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 storiesSumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
arXiv:2604.08508v3 Announce Type: replace Abstract: This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and he…
Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist
arXiv:2601.19275v2 Announce Type: replace Abstract: Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks…
Tracing Energy Flow: Learning Tactile-based Grasping Force Control to Reduce Slippage in Dynamic Object Interaction
arXiv:2512.21043v2 Announce Type: replace Abstract: Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challen…
RealSimLoop: Online Real-to-Sim Adaptation via Differentiable Reduced-Order Simulation with Vision Feedback
arXiv:2609.09828v1 Announce Type: cross Abstract: Real-world observations of deformable objects are often sparse or surface-level, while downstream tasks requir…
Why Learning Rediscovers the Closed-Form Diagonal Regularizer
arXiv:2609.09656v1 Announce Type: cross Abstract: We identify a diagonal saturation principle in modal inverse problems: when truncation noise is isotropic, the…
GTA-2: A Multi-VLM Framework for Synthesizing Robot Manipulation Skills via Grounded Task Axes
arXiv:2609.09808v1 Announce Type: new Abstract: Robotic manipulation tasks are often decomposed into behaviors or skills. However, one often needs to predefine …
Agentic AI-enabled Semantic Commissioning of a Cognitive Digital Twin for Reconfigurable Manufacturing
arXiv:2609.09503v1 Announce Type: new Abstract: Rapid bespoke commissioning of the Cognitive Digital Twin (CDT) is a major challenge in reconfigurable manufactu…
IMU-Centric Moving Horizon Estimation for Lateral Dynamics Estimation Across Vehicles and Grip Conditions
arXiv:2609.10202v1 Announce Type: cross Abstract: Accurate estimation of lateral vehicle dynamics near the adhesion limit is important for stability control and…
Posterior-driven Heuristic Support Adaptation in a Probabilistic Treatment of Real2Sim2Real for Vision-Driven Deformable Linear Object Manipulation
arXiv:2510.26656v4 Announce Type: replace Abstract: Likelihood-free inference (LFI) enables system identification in complex tasks via black-box modelling, abst…
Kino-PAX$^+$: Near-Optimal Massively Parallel Kinodynamic Sampling-based Motion Planner
arXiv:2602.02846v2 Announce Type: replace Abstract: Sampling-based motion planners (SBMPs) are widely used for robot motion planning with complex kinodynamic co…
A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications
arXiv:2603.25259v2 Announce Type: replace Abstract: Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent …
Fast Constraint Extraction for Corrective Control under STL Specifications via Logical Dependency Tracking
arXiv:2609.09439v1 Announce Type: cross Abstract: Ensuring the satisfaction of Signal Temporal Logic (STL) specifications under uncertainty is challenging, as r…
Decision-Focused Active Learning for Scale-Aware Critical-Materials Recovery
arXiv:2609.09413v1 Announce Type: cross Abstract: Choosing a recovery process for scale-up requires connecting laboratory results with product requirements, pro…
Networked Admissibility-Preserving Control for Directed Safe Coordination
arXiv:2609.09384v1 Announce Type: cross Abstract: This paper addresses safety-critical coordination for scalar agents whose distributed commands are implemented…
Frequency-Conditioned Flow Matching for Vision-Language-Action Models
arXiv:2609.10405v1 Announce Type: new Abstract: Robot actions are temporally correlated trajectories whose frequency components encode motion at different scale…
A traffic management system for large and heterogeneous vehicles in narrow industrial environments
arXiv:2609.10400v1 Announce Type: new Abstract: The coordination of Automated Guided Vehicles (AGVs) in high-density industrial environments represents a critic…
Data-Driven Risk Fields for Safer End-to-End Autonomous Driving
arXiv:2609.10377v1 Announce Type: new Abstract: Safety is a fundamental requirement for autonomous driving, yet existing end-to-end driving models still lack ex…
Identifying Habit, Physics, and Nuisance in Robot World Models
arXiv:2609.09210v1 Announce Type: new Abstract: Teleoperated demonstrations are often multimodal even when the underlying dynamics are nearly deterministic give…
HiRAD: A Flexible Large-Scale AGV Routing System
arXiv:2609.09752v1 Announce Type: new Abstract: Automatic Guided Vehicles (AGVs) substantially boost warehouse throughput, but routing large-scale AGV fleets re…
AXON: A ROS 2 RMW with Shared-Memory/QUIC Transport and QKD/ML-KEM Key Establishment
arXiv:2609.10024v1 Announce Type: new Abstract: Robot Operating System 2 (ROS 2) standardizes application code against a middleware interface (RMW) whose refere…
CougarTail & CUB: A General-Purpose Mast and Central Utility Board for Cylindrical Underwater Enclosures
arXiv:2609.10230v1 Announce Type: new Abstract: Cylindrical watertight enclosures are widely used across various underwater systems, from unmanned underwater ve…
Learning Terrain-Adaptive Humanoid Locomotion on Granular Terrain
arXiv:2609.10286v1 Announce Type: new Abstract: Humanoid locomotion on granular terrain remains a significant challenge due to its complex foot-terrain interact…
Multi-Agent Reinforcement Learning for Autonomous UAV Exploration in Wildfire Response
arXiv:2609.10433v1 Announce Type: new Abstract: This study develops a deep reinforcement learning framework for training Unmanned Aerial Vehicle (UAV) agents to…
Risk-Constrained Belief-Space Optimization for Safe Control under Latent Uncertainty
arXiv:2604.03868v2 Announce Type: replace-cross Abstract: Many safety-critical control systems operate under latent uncertainty that sensors cannot resolve at d…
Proxy Policy Steering
arXiv:2609.09148v2 Announce Type: replace Abstract: Generalist robot policies carry broad manipulation priors from large-scale data, but specializing them to a …
Monkey See, Can Monkey Do? A Benchmark for Evaluating Robot Skill Learning by Observation
arXiv:2609.08209v2 Announce Type: replace Abstract: Learning from Observation (LfO) is a fundamental robotic capability that replicates how humans and animals s…
Dex-X: Learning Visual-Tactile Dexterous Manipulation From Human Videos with Simulated Interaction
arXiv:2609.07747v2 Announce Type: replace Abstract: Human videos are an abundant source of dexterous manipulation behaviors, but they lack tactile information t…
Advancing Accessible Underwater Robotics: The Mini-Girona I-AUV at RAMI 2025
arXiv:2609.02605v2 Announce Type: replace Abstract: The Mini-Girona Intervention Autonomous Underwater Vehicle (I-AUV) represents an advancement in accessible u…
CoMo3R-SLAM: Collaborative Monocular Dense SLAM with Learned 3D Reconstruction Priors for Outdoor Multi-Agent Systems
arXiv:2605.30488v2 Announce Type: replace Abstract: Outdoor robot teams need a shared dense map despite limited overlap, independent reference frames, and uncer…
Bilevel Planning with Learned Symbolic Abstractions from Interaction Data
arXiv:2603.08599v2 Announce Type: replace Abstract: Intelligent agents must reason over both continuous dynamics and discrete representations to generate effect…