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 storiesKalman Filtering Based Flight Management System Modeling for AAM Aircraft
arXiv:2602.14948v2 Announce Type: replace Abstract: Advanced Air Mobility (AAM) operations are planned to utilize strategic flight planning services that predic…
CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots
arXiv:2603.03067v2 Announce Type: replace Abstract: For effective deployment in real-world environments, humanoid robots must autonomously navigate a diverse ra…
Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
arXiv:2604.22102v2 Announce Type: replace Abstract: Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or u…
A Multi-Modal Perception Pipeline for Object Detection and Tracking in Autonomous Racing
arXiv:2609.08338v2 Announce Type: replace Abstract: Object detection and tracking are fundamental components of perception systems for autonomous driving. Achie…
Diagnosing and Dynamically Filtering Occupancy World Models for Active Mapping
arXiv:2609.06820v2 Announce Type: replace Abstract: Active mapping requires a robot to select camera viewpoints that efficiently reconstruct an unknown 3D scene…
GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning
arXiv:2609.05927v2 Announce Type: replace Abstract: Robot manipulation foundation models require scalable evaluation and data generation across diverse scenario…
A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry
arXiv:2604.02387v3 Announce Type: replace Abstract: Precision reducers couple contact geometry, bearing support, structural deformation, and loading history. Th…
DefVINS: Visual-Inertial Odometry for Deformable Scenes
arXiv:2601.00702v3 Announce Type: replace Abstract: Deformable scenes violate the rigidity assumptions underpinning classical visual--inertial odometry (VIO), o…
Evaluation of Vision-Language Models Across Diverse Coastal Environments
arXiv:2609.10855v1 Announce Type: cross Abstract: Vision-language models (VLMs) enable robotic per- ception by associating visual observations with natural-lang…
EVPeriscope: Extended Perception across Aerial and Ground Vehicles with Event-based Propeller Tracking
arXiv:2609.11920v1 Announce Type: new Abstract: Reliable relative localization between aerial and ground robots is a key requirement for tightly coordinated het…
Learning Agent-based Model Predictive Control for Holistic Vehicle Performance
arXiv:2609.11871v1 Announce Type: new Abstract: Agent-based model predictive control (AMPC) has recently been proposed as a distributed scheme that collaborates…
Rapid Learning of Dexterous In-Hand Pen Writing through Real-Time Jacobian Estimation
arXiv:2609.11775v1 Announce Type: new Abstract: Dexterous in-hand manipulation of a grasped object with an anthropomorphic hand is an unsolved frontier for robo…
CARLAverse: A Highly Modular, Distributed, and Multimodal Framework for Human-in-the-Loop Simulation
arXiv:2609.11478v1 Announce Type: new Abstract: The development of autonomous driving demands comprehensive testing in mixed-traffic scenarios involving vulnera…
3D Euler-Angle Orientation Control for Two-Ray Fading Mitigation in Maritime Air-to-Sea Communications
arXiv:2609.11476v1 Announce Type: new Abstract: Maritime Air-to-Sea links are dominated by a line-of-sight ray and a sea-surface reflected ray whose destructive…
CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned Denoising
arXiv:2609.11553v1 Announce Type: new Abstract: Humanoid locomotion across complex terrain demands forward-looking exteroception to anticipate obstacles, yet th…
Using Automated Vehicles Operational Data to Confirm Safety and Anticipate Threats
arXiv:2609.11549v1 Announce Type: new Abstract: European Union (EU) policymakers adopted revolutionary data collection provisions for Automated Driving Systems …
Modular Kinematic Reduction of Closed-Chain Mechanisms Using Path Assembly and Defect Homotopy
arXiv:2609.11338v1 Announce Type: new Abstract: Closed kinematic chains complicate modular modeling by coupling active and passive coordinates through nonlinear…
Safety-aware Skill Adaptation for Reinforcement Learning in Dynamic Environments
arXiv:2609.11433v1 Announce Type: new Abstract: Skill adaptation frameworks based on reinforcement learning often require restrictive assumptions to maintain st…
Harness Robotic OS: A Unified Embodied-Agent Runtime for Closed-Loop Quadruped Inspection
arXiv:2609.11225v1 Announce Type: new Abstract: Autonomous property inspection requires more than robust robot navigation: a deployable system must connect hete…
RIDE: Relocalization-Informed Depth Estimation with 3D Gaussian Splatting
arXiv:2609.11079v1 Announce Type: new Abstract: Render--match--PnP relocalization establishes correspondences between query image pixels and 3D map points for c…
LTLDiff: Finite Linear Temporal Logic-Guided Data Generation and Diffusion Policies for Multi-agent Robotic Manipulation
arXiv:2609.11043v1 Announce Type: new Abstract: Multi-agent robotic manipulation tasks require coordination among agents to satisfy task-level temporal, logical…
Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers
arXiv:2609.10905v1 Announce Type: new Abstract: Planning trajectories for robot manipulators under kinematic equality constraints restricts feasible motions to …
ReactHuman: A Physics-Grounded Benchmark for Human-Like Reactive Decision-Making in Embodied Multimodal LLMs
arXiv:2609.10895v1 Announce Type: new Abstract: Reacting to sudden physical hazards (catching a slipping plate, dodging a falling knife) is both a meaningful te…
Lie-Algebraic Bell Recurrences for Arbitrary-Order Twist Jets and Parallel-Mechanism Closure
arXiv:2609.10748v1 Announce Type: new Abstract: This paper develops an arbitrary-order kinematic construction that links serial propagation, parallel-mechanism …
IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies
arXiv:2609.10915v1 Announce Type: new Abstract: Vision-language-action (VLA) policies leverage pretrained vision-language backbones to achieve strong cross-task…
Testing Between the Test Cases: Proving End-to-End Steering in Conditions You Never Drove
arXiv:2609.10951v1 Announce Type: new Abstract: AI-based automated vehicle testing is challenging because a model that passes every test condition can still fai…
Quasi-static analysis of passive stability in a novel underactuated multi-finger hand
arXiv:2609.11579v1 Announce Type: new Abstract: Underactuated robotic hands achieve adaptive and robust grasping with a reduced number of actuators, but predict…
Topological Necessities: Mechanism-Invariant Strategic Subgoals for Cross-Embodiment Goal-Conditioned Control
arXiv:2609.11014v1 Announce Type: cross Abstract: Long-horizon goal-conditioned reinforcement learning delegates control to a high-level module that proposes su…
Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
arXiv:2603.02856v3 Announce Type: replace Abstract: Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collab…
DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
arXiv:2509.06285v3 Announce Type: replace Abstract: LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degener…