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 storiesThe Potential of Haptic Foundation Models
arXiv:2608.28664v1 Announce Type: new Abstract: Despite the success of foundation models in language and vision, their expansion into embodied AI is bottlenecke…
Cognitively-Grounded On-Device Runtime Learning for Ground Robots in Unknown Physical Environments
arXiv:2608.28677v1 Announce Type: new Abstract: This paper presents \ul{CogRun}, a framework that enables safety-critical ground robots to perform cognitively-g…
Adversarial Calibration Attack on Autonomous Vehicles
arXiv:2608.28778v1 Announce Type: new Abstract: Autonomous vehicles (AVs) rely on accurate camera-LiDAR calibration for multimodal sensor fusion. In practice, c…
Coding What Matters: A Semantic-Aware Memory Interface for Energy-Efficient Perception in Autonomous Vehicles
arXiv:2608.29000v1 Announce Type: new Abstract: Autonomous vehicles stream high-resolution surround-camera frames into memory before perception runs. This senso…
A Degradation-Tolerance Benchmark for Camera-Only End-to-End Driving
arXiv:2608.29005v1 Announce Type: new Abstract: Camera-only end-to-end (E2E) driving models are nearing deployment, where the camera stream is degraded by blur,…
Teaching Robot Policies to Humans Using Erroneous Examples
arXiv:2608.29023v1 Announce Type: new Abstract: Human-robot collaboration describes the process of humans and autonomous agents working together to accomplish c…
World Model Control by Trajectory Reachability Metrics
arXiv:2605.22164v2 Announce Type: replace-cross Abstract: Latent world models can learn representations that contain information needed for control, while the d…
On Adversarial Attacks In Acoustic Drone Localization
arXiv:2502.20325v3 Announce Type: replace-cross Abstract: Multi-rotor aerial autonomous vehicles (MAVs, more widely known as "drones") have been generating incr…
Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems
arXiv:2608.30874v1 Announce Type: cross Abstract: This paper considers decentralized contingency MPC for multi-agent control under a state-only information patt…
A Hybrid PEM-GP Framework for Uncertainty-Aware System Identification of Quadcopters
arXiv:2608.30433v1 Announce Type: new Abstract: Accurate dynamic models play a central role in achieving reliable control of quadcopters. Classical system ident…
Behavior-Skill: A Fine-Grained Benchmark for Evaluating Vision-Language-Action Policies in Long-Horizon Tasks
arXiv:2608.30536v1 Announce Type: new Abstract: Reliable execution of long-horizon mobile manipulation tasks remains challenging because overall task success de…
CIG-RL: Curiosity-Driven Information-Guided Reinforcement Learning for Source Term Estimation in Uncertain Environments
arXiv:2608.30673v1 Announce Type: new Abstract: Source term estimation (STE), which aims to estimate key properties of the gas source, is essential for identify…
Zeva: In-Context Causal Learning for Generalizable Embodied Manipulation
arXiv:2608.30880v1 Announce Type: new Abstract: Generalizable embodied manipulation remains difficult to achieve through pretraining alone, due to unseen physic…
Autonomously Acquiring Robot Manipulation Skills with Language-Driven Quality-Diversity
arXiv:2608.30983v1 Announce Type: new Abstract: Quality-diversity (QD) algorithms have been gaining traction in robot learning, where diverse motion primitive l…
Goal Staying Makes Sum-of-Costs Anonymous Multi-Agent Path Finding NP-Hard
arXiv:2608.28658v1 Announce Type: cross Abstract: Anonymous Multi-Agent Path Finding (AMAPF) admits polynomial-time network-flow algorithms for several objectiv…
PrefMoE: Robust Preference Modeling with Mixture-of-Experts Reward Learning
arXiv:2605.00384v2 Announce Type: replace Abstract: Preference-based reinforcement learning offers a scalable alternative to manual reward engineering by learni…
A Terrain-Adaptive epsilon-Constraint MPC for Uneven Terrain Kinodynamic Planning
arXiv:2605.21188v2 Announce Type: replace Abstract: Kinodynamic planning for car-like vehicles on uneven terrain requires simultaneously optimizing competing ob…
T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion
arXiv:2606.06944v2 Announce Type: replace Abstract: Achieving both anthropomorphic naturalness and rich motion diversity during terrain traversal remains a fund…
Perturbation-Based Epistemic Uncertainty for Failure Detection in Vision-Language-Action Models
arXiv:2606.20754v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have shown strong performance in robotic manipulation, but reliable unce…
BikeScenes: LiDAR Semantic Segmentation for Bicycles
arXiv:2510.25901v2 Announce Type: replace-cross Abstract: The vulnerability of cyclists, exacerbated by the rising popularity of faster e-bikes, motivates adapt…
AGM: Achievement-Grounded Memory for Closed-Loop Agents with Frozen VLA Policies
arXiv:2608.29537v1 Announce Type: new Abstract: Frozen vision-language-action (VLA) policies offer broad manipulation skills but execute open-loop action chunks…
Module Number Adaptive Visual Shape Control for Serial Modular Soft Robots
arXiv:2608.29547v1 Announce Type: new Abstract: Image based shape control provides a simple means of controlling the whole body configuration of soft robots. Ho…
Background-Free Objectness Learning for Class-Agnostic Detection
arXiv:2608.29232v1 Announce Type: cross Abstract: Object detectors are typically trained under closed-set supervision, where unlabeled regions are implicitly tr…
PathBridger: Subgoal Bridges for Offline Goal-Conditioned Reinforcement Learning
arXiv:2608.29061v1 Announce Type: cross Abstract: Offline goal-conditioned reinforcement learning (GCRL) aims to learn policies for reaching diverse goals entir…
Understanding Temporal Semantic Stability in Open-Vocabulary UAV Perception through Metric 3D Fusion
arXiv:2608.28665v1 Announce Type: cross Abstract: Recent open-vocabulary segmentation models have advanced semantic perception for UAVs, but predictions from mo…
LightNav-0: Eliciting VLM Spatial Intelligence for Generalist Embodied Navigation
arXiv:2608.30935v1 Announce Type: new Abstract: Embodied navigation requires agents to translate heterogeneous goals and visual observations into actions across…
SleepWalking: Privileged Representation Shaping for End-to-End Blind Locomotion in Legged Robots
arXiv:2608.30883v1 Announce Type: new Abstract: Partially observable locomotion requires a policy to act when task-relevant properties of the robot--environment…
GAFT: Geo-Anchored Fine-Tuning for Hazard Identification from Rare Failures
arXiv:2608.30858v1 Announce Type: new Abstract: Off-road navigation can fail when physical structures induce irrecoverable states such as high-centering or entr…
Temporal Forcing: 4D Representation Alignment for Vision-Language-Action Models
arXiv:2608.30643v1 Announce Type: new Abstract: Recent vision-language-action (VLA) methods improve manipulation performance by aligning their representations w…
Motus2: A Self-Evolving General World Model for Dexterous Manipulation
arXiv:2608.30237v1 Announce Type: new Abstract: General embodied agents should perceive, predict, act, evaluate, and improve within a unified system. World mode…