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 storiesEMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy
arXiv:2608.29896v1 Announce Type: new Abstract: A robot's effective ``mind'' need not reside in a single policy. It can emerge when specialized components perce…
Self-Aware Active Learning Enables Continual Improvement in Autonomous Driving
arXiv:2608.29772v1 Announce Type: new Abstract: Learning-based autonomous driving (AD) systems can perform reliably in familiar conditions, yet rare distributio…
Sampling-based Certified Planning with Graphs of Convex Sets
arXiv:2608.29770v1 Announce Type: new Abstract: Planners on graphs of convex sets return trajectories that are collision-free by construction, provided the conv…
$\mathcal{N}_0$-Foundation: Towards the Age of Tactile Intelligence
arXiv:2608.29601v1 Announce Type: new Abstract: We present $\mathcal{N}_0$-Foundation, a paradigm for tactile-enabled embodied manipulation, which integrates ta…
Bridging Semantics and Physics with Constrained LLMs for Safe and Trustworthy Robotic Manipulation
arXiv:2608.29379v1 Announce Type: new Abstract: A language-guided robot operating in a real kitchen must do more than produce a plan that appears correct. It mu…
SGE: Semantically-Guided Exploration for Unstructured Environments via Image-Space Waypoint Sampling
arXiv:2608.29315v1 Announce Type: new Abstract: This work introduces Semantically-Guided Exploration (SGE), a modular exploration framework for ground vehicles …
AnyWorld: Factorized Egocentric World Models for Cross-Embodiment Generalization
arXiv:2608.29242v1 Announce Type: new Abstract: Collecting contact-rich robot experiences at scale remains a major bottleneck for generalizable manipulation. Be…
Robust Semi-passive Velocity Field Control with Boundedness Guarantees for Safe Interaction between Mechanical Systems and Physical Environment
arXiv:2608.30193v1 Announce Type: cross Abstract: Controllers that guarantee energetic passivity with respect to the pair of external force and velocity realize…
Proximity3D: Shape from Capacitive Proximity on Sensing Manifold
arXiv:2608.30344v1 Announce Type: cross Abstract: Most shape reconstruction methods assume measurements defined over planar sensing domains, such as RGB images …
Scaffolding Foundation Models into Physical-World Agents Pushes the Frontier of Long-Horizon Navigation
arXiv:2608.30396v1 Announce Type: cross Abstract: Long-horizon physical-world agents must reason over distant goals while grounding decisions in reliable closed…
HorizonNet for visual terrain navigation
arXiv:2608.30471v1 Announce Type: cross Abstract: This paper investigates the problem of position estimation of unmanned surface vessels (USVs) operating in coa…
Failure or Drift? Evaluating Monocular SLAM under Synthetic and Real-World Corruptions
arXiv:2608.30690v1 Announce Type: cross Abstract: Visual SLAM is commonly evaluated on clean trajectories, although deployment failures are often caused by adve…
Driving on Memory
arXiv:2608.31029v1 Announce Type: cross Abstract: End-to-end autonomous driving models plan future trajectories from raw sensor input. While earlier driving ben…
D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations
arXiv:2503.12204v3 Announce Type: replace Abstract: This work presents an optimization method for generating kinodynamically feasible and collision-free multi-r…
Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey
arXiv:2508.13073v3 Announce Type: replace Abstract: Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimo…
Neural 3D Object Reconstruction with Small-Scale Unmanned Aerial Vehicles
arXiv:2509.12458v3 Announce Type: replace Abstract: Miniaturized Uncrewed Aerial Vehicles (UAVs) can access indoor and hard-to-reach spaces, but severe constrai…
Super4DR: 4D Radar-centric Self-supervised Odometry and Gaussian-based Map Optimization
arXiv:2512.09608v2 Announce Type: replace Abstract: Conventional odometry and mapping methods using visual or LiDAR data often struggle under poor illumination …
RLinf-USER: A Unified and Extensible System for Real-World Online Policy Learning in Embodied AI
arXiv:2602.07837v4 Announce Type: replace Abstract: Online policy learning directly in the physical world is a promising yet challenging direction for embodied …
Drift-Based Policy Optimization: Native One-Step Policy Learning for Online Robot Control
arXiv:2604.03540v4 Announce Type: replace Abstract: Diffusion policies effectively model multimodal action distributions for robotic manipulation, but their ite…
RedLight-VLA: Models for traffic-rule grounding and behavioral emphasis in driving policies
arXiv:2608.28656v1 Announce Type: new Abstract: Behavior-cloned Vision-Language-Action (VLA) driving policies struggle with rare rule-governed maneuvers at sign…
RoboGesture: Real-Time Semantic-aligned Co-Speech Gestures Generation for Humanoid Interaction
arXiv:2608.28693v1 Announce Type: new Abstract: Enabling humanoid robots to respond to human speech with synchronized and semantically meaningful gestures is fu…
Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines
arXiv:2608.28697v1 Announce Type: new Abstract: Additive manufacturing (AM) enables compact hydraulic components whose internal fluid channels can follow free-f…
RoboPhys-3D: A Comprehensive Embodied World Model Evaluation via 3D Reconstruction
arXiv:2608.28718v1 Announce Type: new Abstract: Video world models increasingly serve as data engines, action planners, and simulators for embodied AI, but conv…
Vehicle Drift Emergence: Continuous Evolution from Grip Driving to the Handling Limit via Boundary Exploration Learning Model Predictive Control
arXiv:2608.28723v1 Announce Type: new Abstract: Automated drift controllers commonly track a prescribed drift equilibrium, sideslip reference, or trajectory. Th…
Generation of High-Level Concepts in 3D Scene Graphs via Autoregressive Diffusion
arXiv:2608.28733v1 Announce Type: new Abstract: Indoor 3D Scene Graphs (3DSGs) represent environments as multi-layer hierarchies that connect observed geometric…
Dual Park-Ravani Interpolation of Rigid Motions: Acceleration-Field Continuity and Holonomic Hermite Repair
arXiv:2608.28826v1 Announce Type: new Abstract: The Park-Ravani construction generates a twice continuously differentiable, frame-invariant spline on SO(3) by e…
Brain-Language-Action (BLA) Models: Language-Conditioned EEG for Robotics Control
arXiv:2608.28967v1 Announce Type: new Abstract: Electroencephalography (EEG)-based robotic control is commonly formulated as a direct classification problem, in…
Hydra: A Navigation World Action Model with Discrete Latent Planning and Continuous Flow-Matching Execution
arXiv:2608.28995v1 Announce Type: new Abstract: World models let robots imagine possible futures, but exploiting this capability for real-time control is bottle…
GHOST in the Robots: Real-Time Exocentric Dual-Robot VR Teleoperation from Onboard Cameras
arXiv:2608.29080v1 Announce Type: new Abstract: Teleoperating multiple robots simultaneously enables additional views and coordinated control. Yet, it poses fun…
From Multi-Modal Paths to Executable Trajectories: A Trajectory Planning Framework for 4WIS Robots
arXiv:2608.29108v1 Announce Type: new Abstract: Four-wheel independent steering (4WIS) mobile robots support multiple motion modes, offering high maneuverabilit…