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
6171 storiesReproducible Dynamic Parameter Identification for a Low-Cost Robot Arm: A Positive-Definiteness Audit for Model Acceptance
arXiv:2605.15949v3 Announce Type: replace Abstract: Dynamic parameter identification of low-cost robot arms is challenging because limited sensing and drivetrai…
An Open Panoramic Aerial Robot: Airframe-Integrated Multi-Fisheye Sensing, Onboard ERP Formation, and Field Evaluation
arXiv:2609.02319v3 Announce Type: replace Abstract: We present an open panoramic aerial robot with four synchronized fisheye cameras integrated into a carbon-fi…
EA-WM: Event-Aware Generative World Model with Structured Kinematic-to-Visual Action Fields
arXiv:2605.06192v2 Announce Type: replace-cross Abstract: Pretrained video diffusion models provide powerful spatiotemporal generative priors, making them a nat…
MessyKitchens: Contact-rich object-level 3D scene reconstruction
arXiv:2603.16868v2 Announce Type: replace-cross Abstract: Monocular 3D scene reconstruction has recently seen significant progress. Powered by the modern neural…
Duet: Dual-Robot Understanding via Efficient Teaching
arXiv:2606.20990v2 Announce Type: replace Abstract: Dual-robot collaboration enables tasks that exceed the reach and payload of a single robot, such as collabor…
Spiking Neural Network Control of a Flapping-Wing Robot on Resource-Constrained Hardware
arXiv:2605.19430v3 Announce Type: replace Abstract: Flapping-Wing Micro Aerial Vehicles (FWMAVs) provide exceptional maneuverability and aerodynamic efficiency …
DreamAvoid: Critical-Phase Test-Time Dreaming to Avoid Failures in VLA Policies
arXiv:2605.11750v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models are often brittle in fine-grained manipulation, where minor action error…
MR.ScaleMaster: Scale-Consistent Collaborative Mapping from Crowd-Sourced Monocular Videos
arXiv:2604.11372v4 Announce Type: replace Abstract: Crowd-sourced cooperative mapping combines monocular sessions from different front-ends, each an independent…
Lend me an Ear: Speech Enhancement Using a Robotic Arm with a Microphone Array
arXiv:2602.17818v2 Announce Type: replace Abstract: Speech enhancement performance degrades significantly in noisy environments, limiting the deployment of spee…
Context-Continuous Preference Learning for Exoskeleton Personalization
arXiv:2609.28427v1 Announce Type: cross Abstract: Personalizing exoskeleton assistance across operating conditions is constrained by the time and physical effor…
Imagine2Act: Leveraging Object-Action Motion Consistency from Imagined Goals for Robotic Manipulation
arXiv:2509.17125v3 Announce Type: replace Abstract: Relational object rearrangement (ROR) tasks (e.g., insert flower to vase) require a robot to manipulate obje…
DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
arXiv:2507.01008v4 Announce Type: replace Abstract: Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these e…
Privacy-Preserving Semantic Segmentation from High-Resolution Depth and Ultra-Low-Resolution RGB
arXiv:2609.28360v1 Announce Type: cross Abstract: As mobile robots become increasingly integrated into everyday environments, privacy risks arising from onboard…
SlackDrive: Reclaiming Runtime Slack for Adaptive Driving Inference
arXiv:2609.28064v1 Announce Type: cross Abstract: Driving world-action models improve planning by coupling multimodal reasoning with future prediction, but thei…
Action-Directed Information for Distributed Control and Agentic Interaction
arXiv:2609.27580v1 Announce Type: cross Abstract: Distributed intelligence concerns systems in which semi-autonomous components with local dynamics and partial …
Know-Your-Scene (KYS)-SLAM: Hierarchical Semantic-Motion Priors for Feature Matching in Stereo Visual SLAM
arXiv:2609.27509v1 Announce Type: cross Abstract: Stereo visual SLAM systems built on local descriptors suffer from semantic ambiguity, instance-level confusion…
Data-driven discrete-time deep recurrent neural network-based modeling for dissipative systems
arXiv:2609.27186v1 Announce Type: cross Abstract: Physical AI has gained increasing attention for its role in developing AI systems that better understand, pred…
PointCast: One World Model for Rigid, Articulated, and Deformable Object Manipulation
arXiv:2609.28393v1 Announce Type: new Abstract: World models are useful for robotic manipulation because robots can predict how actions change the states of obj…
Motoneuron-Inspired Sampling for Model Predictive Path Integral Control
arXiv:2609.28325v1 Announce Type: new Abstract: Model Predictive Path Integral (MPPI) control relies on stochastic trajectory sampling, and its performance unde…
ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control
arXiv:2609.28378v1 Announce Type: new Abstract: Humanoid control, leveraging human demonstrations, has achieved diverse, agile, and natural locomotion behaviors…
LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials
arXiv:2609.28364v1 Announce Type: new Abstract: Control barrier functions (CBF) are a popular safety filter to ensure safety for nonlinear dynamical systems. Ho…
Multimodal Voice Activity Projection for Social Robot Mediation: Expected Behavior and Deployment Constraints
arXiv:2609.28317v1 Announce Type: new Abstract: Turn-taking prediction is especially relevant for social robots that act as mediators in human-human interaction…
TANDEM: Task and Motion Planning with As-Needed Demonstrations for Efficient Vision-Language-Action Model Fine-tuning
arXiv:2609.28314v1 Announce Type: new Abstract: Human teleoperators spend substantial time demonstrating behaviors that robots can already perform autonomously,…
Contact-Implicit Stein Projected ADMM for Discovery of Diverse Contact-Rich Manipulation Strategies
arXiv:2609.28299v1 Announce Type: new Abstract: Contact-implicit trajectory optimization formulates contact-rich manipulation as a single constrained program; h…
MemBodied: Recurrent Associative Memory for Vision-Language-Action Models
arXiv:2609.28256v1 Announce Type: new Abstract: Vision-Language-Action models provide a strong foundation for general-purpose robot control, yet a vast majority…
VLMs Can Describe, But Not Measure: Object-Centric Scene Understanding for Robotic Manipulation
arXiv:2609.28184v1 Announce Type: new Abstract: Robotic operation in previously unseen environments requires both semantic understanding and reliable metric inf…
Dynamic, Decentralized Spatial Code Reuse for OCDMA LiDAR in Robot Swarms
arXiv:2609.28172v1 Announce Type: new Abstract: Robots in a LiDAR-equipped swarm mutually interfere when their optical ranging codes collide. Existing mitigatio…
Dissecting Advantage-Guided Post-Training for Vision-Language-Action Policies
arXiv:2609.28161v1 Announce Type: new Abstract: Advantage-guided reinforcement learning provides a practical way to post-train vision-language-action (VLA) poli…
Distillation for Efficient Multitask Manipulation Policies via Conditional Flow Matching
arXiv:2609.28107v1 Announce Type: new Abstract: Advances in generative modeling have recently been extensively employed in robotics for policy learning. In part…
Learning a Speed-adaptive Hip Exoskeleton Control Policy Via Sim-to-real Reinforcement Learning
arXiv:2609.28027v1 Announce Type: new Abstract: Providing personalized exoskeleton assistance across varying walking speeds remains challenging. Existing online…