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 storiesOne Word, Different Action: A Real-Robot Benchmark for Language-Conditioned Embodied Reasoning
arXiv:2609.05260v1 Announce Type: new Abstract: Natural-language instruction changes can directly alter robot behavior. A reliable embodied system should preser…
Temporal Tactile Encoding and Compliance for Intent-Aware Robot-to-Human Bimanual Handover
arXiv:2609.05282v1 Announce Type: new Abstract: Reliable robot-to-human handover requires the robot to infer when the person is ready to receive the object, and…
Human-Human & Human-Robot Interaction Transformer (H2INT) for Robot Navigation in Dense and Uncertain Crowds
arXiv:2609.05300v1 Announce Type: new Abstract: Safe robot navigation in dense crowds requires reasoning about pedestrian motion and how it may change in respon…
What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies
arXiv:2609.05376v1 Announce Type: new Abstract: Visuomotor imitation policies can achieve high performance under in-distribution visual conditions yet fail when…
Same Trajectory, Contradictory Rewards (ROBORMBENCH): Paraphrase Fragility in Vision Language Reward Models
arXiv:2609.05401v1 Announce Type: new Abstract: Vision-language models are increasingly used as reward functions for robotic learning, but this role requires pa…
Game-Theoretic Drone Swarm Defense: A Case Study in Applied Differential Game Theory
arXiv:2609.04394v1 Announce Type: cross Abstract: This technical report is a study of the use of differential game (DG) theory to solve the target-assignment an…
RedVLA: Physical Red Teaming for Vision-Language-Action Models
arXiv:2604.22591v2 Announce Type: replace Abstract: The real-world deployment of Vision-Language-Action (VLA) models remains limited by the risk of unpredictabl…
X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation
arXiv:2604.21541v2 Announce Type: replace Abstract: Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, ena…
Persistent Robot World Models: Stabilizing Multi-Step Rollouts via Reinforcement Learning
arXiv:2603.25685v2 Announce Type: replace Abstract: Action-conditioned robot world models generate future video frames of the manipulated scene given a robot ac…
CoFreeVLA: Short-Horizon Collision-Free Dual-Arm Manipulation via Vision-Language-Action Model and Risk Estimation
arXiv:2601.21712v3 Announce Type: replace Abstract: Vision Language Action (VLA) models enable instruction-following manipulation, yet their deployment on coord…
A Biomimetic Vertebraic Soft Robotic Tail for High-Speed, High-Force Dynamic Maneuvering
arXiv:2509.20219v2 Announce Type: replace Abstract: Robotic tails can enhance the stability and maneuverability of mobile robots, but current designs face a tra…
Squint: Fast Visual Reinforcement Learning for Sim-to-Real Robotics
arXiv:2602.21203v2 Announce Type: replace Abstract: Visual reinforcement learning is appealing for robotics but expensive. Off-policy methods are sample-efficie…
Towards Neuro-Symbolic Procedural Reasoning for Long-Horizon Vision-Language-Action Manipulation
arXiv:2609.05369v1 Announce Type: new Abstract: Vision-language-action (VLA) models can execute short manipulation skills, but remain brittle in long-horizon pr…
Development of a Humanoid Robot Prototype for Multimodal Human-Robot Interaction
arXiv:2609.05361v1 Announce Type: new Abstract: Human-robot interaction (HRI) enables intuitive and intelligent collaboration between humans and robots in real-…
Adaptation Needs in Robotic Systems: Assessing Behavior Trees and Their Enhancement
arXiv:2609.05331v1 Announce Type: new Abstract: Robotic systems increasingly operate in dynamic, uncertain, and open-ended environments, where design-time assum…
FIRE-LIVWO: Robust LiDAR-Inertial-Visual-Wheel Odometry via Failure-Immune mmWave Radar Enhancement
arXiv:2609.05325v1 Announce Type: new Abstract: Achieving robust SLAM in large-scale underground coal mines with complex structures and severe degeneracies rema…
TacPAC: Tactile Prediction and Real-Time Action Correction in World-Action Models for Contact-Rich Manipulation
arXiv:2609.05266v1 Announce Type: new Abstract: World-action models guide action generation with predicted future observations, but vision-centric predictions m…
Reasoning Without Inference Cost: Latent Semantic Scaffolding for Robot VLA Policies
arXiv:2609.04893v1 Announce Type: new Abstract: Vision-language-action (VLA) models are trained by imitation and capture what action to take but not why; adding…
Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow
arXiv:2609.04817v1 Announce Type: new Abstract: Strict nonlinear normal modes provide very regular families of oscillations within conservative mechanical syste…
CoLMIN: LLM-based Multi-Decision Path Negotiation for Cooperative Autonomous Driving
arXiv:2609.04807v1 Announce Type: new Abstract: Multi-vehicle cooperative autonomous driving enhances the safety and reliability of autonomous driving systems t…
FailureSpot: Label-Efficient Timestamp-Level Failure Detection for Vision-Language-Action Models
arXiv:2609.04277v1 Announce Type: new Abstract: Vision-language-action (VLA) policies have shown strong potential for general-purpose robotic manipulation, but …
Programming and execution of skill-based human-robot-crane collaborative tasks
arXiv:2609.03392v1 Announce Type: new Abstract: Highly varying production sets increasing challenges for robotic manufacturing and indoor logistics. New capabil…
Air-Ground Collaborative Vision-and-Language Navigation via Shared Bird's-Eye Maps
arXiv:2609.03483v1 Announce Type: new Abstract: Air-ground collaborative Vision-and-Language Navigation (VLN) pairs an unmanned aerial vehicle (UAV) with a glob…
BRIDGE: An Open-Source Humanoid Platform via Morphology-Control Co-Design for Physical AI
arXiv:2609.03497v1 Announce Type: new Abstract: Developing humanoid robots capable of leveraging human behavioral data is essential for general-purpose embodime…
Scaling Bimanual Household Manipulation from 1,500 hours of Demonstrations to On-Policy Corrections
arXiv:2609.03591v1 Announce Type: new Abstract: Learning generalist policies for robust bimanual manipulation is bottlenecked by the scarcity of high quality la…
QLAUN: A Research-Oriented, Robust, Agile, Modular, and Affordable Torque-Controlled Quadruped Robot
arXiv:2609.03623v1 Announce Type: new Abstract: QLAUN Bot (Quad-Legged Adaptive Unmanned Navigator Robot) is a torque-controlled quadruped robot that is researc…
Toward an~Integrated Cognitive--Ergonomic Architecture for~Human--Machine Interaction: Combining Cognitive Models with~Human Factors Ergonomics
arXiv:2609.03704v1 Announce Type: new Abstract: This paper presents an integrated approach to modeling human competencies by combining the theoretical foundatio…
RoughSense: Lightweight Terrain-Induced Rover Vibration Prediction Using Point Clouds and IMU Feedback
arXiv:2609.03720v1 Announce Type: new Abstract: Autonomous navigation in space requires reliable terrain assessment for safe operations, especially in undergrou…
Virtual Testing of Automated Driving Systems through Credible Simulations
arXiv:2609.03760v1 Announce Type: new Abstract: Simulation is increasingly used to support safety-related decision-making in road transport, particularly for th…
A comparative study on the accuracy & repeatability of mobile robotic platforms for the delivery of precision NDE measurement
arXiv:2609.03794v1 Announce Type: new Abstract: Mobile robotic platforms offer a flexible alternative to fixed manipulators for non-destructive evaluation (NDE)…