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
3542 storiesEchoVLA: Robotic Vision-Language-Action Model with Synergistic Declarative Memory for Mobile Manipulation
arXiv:2511.18112v3 Announce Type: replace Abstract: Recent progress in Vision-Language-Action (VLA) models has enabled embodied agents to interpret multimodal i…
Rigid-Covert GNSS Spoofing of UAV Swarms: A Structural Blind Spot, Its Detection Limit, and Absolute-Anchor Defenses
arXiv:2608.06885v1 Announce Type: cross Abstract: Cooperative UAV-swarm defenses commonly cross-check GNSS positions against measured inter-drone geometry. We s…
Scalable Long-Horizon Planning with Staggered Updates for Lifelong MAPF
arXiv:2608.06702v1 Announce Type: cross Abstract: Lifelong Multi-Agent Path Finding (LMAPF) requires generating collision-free paths for large agent fleets unde…
Detection and Ranging of Transient Extrinsic Contacts Based on 6D Dynamic Tactile Sensing
arXiv:2608.07075v1 Announce Type: new Abstract: Delicate manipulation often involves transient and subtle collisions between a grasped object and the environmen…
AutoIntervene: Calibrated Intervention for Action-Chunking Imitation Learning Policies
arXiv:2608.07065v1 Announce Type: new Abstract: Action-chunking visuomotor policies learn from demonstrations and improve temporal consistency by predicting sho…
C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video
arXiv:2608.07045v1 Announce Type: new Abstract: High-quality demonstrations for dexterous robot manipulation are costly and difficult to collect, whereas monocu…
A Haptic Robot Finger Designed for Guqin Instrument Playing
arXiv:2608.07002v1 Announce Type: new Abstract: With the rapid advancement of humanoid robotics and embodied intelligence technologies, numerous musical instrum…
How Should I Pick a Foundation Model for My Robot? In Favor of a Community Evaluation Framework for Social Robots
arXiv:2608.06898v1 Announce Type: new Abstract: Researchers who seek to build social robot applications on foundation models are faced with a difficult question…
Fast and Accurate: An Adaptive VLA Inference Framework through Environment-aware Model Selection
arXiv:2608.06434v1 Announce Type: new Abstract: Embodied intelligence demands both long-horizon reasoning and real-time closed-loop responsiveness. Recent dual-…
Decoupling Intention from Trajectory: A Representational Deduction Framework for World Action Models
arXiv:2608.06994v1 Announce Type: new Abstract: World Action Models (WAMs) aim to construct a unified architecture capable of understanding world state evolutio…
M2-SMap: Memory-Efficient Semantic Mapping with Hierarchical Multi-Model Representation
arXiv:2608.07074v1 Announce Type: new Abstract: Dense point cloud maps, as a typically used mapping representation, are difficult to deploy on resource-constrai…
Panoramic Multimodal Semantic Occupancy Prediction for Quadruped Robots
arXiv:2603.13108v2 Announce Type: replace Abstract: Panoramic imagery provides holistic 360{\deg} visual coverage for environmental perception in quadruped robo…
Robot guide with multi-agent control and automatic scenario generation with LLM
arXiv:2509.10317v2 Announce Type: replace Abstract: The article describes the development of a hybrid social robot control architecture to overcome the limitati…
WNM-3D: A World Navigation Model with 3D Scene Conditioning for Closed-Loop VLN
arXiv:2608.07267v1 Announce Type: cross Abstract: Recent vision-language navigation (VLN) systems increasingly adapt pretrained vision-language models (VLMs) in…
Beyond Visibility: Real-Time Surface Accessibility Fields from Sparse LiDAR
arXiv:2608.06412v1 Announce Type: cross Abstract: Understanding which surfaces in a scene are physically accessible to a given tool is fundamental for robotic i…
Learning Fault-Tolerant Locomotion with Adaptive Gait Timing
arXiv:2608.07328v1 Announce Type: new Abstract: Hardware failures require legged robots to rapidly reorganize coordination and gait timing to maintain stability…
TEMPO: Semantic-Action Decoupled RL Post-Training for Vision-Language-Action Models
arXiv:2608.07314v1 Announce Type: new Abstract: Vision-language-action (VLA) models are commonly adapted to downstream manipulation tasks via supervised fine-tu…
Identifying the Key Biomechanical Features of Movement Adaptation during Exoskeleton-Assisted Locomotion
arXiv:2608.07140v1 Announce Type: new Abstract: The understanding of natural human adaptation during exoskeleton-assisted locomotion - particularly individual d…
LifelongCrossNav: Persistent 3D Semantic Memory for Cross-Floor Multi-Object Navigation
arXiv:2608.07079v1 Announce Type: new Abstract: Object-goal navigation has made substantial progress in semantic perception and exploration, yet persistent memo…
Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF
arXiv:2608.07005v1 Announce Type: new Abstract: Mobile manipulators are increasingly tasked with transporting large, non-convex payloads through cluttered envir…
Benchmarking and Reasoning Distillation of Large Language Models for Feedback Controller Design in Complex Dynamical Systems
arXiv:2608.07004v1 Announce Type: new Abstract: Although remarkable capabilities have been demonstrated by Large Language Models (LLMs) across scientific domain…
Automated Terminal-to-Housing Assembly System for Flat Ribbon Cable Harness
arXiv:2608.06996v1 Announce Type: new Abstract: This paper presents a sensor-minimal automated assembly system for bidirectional single-row flat ribbon cable ha…
Exact Thrust-Reversal Limits of Bidirectional Propellers under Bounded Motor Inputs
arXiv:2608.06991v1 Announce Type: new Abstract: Bidirectional propellers are often treated as signed thrust sources, but their thrust is a signed-quadratic func…
Unordered Landmark Visual Navigation
arXiv:2608.06833v1 Announce Type: new Abstract: Image-goal navigation is a fundamental capability for embodied AI, yet its practical deployment is strained by s…
Is Forward Prediction Enough? Physical State Grounding for JEPA World Models
arXiv:2608.06799v1 Announce Type: new Abstract: Learning structured and control-relevant latent representations remains a key challenge for world models. Recent…
AtlasVLA: Persistent World-Ego State Modeling for Vision-Language-Action Models
arXiv:2608.06729v1 Announce Type: new Abstract: While Vision-Language-Action (VLA) models have advanced embodied AI, their fundamentally reactive paradigm sever…
CrossTracer: Cross-Embodiment Navigation via VLA Model Reasoning and Trace Residuals Adapting
arXiv:2608.06688v1 Announce Type: new Abstract: Vision-language-action (VLA) models provide strong semantic priors for robot navigation, but they often ignore e…
Plan-and-Avoid: Real-Time Aircraft Trajectory Coordination in a Multi-Agent Environment
arXiv:2608.06648v1 Announce Type: new Abstract: This paper presents a real-time Plan-and-Avoid (PAA framework for coordinating cooperative multi-agent airspace …
LyEvO: Lyapunov-Guided Evolutionary Optimization for Safe and Robust Sim-to-Real Policy Learning
arXiv:2608.06481v1 Announce Type: new Abstract: Training controllers that are safe and robust in simulation, and systematically assessing their readiness for re…
GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models
arXiv:2608.05948v1 Announce Type: cross Abstract: Physics engines facilitate large-scale training and evaluation for embodied intelligence, while generative vid…