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 storiesCoLT-Drive: Counterfactual Long-Tail Benchmarking and Knowledge-Preserving Adaptation for Driving Affordance Prediction
arXiv:2609.00242v1 Announce Type: cross Abstract: Long-tail autonomous driving failures are often framed as rare-object recognition errors. We argue that this v…
IMPACT: Attention Is the Interaction Map for Scalable Interaction-Aware World Model Training
arXiv:2609.00161v1 Announce Type: cross Abstract: World models have made remarkable progress in action-conditioned future prediction for embodied agents, yet st…
Deploying and Evaluating a Smart-Agriculture Agentic Engine for Full-Season Soybean Farm Operations
arXiv:2609.00106v1 Announce Type: cross Abstract: This paper presents FAIRY, a full-stack smart-agriculture agent system developed for and deployed to an operat…
Evaluating Multimodal LLMs as Generalist Vision-Language-Action Agents for Drone Control: Commanding, Approaching, Tracking and Searching
arXiv:2609.01404v1 Announce Type: new Abstract: Multimodal Large Language Models (MLLMs) are strong perceivers of images and video. We ask how far that reach ex…
TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
arXiv:2603.12665v3 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. Howeve…
Parallel Reference-Centric Continuous-Time Relative Localization with Augmented Clamped Non-Uniform B-Splines
arXiv:2602.22006v3 Announce Type: replace Abstract: Accurate relative localization is critical for multi-robot cooperation. In robot groups, measurements from d…
Dual Process Motion Planning
arXiv:2609.01260v1 Announce Type: cross Abstract: Robotic systems are deeply embedded in both industry and everyday life, where they are expected to act with sp…
Federated Trust for Embodied Robot Capability Marketplaces
arXiv:2609.00404v1 Announce Type: cross Abstract: Robot capability marketplaces, the "app store for robot skills," are emerging as the deployment vector for LLM…
Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation
arXiv:2609.01596v1 Announce Type: new Abstract: Real-world robotic assembly at sub-millimeter tolerances demands spatial precision, compliant interaction, and r…
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots
arXiv:2609.01518v1 Announce Type: new Abstract: There is tremendous value in humanoid robots taking on physically demanding, hazardous, and repetitive work in s…
Does Imitation Learning Preserve Temporal Robustness in Dexterous Manipulation? An Expert-Learner Comparison Across Task Execution Speeds
arXiv:2609.01453v1 Announce Type: new Abstract: Dexterous manipulation policies learned by imitation are typically evaluated for robustness to variation in scen…
HitMem: Hierarchical Temporal 3D Memory with Multi-Modal Context-Aware Retrieval for Dynamic Environments
arXiv:2609.00950v1 Announce Type: new Abstract: Executing long-term tasks in dynamic environments requires embodied agents to maintain robust and adaptive 3D sc…
On Global Regulatability of Robot Manipulators by Classical PID
arXiv:2609.01207v1 Announce Type: new Abstract: This paper studies a class of uncertain multi-input multi-output (MIMO) nonlinear systems using extended PID (EP…
Knowing When to Stop: Adaptive Action Chunking via Internal Cross-Attention Dynamics in VLAs
arXiv:2609.00908v1 Announce Type: new Abstract: Action chunking is a standard execution strategy in modern Vision-Language-Action (VLA) frameworks, but fixed ex…
Behavior--Realization Separation for Constrained Physical Human--Robot Interaction
arXiv:2609.00669v1 Announce Type: new Abstract: Physical human--robot interaction software often couples desired-behavior specification with constrained realiza…
AM-Bench: A Modular Simulation Suite and Benchmark for Aerial Manipulation Policy Learning
arXiv:2609.00641v1 Announce Type: new Abstract: Standardized benchmarks have played a central role in advancing robot manipulation learning, yet most focus on g…
A Wearable Pneumatic Device for Continuous, Closed-Loop, Bidirectional Tactile Interaction
arXiv:2609.00612v1 Announce Type: new Abstract: We present a system of two wearable pneumatic haptic devices that supports continuous, closed-loop, bidirectiona…
Potential-Guided Particle Steering for Negation-Constrained Dexterous Grasping
arXiv:2609.00555v1 Announce Type: new Abstract: Language-driven dexterous grasp models, such as DextER, perform well when instructions specify where to grasp, b…
Geometric analysis of generic 3R robots, and necessary and sufficient conditions for a class of orthogonal robots to have four IKS
arXiv:2609.00316v1 Announce Type: new Abstract: The kinematic analysis of a generic 3R robot has been investigated with multiple approaches in the past. The alg…
Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra
arXiv:2609.00311v1 Announce Type: new Abstract: The inverse kinematics of generic 3R robots has been investigated through multiple approaches, mainly algebraic …
Beyond Object Selection:Markerless Gaze-based Robot Placement at Arbitrary Position
arXiv:2609.00478v1 Announce Type: new Abstract: Gaze-based assistive manipulation typically supports object selection, while arbitrary-position placement requir…
Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits
arXiv:2609.00539v1 Announce Type: new Abstract: Animals' body morphology shapes the gait patterns they can perform, where mechanical resonance reduces the need …
Fleets Need a Context Plane: Rethinking Cooperative Perception for Autonomous Drones
arXiv:2609.00659v1 Announce Type: new Abstract: Cooperative perception allows a drone fleet to combine observations from multiple viewpoints. However, existing …
A Compact Robotic Finger with 2-DoF MCP Joint Embedding DoF-Selective Passive Continuously Variable Transmission for Wide Force-Speed Operating Range
arXiv:2609.00769v1 Announce Type: new Abstract: This letter presents a compact two-degree-of-freedom (DoF) robotic finger with a flexion-selective passive conti…
Connectivity-Aware Graph Extension for Decentralized Multi-Robot Exploration
arXiv:2609.00804v1 Announce Type: new Abstract: Exploring unknown environments with multiple UAVs requires coordination under intermittent communication, making…
Non-Prehensile Throwing: A Reinforcement Learning Perspective
arXiv:2609.00771v1 Announce Type: new Abstract: Robotic throwing enables fast object transport and extends a robot's reachable workspace beyond traditional pick…
One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems
arXiv:2609.00751v1 Announce Type: new Abstract: Conventional soft robot actuators excel in compliance, but their uncontrolled deformations compromise accuracy a…
Context-Aware Intelligent Vehicles
arXiv:2609.00682v1 Announce Type: new Abstract: Intelligent vehicles increasingly support adaptive applications beyond driving themselves, ranging from context-…
ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control
arXiv:2609.00677v1 Announce Type: new Abstract: We present ADAPT, an end-to-end framework for interactive, text-conditioned humanoid whole-body control. Unlike …
Human-robot conversation with multiple participants in noisy public spaces
arXiv:2609.00648v1 Announce Type: new Abstract: For noisy real-world environments such as those in open public spaces, spoken dialogue systems for both autonomo…