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
3542 storiesMachine-Learning-Based Diagnostic Framework for Passive Ultrasonic Detection of Railway Wheel Defects
arXiv:2608.08301v1 Announce Type: cross Abstract: Reliable identification of railway wheel defects is important for safety and maintenance. This study develops …
Preview-Based Relative-Motion Control of an Insertion Tool for Neural-Thread Placement in Pulsating Tissue
arXiv:2608.08860v1 Announce Type: cross Abstract: Robotic neural-thread placement requires regulating the insertion-tool tip relative to tissue that moves with …
Intuitive Hand Positional Guidance Using McKibben-Based Surface Tactile Sensations to Shoulder and Elbow
arXiv:2608.09167v1 Announce Type: cross Abstract: Hand positional guidance with intuitive perception is crucial for enhancing user interaction and task performa…
Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space
arXiv:2608.09177v1 Announce Type: cross Abstract: In recent years, systems that utilize immersive space have been developed in various fields. Immersive spaces …
Real-Time Nonlinear MPC via Sequential Quadratic Programming with Structure-Exploiting ADMM and Interior-Point Methods for Underactuated Double-Pendulum Swing-Up
arXiv:2608.09272v1 Announce Type: cross Abstract: The 4th "AI Olympics with RealAIGym" competition, to be held at IJCAI-ECAI 2026 in Bremen, challenges particip…
CADEngBench: It Looks Like CAD, but Does It Work? Evaluating Parametric Design, Assembly Reasoning, and Physics Simulation
arXiv:2608.09296v1 Announce Type: cross Abstract: A CAD model is not engineering-grade merely because it looks correct. It must satisfy design requirements, res…
Trajectory-Induced Self-Calibration for Hidden-Target Localization Through an Unknown-Pose Range-Bearing Relay
arXiv:2608.09464v1 Announce Type: cross Abstract: This paper studies hidden-target localization from range-bearing packets reported by a relay beacon whose glob…
A Height-Constrained 2-Point Minimal Solver for Pose Estimation from Active LED Markers with Event Cameras
arXiv:2608.09520v1 Announce Type: cross Abstract: In many autonomous applications requiring real-time localization, active marker-based systems are preferred du…
GenTrack3: Hybrid Stochastic-Deterministic Online Multi-Object Tracking with Cluster-Aware Association
arXiv:2608.09581v1 Announce Type: cross Abstract: Multi-object tracking (MOT) involves maintaining consistent target identities as objects dynamically enter and…
A Semantic Communication Approach to Fiducial Marker Processing in 5G-Enabled Edge SLAM
arXiv:2608.09620v1 Announce Type: cross Abstract: Autonomous robots increasingly rely on edge computing to offload computationally intensive perception tasks wh…
Satellite Trajectory Optimization via Proximal Policy Optimization for Space Debris Avoidance
arXiv:2608.09628v1 Announce Type: cross Abstract: Collision avoidance systems are commonly used to avoid fragmentation events occurring in Low-Earth Orbit (LEO)…
REMAC: Self-Reflective and Self-Evolving Multi-Agent Collaboration for Long-Horizon Robot Manipulation
arXiv:2503.22122v2 Announce Type: replace Abstract: Vision-language models (VLMs) have demonstrated remarkable capabilities in robotic planning, particularly fo…
X2C: A Dataset Featuring Nuanced Facial Expressions for Realistic Humanoid Imitation
arXiv:2505.11146v3 Announce Type: replace Abstract: Fine-grained facial expression transfer from humans to humanoid agents presents a unique pattern recognition…
Analysis and experiments of the dissipative Twistcar: direction reversal and asymptotic approximations
arXiv:2506.19112v3 Announce Type: replace Abstract: Underactuated wheeled vehicles are commonly studied as nonholonomic systems with periodic actuation. Twistca…
Calib3R: Hand-Eye Calibration and 3D Metric-Scaled Scene Reconstruction with 3D Foundation Models
arXiv:2509.08813v2 Announce Type: replace Abstract: Robots often rely on RGB images for tasks like manipulation. However, reliable interaction typically require…
SUM-AgriVLN: Spatial Understanding Memory for Agricultural Vision-and-Language Navigation
arXiv:2510.14357v2 Announce Type: replace Abstract: Agricultural robots are emerging as powerful assistants across a wide range of agricultural tasks, neverthel…
CLEAR: A Semantic-Geometric Terrain Abstraction for Large-Scale Unstructured Environments
arXiv:2601.13361v2 Announce Type: replace Abstract: Long-horizon navigation in unstructured environments demands terrain abstractions that scale to tens of squa…
HyperDet: 3D Object Detection with Hyper 4D Radar Point Clouds
arXiv:2602.11554v4 Announce Type: replace Abstract: How far can 3D object detection go using 4D radar alone? Despite offering weather-robust and velocity-aware …
AnyCamVLA: Zero-Shot Camera Adaptation for Viewpoint Robust Vision-Language-Action Models
arXiv:2603.05868v2 Announce Type: replace Abstract: Despite remarkable progress in Vision-Language-Action models (VLAs) for robot manipulation, these large pre-…
Knowing When to Ask: Resolving Uncertainty in Human-Robot Joint Planning via Explicit Dialogue and Implicit Intent Cues
arXiv:2603.07822v2 Announce Type: replace Abstract: Effective human-robot collaboration in open-world environments requires joint planning under uncertainty abo…
Communication Outage-Resistant UUV State Estimation: A Variational History Distillation Approach
arXiv:2603.29512v3 Announce Type: replace Abstract: The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acous…
Learning When to See and When to Feel: Adaptive Vision-Torque Fusion for Contact-Aware Manipulation
arXiv:2604.01414v2 Announce Type: replace Abstract: Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and …
Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning
arXiv:2605.01860v2 Announce Type: replace Abstract: This paper explores the benefits of computing arborescent trajectories (trajectory-trees) instead of commonl…
Anomaly-Informed Confidence Calibration for Vision-Based Safety Prediction
arXiv:2605.21109v2 Announce Type: replace Abstract: Reliable confidence estimates are important for safely deploying vision-based controllers in autonomous raci…
Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion
arXiv:2606.00637v3 Announce Type: replace Abstract: Although reinforcement learning has significantly advanced humanoid locomotion, perceptive policies still st…
OmniV2X: A Generative Foundation Planner for Efficient End-to-End Cooperative Driving
arXiv:2606.21165v2 Announce Type: replace Abstract: We present OmniV2X, a generative foundation model for vehicle-to-everything (V2X) cooperative driving. The m…
Optimal Multi-Agent Path Finding in Continuous Time
arXiv:2508.16410v3 Announce Type: replace-cross Abstract: Continuous-time Conflict Based Search (CCBS) has been widely used as an exact baseline for Continuous-…
RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot Guided Retrieval-Augmented Generation
arXiv:2601.10168v3 Announce Type: replace-cross Abstract: Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging s…
DiSCo: Diffusion Sequence Copilots for Shared Autonomy
arXiv:2603.22787v2 Announce Type: replace-cross Abstract: Shared autonomy combines human user and AI copilot actions to control complex systems such as robotic …
Critic-Free Deep Reinforcement Learning for Maritime Coverage Path Planning on Irregular Hexagonal Grids
arXiv:2603.28385v2 Announce Type: replace-cross Abstract: Maritime surveillance missions, such as search and rescue and environmental monitoring, rely on the ef…