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 storiesMVP-Nav: Multi-layer Value Map Planner Navigator
arXiv:2606.31919v1 Announce Type: new Abstract: Zero-shot Object Goal Navigation (ZSON) with RGB-only perception poses a fundamental challenge for embodied agen…
LLM-Powered Interactive Robotic Action Synthesis from Multimodal Speech, Gestures, and Music
arXiv:2606.31158v1 Announce Type: new Abstract: The quest for intuitive and natural human-robot interaction (HRI) remains a significant challenge in robotics. T…
Off the Rails: Hijacking the Scoring Head in Generative End-to-End Driving Planners with Safety-Violating Adversarial Perturbations
arXiv:2606.30807v1 Announce Type: new Abstract: Generative models have recently seen rapid adoption in End-to-End (E2E) autonomous driving (AD), with diffusion-…
Early-Terminable Energy-Safe Iterative Coupling for Parallel Simulation of Partitioned Port-Hamiltonian Systems
arXiv:2603.16424v2 Announce Type: replace Abstract: Parallel simulation of robotic systems requires partitioning the dynamics into coupled subsystems. Finite-it…
Position: Vision-Language-Action Models Cannot Be Verified to Perform Physical Reasoning
arXiv:2606.30686v1 Announce Type: new Abstract: Vision-Language-Action (VLA) systems, built on pretrained vision-language models (VLMs), have shown rapidly impr…
Designing Privacy-Preserving Visual Perception for Robot Navigation Based on User Privacy Preferences
arXiv:2604.06382v2 Announce Type: replace Abstract: Visual navigation is a fundamental capability of mobile service robots, yet the onboard cameras required for…
FalconApp: Rapid iPhone Deployment of End-to-End Perception via Automatically Labeled Synthetic Data
arXiv:2604.25949v2 Announce Type: replace Abstract: Reliable perception for robotics depends on large-scale labeled data, yet real-world datasets rely on heavy …
Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing
arXiv:2606.31912v1 Announce Type: new Abstract: Learning-based control has revolutionized dynamic locomotion, yet navigating unstructured terrain remains limite…
CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations
arXiv:2606.31909v1 Announce Type: new Abstract: In this work, we study Compositional Dexterous Functional Object Manipulation (CD-FOM): tasks such as aiming and…
RCT: A Robot-Collected Touch-Vision-Language Dataset for Tactile Generalization
arXiv:2606.31694v1 Announce Type: new Abstract: For robots manipulating open-world objects, tactile representations must generalize to unseen materials. We intr…
ShapeGrasp: Simultaneous Visuo-Haptic Shape Completion and Grasping for Improved Robot Manipulation
arXiv:2605.02347v2 Announce Type: replace Abstract: Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feed…
Robustness of Robotic Manipulation: Foundations and Frontiers
arXiv:2606.31494v1 Announce Type: new Abstract: Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progres…
RRT-Rope: A deterministic shortening approach for fast near-optimal path planning in large-scale uncluttered 3D environments
arXiv:2606.31948v1 Announce Type: new Abstract: Many path planning algorithms have been introduced so far, but most are costly, in path cost and in processing t…
Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
arXiv:2604.21351v2 Announce Type: replace Abstract: The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-bo…
Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
arXiv:2601.02078v3 Announce Type: replace Abstract: The development of robust and generalizable robot learning models is critically contingent upon the availabi…
Plan Right, Then Plan Tight: Symbolic RL for Efficient Embodied Reasoning
arXiv:2606.31260v1 Announce Type: new Abstract: Embodied task planning asks an agent to turn a natural-language instruction into an executable sequence of actio…
RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
arXiv:2604.21355v2 Announce Type: replace Abstract: Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control f…
CoReLIN: Constraint-based Reasoning for Zero-shot Lifelong Interactive Navigation
arXiv:2602.20055v2 Announce Type: replace Abstract: Robot navigation typically assumes an obstacle-free path exists between start and goal. In real environments…
Local Conformal Calibration of Dynamics Uncertainty from Semantic Images
arXiv:2605.13028v2 Announce Type: replace Abstract: We introduce Observation-aware Conformal Uncertainty Local-Calibration (OCULAR), a conformal prediction-base…
Multimodal Benchmark for Safety Assessment in Industrial Inspection Scenarios
arXiv:2601.21173v2 Announce Type: replace Abstract: With the rapid development of industrial intelligence and unmanned inspection, reliable perception and safet…
PriorEye: Geospatial Visual Priors for End-to-End Autonomous Driving
arXiv:2606.31830v1 Announce Type: cross Abstract: Most end-to-end autonomous driving methods rely solely on instantaneous sensor observations, limiting them to …
From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation
arXiv:2606.30749v1 Announce Type: new Abstract: Large-scale dexterous grasp datasets encode rich priors over hand-object interaction, but their use has largely …
LARA: Latent Action Representation Alignment for Vision-Language-Action Models
arXiv:2606.07100v2 Announce Type: replace-cross Abstract: Visual-language action (VLA) models enable robots to predict actions directly from observations and la…
Neural Control: Adjoint Learning Through Equilibrium Constraints
arXiv:2605.03288v2 Announce Type: replace Abstract: Many physical AI tasks require sequential implicit computation: at each step, boundary controls are applied,…
Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension
arXiv:2606.06790v2 Announce Type: replace Abstract: This paper presents ERNEST, a four-wheeled planetary rover concept equipped with a two-degree-of-freedom Act…
Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force
arXiv:2606.30988v1 Announce Type: new Abstract: Robot manipulation often relies on sensory feedback beyond vision, particularly in contact-rich settings where f…
TAPE: Tether-Aware Path Planning for Autonomous Exploration of Unknown 3D Cavities Using a Tangle-Compatible Tethered Aerial Robot
arXiv:2606.30817v1 Announce Type: new Abstract: This letter presents the first method for autonomous exploration of unknown cavities in three dimensions (3D) th…
High-Speed Vision-Based Flight in Clutter with Safety-Shielded Reinforcement Learning
arXiv:2602.08653v2 Announce Type: replace Abstract: Quadrotor unmanned aerial vehicles (UAVs) are increasingly deployed in complex missions that demand reliable…
Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot
arXiv:2606.31807v1 Announce Type: new Abstract: As humanoid robots become increasingly dynamic, coupling them with reinforcement learning offers a promising app…
UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation
arXiv:2606.31451v1 Announce Type: new Abstract: Unified multimodal models (UMMs) have shown great promise in integrating understanding and generation across div…