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
6273 storiesDesign, 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…
FoldNet++: a Large-Scale Synthetic Dataset for Robotic T-Shirt Folding and Unfolding
arXiv:2609.12433v1 Announce Type: new Abstract: Due to the highly deformable nature of garments, training a generalizable policy for robotic T-shirt folding and…
AnchorVLN: Geometry-Anchored Vision-Language Grounding Reasoning for Open-Vocabulary Navigation
arXiv:2609.12285v1 Announce Type: new Abstract: Vision-Language Navigation (VLN) in unseen indoor environments is useful in real-world robotics, where an agent …
Trajectory Bundle Method in SE(3) for Black-Box Fixed-Wing Aircraft Trajectory Optimization
arXiv:2609.12248v1 Announce Type: new Abstract: Dynamically feasible trajectory optimization for rigid-body systems is naturally formulated on the special Eucli…
Battery-Aware Predictive Trajectory Planning and Control for Multirotors Under Disturbances
arXiv:2609.12188v1 Announce Type: new Abstract: This paper presents a battery-aware predictive trajectory-planning and control framework for multirotors operati…
HuRo: Robotizing Human Videos for Scalable VLA Pretraining
arXiv:2609.10706v1 Announce Type: new Abstract: Human video datasets have emerged as a compelling alternative to expensive real-robot data, offering rich divers…
Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism
arXiv:2609.11059v1 Announce Type: new Abstract: Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload car…
Beyond Noise Steering: Dual-Latent Space Reinforcement Learning for Generative Robot Policy
arXiv:2609.11270v1 Announce Type: new Abstract: Pretrained generative robot policies learn expressive action priors from demonstrations. However, existing reinf…
2AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulation
arXiv:2609.11308v1 Announce Type: new Abstract: Long-horizon robot manipulation requires memory, but not necessarily inside the action policy. To address such t…
Morphology-Aware Human Motion Retargeting for Wheeled-Humanoid Loco-Manipulation
arXiv:2609.11357v1 Announce Type: new Abstract: Human-to-humanoid retargeting has largely been studied on legged platforms, while comparatively few wheeled-huma…
FARM: Reading Failure Signals from the Internal Predictive States of a Frozen Robotic World Model
arXiv:2609.11445v1 Announce Type: new Abstract: Reliable robot deployment requires online failure monitoring, yet existing monitors mainly derive risk from prox…
Memory as Plans: World-Action Modeling with Memory-Grounded Planning
arXiv:2609.11561v1 Announce Type: new Abstract: Mainstream robotic policies often adopt a Markovian formulation, but many complex real-world manipulation tasks …
Contact-Aware Incremental Model Predictive Control for an Underactuated Aerial Manipulator
arXiv:2609.11661v1 Announce Type: new Abstract: We present a robust contact-aware control framework for aerial writing on an underactuated platform. The framewo…
SEED-UMI: Sharing the Exoskeleton between human and robot for onE-to-one Dexterous demonstration
arXiv:2609.11753v1 Announce Type: new Abstract: Imitation learning for dexterous hands is bottlenecked by the difficulty of collecting contact-rich demonstratio…
UniMPA: A Unified Memory-Prediction-Action Model via Action-Grounded Transition Modeling
arXiv:2609.11875v1 Announce Type: new Abstract: Recent advances in Vision-Language-Action (VLA) models have improved robotic manipulation, yet observation-to-ac…
GRADE: Single-Frame Generative Radar Depth Estimation Under Visual Degradation
arXiv:2609.10756v1 Announce Type: cross Abstract: Dense 3D depth perception fails under smoke, fog, and darkness because optical sensors cannot penetrate airbor…
A Mathematical Theory of Pragmatic Information
arXiv:2609.10986v1 Announce Type: cross Abstract: We propose a pragmatic information theory unifying communication, control, and decision-making. Its core is th…
FastMap: Real-Time Semantic Map Completion via Bitwise Masked Modeling
arXiv:2506.07350v2 Announce Type: replace Abstract: Semantic map completion, which predicts the layout of unobserved regions from partial observations, is a cri…
MIMIC-D: Multi-modal Imitation for MultI-agent Coordination with Decentralized Diffusion Policies
arXiv:2509.14159v4 Announce Type: replace Abstract: As robots become more integrated in society, their ability to coordinate with other robots and humans on mul…