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 storiesLF-GICP: Parameter-Free Degeneracy-Aware LiDAR Odometry via a Voxel-Normal Localizability Field
arXiv:2608.19522v1 Announce Type: new Abstract: Scan-to-map LiDAR odometry drifts unboundedly along the unobservable axes of geometrically degenerate environmen…
Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control
arXiv:2608.19443v1 Announce Type: new Abstract: Thanks to its parallelizability and flexibility, sampling-based Model Predictive Control (MPC) has become widely…
APPROVE: Visual End-User-in-the-Loop Robot Programming with LLMs
arXiv:2608.19281v1 Announce Type: new Abstract: Programming robots remains challenging for non-experts, as traditional methods require expert knowledge and even…
Video2DoorTraversal: Push Door Traversal via Simulated Door Twins
arXiv:2608.20251v1 Announce Type: new Abstract: Door opening and traversal is a long-horizon loco-manipulation task that requires precise handle interaction and…
Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms
arXiv:2608.20111v1 Announce Type: new Abstract: End-to-end autonomous driving has evolved from camera-to-control regression toward planning-oriented systems tha…
Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking
arXiv:2608.20087v1 Announce Type: new Abstract: Humanoid robots have recently demonstrated promising capabilities in real-world ball sports. However, achieving …
Evidence-Gated Task and Motion Planning with Vision-Language Models
arXiv:2608.20084v1 Announce Type: new Abstract: Robots executing long-horizon manipulation tasks from natural-language instructions must reason about both seman…
GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulation
arXiv:2608.19759v1 Announce Type: new Abstract: Multifingered grasping is a crucial robotic skill, but current deep-learning grasp planners often struggle to ge…
SAGE: Ergodic Control for Autonomous and Adaptive Inspection of Subsea Infrastructure
arXiv:2608.19671v1 Announce Type: new Abstract: Subsea Christmas Trees (XTs) are underwater structures that use valves for directing oil flow, needing constant …
Magnetically Self-Sealed MR Haptic Actuator With PWM-Based Excitation and High-Fidelity Torque Control
arXiv:2608.19635v1 Announce Type: new Abstract: Accurate and stable torque rendering is essential for safe and perceptive human--machine interaction. Magnetorhe…
What Matters for Latent Actions in Robot Learning
arXiv:2608.19613v1 Announce Type: new Abstract: Latent Action Models (LAMs) have emerged as a promising paradigm for enabling robot learning to leverage large-s…
The Missing Touch: Spatially Distributed Tactile Feedback Brings Teleoperation Closer to Human Dexterity
arXiv:2608.19372v1 Announce Type: new Abstract: A fundamental challenge in robotic teleoperation is enabling an operator to control a remote robot as effortless…
SCAPE: Scenario-Conditioned Simulation-Augmented Policy Evaluation
arXiv:2608.19425v1 Announce Type: new Abstract: Reliable performance evaluation is a central bottleneck for deploying robot-learning policies in real-world cond…
The Verification Gap in Networked Physical AI: A Post-Semantic Communication Framework
arXiv:2608.19593v1 Announce Type: new Abstract: A task-effective proposal is not yet a justified physical action. In networked Physical AI, a proposal may be un…
OrthoSkillVLA: Continual Skill Learning via Gradient-Informed Skill Subspace Adaptation
arXiv:2608.19589v1 Announce Type: new Abstract: Pretrained Vision-Language-Action models provide a strong foundation for robot learning, but sequentially adapti…
HiTac-WAM: A Hierarchical Tactile World Action Model for Contact-Rich Robot Manipulation
arXiv:2608.19574v1 Announce Type: new Abstract: World action models jointly predict future visual observations and actions, whereas existing tactile-aware varia…
Multimodal Trajectory Planning for Surface Vehicles using Turning Circle-based Control Barrier Functions
arXiv:2608.19537v1 Announce Type: new Abstract: This paper presents a guide path-free multimodal trajectory planning framework for autonomous surface vehicles o…
When Automata Meet Streams: Temporal Logic Compilation for Stream-Based Robotics Task and Motion Planning
arXiv:2608.19453v1 Announce Type: new Abstract: Stream-based robotics Task and Motion Planning (TAMP) integrates discrete symbolic planning with dynamically gen…
Learning the Right Abstraction: Neural Reduced Dynamics for Complex Robot Control
arXiv:2608.19375v1 Announce Type: new Abstract: High-fidelity embodied AI simulators provide realistic evaluation of complex robotic systems, but their computat…
Revisiting the "Push-T" Robot Manipulation Task with Agentic Robotics
arXiv:2608.18227v1 Announce Type: new Abstract: Push-T is an iconic benchmark for learning manipulation policies from human demonstrations. The robot must use a…
GigaBrain-WBC-0.5: A Behavior World Model for Robust Whole-Body Control with Environment Interaction
arXiv:2608.18234v1 Announce Type: new Abstract: Whole-body motion tracking policies turn a humanoid into a robust control interface: the teleoperator---or an up…
VERAGMIL: Virtual Environment for Scooping Granular Foods with Imitation Learning Models
arXiv:2608.18258v1 Announce Type: new Abstract: Robot-Assisted Feeding (RAF) systems are essential for assisting individuals with disabilities or motor impairme…
A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits
arXiv:2608.18364v1 Announce Type: new Abstract: Pneumatic artificial muscles have provided new opportunities to develop upper-extremity soft exosuits for reha- …
Backward Layout Search for Sequence-Constrained Robotic Assembly
arXiv:2608.18454v1 Announce Type: new Abstract: Robotic assembly layout planning must determine the assembly site and the initial pose of each part while ensuri…
Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots
arXiv:2608.18552v1 Announce Type: new Abstract: This paper presents a real-time control-constrained Differential Dynamic Programming (DDP) framework for underac…
Evaluation of Monocular SLAM Systems on High-Altitude Nadir UAV Footage
arXiv:2608.18632v1 Announce Type: new Abstract: Aerial nadir video combines weak geometric constraints with severe perceptual aliasing, making it a difficult re…
SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation
arXiv:2608.18701v1 Announce Type: new Abstract: Physical interaction quality is central to deformable-object manipulation, yet most benchmarks evaluate task suc…
Beyond Placement and Articulation: Usage-Driven Code Scenes for Embodied Interaction
arXiv:2608.18840v1 Announce Type: new Abstract: Indoor scene synthesis provides essential environments for embodied AI, robotic manipulation, and simulation-bas…
Autonomous Agricultural Tractor: Integrated Weed Detection and LiDAR Navigation for Precision Paddy Farming
arXiv:2608.19004v1 Announce Type: new Abstract: Site-specific weed management in paddy farming offers substantial reductions in herbicide use over conventional …
A Metamorphic Artificial Age Score Decision-Support Prototype for Flight-Log-Based Drone Propeller Health Monitoring
arXiv:2608.18088v1 Announce Type: cross Abstract: Drone propeller faults can create safety and reliability risks when their effects are distributed across multi…