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 storiesCSymPlan: Certified Symbolic Planning and Control for High-DOF Manipulators
arXiv:2608.22983v1 Announce Type: new Abstract: Robot manipulators are commonly engineered around a decoupled motion-generation stack: a planner computes a coll…
Free-Energy-Gated Plasticity for Real-Time Online Motor Learning in Physical Human--Robot Interaction
arXiv:2608.23000v1 Announce Type: new Abstract: Fully online embodied learning requires synaptic adaptation to acquire new behaviors while preserving previously…
RoboRacer Arena: Scaling High-Fidelity Autonomous Racing in Isaac Sim
arXiv:2608.23040v1 Announce Type: new Abstract: RoboRacer offers a standardized platform for research using 1:10-scale autonomous vehicles, but the variety of a…
AI Visual Inspection for Garment Production
arXiv:2608.21426v1 Announce Type: cross Abstract: The garment manufacturing industry is under increasing pressure to improve product quality, reduce costs, and …
Detecting Heel Strike and toe off Events Using Kinematic Methods and LSTM Models
arXiv:2503.00794v3 Announce Type: replace Abstract: Accurate gait event detection is crucial for gait analysis, rehabilitation, and assistive technology, partic…
MorFiC: Fixing Value Miscalibration for Zero-Shot Quadruped Transfer
arXiv:2603.14554v2 Announce Type: replace Abstract: Generalizing learned locomotion policies across quadrupedal robots with different morphologies remains a cha…
Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments
arXiv:2605.14232v2 Announce Type: replace Abstract: This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mo…
Nori A3: A Bimanual Mobile Manipulator at the Appliance Price Point
arXiv:2605.16537v2 Announce Type: replace Abstract: We present Nori A3, a 19-DoF bimanual mobile manipulator that ships assembled for $1,688. In a 45 x 45 cm fo…
A Unified Neural-Aided Alignment and Calibration Method for AUVs
arXiv:2608.22496v1 Announce Type: new Abstract: Autonomous underwater vehicles (AUVs) rely on the fusion of inertial navigation systems (INS) and Doppler veloci…
BehaviorWorldGen: Closing the Loop between Action Models and World Simulators via Controllable Behavior-Aware Structured World Generation
arXiv:2608.22187v1 Announce Type: new Abstract: Modern driving action models are increasingly improved in a self-improvement loop, where a learned world simulat…
Inferring Action from Future Latent State for Robotic Manipulation
arXiv:2608.22067v1 Announce Type: new Abstract: World-Action Models (WAMs) build robot control on video-generation backbones, which jointly predict dense future…
Stakeholder Insights for Designing In-Home Social Robots for Dementia Disorientation Detection and Caregiver-Aware Intervention
arXiv:2608.22008v1 Announce Type: new Abstract: Disorientation is a common and distressing experience for people living with dementia. It often manifests as con…
Safety-Critical Bilateral Teleoperation for Omnidirectional Aerial Manipulation Using Force-Sensorless Haptic Feedback
arXiv:2608.21735v1 Announce Type: new Abstract: This paper presents a safety-critical bilateral teleoperation framework for omnidirectional aerial manipulators …
In-Situ Reconstruction of the International Space Station Using 3D Gaussian Splatting and Astrobee
arXiv:2608.21685v1 Announce Type: new Abstract: This article presents a novel 3D reconstruction and mapping of the interior of the International Space Station (…
Betting for Sim-to-Real Performance Certificates
arXiv:2608.21572v1 Announce Type: new Abstract: Consider a typical test of a robot system: one observes a sequence of outcomes concerning some aspect of interes…
RiskWorld: Object-Centric Latent World Modeling for Autonomous Driving Risk Identification
arXiv:2608.21414v1 Announce Type: new Abstract: Autonomous driving risk identification aims to determine which observed object is likely to become safety-critic…
EndoLIFT: Language-Disambiguated Latent-Conditioned Rectified Flow for Bidirectional Endoscopic Control
arXiv:2608.20478v1 Announce Type: new Abstract: Routine gastrointestinal endoscopy is intrinsically bidirectional: the instrument is advanced to reach target an…
Nonlinear Model Predictive Control for Trajectory Tracking of Differentially Flat Fixed-Wing Aerial Systems
arXiv:2608.20655v1 Announce Type: new Abstract: Planning and control of fixed-wing Unmanned Aerial Vehicles (UAVs) are challenging due to nonlinear dynamics, ae…
Demonstration-Guided Humanoid Stand-Up on an Emulated Deformable Surface
arXiv:2608.20852v1 Announce Type: new Abstract: This paper presents a reference-guided reinforcement learning framework to generate stand-up motion for a 29-DOF…
Beyond Imitation: Self-Improving Robot Policies via Off-Policy Q-Planning
arXiv:2608.21204v1 Announce Type: new Abstract: Behaviour Cloning (BC) has driven remarkable progress in robot manipulation, yet it is fundamentally limited by …
VT-MUSE: Multimodal Unified Sequential Visuotactile Representation Learning for Manipulation
arXiv:2608.21290v1 Announce Type: new Abstract: We propose VT-MUSE, a Multimodal Unified SEquential representation learning framework for visuotactilemanipulati…
Mining beyond Earth with Space Robots: Exploration, Sampling, and Extraction
arXiv:2608.21358v1 Announce Type: new Abstract: Space resource acquisition and utilization, commonly referred to as Space Mining, represent critical pathways fo…
Pneumatic Units for Logic-based Sequential Excitation (PULSE) in Wearable Haptic Devices
arXiv:2608.20626v1 Announce Type: cross Abstract: Soft, wearable robotic devices can deliver haptic feedback to support a wide range of tasks, such as extended …
A Collaborative Multi-Modality Interaction for VLA-based End-to-End Autonomous Driving
arXiv:2608.20890v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have emerged as a powerful paradigm for end-to-end autonomous driving by j…
Decoupling Policy Extraction for Offline Reinforcement Learning
arXiv:2608.20909v1 Announce Type: cross Abstract: Offline RL methods commonly jointly train the actor and critic, where the critic is used to guide the actor to…
Unified Branch-and-Bound Search for the Steiner Traveling Salesman Problem on Graphs of Convex Sets
arXiv:2608.21319v1 Announce Type: cross Abstract: We formalize the Steiner Traveling Salesman Problem (Steiner-TSP) on Graphs of Convex Sets (GCS), which seeks …
Anatomy-Informed Neural Networks: Encoding Anatomic Priors in Loss and Architecture, with an SE(3) Formulation of Guidewire-Induced Aortoiliac Deformation
arXiv:2608.21332v1 Announce Type: cross Abstract: Deep-learning models of anatomy can be numerically plausible yet anatomically impossible, and they generalize …
A Deep Reinforcement Learning Framework for Closed-loop Guidance of Fish Schools via Virtual Agents
arXiv:2603.28200v2 Announce Type: replace Abstract: Guiding collective motion in biological groups is a fundamental challenge in understanding social interactio…
Can you see how I learn? Human observers' inferences about Reinforcement Learning agents' learning processes
arXiv:2506.13583v2 Announce Type: replace-cross Abstract: Reinforcement Learning (RL) agents often exhibit learning behaviors that are not intuitively interpret…
Update-Free On-Policy Steering via Verifiers
arXiv:2603.10282v3 Announce Type: replace Abstract: In recent years, Behavior Cloning (BC) has become one of the most prevalent methods for learning manipulatio…