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 storiesRevisiting Topological Graphs for Macro Action based Closed-loop Reinforcement Learning of Vision Language Navigation in Continuous Environment
arXiv:2609.03906v1 Announce Type: new Abstract: Vision-Language Navigation in Continuous Environments (VLN-CE) requires an agent to follow natural language inst…
Corner Cases: Headland Coverage Path Planning for Autonomous Driving in Arable Farming
arXiv:2609.04103v1 Announce Type: new Abstract: This paper presents a new method for headland coverage path planning for arable fields. Several earlier approach…
Equilibria for Networks of Linear Translational Springs
arXiv:2609.03143v1 Announce Type: cross Abstract: We use tools from nonlinear algebra to study the equilibria of small linear translational spring networks. Spe…
Understanding Autonomous Driving Datasets by Describing Differences between Image Subsets in Natural Language
arXiv:2609.03677v1 Announce Type: cross Abstract: Understanding the composition of large-scale autonomous driving datasets is essential for safety, robustness, …
DropClick: Semi-Automated One-Click Segmentation for Agricultural Robotic Data
arXiv:2609.03680v1 Announce Type: cross Abstract: Labelling vision datasets, especially for segmentation tasks, is a laborious and costly process that stymies n…
Catalogue Photography as a Cold Start: Toward Deployable Carbide Burr Recognition
arXiv:2609.03995v1 Announce Type: cross Abstract: Verifying that manufactured batches of milling tools or carbide rotary burrs conform to production order sheet…
A Low-Cost, Open Platform for End-to-End Autonomous Driving on a Miniature Ackermann Vehicle
arXiv:2609.04147v1 Announce Type: cross Abstract: This paper presents a low-cost, open experimental platform for research in end-to-end autonomous driving with …
Formation Matrix and Energy-based Control of Multi-Agent Systems
arXiv:2609.04158v1 Announce Type: cross Abstract: This paper presents an energy-based controller for a multiagent robotic system designed to achieve and maintai…
Learning-based Adaptive Safety-Critical Control With Evolving Unsafe Regions
arXiv:2503.16551v4 Announce Type: replace Abstract: Control barrier functions (CBFs) provide a principled framework for safety-critical control, but their const…
Decentralized Vision-Based Autonomous Aerial Wildlife Monitoring
arXiv:2508.15038v2 Announce Type: replace Abstract: Wildlife field operations demand efficient parallel deployment methods to identify and interact with specifi…
SPARC: Spine with Prismatic And Revolute Compliance for Faster Quadrupedal Bounding
arXiv:2510.01984v4 Announce Type: replace Abstract: Quadruped mammals coordinate sagittal spinal bending with axial extension and compression during dynamic loc…
High-Altitude Balloon Station-Keeping with First Order Model Predictive Control
arXiv:2511.07761v2 Announce Type: replace Abstract: High-altitude balloons (HABs) are common in scientific research due to their wide range of applications and …
ProAct: Harnessing Streaming Motion Generation and Agentic Reasoning for Real-Time Embodied Social Interaction
arXiv:2602.14048v2 Announce Type: replace Abstract: Real-time embodied social interaction places two equally demanding requirements on an agent: continuously ge…
MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation
arXiv:2603.08383v2 Announce Type: replace Abstract: Long-horizon indoor mobile manipulation (MoMa) requires robots to execute extended navigation-manipulation s…
Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation
arXiv:2605.31343v2 Announce Type: replace Abstract: Legged manipulators integrate exceptional terrain adaptability along with mobile manipulation capabilities, …
ASIP-Planner: Adaptive Planning for UAV Surface Inspection in Partially Known Indoor Environments
arXiv:2605.11119v2 Announce Type: replace Abstract: Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface cov…
Reliability-Guided RGB-D Sensor Fusion for Glare-Resilient Navigation Costmaps
arXiv:2604.12753v2 Announce Type: replace Abstract: Specular glare on reflective floors, glass boundaries, and glossy indoor surfaces can corrupt active-stereo …
Continuous Actions from Discrete Minds: Latent-Aligned Planning for End-to-End Autonomous Driving
arXiv:2609.04070v1 Announce Type: cross Abstract: Bridging the gap between the discrete reasoning of Vision-Language Models and the continuous, physics-constrai…
GraFT: A Training-Free Framework for Spatial Reasoning in Multimodal Large Language Models via 3D Scene Graphs
arXiv:2609.03892v1 Announce Type: cross Abstract: 3D spatial reasoning underpins understanding and acting in the physical world, yet it remains unreliable in cu…
Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesis
arXiv:2609.04096v1 Announce Type: new Abstract: This paper proposes AdaRoboVLG, a task-adaptive Vision-Language-Grasp (VLG) framework that supports generalizabl…
Toward Unified Robot Learning: Bridging Representation, Vision-Language-Action, and World Models
arXiv:2609.03927v1 Announce Type: new Abstract: For robots to operate reliably in real-world environments, they need to perceive their surroundings, act, and re…
A hybrid pipeline for dynamic ontology-based semantic mapping
arXiv:2609.03891v1 Announce Type: new Abstract: Semantic mapping plays a crucial role in the ability of a robot to interact with objects, operate and navigate a…
FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation
arXiv:2609.03889v1 Announce Type: new Abstract: Contact-rich loco-manipulation requires a bridge between semantic action generation and physical interaction con…
A Multi-Vine Soft Robot Enabling Accessible Working Channel and Steering
arXiv:2609.03758v1 Announce Type: new Abstract: Soft eversion robots, also known as vine robots, have attracted growing interest for navigation and inspection t…
MINERVA: How Small Can a Manipulation Policy Be and Still Solve LIBERO?
arXiv:2609.03715v1 Announce Type: new Abstract: Vision-language-action (VLA) models with billions of parameters now dominate the LIBERO manipulation benchmark, …
Local Path Planning and Obstacle Avoidance for an Omnicopter Platform
arXiv:2609.03630v1 Announce Type: new Abstract: Autonomous unmanned aerial vehicles (UAVs) increasingly operate in cluttered environments where global planners …
Establishing a Dynamic Multimodal HRI Dataset for Engagement Analysis with a Humanoid Robot
arXiv:2609.03255v1 Announce Type: new Abstract: This paper presents an experimental design for constructing a multimodal dataset to analyze user engagement in h…
Long-Horizon Consistent and Interaction-Aware World Models for Multi-Style End-to-End Driving
arXiv:2609.03225v1 Announce Type: new Abstract: End-to-end autonomous driving has increasingly adopted world model-based reinforcement learning frameworks to im…
Sensing Which Modality Matters: Evidence-Gated Regularization for Robust VLA Policies
arXiv:2609.03142v1 Announce Type: new Abstract: Vision-Language-Action (VLA) policies fuse multimodal sensory inputs, but training on limited and homogeneous ro…
GPU-Accelerated Astrodynamics World Models for Spacecraft Rendezvous and Proximity Operations
arXiv:2609.03067v1 Announce Type: new Abstract: World models are an emerging paradigm in representation learning in which an agent jointly learns state-action d…