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 storiesPicking Bins Empty: A Hierarchical Hybrid Approach with Online Self-Learning of Grasp Points for Reliable Industrial Bin-Picking
arXiv:2608.28175v1 Announce Type: new Abstract: Bin-picking is a cornerstone of modern manufacturing, yet achieving complete bin clearance without manual interv…
Probabilistic Multi-Robot Gas Source Localization with Uncalibrated Sensors: A Distributed Estimation Approach
arXiv:2608.28214v1 Announce Type: new Abstract: Estimating environmental states with multi-robot systems becomes particularly challenging when robots are equipp…
Training-free Suction Grasp Detection for Deformed Aseptic Cartons Using Vision-Language Models and Geometric Surface Scoring
arXiv:2608.28246v1 Announce Type: new Abstract: Robotic sorting of recyclable waste is challenging due to the deformable and geometrically inconsistent nature o…
MaCoPlanner: LLM-Assisted Manual-Compiled Task Planning with Proactive Safety Verification for Robotic Industrial Panel Operation
arXiv:2608.28300v1 Announce Type: new Abstract: Robotic industrial panel operation requires not only accurate control localization but also compliance with oper…
ChainSplat: A Physics-Inspired Screw-Theoretic Model for Learning Deformable Linear Object Dynamics from Multi-View RGB Videos
arXiv:2608.28570v1 Announce Type: new Abstract: Identifying the underlying dynamics and 3D geometry of deformable linear objects (DLOs), such as cables, ropes, …
Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning
arXiv:2608.28578v1 Announce Type: new Abstract: Tendon-driven hands are anthropomorphic, and moving the actuators off the joints is what makes a hand of this ca…
CARDINAL Predicts Cardiovascular Risk From Non-contrast Cardiac CT
arXiv:2608.27690v1 Announce Type: cross Abstract: Cardiovascular risk prediction remains limited by incomplete clinical data and imaging biomarkers that reduce …
LUCID: An Agentic AI Framework on Digital-Twin in the Loop for QoS-Guaranteeing Robotic Control
arXiv:2608.28437v1 Announce Type: cross Abstract: Cloud robotics relies on the timely uplink of high-volume sensing streams, yet dynamic environments continuall…
AcrossVAM1.0: Particle World Modeling for Text-Assisted Robot Video Prediction
arXiv:2608.28491v1 Announce Type: cross Abstract: Predicting robot videos requires both precise motion reasoning and preservation of high-frequency appearance, …
When Robots Mishear Us: Mapping the Safety Risks of Voice-Controlled Embodied AI
arXiv:2608.28518v1 Announce Type: cross Abstract: We investigate whether automatic speech recognition (ASR) errors in user input can lead to unsafe outputs from…
SIMPNet: Spatial-Informed Motion Planning Network
arXiv:2408.12831v2 Announce Type: replace Abstract: Current robotic manipulators require fast and efficient motion-planning algorithms to operate in cluttered e…
Differentiable Dynamics and Fast Simulation of Continuous Elastic Robotic Fish
arXiv:2509.16145v3 Announce Type: replace Abstract: Body flexibility plays a critical role in fish-like swimming, as the spatial distribution of stiffness gover…
FlowCorrect: Efficient Interactive Correction of Generative Flow Policies for Robotic Manipulation
arXiv:2602.22056v3 Announce Type: replace Abstract: Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet man…
Benefits of Low-Cost Bio-Inspiration in the Age of Overparametrization
arXiv:2604.20365v2 Announce Type: replace Abstract: While Central Pattern Generators (CPGs) and Multi-Layer Perceptrons (MLP) are widely used paradigms in robot…
Ethical Asymmetry in Human-Robot Interaction - An Empirical Test of Sparrow's Hypothesis
arXiv:2602.02745v2 Announce Type: replace-cross Abstract: The ethics of human-robot interaction (HRI) have been discussed extensively based on three traditional…
Linear Temporal Logic Translation via Human-Inspired Self-Constrained Reasoning for Robot Task Specification
arXiv:2608.28435v1 Announce Type: new Abstract: Many robotic tasks are temporally extended and demand precise specifications of subgoals, constraints, and their…
Cooperative Risk-Aware Exploration in Heterogeneous Multi-Robot Systems Using Algorithmic Altruism
arXiv:2608.28409v1 Announce Type: new Abstract: Multi-robot systems are well-positioned for exploration in hazardous environments, but effective deployment requ…
STEGNav: Spatio-Temporal Event Graph Reasoning for Multimodal Lifelong Object Navigation
arXiv:2608.28279v1 Announce Type: new Abstract: Multimodal lifelong navigation requires an agent to autonomously explore unseen environments while sequentially …
DeicticVLA: Unifying Instruction Modes Based on Language and Deictic Gestures in a Single VLA
arXiv:2608.28108v1 Announce Type: new Abstract: Vision-Language-Action models (VLAs) allow users to specify manipulation tasks in natural language, but distingu…
CAVE-NAV: VLM-Based Autonomous 3D Navigation in Underwater Cave Environments
arXiv:2608.27793v1 Announce Type: new Abstract: Autonomous navigation in underwater cave environments is essential for search-and-rescue operations, scientific …
Coordinated Motion Planning for Multi-Arm Systems via Iterative LQ Games
arXiv:2608.27726v1 Announce Type: new Abstract: Multi-agent motion planning for high-degree-of-freedom robotics manipulators in shared workspaces remains a fund…
One year in a forest: Analyzing the challenges of autonomous navigation in subarctic environments
arXiv:2608.27628v1 Announce Type: new Abstract: Subarctic regions have the potential to see increased deployment of autonomous robots in applications including …
OceanGym: A Benchmark Environment for Underwater Embodied Agents
arXiv:2509.26536v3 Announce Type: replace-cross Abstract: We introduce OceanGym, the first comprehensive benchmark for ocean underwater embodied agents, designe…
Reasoning models do not yet follow their reasoning in autonomous driving: The KITScenes LongTail Dataset
arXiv:2603.23607v3 Announce Type: replace-cross Abstract: Handling rare events is the central open challenge in autonomous driving. Reasoning models, which gene…
Object Reconstruction under Occlusion with Generative Priors and Contact-induced Constraints
arXiv:2512.05079v2 Announce Type: replace-cross Abstract: Object geometry is key information for robot manipulation. Yet, object reconstruction is a challenging…
Transformer-Based Autonomous Driving Models and Deployment-Oriented Compression: A Survey
arXiv:2304.10891v4 Announce Type: replace-cross Abstract: Transformer-based models are becoming a central paradigm in autonomous driving because they can captur…
Energy-Efficient Collaborative Transport of Tether-Suspended Payloads via Rotating Equilibrium
arXiv:2603.06955v2 Announce Type: replace Abstract: Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weigh…
Receding Fixed-Horizon Optimization for Near-Time-Optimal Trajectory Planning and Control
arXiv:2503.11072v4 Announce Type: replace Abstract: Time-optimal trajectory planning and control is central for autonomous vehicles, yet its application and rea…
PanelShield: Verifiable Closed-Loop Safe Planning for Robotic Industrial Panel Operation
arXiv:2608.28305v1 Announce Type: new Abstract: Industrial panel operation is knowledge-intensive and safety-critical. Beyond control recognition and action gen…
Spatial-Semantic Reasoning using Large Language Models for Efficient UAV Search Operations
arXiv:2608.28270v1 Announce Type: new Abstract: We present a real-time semantic navigation framework for Unmanned Aerial Vehicles (UAVs) focused on improving ti…