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 storiesFlow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization
arXiv:2510.09204v4 Announce Type: replace Abstract: Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible…
MultiUAV-Plat: An LLM-Oriented Platform, Benchmark and Framework for Multi-UAV Collaborative Task Planning
arXiv:2606.31073v1 Announce Type: cross Abstract: Large language models (LLMs) provide a promising interface for high-level robotic task planning, but their use…
Online Generation of Collision-Free Trajectories in Dynamic Environments
arXiv:2603.00759v2 Announce Type: replace Abstract: In this paper, we present an online method for converting an arbitrary geometric path, represented by a sequ…
Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model
arXiv:2606.31889v1 Announce Type: new Abstract: This paper presents a novel non-linear mathematical model of an articulated tractor-trailer system that can be u…
Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation
arXiv:2602.08557v2 Announce Type: replace Abstract: Training non-prehensile manipulation policies in contact-rich settings is a core challenge in robotics. Whil…
Motion Planning in Compressed Representation Spaces
arXiv:2606.30940v1 Announce Type: new Abstract: Deep learning methods have vastly expanded the capabilities of motion planning in robotics applications, as lear…
Freeform Preference Learning for Robotic Manipulation
arXiv:2606.32027v1 Announce Type: new Abstract: Reward design remains a central bottleneck for autonomous robot policy improvement, especially in long-horizon m…
Continuous-Space Roadmap Generation for Mobile Robot Fleets with Distance Constraints and Geometry-Aware Discretization
arXiv:2511.07175v2 Announce Type: replace Abstract: Efficient routing of mobile robot fleets requires roadmaps with high redundancy, short path lengths, and suf…
Ground Plane-Aided Extrinsic Calibration of Inertial and RGB-D Sensors for Uncrewed Aerial Vehicles
arXiv:2606.31019v1 Announce Type: new Abstract: Accurate extrinsic calibration of inertial sensors, such as Inertial Measurement Units (IMUs) and cameras is cru…
Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments
arXiv:2606.32009v1 Announce Type: new Abstract: Vision-language-action (VLA) models across robot embodiments require high-quality observation--action supervisio…
Adapting Generalist Robot Policies with Semantic Reinforcement Learning
arXiv:2606.31958v1 Announce Type: new Abstract: Generalist robot policies learn a diverse repertoire of behaviors from large-scale pretraining. In principle, th…
A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
arXiv:2509.15443v2 Announce Type: replace Abstract: Human-to-humanoid imitation learning presents a promising pathway to address the severe data scarcity bottle…
Receptogenesis in a Vascularized Robotic Embodiment
arXiv:2603.09473v3 Announce Type: replace Abstract: Equipping robotic systems with the capacity to generate $\textit{ex novo}$ hardware during operation extends…
Scenario Generation for Testing of Autonomous Driving Systems Using Real-World Failure Records
arXiv:2606.31131v1 Announce Type: cross Abstract: To ensure safe on-road behavior, pre-deployment testing and failure discovery of Autonomous Driving Systems (A…
E-VLA: Event-Augmented Vision-Language-Action Model for Dark and Blurred Scenes
arXiv:2604.04834v2 Announce Type: replace-cross Abstract: Robotic Vision-Language-Action (VLA) models generalize well for open-ended manipulation, but their per…
Revisiting Parameter Redundancy in Vision-Language-Action Models: Insights from VLM-to-VLA Adaptation
arXiv:2606.31382v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have made significant strides in embodied intelligence by integrating the po…
LaMP: Learning Vision-Language-Action Policy with 3D Scene Flow as Latent Motion Prior
arXiv:2603.25399v2 Announce Type: replace-cross Abstract: We introduce \textbf{LaMP}, a dual-expert Vision-Language-Action framework that embeds dense 3D scene …
Vision-Language Procedural Reasoning for Context-Aware Reward Modeling of Robotic Endovascular Guidewire Navigation
arXiv:2606.30698v1 Announce Type: new Abstract: Robotic-assisted endovascular interventions demand accurate, stable, and context-aware guidewire navigation in c…
Robustness-Based Synthesis for Time Window Temporal Logic Specifications via Mixed-Integer Linear Programming
arXiv:2606.30820v1 Announce Type: new Abstract: Time Window Temporal Logic (TWTL) is a rich specification language for cyber-physical systems that can compactly…
TactX: Learning Shared Tactile Representations Across Diverse Sensors
arXiv:2606.31236v1 Announce Type: new Abstract: Tactile sensors provide critical information for contact-rich manipulation, yet tactile representations and poli…
What Probing Reveals about Autonomous Driving: Linking Internal Prediction Errors to Ego Planning
arXiv:2606.31106v1 Announce Type: new Abstract: Large-scale datasets and fast simulators have enabled improvements in driving policies that appear safe and robu…
UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models
arXiv:2606.31723v1 Announce Type: new Abstract: Vision-language-action (VLA) models have achieved strong performance in many robotic manipulation tasks, yet rem…
Warp RL: Reshaping Base Policy Distributions for Dynamics Adaptation
arXiv:2606.31043v1 Announce Type: cross Abstract: Residual reinforcement learning adapts a pretrained robot policy by learning an additive correction to its act…
Information-Aided DVL Calibration
arXiv:2606.31216v1 Announce Type: new Abstract: The Doppler velocity log (DVL) velocity measurements are critical to the accuracy of autonomous underwater vehic…
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation
arXiv:2606.31836v1 Announce Type: new Abstract: In the field of robot learning, large-scale and diverse demonstration trajectories provide the fundamental basis…
Communication-Aware Robot Execution for Cloud Inference under Spatially Heterogeneous Connectivity
arXiv:2606.31497v1 Announce Type: new Abstract: Cloud-hosted foundation models enable robots to use semantic reasoning beyond onboard computational limits. In t…
Wavelet Policy: Imitation Learning in the Scale Domain with World Prior Memory
arXiv:2504.04991v5 Announce Type: replace Abstract: Conventional visuomotor imitation learning usually predicts future robot actions directly in the time domain…
LeCropFollow: Latent Space Planning for Navigation in Unstructured Crop Fields
arXiv:2606.31941v1 Announce Type: new Abstract: Unstructured navigational features, such as irregular planting or discontinuities, remain the primary failure mo…
A Modular Vision-Language-Action Robotics Framework for Indoor Environments
arXiv:2606.31144v1 Announce Type: new Abstract: This paper presents an integrated system for the CMU Vision-Language-Action (VLA) Challenge, designed to enable …
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
arXiv:2606.30362v1 Announce Type: new Abstract: While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute p…