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
3584 storiesDirect Rotor Thrust Sensing and Feedback Control for Disturbance Rejection of Multirotors Using Load-cells
arXiv:2607.10099v1 Announce Type: new Abstract: Gust disturbances, dynamic vertical inflow and ground effect are key adverse aerodynamic phenomena that induce v…
SWIFT: A Small-World Interaction Framework for Flow-Aware Trajectory Prediction in Autonomous Driving
arXiv:2607.09741v1 Announce Type: new Abstract: Accurate trajectory prediction in autonomous driving hinges on modeling dynamic and context-dependent interactio…
A Biomimetic Myoelectric Tentacle Prosthesis with Sensorless Object Detection and Vibrotactile Feedback
arXiv:2607.09807v1 Announce Type: new Abstract: This paper presents the design and evaluation of a myoelectric tentacle-shaped prosthesis integrating electromyo…
Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentation
arXiv:2607.11167v1 Announce Type: new Abstract: Representing manipulation actions as 2D trajectories in the camera plane provides a compact and interpretable ba…
A Glimpse into Long-term Physical Coexistence with Intelligent Robots
arXiv:2607.11377v1 Announce Type: new Abstract: Long-term physical coexistence with intelligent robots requires more than capable robot policies. A persistent r…
SUREFlow: State-space Uncertainty-aware REsidual Flow Matching for Robust Robot Manipulation
arXiv:2607.10504v1 Announce Type: new Abstract: Generative vision-language-action policies have advanced robot manipulation, but they often exhibit instability …
TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging
arXiv:2607.09818v1 Announce Type: new Abstract: Vision-language-action (VLA) models aim to understand natural-language instructions and visual observations, and…
Stop to Decide: Latency-Aware Proprioceptive Navigation Primitives for Mapping-Free Quadruped Inspection
arXiv:2607.11204v1 Announce Type: new Abstract: Compute-constrained quadrupeds often run their navigation loop far below the controller's design rate: sharing t…
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning
arXiv:2607.11624v1 Announce Type: new Abstract: Reinforcement learning (RL) algorithms classically suffer from poor sample efficiency. In robotics, a recent lin…
Learning High-Level Decision Making with an Interaction-Aware Attention-Based Network in Autonomous Driving
arXiv:2607.09725v1 Announce Type: new Abstract: Reliable learning-based high-level decision making for lane changes and speed control in automated driving must …
Disentangled Unsupervised Skill Discovery for Efficient Hierarchical Reinforcement Learning
arXiv:2410.11251v2 Announce Type: replace-cross Abstract: A hallmark of intelligent agents is the ability to learn reusable skills purely from unsupervised inte…
WALA Learning Executable Latent Actions from Action-Labeled Demonstrations and Action-Free Videos
arXiv:2607.11397v1 Announce Type: new Abstract: Generalizable robot policies typically rely on action-labeled robot demonstrations, which are expensive to colle…
High-level spatial Dubins airplane-based reference smoothing with low-level geometric tracking for quadrotor control
arXiv:2607.11724v1 Announce Type: new Abstract: A method for the control of quadrotors is presented. It is composed of a high-level reference smoothing step and…
PIER-Flow: Physics-Informed Efficient Rectified Flow for Real-Time Mobile Robot Navigation
arXiv:2607.10288v1 Announce Type: new Abstract: Autonomous navigation in dense and highly dynamic environments requires both physically feasible control and low…
Coordinated Incremental Trajectory Tracking of a Tailsitter Drone
arXiv:2607.11651v1 Announce Type: new Abstract: This paper derives an analytical differential flatness transform for a tailsitter Unmanned Aerial Vehicle (UAV) …
Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling
arXiv:2607.10597v1 Announce Type: new Abstract: Underwater dead reckoning estimates vehicle position when vision is unavailable and external positioning cannot …
Xiaomi-Robotics-U0: Unified Embodied Synthesis with World Foundation Model
arXiv:2607.11643v1 Announce Type: new Abstract: Recent foundation image and video generation models offer strong generalization and controllability, but their d…
Robo-ValueRL: Reliable Value Estimation for Offline-to-Online Reinforcement Learning
arXiv:2607.09866v1 Announce Type: new Abstract: Offline-to-online reinforcement learning is promising for generalizable robotic manipulation, yet its full-stack…
Millimeter Wave Radar: From Synthetic Aperture to Probabilistic Mapping
arXiv:2607.10161v1 Announce Type: new Abstract: Robust probabilistic mapping is essential for autonomous robotic systems operating in challenging environments. …
Is Energy Guidance All You Need? Training-Free Norm Injection for Driving World Models
arXiv:2607.10781v1 Announce Type: cross Abstract: Driving world models built on large video-diffusion backbones generate realistic scenes but are hard to contro…
TOLiD: Bridging the Architecture Gap in Vision Foundation Model to LiDAR Pretraining via Token Lifting for Distillation
arXiv:2607.10762v1 Announce Type: cross Abstract: Cross-modal distillation from Vision Foundation Models (VFMs) to LiDAR backbones has recently emerged as a sel…
DTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance
arXiv:2604.15865v2 Announce Type: replace Abstract: Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing…
Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
arXiv:2604.17335v2 Announce Type: replace Abstract: Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, an…
Saturation-Aware Robust Trajectory Optimization for Reusable Launch Vehicles via Differentiable Physics
arXiv:2607.09736v1 Announce Type: new Abstract: The high-angle-of-attack flip maneuver of reusable launch vehicles presents significant challenges for robust tr…
SanDRA: Safe Large-Language-Model-Based Decision Making for Automated Vehicles Using Reachability Analysis
arXiv:2510.06717v2 Announce Type: replace Abstract: Large language models (LLMs) have been widely applied to knowledge-driven decision-making for automated vehi…
Coverage Path Planning: Classical Foundations, Recent Advances, and Future Directions
arXiv:2607.10649v1 Announce Type: new Abstract: Coverage path planning (CPP) is a fundamental problem in robot motion planning, whose aim is to produce robot tr…
CSI-Assisted Edge SLAM Testbed Platform for 5G Connected Unmanned Autonomous Vehicles
arXiv:2607.10394v1 Announce Type: cross Abstract: The evolution from 5G towards 6G reinforces interest in connected robotics, where mobile robots offload comput…
Maximizing Human Efficiency in Large-Scale Robot Post-Training via VLAC-Cut Guided Pipeline
arXiv:2607.09776v1 Announce Type: new Abstract: When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post training are requ…
Automated Synthesis of Facial Mechanisms for Conversational Animatronic Robots
arXiv:2607.11688v1 Announce Type: new Abstract: Animatronic faces are a central component of socially interactive robots, enabling rich nonverbal communication …
Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces
arXiv:2605.15753v2 Announce Type: replace Abstract: Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robo…