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
3542 storiesModel Predictive Control of Hybrid Dynamical Systems
arXiv:2604.21989v2 Announce Type: replace-cross Abstract: The problem of controlling hybrid dynamical systems using model predictive control (MPC) is formulated…
RynnValue: Scaling Robotic Value Foundation Models with Temporal Distance
arXiv:2608.09853v1 Announce Type: new Abstract: General-purpose reward models are increasingly the bottleneck for scaling robot learning, yet the recipe for lea…
GWM-VLA: Geometry-Aware Latent World Modeling for Vision-Language-Action Learning
arXiv:2608.07619v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models achieve strong robotic manipulation performance but often degrade under visu…
A Communication-Efficient Digital Twin Framework for PSO-Based Swarm Navigation and Obstacle Avoidance
arXiv:2406.19930v4 Announce Type: replace Abstract: Swarm-based target localization in industrial environments faces two major challenges: navigating obstacle-r…
Unsupervised Point Cloud Registration with Self-Distillation
arXiv:2409.07558v2 Announce Type: replace-cross Abstract: Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous…
Durability-Aware Multi-Objective Optimization of the Jansen Linkage: Trading Gait Quality Against Joint Wear
arXiv:2606.22129v2 Announce Type: replace Abstract: The Jansen linkage is a single-degree-of-freedom planar leg mechanism whose eleven "holy numbers" were evolv…
Epically Powerful: An open-source software and mechatronics infrastructure for wearable robotic systems
arXiv:2511.05033v2 Announce Type: replace Abstract: Epically Powerful is an open-source robotics infrastructure that streamlines the underlying framework of wea…
DAP-Pose: Deep Temporal Alignment and Physics-aware Cross-modal Sensor Fusion for Robust Pose Estimation
arXiv:2607.23755v1 Announce Type: cross Abstract: Robust and accurate pose estimation with multi-modal sensors is fundamental for autonomous vehicles and mobile…
Entanglement-Free Trajectory Planning for Tethered Mobile Robots with a Slack Tether
arXiv:2608.09860v1 Announce Type: new Abstract: In motion planning algorithms for tethered mobile robots, the entanglement state of the tether is a critical asp…
Removing Infrastructure Barriers in Human-Robot Collaboration Through Wireless Reconfigurable Cells
arXiv:2608.09658v1 Announce Type: new Abstract: Human-Robot Collaboration (HRC) plays a vital role in dynamic, high mix, low volume industrial scenarios such as…
Anchor-Based AI Approach for Pre-Crash Object Detection Utilizing Micro-Doppler Signatures in Automotive Radar
arXiv:2608.08701v1 Announce Type: new Abstract: Advanced automated driving presents significant potential to improve modern automotive safety systems, but it de…
PhysX-CoT: Structured Physical Reasoning from a Single Image to Simulation-Ready 3D Assets
arXiv:2608.08053v1 Announce Type: new Abstract: Simulation-ready 3D assets are central to robotics and embodied AI. Generating them from a single image is usual…
A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units
arXiv:2608.06488v1 Announce Type: new Abstract: Difficulty in haptic feedback for surgical robots has been a long-term problem for decades. In recent years, lea…
SyncSBC: Decentralized Swarm Behavior Prediction for Synchronized Autonomous Control
arXiv:2608.06587v1 Announce Type: new Abstract: Robot swarms utilize many independent limited-sensing agents to produce complex emergent behaviors without requi…
SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models
arXiv:2608.06650v1 Announce Type: new Abstract: Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the…
Hoverflie: An empirical investigation of rotor shrouds to transform micro air vehicles into multi-modal hovercraft
arXiv:2608.06707v1 Announce Type: new Abstract: Small rotorcraft intended for use indoors or around the built environment have extremely limited flight duration…
R2S-EGO: Dual-Proxy Refinement for Sparse-Capture Real-to-Sim
arXiv:2608.06827v1 Announce Type: new Abstract: Real-to-sim (R2S) depends on scene representations that render observations along robot ego trajectories, yet de…
When Coordination Becomes a Threat: Communication Attacks in LLM-Controlled Multi-Robot Systems
arXiv:2608.06830v1 Announce Type: new Abstract: Large Language Models (LLMs) are increasingly used as high-level planners in embodied multi-robot systems, enabl…
Are Visual Place Recognition Models Recognizing Places or Conditions? Distractor-Augmented Evaluation and Condition Suppression
arXiv:2608.06847v1 Announce Type: new Abstract: Long-term Visual Place Recognition (VPR) is typically evaluated by matching queries from one condition against a…
Spatiotemporal Agility: Time-Constrained Reinforcement Learning for Vision-Guided Dynamic Quadrupedal Interception
arXiv:2608.06907v1 Announce Type: new Abstract: Legged robots require robust agility to perceive and interact with complex and dynamic environments within a con…
Cross-View Action Consistency for Camera-Robust Vision-Language-Action Policies
arXiv:2608.06965v1 Announce Type: new Abstract: Vision-language-action (VLA) policies fine-tuned from a fixed scene camera can fail when the camera is moved, ev…
Representation Handoffs for OpenArm-Based Laboratory Mobile Manipulation
arXiv:2608.07154v1 Announce Type: new Abstract: Open-source robotics and foundation models have lowered the barrier to embodied AI, yet language-guided laborato…
Depth-Wise Probing and Pruning of the Planning Token in a Driving Vision-Language-Action Model
arXiv:2608.07361v1 Announce Type: new Abstract: Vision-language-action (VLA) models route driving decisions through a deep language model, but it is unclear how…
Ising Acceleration for Multi-Robot Multi-Target Planning
arXiv:2608.06803v1 Announce Type: cross Abstract: Ising machines are emerging as promising hardware for combinatorial optimization. With recent advances in CMOS…
Vernata: Self-Supervised Learning of LiDAR Point Representations
arXiv:2608.06919v1 Announce Type: cross Abstract: LiDAR serves as a primary sensing modality for robots operating in outdoor environments. However, the performa…
Synthetic LiDAR Data Generation and Deterministic Downsampling for Point Cloud Classification on the Edge
arXiv:2608.07106v1 Announce Type: cross Abstract: Deploying three-dimensional deep learning frameworks to low-power embedded processors is bottlenecked by the u…
Learning to Walk With Less: A Dyna-Style Approach to Quadrupedal Locomotion
arXiv:2509.06296v2 Announce Type: replace Abstract: Traditional on-policy reinforcement learning (RL) controllers for quadrupedal locomotion often suffer from l…
Progress-Certified Reversible Simplex Supervision of Goal-Reaching Reinforcement Learning
arXiv:2601.19499v2 Announce Type: replace Abstract: Task completion is difficult to certify when state aggregation, model mismatch, and disturbances invalidate …
Accurate Trajectory Tracking with Model Predictive Contouring Control for Bird-Scale Flapping-Wing MAVs
arXiv:2605.06042v3 Announce Type: replace Abstract: Flapping-wing micro aerial vehicles offer quieter and safer operation than rotary-wing drones, yet achieving…
STRONG-VLA: Decoupled Robustness Learning for Vision-Language-Action Models under Multimodal Perturbations
arXiv:2604.10055v3 Announce Type: replace Abstract: Despite their strong performance in embodied tasks, recent Vision-Language-Action (VLA) models remain highly…