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 storiesResilience Matters for Embodied Agents System: New Metrics, Systematic Evaluation, and Optimization
arXiv:2608.23839v1 Announce Type: new Abstract: Embodied Agents System (EAS) are increasingly deployed in open-world physical domains, where reliability directl…
Macro-Operator Generation and Predicate Selection for TAMP Operator Learning
arXiv:2608.23629v1 Announce Type: new Abstract: Creating symbolic operators by hand is one of the main bottlenecks in deploying Task and Motion Planning systems…
Pattern-Derived Visual Swarm Games: Multi-Scale Drone-Vision States for Interception and Sustainability Audits
arXiv:2608.23575v1 Announce Type: new Abstract: We convert drone-vision annotation streams into virtual swarm-game states without controlling physical drones. V…
Robust Slip Detection and Material Classification via Spatiotemporal Transformers on a Uniformly-Illuminated Visuo-Tactile Sensor
arXiv:2608.24162v1 Announce Type: new Abstract: Tactile sensing is central to robotic manipulation, among which slip detection stands out as a quintessential an…
RoG-DAgger: Rollout-Guided Post-Training for End-to-End Driving
arXiv:2608.24525v1 Announce Type: new Abstract: Recent end-to-end driving systems demonstrate strong performance on closed-loop benchmarks, yet are still predom…
Fiber Bragg Grating Whiskers for Bioinspired Hydrodynamic Perception on Underwater Robots
arXiv:2608.24724v1 Announce Type: new Abstract: Harbor seals track hydrodynamic trails with their vibrissae, enabling passive perception of moving targets in da…
Progressively Learning Heterogeneous Skills in a Unified Latent Space
arXiv:2608.23258v1 Announce Type: cross Abstract: We propose HetSkills, a novel framework designed to progressively learn heterogeneous skills within a unified …
Dynamical System-Based Imitation Learning and Neuroadaptive Control for Trajectory Recovery in Autonomous Ships
arXiv:2608.23924v1 Announce Type: cross Abstract: Repetitive maritime operations can be effectively learned using the Imitation Learning (IL) paradigm, which tr…
CoDrift: Compositional Drifting for Offline Reinforcement Learning
arXiv:2608.23939v1 Announce Type: cross Abstract: Offline reinforcement learning is intrinsically multi-objective: a policy must remain compatible with the beha…
CARO: Contact-Agnostic Residual Observation for Zero-Shot Robust Quadruped Locomotion
arXiv:2608.24217v1 Announce Type: new Abstract: We propose CARO, a contact-agnostic residual observation framework for policy adaptation. CARO embeds a fixed-ba…
A Durable Vision-Based Tactile Fingertip for Robotic Manipulation
arXiv:2608.24242v1 Announce Type: new Abstract: Currently available commercial vision-based tactile sensors provide rich contact information but remain vulnerab…
Vision-Language-Action Safety: Threats, Challenges, Evaluations, and Mechanisms
arXiv:2604.23775v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models are emerging as a unified substrate for embodied intelligence. This shif…
RoboShape: Information-Theoretic Point Cloud Representations for Privacy-Aware Robot Perception
arXiv:2608.21380v1 Announce Type: new Abstract: With the increased adoption of robotic agents operating in human environments by scanning and sharing 3D represe…
Multimodal-Language-Model-Driven Interaction and Companionship for Service Robots in Elderly-Care Facilities
arXiv:2608.21387v1 Announce Type: new Abstract: Service robots are increasingly deployed in elderly-care facilities to alleviate caregiver workload and enhance …
Gimbal-Based Human Tracking for Companion Robots Using Continual Learning
arXiv:2608.21388v1 Announce Type: new Abstract: Reliable and continuous human tracking is essential for natural human-robot interaction, particularly for compan…
On the Optimized Use of Non-Orthonormality Constraints for the Quasi-Static INS Alignment of Autonomous Underwater and Surface Vehicles
arXiv:2608.21390v1 Announce Type: new Abstract: Inertial navigation systems are specialized navigation apparatuses that equip almost all autonomous underwater a…
Active Interaction-Aware Model Predictive Path Integral via Ego-Conditioned Generative Predictions
arXiv:2608.21400v1 Announce Type: new Abstract: Dense traffic is inherently interactive. The ego vehicle and surrounding agents continuously influence each othe…
Selective Cross-View Consistency for World Action Models: Held-Out Viewpoint Robustness Without Test-Time Camera Information
arXiv:2608.21402v1 Announce Type: new Abstract: World action models (WAMs) jointly denoise future video frames and robot actions, and the video prior is expecte…
Mamba-based Selective State Space Modeling Improves the Accuracy-Complexity Tradeoff of SmolVLA Vision-Language-Action Experts
arXiv:2608.21407v1 Announce Type: new Abstract: Vision-language-action (VLA) models face a crucial tradeoff between their task success rate and the policy-call …
Social Graph Mamba: Forecasting Pedestrian Movements Based on Social Context
arXiv:2608.21411v1 Announce Type: new Abstract: Forecasting pedestrian motion has always been fundamental for autonomous navigation in crowded environments. Whi…
Operational digital twin clinics enable task-based evaluation of embodied AI
arXiv:2608.21416v1 Announce Type: new Abstract: Embodied artificial intelligence (AI) must be tested in the clinical environments where it will operate, but bui…
Evaluating Human and LLM-Generated Thematic Analysis in HRI for Vulnerable Populations: A Comparative and Ethical Analysis
arXiv:2608.21420v1 Announce Type: new Abstract: Thematic analysis (TA) has long been regarded as an inherently human, reflexive, and interpretive process. Howev…
The Setting of IMU Parameters in Kalman Filtering-based Information Fusion
arXiv:2608.21433v1 Announce Type: new Abstract: The setting or tuning of specifications for the inertial measurement unit (IMU) is tricky in sensor fusion. The …
Geo-VLA: Geometry-Aware Vision-Language-Action Planning via Internalization of Map Semantics
arXiv:2608.21440v1 Announce Type: new Abstract: Vision-language-action (VLA) models have advanced end-to-end autonomous driving by leveraging foundation models …
Constructing Predictive Surgical Path for AI-based Capsulorhexis Skill Transfer
arXiv:2608.21441v1 Announce Type: new Abstract: Automated training of surgeons is one of the most crucial factors that significantly minimize surgical training …
Model-Free Adaptive Parameter Tuning for Efficient Multi-Robot Warehouse Operations
arXiv:2608.21533v1 Announce Type: new Abstract: Robotic Fulfillment Centers (FCs) store inventory on shelves (pods) arranged in dense blocks. Retrieving a targe…
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
arXiv:2608.21550v1 Announce Type: new Abstract: Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entir…
Model-Based Reinforcement Learning for Heterogeneous Multi-Robot Task Assignment Under Distribution Shifts
arXiv:2608.21554v1 Announce Type: new Abstract: Heterogeneous multi-robot service systems must assign requests to compatible robots, construct feasible schedule…
Force/Torque-Based Kinematic Adaptation for Robotic Manipulation Tasks
arXiv:2608.21592v1 Announce Type: new Abstract: Contact-rich robotic manipulation requires an accurate model of the kinematic relationship between a robot's joi…
Why Personalization Matters: Cross-Subject Challenges in EMG-IMU-based HRI Activity Recognition
arXiv:2608.21620v1 Announce Type: new Abstract: This paper investigates wearable-based recognition of human activities and gestures to support Human-Robot Inter…