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 storiesProxPI: Proximal Prior Injection for Sampling-Based MPC under Learned-Prior Mismatch
arXiv:2609.00941v1 Announce Type: new Abstract: Combining learned policies with model predictive control can leverage learned task priors while retaining online…
Accelerating Reinforcement Learning via MPC Solver-Gradient Guidance for Weights-varying MPC
arXiv:2609.01061v1 Announce Type: new Abstract: In Model Predictive Control (MPC), cost-function weights shape closed-loop behavior, yet changing conditions oft…
EmbodiedSkills: A Unified Framework for Orchestrating, Training, and Deploying VLA Agents
arXiv:2609.01281v1 Announce Type: new Abstract: Vision-language-action (VLA) models map visual observations and language instructions directly to robot actions,…
Autonomous robotic bridging using distributed swarm control without inter-agent communication
arXiv:2609.01394v1 Announce Type: new Abstract: We describe SCARAB--Swarm-Capable Autonomous Robotic Aquatic Bridging. Using distributed swarm control and multi…
SG-AMP: Scene-Graph-Guided Active Perception and Semantics-Aware Motion Planning for Pepper Plants
arXiv:2609.01579v1 Announce Type: new Abstract: We present SG-AMP, integrating robust depth completion with input-conditioned uncertainty, persistent panoptic m…
Counterfactual Closing-Acceleration Risk: An Anticipatory Surrogate Safety Measure for the Blind Region of Car-Following
arXiv:2609.00370v1 Announce Type: cross Abstract: Surrogate safety measures allow road-safety assessment from trajectory data in which crashes are absent, yet t…
Importance and methods to control, vary, and characterize mud strength for studying locomotion
arXiv:2609.00563v1 Announce Type: cross Abstract: Animals and robots encounter mud at the water-land interface. Like sand, mud can stay solid or flow like a flu…
MeRoPE: Metric Rotary Position Embedding for Camera-Controlled Video Generation
arXiv:2609.01252v1 Announce Type: cross Abstract: In camera-controlled video generation, geometry-aware positional encodings condition tokens on camera extrinsi…
MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators
arXiv:2602.16365v2 Announce Type: replace Abstract: Flexible endoscopic continuum manipulators offer high dexterity and access to complex anatomy, but nonlinear…
BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection
arXiv:2603.10529v2 Announce Type: replace Abstract: Litter pollution represents a growing environmental problem affecting natural and urban ecosystems worldwide…
Spiking Patches: Asynchronous, Sparse, and Efficient Tokens for Event Cameras
arXiv:2510.26614v2 Announce Type: replace-cross Abstract: We propose tokenization of events and present a tokenizer, Spiking Patches, specifically designed for …
Obstacle-Aware Autonomous Coverage and Navigation for Outdoor Robots
arXiv:2609.01384v1 Announce Type: new Abstract: Long-duration outdoor coverage with autonomous platforms remains challenging beyond classical planning: deployme…
Scalable Rao-Blackwellized Online Planning for High-Dimensional POMDPs
arXiv:2609.01351v1 Announce Type: new Abstract: Online planning under uncertainty remains a fundamental challenge for robotic systems operating in partially obs…
Integrating Traffic Noise Emission Modelling into Variable Speed Limit Control
arXiv:2609.01339v1 Announce Type: new Abstract: Road traffic noise remains a major environmental challenge, yet most speed management strategies are static and …
DNC-IMM: Early Lane-Change Intention Recognition via Neural Calibration Based on Driving Context Information
arXiv:2609.01120v1 Announce Type: new Abstract: Early recognition of lane-change intention is essential for proactive decision-making in autonomous driving and …
Adaptive Depth-Map-Guided Bundle Adjustment for Correspondence-Free Multi-View Point Cloud Registration
arXiv:2609.01089v1 Announce Type: new Abstract: Robotic processing of irregular steel scrap requires dense 3-D measurement to replace manual visual assessment i…
VerNav: Verifier-First Low-Latency Vision-and-Language Navigation
arXiv:2609.00920v1 Announce Type: new Abstract: Vision-and-Language Navigation (VLN) requires an agent to navigate through unseen 3D environments according to n…
DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments
arXiv:2609.00619v1 Announce Type: new Abstract: In indoor environments, object positions frequently change due to human activities or embodied-agent interaction…
Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion
arXiv:2609.00906v1 Announce Type: new Abstract: High-precision insertion remains a fundamental challenge in robotic manipulation due to the strict alignment req…
Vision-Based Leader-Follower Formation Control for Cooperative UAVs in GPS-Degraded Environments
arXiv:2609.01420v1 Announce Type: new Abstract: Cooperation in multi-UAV systems requires reliable relative perception so that follower vehicles can maintain fo…
Optimal UGV-UAV Cooperative Partitioning and Inspection of Shortest Paths
arXiv:2604.25284v3 Announce Type: replace Abstract: We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aer…
DynSSM: A Physics-Aware State-Space Memory Framework for Learning Vehicle Dynamics
arXiv:2605.08489v2 Announce Type: replace Abstract: Accurate modeling of nonlinear vehicle dynamics is essential for high-speed autonomous racing, where control…
EAAE: Energy-Aware Autonomous Exploration for UAVs in Unknown 3D Environments
arXiv:2603.15604v2 Announce Type: replace Abstract: Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission…
From Legible to Inscrutable Trajectories: (Il)legible Motion Planning Accounting for Multiple Observers
arXiv:2602.09227v2 Announce Type: replace Abstract: In cooperative environments, such as in factories or assistive scenarios, it is important for a robot to com…
MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robots
arXiv:2511.16949v2 Announce Type: replace Abstract: Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environmen…
Hydra: Marker-Free RGB-D Hand-Eye Calibration
arXiv:2504.20584v2 Announce Type: replace Abstract: This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel impleme…
Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration
arXiv:2409.20184v3 Announce Type: replace Abstract: What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in…
REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs
arXiv:2609.01215v1 Announce Type: cross Abstract: Most vision-language-action (VLA) models -- OpenVLA, $\pi_0$, RT-2, RDT-1B -- are monolithic: they emit raw mo…
Design and Implementation of a Kalman Filter-Infused Algorithm for Tilt Estimation
arXiv:2609.00730v1 Announce Type: cross Abstract: Accurate tilt angle estimation is important in many engineering applications, such as robotics, motion trackin…
Mudskippers use tail thrusting to help crutching to move on mud of various wetness
arXiv:2609.00564v1 Announce Type: cross Abstract: At the water-land interface, amphibious fishes encounter wet flowable substrates made of granular solid-water …