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 storiesOpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package
arXiv:2608.21631v1 Announce Type: new Abstract: Trajectory optimization computes dynamically feasible motions that enable autonomous systems to accomplish compl…
Lifelong Robot Recomposition via Persistent Categorical Modeling for Unified Task-Driven Co-Design, Verification, and Planning
arXiv:2608.21676v1 Announce Type: new Abstract: Robotic systems are traditionally designed and deployed in static configurations, with assumptions made at desig…
Towards insect-like distributed proprioception in actuators and appendages for flapping-wing insect-scale aerial robots
arXiv:2608.21699v1 Announce Type: new Abstract: Modern flapping-wing insect-scale air vehicles display agility similar to that of their insect counterparts; how…
CounterAlign: Counterfactual Supervision for Vision-Language-Action Models
arXiv:2608.21740v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models are typically trained with behavior cloning (BC) on expert demonstrations. H…
Vision Guided Target Conditioned Control for Autonomous Excavation
arXiv:2608.21778v1 Announce Type: new Abstract: Autonomous excavation requires an intelligent control system that can convert spatial work intent into coordinat…
Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages
arXiv:2608.21879v1 Announce Type: new Abstract: Aerial payload transport using multirotor unmanned aerial vehicles is challenging because payload geometry, cont…
An Interpretable Deep Learning Framework for Material Perception and Classification from Multisensory Tactile Data
arXiv:2608.21894v1 Announce Type: new Abstract: Human tactile perception relies on complex multisensory cues. Yet the relationship between tactile signals and p…
CIDER: Continual Interactive Distillation for Embodied Reinforcement Learning
arXiv:2608.21899v1 Announce Type: new Abstract: Human-in-the-loop real-world reinforcement learning enables rapid acquisition of effective robotic manipulation …
Design of a Human-Assistance Robot System with Contextual Action Recognition
arXiv:2608.22028v1 Announce Type: new Abstract: This paper presents a conceptual design for a proactive human assisting robot system capable of recognizing huma…
DELTA: Deformable Elevation-Based Local Terrain Attention Encoder for Sparse-Terrain Quadrupedal Locomotion
arXiv:2608.22033v1 Announce Type: new Abstract: Stable quadrupedal locomotion on sparse terrain requires selecting state-relevant terrain evidence for precise f…
Ludi${}_{\scriptscriptstyle 0.1}$: An Agentic System for Socially Intelligent Robots
arXiv:2608.22035v1 Announce Type: new Abstract: Robot foundation models have substantially advanced perception and control, but natural human-robot collaboratio…
EndoNav: Semantic-to-Geometric Grounding for Language-Guided Robotic Endoscopic Examination
arXiv:2608.22093v1 Announce Type: new Abstract: Minimally invasive procedures performed within confined anatomical spaces depend on continuous endoscopic visual…
Contact-Rich Robotic Manipulation in Construction via Zero-Shot Learning: A Diffusion Policy-Guided Adaptive Control
arXiv:2608.22100v1 Announce Type: new Abstract: Construction robotics and automation offer promising means of improving productivity, alleviating workforce shor…
Meta-Ctrl: Guaranteed Plan Generation by Decoupling Syntactic and Semantic Constraints
arXiv:2608.22149v1 Announce Type: new Abstract: LLMs generate fluent plans for robots but routinely violate the syntactic and se8mantic constraints they must sa…
Beyond Instance Slots: Semantically Rich World Models for Physical Interaction Planning
arXiv:2608.22294v1 Announce Type: new Abstract: World models for physical interaction are typically trained to predict future observations or latent features; h…
TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation
arXiv:2608.22296v1 Announce Type: new Abstract: Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurati…
The Imitator Game: Benchmarking Robot Imitative Ability Beyond Action Prediction
arXiv:2608.22301v1 Announce Type: new Abstract: Humans imitate at the level of intent: given a demonstration, we infer its goal and carry it out with whatever t…
MotionDLO: Hybrid Event- and Frame-Based Tracking of Deformable Linear Objects
arXiv:2608.22398v1 Announce Type: new Abstract: Reliably tracking moving deformable linear objects (DLOs) while simultaneously ensuring robustness, accuracy, an…
LD4WAM: Learning Latent Dynamics from Human Videos for World Action Models
arXiv:2608.22403v1 Announce Type: new Abstract: Human video is playing an increasingly central role in training World Action Models (WAMs), owing to its diversi…
Robust Bimanual Vision-Language-Action Models via Embarrassingly Simple Modality Masking
arXiv:2608.22419v1 Announce Type: new Abstract: Query-based Vision-Language-Action (VLA) models offer low-latency inference that is attractive for bimanual robo…
EMPIRE: Explicit Manipulation Planning as a Learnable Intermediate Representation for Egocentric Hand-Motion Forecasting
arXiv:2608.22449v1 Announce Type: new Abstract: Forecasting dexterous hand motions from egocentric observations is fundamental to intelligent interactive system…
What is the effect of running-specific prostheses on long jumps? Optimization-based prediction and analysis using biomechanical models
arXiv:2608.22507v1 Announce Type: new Abstract: Long jumpers with below the knee amputation (BKA) that take off from their running-specific prosthesis (RSP) imp…
WorldToken: Time-First Sequence Modeling for Robotic Imitation Learning
arXiv:2608.22591v1 Announce Type: new Abstract: Robot policies receive heterogeneous observations at each decision step, yet sequence models differ in how they …
Enhancing Sim2Real Transfer for Torque-Controlled Robots through Real2Sim Dynamics Estimation and Reinforcement Learning
arXiv:2608.22629v1 Announce Type: new Abstract: Transferring reinforcement learning policies from simulation to Real-World robots remains a major challenge, par…
Physical Agentic AI: An Architecture for Orchestrating a Robot Crew with LLMs
arXiv:2608.22657v1 Announce Type: new Abstract: Agentic AI frameworks interpret open-ended task goals and decompose them into multi-step plans. Richer informati…
Exact Finite-Length Theory of Uniform Car Parking: Spatial Laws, Absorption, and Aggregation
arXiv:2608.22671v1 Announce Type: new Abstract: The uniform car-parking process is the one-dimensional random sequential adsorption of unit cars on a segment of…
VikPath: A Vision Kansformer Framework for Effective Obstacle Avoidance in Self-Supervised Pathfinding
arXiv:2608.22675v1 Announce Type: new Abstract: Pathfinding is a fundamental problem in artificial intelligence and autonomous systems. Traditional heuristic-ba…
RACO: Reliability-Aware Coarse-Goal Optimization for Inspection-Oriented UAV Vision-Language Navigation
arXiv:2608.22678v1 Announce Type: new Abstract: UAV vision-language navigation (UAV-VLN) is commonly evaluated as goal reaching, but inspection-oriented deploym…
Physics Filtering Favors the Generalization of Robot Learning
arXiv:2608.22701v1 Announce Type: new Abstract: Living organisms exhibit extraordinary adaptability to unseen environments through their intrinsic physical stru…
Reproducible Vision-Guided 6-DoF Robotic Manipulator with a Mixed Stepper-Driver Architecture and Browser-Native Control
arXiv:2608.22799v1 Announce Type: new Abstract: We present the NeuralNexus Arm, an open, low-cost 6-DOF robotic manipulator built by an undergraduate engineerin…