372v2 Announce Type: replace Abstract: The increasing industrial demand for alternative actuators over conventional electromagnetism-based systems …
Optimization-Based Robust Permissive Synthesis for Interval MDPs
arXiv:2510.03481v3 Announce Type: replace Abstract: We present an optimization-based framework for robust permissive synthesis for Interval Markov Decision Proc…
Decentralized Evolution of Hexapod Gaits with Independent Leg Controllers
arXiv:2609.12400v1 Announce Type: cross Abstract: This paper presents a novel approach to hexapod locomotion by evolving each leg's gait independently through a…
Amortized Low-Rank Adaptation for Model-Based Reinforcement Learning
arXiv:2609.12278v1 Announce Type: cross Abstract: World models let agents plan by predicting the consequences of their actions, but changes in the environment c…
Dynin-Robotics: Omnimodal Unified Diffusion Vision-Language-Action Model
arXiv:2609.13053v1 Announce Type: new Abstract: Visual goal and dynamics prediction can provide language-conditioned robot policies with both a target outcome a…
Tuning ROS 2 for Energy-Efficient Navigation: Empirical Insights from Costmap 2D Configurations
arXiv:2609.12971v1 Announce Type: new Abstract: Robots are increasingly used in diverse application areas, where autonomous navigation plays a central role. As …
A Robot Among People:From Social Imitation to the Social Becoming of Human Groups
arXiv:2609.12937v1 Announce Type: new Abstract: Robots designed to mediate human groups often fall into the solutionist trap: they are framed as sociable agents…
Robust Underwater Grasping of Sloped Objects with a Waterproof Passive Adaptive Gripper
arXiv:2609.12927v1 Announce Type: new Abstract: Robust grasping of everyday objects remains challenging for parallel-jaw grippers, particularly when handling sl…
Parameter Sensitivity Analysis for Aerial LiDAR-Inertial Odometries in low-altitude flights
arXiv:2609.12837v1 Announce Type: new Abstract: LiDAR-based SLAM (Simultaneous Localization and Mapping) and LIO (LiDAR-inertial odometry) algorithms are often …
VertexCBF: Improving Neural Control Barrier Functions via Vertex-Restricted Control Search
arXiv:2609.12831v1 Announce Type: new Abstract: As the number of autonomous robots continues to grow, safety becomes increasingly important. Control barrier fun…
ProClosure: Hierarchical Room-Object Assignment using Progressive Boundary Closure from Monocular Video
arXiv:2609.12614v1 Announce Type: new Abstract: A 3D scene graph groups objects into rooms. When a robot is asked to fetch an object from the kitchen, that grou…
PATH: Continuous Target Sensing among Autonomous Cooperative Drones
arXiv:2609.12456v1 Announce Type: new Abstract: Continuous target sensing by uncrewed aerial vehicles (UAVs) is constrained by limited flight endurance, motivat…