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 storiesFMT$^{\mathrm{X}}$: Lazy Wavefront Search for Dynamic Replanning
arXiv:2509.08521v2 Announce Type: replace Abstract: FMT$^{*}$ plans efficiently in static worlds by expanding a cost-ordered wavefront and collision-checking la…
Towards Surgical World-Action Modeling: A Preliminary Joint Visual-Trajectory Forecasting for Surgical Motion Planning
arXiv:2608.20284v1 Announce Type: cross Abstract: Reliable surgical planning requires models to anticipate not only how instruments will move, but also how the …
Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback
arXiv:2608.20043v1 Announce Type: cross Abstract: We study bilateral teleoperation between nonlinear, multi-DOF robotic manipulators in the presence of constant…
Learning Hierarchical Skill Policies with Offline Quality-Diversity Reinforcement Learning
arXiv:2608.19684v1 Announce Type: cross Abstract: Recent studies investigate how to leverage pre-collected datasets to improve the policy performance and sample…
CVSD-Reg: Cross-Modal Visual Semantic Prior Distillation for Robust LiDAR Registration
arXiv:2608.19536v1 Announce Type: cross Abstract: Learning-based global point cloud registration has achieved remarkable progress, yet its reliance on geometric…
Multi-Tool Robotics Enables In-Situ Sample Manipulation for Time-Resolved Synchrotron Measurements
arXiv:2608.19280v1 Announce Type: cross Abstract: The high photon flux at synchrotron beamlines allows for the measurement of fast dynamical processes. However,…
Beyond Multimodal Alignment: Certifying Physical Language through Response Substitution and Ordered Execution
arXiv:2608.19492v1 Announce Type: cross Abstract: World models increasingly treat compact multimodal representations as interfaces between perception and physic…
PVRA: A Pointwise Key-point Voting Framework for Robotic Assembly
arXiv:2608.19968v1 Announce Type: new Abstract: Modern computer vision has enabled partial autonomy in robotic assembly manipulation. However, performing autono…
Memory Centric Power Allocation for Multi-Agent Embodied Question Answering
arXiv:2604.17810v2 Announce Type: replace Abstract: This paper considers multi-agent embodied question answering (MA-EQA), which enables robot teams to answer q…
Model-Less Feedback Control of Space-based Continuum Manipulators using Backbone Tension Optimization
arXiv:2512.06754v2 Announce Type: replace Abstract: Continuum manipulators offer intrinsic dexterity and safe geometric compliance for navigation within confine…
Calming Robot Pitches? Exploring the Influence of Robot Voice Pitch on Children's Stress Levels
arXiv:2608.19826v1 Announce Type: cross Abstract: This study examined whether variations in robot speech pitch influence children's stress levels during a robot…
MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces
arXiv:2608.19955v1 Announce Type: new Abstract: Enabling robots to walk on yielding terrain is vital for applications ranging from disaster response to planetar…
World-Model-Grounded LLM Planning for AUV and ASV Navigation Near Offshore Wind Farms
arXiv:2608.19661v1 Announce Type: new Abstract: Large language models can turn a natural-language mission into a sequence of robot actions, but they do not have…
Keeping the Franka Emika Panda alive: a ROS 2 stack with a reliable position interface
arXiv:2608.19740v1 Announce Type: new Abstract: This paper presents an open-source software stack that restores ROS 2 support for the Franka Emika Panda robot w…
CoToGrasp: Contact-Topology-Conditioned Dexterous Grasp Synthesis via Canonical Workspace Learning
arXiv:2608.19776v1 Announce Type: new Abstract: Current dexterous grasp planners primarily optimize for physical stability, focusing on whether an object can be…
Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space
arXiv:2608.19977v1 Announce Type: new Abstract: Although legged animals are capable of performing explosive motions while traversing confined spaces, replicatin…
DART-S: Reachability-Audited Active-Suspension Preconditioning for Off-Road Vehicle Jumps
arXiv:2608.20275v1 Announce Type: new Abstract: Airborne torque reaction cannot recover takeoff errors beyond the wheel angular-momentum budget. DART-S applies …
SafeBranch: Branch-Pair Safety Alignment for Embodied Agents
arXiv:2608.19729v1 Announce Type: cross Abstract: Vision-language-model-based embodied agents can complete instructed tasks but often violate safety constraints…
Towards general embodied intelligence: integrating large language models, knowledge bases, and reasoning capabilities to build the next generation of AI agents
arXiv:2608.19794v1 Announce Type: cross Abstract: The convergence of large language models (LLMs), structured knowledge bases (KBs), and reasoning ability (RA) …
DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation
arXiv:2608.20114v1 Announce Type: cross Abstract: Mobile manipulation requires a robot to predict how locomotion and arm motion jointly alter future observation…
DiffDef: A Diffusion Model for Generating Multimodal Goal Shapes From Demonstrations for Deformable Object Manipulation
arXiv:2506.18779v2 Announce Type: replace Abstract: Deformable object manipulation is a key capability in many robotic applications. A promising paradigm for th…
Learning Vision-Driven Reactive Soccer Skills for Humanoid Robots
arXiv:2511.03996v2 Announce Type: replace Abstract: Humanoid soccer poses a representative challenge for embodied intelligence, requiring robots to coordinate a…
Can Predicted Dynamics Exist in the Physical World?
arXiv:2606.00089v2 Announce Type: replace Abstract: Can learned state-action proposals exist in the physical world? To filter infeasible commands before executi…
Design strategies for empathetic AI robots for older adults
arXiv:2510.01192v2 Announce Type: replace-cross Abstract: Emulating empathy in human-robot interaction is a key component for achieving satisfying social, trust…
A Physics-Informed Neural Network Approach for UAV Path Planning in Dynamic Environments
arXiv:2510.21874v2 Announce Type: replace Abstract: Unmanned aerial vehicles (UAVs) operating in dynamic wind fields must generate safe and energy-efficient tra…
Fine-Tuning VLAs with Self-Demonstrated Generative Control for Multi-Task Manipulation
arXiv:2608.19490v1 Announce Type: new Abstract: State-of-the-art vision-language-action (VLA) models such as $\pi_{0.5}$ exhibit strong semantic understanding, …
WaveVerif: Acoustic Side-Channel based Verification of Robotic Workflows
arXiv:2510.25960v2 Announce Type: replace-cross Abstract: In this paper, we present a framework that uses acoustic side-channel analysis (ASCA) to monitor and v…
UAV-Based Infrastructure Inspections: A Literature Review and Proposed Framework for AEC+FM
arXiv:2601.11665v3 Announce Type: replace-cross Abstract: Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engin…
Symmetric Lyapunov Subcenter Manifolds for Periodic Regulation of Mechanical Systems
arXiv:2505.13064v4 Announce Type: replace-cross Abstract: Multi-body mechanical systems have rich internal dynamics, whose solutions can be exploited as energy-…
MPCoT: Reward-Guided Multi-Path Latent Reasoning for Test-Time Scalable Vision-Language-Action
arXiv:2606.06245v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) policies remain brittle in long-horizon and high-uncertainty control, where one…