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 storiesPlanning a Shared Modular Fixture Layout Across Robotic Disassembly Stages
arXiv:2608.27151v1 Announce Type: new Abstract: Stable support remains challenging in robotic disassembly of irregularly shaped products. As components are prog…
Riemann-1.0: An Embodied World Action Model for Physical AI
arXiv:2608.27033v1 Announce Type: new Abstract: We introduce Riemann-1.0, a fully causal autoregressive World Action Model for embodied intelligence. Riemann-1.…
4DSynth: Controllable Procedural World Synthesis for Dynamic Embodied Simulation
arXiv:2608.26947v1 Announce Type: new Abstract: Embodied agents need environments that are visually diverse, physically interactive, and changing over time. Pro…
Beyond Shallow-Water Photorealism: Physically and Sensor-Grounded Simulation for Deep-Sea Robotics
arXiv:2608.26888v1 Announce Type: new Abstract: Many recent underwater simulators emphasize visual realism at the expense of physical fidelity, focusing on shal…
Active Surface-Driven Reconfigurable Gripper: Robust Grasping and Sequential Manipulation of Thin Objects
arXiv:2608.26883v1 Announce Type: new Abstract: Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers r…
PredVLA: A Sub-Million-Parameter Predictive-Coding Policy for Robot Manipulation
arXiv:2608.26673v1 Announce Type: new Abstract: Large pretrained vision-language-action models dominate modern robot-manipulation benchmarks, but it remains unc…
FLARE: A Failure-Aware Framework for Autonomous Correction and Recovery in Visual-Language Robotic Manipulation
arXiv:2608.26645v1 Announce Type: new Abstract: Vision-Language-Action Models~(VLAs) have demonstrated significant promise in generalizing to complex, long-hori…
RTNav: Towards Real-Time Zero-Shot Object Navigation
arXiv:2608.26496v1 Announce Type: new Abstract: Navigation in unknown environments to find unforeseen objects has become increasingly feasible with capable visi…
Cross-Platform Benchmark of Neural 3D Reconstruction for Autonomous Laboratory Robots
arXiv:2608.26383v1 Announce Type: new Abstract: Autonomous robots performing laboratory tasks depend on 3D reconstruction pipelines that can turn raw camera str…
Dispersive Forward Tree Search for Optimal Control: Coverage, Complexity, and Computation
arXiv:2608.26314v1 Announce Type: new Abstract: Steering-based planners require solutions to state-to-state boundary value problems, which can be inaccessible f…
Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions
arXiv:2608.26505v1 Announce Type: new Abstract: The Poppy Humanoid is an open-source, low-cost robot suitable for research and education in artificial intellige…
Memory Anchors for Continual Robot Learning
arXiv:2608.26545v1 Announce Type: new Abstract: Robot policies deployed in the wild should have the capability to continually learn new tasks without forgetting…
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
arXiv:2608.26583v1 Announce Type: new Abstract: Humans traverse complex terrain over long distances without losing balance, whereas perceptive humanoid policies…
Beyond the Proving Ground: Independent Public-Road Testing of Assisted Lane Change Systems using LiDAR
arXiv:2608.26669v1 Announce Type: new Abstract: Testing of commercial Advanced Driver Assistance Systems is essential to ensure safety and compliance during typ…
Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties
arXiv:2608.26739v1 Announce Type: new Abstract: Accurate trajectory tracking in cable-driven lower-limb rehabilitation robots is challenging because model uncer…
A Very Big Video Reasoning Suite
arXiv:2602.20159v3 Announce Type: replace-cross Abstract: Rapid progress in video models has largely focused on visual quality, leaving their reasoning capabili…
Accurate Measurement of 3D and 2D Circular Centers With Application to LiDAR-Camera Extrinsic Calibration
arXiv:2511.06611v2 Announce Type: replace-cross Abstract: Accurate measurement of circular centers is a fun-damental geometric sensing problem in instrumentatio…
Residual Reward Models: Leveraging Prior Knowledge for Efficient Preference-based Reinforcement Learning in Robotics
arXiv:2507.00611v2 Announce Type: replace-cross Abstract: Preference-based Reinforcement Learning (PbRL) provides a promising alternative to heuristic reward de…
STITCH-OPE: Trajectory Stitching with Guided Diffusion for Off-Policy Evaluation
arXiv:2505.20781v2 Announce Type: replace Abstract: Off-policy evaluation (OPE) estimates the performance of a target policy using offline data collected from a…
Pneumatic-Tomographic Tactile Skin for Multicontact Localization and Force Estimation
arXiv:2503.13036v3 Announce Type: replace Abstract: Tactile skins based on electrical impedance tomography (EIT) enable large-area contact localization with few…
Marine Autonomous Vehicle Fleet Scheduling to Maximise Scientific Impact
arXiv:2608.27271v1 Announce Type: cross Abstract: The marine science community increasingly relies on Marine Autonomous Vehicles (MAVs) to collect the critical …
Generative Semantic Scene Completion
arXiv:2608.26737v1 Announce Type: cross Abstract: Outdoor LiDAR semantic scene completion (SSC) recovers a dense semantic voxel grid from a scan observing 1% of…
CLAP: Cross-Embodiment Video World Models are Zero-Shot Physical Simulators
arXiv:2608.27406v1 Announce Type: new Abstract: State-of-the-art action-conditioned video models are typically restricted to a single robot embodiment, preventi…
Embodied Scene Rearrangement Planning
arXiv:2608.27371v1 Announce Type: new Abstract: This paper introduces Embodied Scene Rearrangement Planning (ESRP), a novel task requiring embodied agents to re…
Active sensing to characterize the heterogeneity of plant stress
arXiv:2608.27088v1 Announce Type: new Abstract: While most phenotyping platforms rely primarily on image-based measurements, advanced plant characterization req…
TemporalFlow-VLA: Learning Physically Grounded Execution History for Long-Horizon Robot Manipulation
arXiv:2608.26821v1 Announce Type: new Abstract: Vision-language-action (VLA) models leverage pretrained vision-language representations for robot control, yet s…
Rapid On-Robot Learning for Dynamic Manipulation Skills: Robot Juggling
arXiv:2608.26800v1 Announce Type: new Abstract: We present an online learning framework that enables a bimanual robot to acquire diverse juggling patterns direc…
Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning
arXiv:2608.26622v1 Announce Type: new Abstract: Achieving stable, sustained grasping with soft robotic hands remains a fundamental challenge. Compliance enables…
TrapVLA: Trapping Vision-Language-Action Models in Configured Failure Modes
arXiv:2608.26578v1 Announce Type: new Abstract: This work introduces Configured Failure Trapping, a novel backdoor attack task against Vision-Language-Action (V…
Constraint-Aware Physics-Informed Neural Networks for Static Shape Estimation of Co-Manipulative Continuum Robots
arXiv:2608.26273v1 Announce Type: new Abstract: Static shape estimation of co-manipulative continuum robots (CCRs) is challenging because the continuum arms and…