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 storiesMDCPP: Multi-Robot Dynamic Coverage Path Planning for Workload Adaptation
arXiv:2509.23705v2 Announce Type: replace Abstract: Multi-robot coverage path planning commonly balances geometric area or path length under a constantspeed ass…
MADR: MPC-guided Adversarial DeepReach
arXiv:2510.18845v2 Announce Type: replace Abstract: Hamilton-Jacobi (HJ) Reachability offers a framework for generating safe value functions and policies in the…
Learning Diffusion Policies for Robotic Manipulation of Timber Joinery under Fabrication Uncertainty
arXiv:2511.17774v4 Announce Type: replace Abstract: Fabrication uncertainty arising from tolerance accumulation, material imperfection, and positioning errors r…
Guardian: Detecting Robotic Planning and Execution Errors with Vision-Language Models
arXiv:2512.01946v4 Announce Type: replace Abstract: Robust robotic manipulation requires reliable failure detection and recovery. Although recent Vision-Languag…
MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
arXiv:2512.03795v3 Announce Type: replace Abstract: Autonomous Driving (AD) vehicles still struggle to exhibit human-like behavior in highly dynamic and interac…
Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie groups
arXiv:2512.10294v2 Announce Type: replace Abstract: We propose Conformal Lie-group Action Prediction Sets (CLAPS), a symmetry-aware conformal prediction-based a…
UNCLE-Grasp: A Task-Adapted Framework for Uncertainty-Aware Grasping of Leaf-Occluded Strawberries
arXiv:2601.14492v3 Announce Type: replace Abstract: Robotic strawberry harvesting remains challenging under partial occlusion, where leaves obscure fruit geomet…
RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
arXiv:2602.03002v2 Announce Type: replace Abstract: Humanoid perceptive locomotion has made significant progress and shows great promise, yet achieving robust m…
XIT: Exploration and Exploitation Informed Trees for Active Gas Distribution Mapping in Unknown Environments
arXiv:2602.13739v2 Announce Type: replace Abstract: Mobile robotic gas distribution mapping (GDM) provides critical situational awareness during emergency respo…
A Latency-Aware Framework for Visuomotor Policy Learning on Industrial Robots
arXiv:2602.14255v2 Announce Type: replace Abstract: Industrial robots are increasingly deployed in construction and manufacturing tasks, where the deployment of…
When Should a Robot Think? Resource-Aware Reasoning via Reinforcement Learning for Embodied Robotic Decision-Making
arXiv:2603.16673v5 Announce Type: replace Abstract: Embodied robotic systems increasingly rely on large language model (LLM)-based agents to support high-level …
Beyond Viewpoint Generalization: What Multi-View Demonstrations Offer and How to Synthesize Them for Robot Manipulation?
arXiv:2603.26757v2 Announce Type: replace Abstract: Does multi-view demonstration truly improve robot manipulation, or merely enhance cross-view robustness? We …
Robust Multi-Agent Reinforcement Learning for Small UAS Separation Assurance under GPS Degradation and Spoofing
arXiv:2603.28900v2 Announce Type: replace Abstract: We address robust separation assurance for small Unmanned Aircraft Systems (sUAS) under GPS degradation and …
CAVERS: Multimodal SLAM Data from a Natural Karstic Cave with Ground Truth Motion Capture
arXiv:2604.15052v2 Announce Type: replace Abstract: Autonomous robots operating in natural karstic caves face perception and navigation challenges that are qual…
Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policies
arXiv:2605.00416v3 Announce Type: replace Abstract: Generalist robot policies increasingly benefit from large-scale pretraining, but offline data alone is insuf…
Bayesian Networks for Path-Based Sensors: Gathering Information and Path Planning in Communication Denied Environments
arXiv:2605.16673v2 Announce Type: replace Abstract: A "path-based sensor" produces a single observation along a continuous path. For example, a boolean path-bas…
Credibility-Aware Learning and Control for Safe USV Navigation under Perception Uncertainty
arXiv:2605.26974v4 Announce Type: replace Abstract: Safe navigation for Unmanned Surface Vehicles (USVs) under the International Regulations for Preventing Coll…
Inducing Calmness With Pocket-Sized Robotics: Reducing Movement and Heart Rate in Children through Hand-Held Tactile Interactions
arXiv:2605.27533v2 Announce Type: replace Abstract: Periods of heightened arousal or restlessness can interfere with children's ability to focus, self-regulatio…
$\tau_0$-WM: A Unified Video-Action World Model for Robotic Manipulation
arXiv:2606.01027v2 Announce Type: replace Abstract: Robotic manipulation requires models that generate executable actions while anticipating and evaluating thei…
Mission-Aligned Learning-Informed Control of Autonomous Systems: Formulation and Foundations
arXiv:2507.04356v3 Announce Type: replace-cross Abstract: Research, innovation and practical capital investment have been increasing rapidly toward the realizat…
Obstacle Avoidance of UAV in Dynamic Environments Using Direction and Velocity-Adaptive Artificial Potential Field
arXiv:2512.07609v3 Announce Type: replace-cross Abstract: The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue a…
PEAfowl: Perception-Enhanced Multi-View Vision-Language-Action for Bimanual Manipulation
arXiv:2601.17885v2 Announce Type: replace-cross Abstract: Bimanual manipulation in cluttered scenes requires policies that remain stable under occlusions, viewp…
FlatVPR: Plug-and-play Geo-linear Residual Adapter for Geometric Rectification of Foundation Model Feature Manifolds
arXiv:2606.01734v2 Announce Type: replace-cross Abstract: This paper proposes ``FlatVPR,'' a novel geometric rectification paradigm that effectively bridges the…
DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model
arXiv:2608.22278v1 Announce Type: new Abstract: Vision-based whole-body loco-manipulation on humanoid robots is challenging due to partial observability, contac…
ODG-NoMaD: Overhead-Camera Direction-Guided NoMaD
arXiv:2608.21395v1 Announce Type: new Abstract: NoMaD [31] is a learned vision-navigation policy that unifies goal-conditioned navigation and exploration in a s…
Tolerance-Dependent Inspection Disagreement Between a Fixed CMM and a Portable Articulated-Arm CMM
arXiv:2608.21404v1 Announce Type: new Abstract: Fixed coordinate measuring machines (CMMs) and portable articulated-arm CMMs are often assigned to the same insp…
Position: Robot Privacy as Embodied Boundary Work. Connecting Capabilities, Contexts, and Design Responses in Everyday Robotics
arXiv:2608.21410v1 Announce Type: new Abstract: Robots are increasingly entering everyday environments where privacy is shaped not only by data practices, but a…
GCS-Bridging: Restoring Connectivity of Disconnected Convex Sets for Graph-of-Convex-Sets Motion Planning
arXiv:2608.22326v1 Announce Type: new Abstract: Graph-of-Convex-Sets (GCS)-based trajectory optimization represents collision-free regions in configuration spac…
SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation
arXiv:2608.22896v1 Announce Type: new Abstract: Robotic navigation in human environments requires a spatio-temporal semantic representation that can rec- oncile…
Privileged Critic Training Enables Sensor-Free Thruster Fault Adaptation in End-to-End RL
arXiv:2608.22976v1 Announce Type: new Abstract: Fault-tolerant navigation for thruster-actuated robots requires online adaptation to failures that are neither b…