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
3584 storiesDecentralized Geometric Control for Cable-Suspended Payload Transport with Adaptive Mass Estimation
arXiv:2607.00024v1 Announce Type: new Abstract: Cooperative aerial transport requires controllers that respect nonlinear manifold geometry, operate without cent…
Rule-VLN: Bridging Perception and Compliance via Semantic Reasoning and Geometric Rectification
arXiv:2604.16993v2 Announce Type: replace-cross Abstract: As embodied AI transitions to real-world deployment, the success of the Vision-and-Language Navigation…
Towards Accurate State Estimation: Motion Dynamics Kalman Filter for 3D Multi-Object Tracking
arXiv:2505.07254v2 Announce Type: replace-cross Abstract: Precise 3D state estimation in multi-object tracking (MOT) is critical for self-driving cars, particul…
FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight
arXiv:2607.01200v1 Announce Type: new Abstract: Fast quadrotor flight requires safe obstacle avoidance under tight onboard compute limits. While 3D Gaussian Spl…
Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning
arXiv:2607.00160v1 Announce Type: new Abstract: Modular reconfigurable robotic systems provide a scalable solution for cooperative surface operations in future …
ELMP: Efficient Learning for Motion Planning via Analytical Policy Gradients
arXiv:2607.00215v1 Announce Type: new Abstract: Neural Motion Planners (NMPs) enable fast reactive motion generation, but adapting them to new environments typi…
Multi-Embodiment Robotic Retargeting via Guided Diffusion Model
arXiv:2505.20857v2 Announce Type: replace Abstract: Motion retargeting for specific robot from existing motion datasets is one critical step in transferring mot…
NOVA: Next-step Open-Vocabulary Autoregression for 3D Multi-Object Tracking in Autonomous Driving
arXiv:2603.06254v2 Announce Type: replace-cross Abstract: Generalizing across unknown targets is critical for open-world perception, yet existing 3D Multi-Objec…
Trajectory Learning with Graph Representations for Social Robot Navigation
arXiv:2607.00028v1 Announce Type: new Abstract: Autonomous mobile robots are expected to exhibit socially compliant navigation for minimizing pedestrian disturb…
BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation
arXiv:2606.23531v2 Announce Type: replace Abstract: Endoscopic retrograde cholangiopancreatography (ERCP) demands precise endoscopic navigation and stable bilia…
VolumeDP: Modeling Volumetric Representation for Manipulation Policy Learning
arXiv:2603.17720v2 Announce Type: replace Abstract: Imitation learning is a prominent paradigm for robotic manipulation. However, existing visual imitation meth…
Robots Ask the Way: Communication-Enabled Social Navigation
arXiv:2607.01044v1 Announce Type: new Abstract: Assistive autonomous robots operating in multi-agent environments require efficient strategies to locate specifi…
EmbodimentSemantic: A Spatial Scene-Graph Dataset and Benchmark for Vision-Language Models on Embodied Manipulation Trajectories
arXiv:2607.00020v1 Announce Type: new Abstract: Spatial grounding remains a key limitation of vision-language-action (VLA) systems for robotic manipulation. Whi…
RoboWorld: Fast and Reliable Neural Simulators for Generalist Robot Policy Evaluation
arXiv:2607.01060v1 Announce Type: new Abstract: Video world models are emerging as a scalable alternative for evaluating generalist robot policies, bypassing th…
NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning
arXiv:2607.00326v1 Announce Type: new Abstract: Safe multi-arm motion planning is a challenging problem in robotics due to its high dimensionality, coupled conf…
Domain Arithmetic: One-Shot VLA Adaptation under Environmental Shifts
arXiv:2607.00666v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models often fail to perform the same learned tasks under environmental shifts, suc…
Dual-Informed Vertical Expansion for Multi-Objective Node Selection in Anytime Conflict-Based Search
arXiv:2607.00156v1 Announce Type: new Abstract: Conflict-Based Search (CBS) is a leading exact algorithm for Multi-Agent Path Finding (MAPF), but its high-level…
Structured 4D Latent Predictive Model for Robot Planning
arXiv:2607.01166v1 Announce Type: new Abstract: Video predictive models are emerging as a powerful paradigm in robotics, offering a promising path toward task g…
Visualizing Impedance Control in Augmented Reality for Teleoperation: Design and User Evaluation
arXiv:2603.25418v2 Announce Type: replace Abstract: Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only…
DART-VLN: Test-Time Memory Decay and Anti-Loop Regularization for Discrete Vision-Language Navigation
arXiv:2607.01043v1 Announce Type: new Abstract: Memory-based discrete vision-language navigation (VLN) agents must act under partial observability, yet even str…
Memory-Native Non-Terrestrial Networks for Embodied Intelligence
arXiv:2607.00029v1 Announce Type: new Abstract: Non-terrestrial networks (NTN) provide ubiquitous connectivity for embodied intelligence (EI), enabling robots i…
Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems
arXiv:2607.00534v1 Announce Type: new Abstract: We present STT-LfD, a unified Learning from Demonstration (LfD) framework that integrates motion learning with c…
3D Point World Models: Point Completion Enables More Accurate Dynamics Learning
arXiv:2607.00148v1 Announce Type: new Abstract: Learning predictive models of the world enables robotic control through planning, potentially allowing robots to…
Urban Deceleration Behavior Modes Under Scene Context: An Early-Kinematic Classifier from Argoverse 2 Multi-Agent Trajectories
arXiv:2607.00027v1 Announce Type: new Abstract: Urban deceleration is one of the most empirically studied yet least taxonomically organized behaviors in car-fol…
Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
arXiv:2607.00033v1 Announce Type: new Abstract: Dexterous robot manipulation can benefit from the abundance of human demonstrations, but transferring such demon…
ASPIRE: Agentic /Skills Discovery for Robotics
arXiv:2607.00272v1 Announce Type: new Abstract: Traditional robot programming is challenging: it requires orchestrating multimodal perception, managing physical…
Unleashing More Actions via Action Compositional Training for VLA Models
arXiv:2607.00351v1 Announce Type: new Abstract: Vision-Language-Action models excel at robotic manipulation, driven by the scale and diversity of demonstration …
GPU-Parallel Linearization Error Bounds for Real-Time Robust Optimal Control of Nonlinear and Neural Network Dynamics
arXiv:2607.01203v1 Announce Type: cross Abstract: This paper studies real-time robust optimal control for uncertain nonlinear systems, where linear time-varying…
Technical Report: Asynchronous Distributed Trajectory Estimation of Multi-Robot Systems
arXiv:2607.01106v1 Announce Type: new Abstract: Distributed trajectory estimation arises in many applications across robotics, but existing implementations typi…
Sensorless Four-Channel Control Architecture Using Inverse Dynamics Modeling for Human-Scale Bilateral Teleoperation
arXiv:2607.01201v1 Announce Type: new Abstract: The four-channel teleoperation architecture is a well-established framework for achieving transparency in bilate…