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 storiesORCH: Organizational Principles Enable Collective Intelligence in Embodied AI
arXiv:2609.11737v1 Announce Type: cross Abstract: Collective intelligence depends not only on the capabilities of individual members, but also on how those memb…
MC-DeTra: Motion-Consistent Joint Object Detection and Socially-Aware Trajectory Forecasting in Bird's-Eye-View Images
arXiv:2609.11717v1 Announce Type: cross Abstract: Unified models for object detection and trajectory forecasting aim to merge perception and prediction for auto…
Visual-SLAM for the detection of hidden tomatoes in greenhouses by Hierarchical Localization and GLOMAPfor robotized harvesting
arXiv:2609.11766v1 Announce Type: new Abstract: Advanced crop monitoring inside greenhouses is becoming one of the primary objectives of research centers. High-…
Reflex-Informed Neuromuscular Reinforcement Learning for Muscle-Driven Locomotion
arXiv:2609.11733v1 Announce Type: new Abstract: Muscle-driven locomotion provides a physically grounded approach to generating realistic human movement. However…
Aerodynamic Prior-Free Coordinated Trajectory Generation and Tracking Control for a Tail-Sitter UAV
arXiv:2609.11698v1 Announce Type: new Abstract: This paper presents a coordinated trajectory generation and tracking control framework for a tail-sitter unmanne…
ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies
arXiv:2609.11697v1 Announce Type: new Abstract: Vision-Language-Action (VLA) and World-Action Models (WAMs) have demonstrated strong capabilities in general-pur…
SwarmNxt: Open-source Software-Hardware Platform for Fast and Agile Aerial Swarms
arXiv:2609.11382v1 Announce Type: new Abstract: Aerial robot swarms have the potential to transform time-critical safety, security, and search-and-rescue operat…
GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives
arXiv:2609.11361v1 Announce Type: new Abstract: Reconfigurable robots can change their contact geometry when a fixed body cannot negotiate an obstacle. A variab…
Freehand Sketching for End-User Programming of Robot Swarms
arXiv:2609.11078v1 Announce Type: new Abstract: Robot swarms are increasingly used in applications where accessible interaction with non-expert users is desirab…
ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations
arXiv:2609.10918v1 Announce Type: new Abstract: Imitation learning has achieved impressive results in robotic manipulation, yet most existing approaches assume …
Expressive Robotic Pianist: Mastering Complex Piano Repertoire with Graph-Mimic and Musical Dynamics
arXiv:2609.10844v1 Announce Type: new Abstract: Enabling robots to perform musical instruments with human-level expressivity represents a frontier in bridging t…
When Information is Worth the Risk: Behavioral Valuation for Hazardous Robotic Exploration
arXiv:2609.10726v1 Announce Type: new Abstract: Hazardous robotic exploration requires robots to map spatial risks, such as unsafe terrain, radiation, fire, min…
Decision Transformer for UAV-Mounted RIS-Assisted Dynamic D2D Communications
arXiv:2609.09885v1 Announce Type: cross Abstract: This paper studies unmanned aerial vehicle (UAV)-mouted reconfigurable intelligent surface (RIS)-assisted devi…
No Free Checker: A Survey of Verifiers for Robot Policies
arXiv:2609.09250v1 Announce Type: new Abstract: A verifier for robot policies reads a candidate behavior and returns a score for how well it did, used both to e…
Learning to Fly: Stable Vision-Guided UAV Servoing with Compact Target-Centric Cues and Reinforcement Learning
arXiv:2609.09234v1 Announce Type: new Abstract: Vision-guided reinforcement learning for Unmanned Aerial Vehicles (UAVs) remains challenging due to unstable pol…
Design and Attitude Control of an Underwater Quadruped Robot
arXiv:2609.09217v1 Announce Type: new Abstract: Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadrup…
Coastal Environment Generation with HoloOcean
arXiv:2609.10484v1 Announce Type: new Abstract: Marine robotic simulation provides a safe and inexpensive method of developing and testing algorithms for unmann…
Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints
arXiv:2609.09597v1 Announce Type: new Abstract: Accurate contact prediction is useful for robotic manipulation only if it supports effective decisions. We inves…
CT-SAFR: Safe and Interpretable Chain-of-Thought Reasoning for Autonomous Robots: A Multi-Layered Verification Framework for Trustworthy AI-Driven Robotic Decision Making
arXiv:2609.09692v1 Announce Type: new Abstract: Chain-of-Thought (CoT) prompting enables LLMs to perform explicit, step-by-step reasoning, creating opportunitie…
A Confidence-Aware Multimodal Fusion Framework for Industrial Human-Robot Collaboration
arXiv:2609.10339v1 Announce Type: new Abstract: A confidence-aware multimodal fusion framework (CAMF) is proposed to realize reliable human intention prediction…
AccelMPC: High-Rate, Low-Power FPGA-Accelerated Model Predictive Control for Tiny Drones
arXiv:2609.09380v1 Announce Type: new Abstract: Unlocking the potential of tiny aerial robots requires order of magnitude improvements in the performance of emb…
Show-Harness: Just a VLM Agent Can Play Robots
arXiv:2609.10522v1 Announce Type: new Abstract: Foundation vision-language models (VLMs) exhibit broad intelligence about the world, yet translating this intell…
DUET-DINO: Simultaneous Cross-View World Modeling for Latent Planning in Robot Manipulation
arXiv:2609.10506v1 Announce Type: new Abstract: Action-conditioned latent world models predict future visual representations, enabling zero-shot goal-conditione…
Odometer-Agnostic Drift Correction Using OpenStreetMap Lane Geometry
arXiv:2609.10336v1 Announce Type: new Abstract: Despite significant progress in odometry estimation, long-term drift remains a fundamental limitation of increme…
Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model
arXiv:2609.09213v1 Announce Type: new Abstract: We study how physical-state inputs affect a 0.8B hybrid language model adapted for manipulation with 6.2M traina…
A Decade of Bayesian Optimization for Controller Tuning and Robot Learning: Tutorial, Review, and Future Prospects
arXiv:2609.09403v1 Announce Type: new Abstract: In the past decade, Bayesian optimization (BO) has emerged as a powerful and adaptable framework for automatic c…
Actuator Dynamics Curricula for Narrow-Viability Tasks in Legged Robot Learning
arXiv:2609.09492v1 Announce Type: new Abstract: Reinforcement learning has produced capable controllers across a broad range of legged-robot tasks, but a subset…
Unthrottling the Tanh Jacobian in SAC: A Negative Result on Bang-Bang Control and MetaDrive
arXiv:2609.09478v1 Announce Type: cross Abstract: Soft Actor-Critic (SAC) represents a continuous policy as an unbounded Gaussian that is squashed by tanh. The …
InstantMimic: A High Performance System for Learning Physics-based Skills in Seconds
arXiv:2609.09821v1 Announce Type: cross Abstract: Physics-based character control is a long-standing challenge in computer graphics and robotics, requiring poli…
MuJoCable: Reduced-Order Surface-Routed Cable Transmission for Tendon-Driven Robots
arXiv:2609.09612v1 Announce Type: new Abstract: Tendon transmissions reduce distal inertia and add compliance, yet routing, slack, and friction govern motion an…