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 storiesAdaptive MPPI with Online Disturbance Covariance Estimation: Provable Stability Tightening via Spatial Smoothing
arXiv:2607.08942v1 Announce Type: cross Abstract: We study Model Predictive Path Integral (MPPI) control for nonlinear systems with additive process disturbance…
Shortcut Trajectory Planning for Efficient Offline Reinforcement Learning
arXiv:2607.09336v1 Announce Type: cross Abstract: Diffusion-based trajectory planners have shown strong performance in offline reinforcement learning, but their…
DemoBridge: A Simulation-in-the-Loop Toolkit for Single-View Human Demonstration Retargeting
arXiv:2607.09519v1 Announce Type: new Abstract: We present DemoBridge, an toolkit that turns a single-view RGB stereo recording of a human hand demonstration in…
Implicit-Behavior Coordination from Unlabeled Sub-Task Demonstrations for Rearrangement Tasks
arXiv:2607.09234v1 Announce Type: new Abstract: Long-horizon robotic rearrangement tasks are often treated as skill sequencing problems, requiring predefined sk…
Tactile Genesis: Exploring Tactile Sensors at Scale for Learning Dexterous Tasks
arXiv:2606.22332v2 Announce Type: replace Abstract: Tactile sensing is critical for contact-rich dexterous manipulation, yet it remains unclear which tactile ab…
Learning Agile Quadrotor Flight in the Real World
arXiv:2602.10111v2 Announce Type: replace Abstract: Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely…
Programming-by-Example for Batch-Editing Collision Meshes in 3D Software
arXiv:2607.08804v1 Announce Type: cross Abstract: As 3D software proliferates, software artifacts now extend beyond code and 2D user interfaces to include 3D as…
How Mobile Gas Sensor Trajectories Govern Hydrogen Leak Detection: A Safety Gap in Manual Leak Inspection of Hydrogen System Components
arXiv:2607.09527v1 Announce Type: new Abstract: The integrity of hydrogen infrastructure relies on reliable leak detection, performed almost exclusively via man…
CLAP: Direct VLM-to-VLA Adaptation via Language-Action Grounding
arXiv:2607.08974v1 Announce Type: new Abstract: Vision-language-action models (VLAs) inherit semantic capabilities from pretrained VLMs, yet large-scale post-tr…
OIPP: Object-Adaptive Impact Point Predictor for Catching Diverse In-Flight Objects
arXiv:2509.15254v3 Announce Type: replace Abstract: In this study, we address the problem of in-flight object catching using a quadruped robot with a basket. Ou…
Impedance-Guided Programmable Transmission of Localized Deformation in Modular Soft Metamaterials
arXiv:2607.08966v1 Announce Type: cross Abstract: Soft metamaterials provide a promising platform for robotics, biomedical devices, and flexible electronics. Th…
Empirical Pedestrian Safety Assessment in a Mobile Robot Using a Predictive Social Force Model
arXiv:2607.09192v1 Announce Type: new Abstract: Mobile robots are going to share the sidewalks with pedestrians. They must ensure their objective safety and res…
Act, Sense, Act: Learning Active Perception from Large-Scale Egocentric Human Data
arXiv:2602.04600v2 Announce Type: replace Abstract: Achieving generalizable manipulation in unconstrained environments requires the robot to proactively resolve…
FlowDAgger: Human-in-the-Loop Adaptation of Generative Robot Policies in Latent Space
arXiv:2607.08877v1 Announce Type: new Abstract: Pretrained generative robot policies based on flow matching and diffusion have achieved impressive results acros…
B-spline Policy: Accelerating Manipulation Policies via B-spline Action Representations
arXiv:2607.09648v1 Announce Type: new Abstract: In this work, we present B-spline Policy (BSP), an action representation designed for accelerating robot manipul…
CORAL-AUV: CFD Oriented Reinforcement Learning for Autonomous Underwater Vehicles
arXiv:2607.09557v1 Announce Type: new Abstract: Fine grain control and positioning of autonomous underwater vehicles (AUVs) is critical for sampling, maintenanc…
GenVid2Robot: From Video Generation to Robot Manipulation via Rigid-Geometric Consistency
arXiv:2607.09191v1 Announce Type: new Abstract: Generated videos provide useful visual motion priors for robot manipulation, but their visual plausibility does …
Validating Virtual Reality for Studying Multimodal Human-Robot Interaction in Socially Aware Robot Navigation
arXiv:2607.09261v1 Announce Type: new Abstract: Virtual Reality (VR) offers a flexible and controllable platform for studying human-robot interaction. Prior wor…
Residual Physics-Informed Neural Networks for High-Fidelity BLDC Motor Modeling
arXiv:2607.09136v1 Announce Type: new Abstract: Accurate dynamics modeling of Brushless DC (BLDC) motors is fundamental to high-performance robotic joint contro…
RoboStream: Weaving Spatio-Temporal Reasoning with Memory in Vision-Language Models for Robotics
arXiv:2603.12939v2 Announce Type: replace Abstract: Enabling reliable long-horizon robotic manipulation is a crucial step toward open-world embodied intelligenc…
ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning
arXiv:2512.16861v2 Announce Type: replace Abstract: Long-horizon manipulation has been a long-standing challenge in the robotics community. We propose Reinforce…
Toward Active Object Detection for UAVs in the Wild: A Large-Scale Dataset, Benchmark and Method
arXiv:2607.09078v1 Announce Type: cross Abstract: Object detection is a fundamental component in numerous Unmanned Aerial Vehicle (UAV) applications, yet it has…
One-Shot Multimodal Learning from Demonstration with Force-Constrained Elastic Maps
arXiv:2607.09515v1 Announce Type: new Abstract: Robotic manipulation tasks often require simultaneous reasoning over motion and contact forces, yet most Learnin…
Re$^3$Sim: Generating High-Fidelity Simulation Data via 3D-Photorealistic Real-to-Sim for Robotic Manipulation
arXiv:2502.08645v4 Announce Type: replace Abstract: Real-world data collection for robotics is costly and resource-intensive, requiring skilled operators and ex…
TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation
arXiv:2607.09190v1 Announce Type: new Abstract: Tactile feedback is fundamental to Hand-Object Interaction (HOI), governing contact formation, force regulation,…
Robot Trajectron V3: A Probabilistic Shared Control Framework for SE(3) Manipulation
arXiv:2607.09315v1 Announce Type: new Abstract: We aim to address the challenge of teleoperating robotic arms for high-degree-of-freedom (high-DoF) manipulation…
Differential Analysis of Multispectral Images for Terrain Identification
arXiv:2607.09319v1 Announce Type: new Abstract: Reliable terrain understanding is a prerequisite for autonomous robot navigation. Yet, the widespread RGB-based …
An Incremental Sampling and Segmentation-Based Approach for Motion Planning Infeasibility
arXiv:2501.11434v3 Announce Type: replace Abstract: We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion plannin…
PhysV2A: Reachability-Gated and Semantic-Mask-Constrained Feasibility Completion for Video-to-Robot Manipulation
arXiv:2607.09365v1 Announce Type: new Abstract: Video-based manipulation provides object-centric motion priors from human demonstrations, generated videos, or R…
Vascular Geometry Characterization for AI-Based Endovascular Navigation
arXiv:2607.09130v1 Announce Type: new Abstract: Mechanical thrombectomy (MT) is a time-critical intervention for acute ischemic stroke; however, access remains …