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 storiesTriplet2Track: A Hierarchical System with Object-Centric Representations for Reliable Long-Horizon Manipulation
arXiv:2608.22800v1 Announce Type: new Abstract: Ensuring reliability in uncertain environments remains difficult for long-horizon robotic manipulation. End-to-e…
UniMem: Unifying Multimodal Memory and Control for Vision-Language-Action Models
arXiv:2608.22869v1 Announce Type: new Abstract: While Vision-Language-Action (VLA) models have leveraged internet-scale pretraining and task-focused finetuning …
InstructMove: A Text-Indispensable Benchmark for Instruction-Following Manipulation
arXiv:2608.22990v1 Announce Type: new Abstract: Vision-language-action (VLA) models have made general-purpose robot manipulation increasingly plausible by condi…
Switched Turn-based Adaptive Source Seeking Strategy using Estimation and Information-driven Direction of Improvement
arXiv:2608.23068v1 Announce Type: new Abstract: Source seeking arises in applications such as gas leak localization, radiation monitoring, and environmental sur…
Shaping the Evolutionary Dynamics of Robot Morphology via Adaptive Control Learning
arXiv:2608.23100v1 Announce Type: new Abstract: Robot co-design via bi-level optimization couples within-lifetime controller learning for fitness evaluation wit…
Pointing-VLA: Typed Spatial Grounding Interfaces for Vision-Language-Action Manipulation
arXiv:2608.23138v1 Announce Type: new Abstract: Vision-language-action (VLA) models often expose spatial grounding through autoregressive text coordinates or op…
Spinning Quadrotor: Hover Thrust Augmentation with Passive Lifting Surfaces
arXiv:2608.23163v1 Announce Type: new Abstract: Conventional multirotor aerial vehicles actively suppress yaw rotation during hover, expending power to maintain…
Guided Riemannian Optimization (GuRO): Bridging Model Predictive Control and Decision Transformers
arXiv:2608.23204v1 Announce Type: new Abstract: Decision-making in high-dimensional, nonlinear systems remains a central challenge in robotics. While model-base…
Think Only When Needed: Prompt-Authority Control for Selective Slow-Path Intervention in Vision-Language-Action Manipulation
arXiv:2608.23224v1 Announce Type: new Abstract: Retrieval can efficiently and effectively augment a frozen vision--language--action (VLA) policy without retrain…
Design of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid
arXiv:2608.23304v1 Announce Type: new Abstract: Proprioception in musculoskeletal humanoids is typically estimated primarily from muscle sensing, while the role…
ROS2SmolVLA: Enabling Small Vision-Language-Action Models for Integration into Industrial-Grade Lightweight Robots
arXiv:2608.23320v1 Announce Type: new Abstract: Industrial demand changes the paradigms of production. Due to smaller batch sizes and more variations in product…
OptiSight: Bridging Semantic Reasoning and Geometric Control for Embodied Navigation
arXiv:2608.23354v1 Announce Type: new Abstract: Autonomous indoor navigation requires both semantic understanding and precise geometric control. We propose Opti…
Reward-Free Continual Adaptation for Resilient Space Robots
arXiv:2608.23452v1 Announce Type: new Abstract: Space robots operate in extreme environments where hardware degradation can critically compromise traditional co…
Act with Intent: Distilling Behavior Intent for Vision-Language-Action Models
arXiv:2608.23478v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models can turn multimodal context into robot actions, but their action decoders ar…
Retrieval-grounded robot program generation and simulation-based correction via Model Context Protocol
arXiv:2608.21417v1 Announce Type: cross Abstract: Flexible manufacturing requires industrial robots to be reprogrammed rapidly as product variants change. This …
Agentic AI for Safety-critical Multi-drone Systems: Challenges and Opportunities
arXiv:2608.21444v1 Announce Type: cross Abstract: Multi-drone systems are increasingly positioned for safety-critical missions such as search and rescue (SAR) a…
ExploreAI: Agentic Exploration Knowledge Bases for Reproducible Observable-Regression Testing of Black-Box VR and 3D Applications
arXiv:2608.21628v1 Announce Type: cross Abstract: Black-box VR and 3D applications are difficult to regression test because observable failures depend on where …
GuardianBench: A Same-Scene Instruction-Contrastive Benchmark for Latent Contextual Risk in Embodied AI
arXiv:2608.21928v1 Announce Type: cross Abstract: In embodied AI, safety risk can be latent: a benign instruction and a safe scene become hazardous only when co…
WAM-OPD: On-Policy Distillation for World Action Models
arXiv:2608.22364v1 Announce Type: cross Abstract: World action models (WAMs) couple visual future prediction with robot action generation, but accelerated stude…
Contextrast++: Robust Multi-Scale Contextual Contrastive Learning for Semantic Segmentation
arXiv:2608.22679v1 Announce Type: cross Abstract: Semantic segmentation has rapidly advanced with deep learning; however, challenges remain in effectively captu…
LLM-Based Selection of Incongruent Verbal and Nonverbal Behavior for Virtual Humans
arXiv:2608.22731v1 Announce Type: cross Abstract: Nonverbal behavior generation systems for virtual agents often take an utterance as input and generate nonverb…
Macro-Action Topological Navigation under Noisy Localization using Reinforcement Learning
arXiv:2608.23055v1 Announce Type: cross Abstract: Navigating large, photorealistic 3D apartments from raw pixels is widely considered infeasible for plain reinf…
MIVIFI: Bridging Perspective and Fisheye Domains for Training Multi-View Fisheye Image Generation Models
arXiv:2608.23140v1 Announce Type: cross Abstract: Achieving 360{\deg} coverage is critical for the visual perception systems of autonomous vehicles. Fisheye cam…
MomADv2: Reliable Temporal Memory for End-to-End Autonomous Driving
arXiv:2608.23405v1 Announce Type: cross Abstract: Long-horizon planning is critical for safe autonomous driving in complex scenarios. Existing methods improve p…
GeoWAM: Visual Geometry World Action Models for Autonomous Driving
arXiv:2608.23486v1 Announce Type: cross Abstract: World action models (WAMs) have recently gained increasing attention as a framework for jointly modeling scene…
Degrees of Freedom Analysis of Mechanisms using the New Zebra Crossing Method
arXiv:2201.02352v3 Announce Type: replace Abstract: Mobility, which is a basic property for a mechanism has to be analyzed to find the degrees of freedom. A qui…
To What Extent Does the Perceived Obesity Level of Humanoid Robots Affect People's Trust in Them?
arXiv:2411.06039v2 Announce Type: replace Abstract: Despite obesity being widely discussed in the social sciences, the effect of a robot's perceived obesity lev…
Balancing Safety and Optimality in Robot Path Planning: Algorithm and Metric
arXiv:2505.23197v4 Announce Type: replace Abstract: Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance…
Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation
arXiv:2508.09846v2 Announce Type: replace Abstract: This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-m…
LaGEA: Language Guided Embodied Agents for Robotic Manipulation
arXiv:2509.23155v3 Announce Type: replace Abstract: Robotic manipulation benefits from foundation models that describe goals, but today's agents still lack a pr…