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 storiesZero-Shot Transfer of Force Map Estimation Across GelSight Mini Sensors
arXiv:2608.18240v1 Announce Type: cross Abstract: Despite the rapid industrialization of the touch sensor manufacturing process, most of these sensors are still…
Reproducible Multimodal Affordance Prediction
arXiv:2608.18317v1 Announce Type: cross Abstract: Affordance prediction is the identification of potential actions an agent can perform on a target object from …
Payload Swing Estimation and Damping Without Payload Parameters for Multirotor UAVs
arXiv:2608.18625v1 Announce Type: cross Abstract: Cable-suspended payload transport by multirotor UAVs is flexible but generates periodic swing disturbance that…
Dynamic SpectraFormer for Ultra-High-Definition Underwater Image Enhancement
arXiv:2608.18662v1 Announce Type: cross Abstract: Underwater images suffer from color distortion, haze, and poor visibility due to light refraction and absorpti…
To Go Far, Go Together: Diverse Preferences Induce a Curriculum for Reward Optimization
arXiv:2608.18770v1 Announce Type: cross Abstract: Learning a reward model from human feedback and optimizing a policy against it is one approach to aligning AI …
Counterfactual Behavior Cloning: Offline Imitation Learning from Imperfect Human Demonstrations
arXiv:2505.10760v2 Announce Type: replace Abstract: Learning from humans is challenging because people are imperfect teachers. When everyday humans show the rob…
Personalized Autonomous Driving via Optimal Control with Clearance Constraints from Questionnaires
arXiv:2602.08326v2 Announce Type: replace Abstract: Driving without considering the preferred separation distance from surrounding vehicles may cause discomfort…
WESPR: Wind-adaptive Energy-Efficient Safe Perception & Planning for Robust Flight with Quadrotors
arXiv:2603.09194v2 Announce Type: replace Abstract: Local wind conditions strongly influence drone performance: headwinds increase flight time, crosswinds and w…
SmoCap: Movement Reconstruction under Morphology-Pose Ambiguity through Unified Scale-Pose Canonicalization
arXiv:2605.20850v2 Announce Type: replace Abstract: Movement reconstruction pipelines need estimates that support interpretable joint motion and subject morphol…
PartialBiGrasp: Inferring Hidden Local Geometry for Bimanual Grasping from Partial Views
arXiv:2608.19188v1 Announce Type: new Abstract: Dual-arm robotic grasping is essential for manipulating large, heavy, and geometrically complex objects that can…
ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning
arXiv:2608.19182v1 Announce Type: new Abstract: We introduce Accelerating Dexterity via Pre-Training (ADEPT), a large-scale reinforcement learning (RL) framewor…
DA-WAM: Decision-Aligned Future Latents for Driving World Models
arXiv:2608.19085v1 Announce Type: new Abstract: Anticipating how scenes evolve under ego actions is fundamental to safe autonomous driving, yet the full potenti…
An Experimental Study of Downwash Effects on a Continuum Manipulator Integrated with a Multirotor UAV
arXiv:2608.18507v1 Announce Type: new Abstract: Continuum arm aerial manipulation systems leverage soft-manipulator compliance and dexterity for tasks in confin…
DevGRU: Depth-guided Visual Navigation using a Collision-aware Recurrent Model
arXiv:2608.18470v1 Announce Type: new Abstract: Existing visual navigation models often aim to develop foundation models that can generalize robot navigation ac…
HarvestPoint-ACT: Explicit Target Selection and Harvest-Point Conditioning for Robotic Fruit Harvesting under Occlusion
arXiv:2608.18446v1 Announce Type: new Abstract: End-to-end imitation learning avoids hand-made robot motion for approaching and grasping, but the policy must st…
The Embodiment Gap in Robot Foundation Models
arXiv:2608.18433v1 Announce Type: new Abstract: Robot foundation models (RFMs), including vision-language-action (VLA) policies, are often discussed through a s…
GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs
arXiv:2608.18292v1 Announce Type: new Abstract: Consider a robot guide dog escorting a blind user to an available seat while a second assistive robot dog concur…
Trust as a Field: A Macroscopic Representation for Vehicular Networks
arXiv:2608.18178v1 Announce Type: new Abstract: Trust assessment is a fundamental component of cooperative and connected vehicle systems. However, existing appr…
Orienteering Problem with Uncertain Time-Varying Rewards: Framework and Benchmark for Everyday Service Robotics
arXiv:2608.18672v1 Announce Type: new Abstract: We present the orienteering problem with uncertain time-varying rewards (OP-UTVR), a novel variant of the orient…
Engineering Psychological Safety in Autonomous Vehicles: A Systems-Theoretic Framework for Psychological Safety in Autonomous Vehicles and its Validation in Real-World Scenarios
arXiv:2608.18778v1 Announce Type: cross Abstract: Despite rapid technological advances, the societal acceptability of autonomous vehicles (AVs) remains limited …
Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference
arXiv:2603.28467v2 Announce Type: replace Abstract: Multi-Rotor Aerial Vehicles (MRAVs) are increasingly used in communication-dependent missions where connecti…
Reconstruction of continuum robots by marker-free shape registration of image data using a kinematic model
arXiv:2405.15336v2 Announce Type: replace Abstract: Continuum robots are slender, flexible manipulators that navigate confined, curved workspaces and are gainin…
The Role of Grid Cells in Reducing Spatial Aliasing in Hippocampal Place Representations
arXiv:2608.18569v1 Announce Type: cross Abstract: Spatial aliasing occurs when two or more distinct locations produce highly similar place-cell representations,…
Designing Social Robots for Social-Cognition Training with Autistic Adults
arXiv:2608.18488v1 Announce Type: cross Abstract: Social robots have been widely explored as tools for autism intervention, yet this literature has focused pred…
Multimodal Rapport Estimation in Real-World HRI
arXiv:2608.18401v1 Announce Type: cross Abstract: Evaluating interaction quality in real-world HRI is an important challenge. If interaction quality can be esti…
LT-Mem: Volatility-Aware Spatio-Temporal Memory for Lifelong Scene Understanding
arXiv:2608.19059v1 Announce Type: new Abstract: Long-term robot operation in evolving environments requires object-level understanding that persists across repe…
RoboEdit: Turning Human Manipulation Videos into Scalable Robot Experience
arXiv:2608.18948v1 Announce Type: new Abstract: Collecting robot hand-object interaction data is costly and embodiment-specific, yet abundant human-object video…
Dream2Reward: Transition-Alignment Reward Models from Positive Demonstrations for Robotic Manipulation
arXiv:2608.18787v1 Announce Type: new Abstract: Learning robotic policies requires dense rewards that remain informative when behavior departs from successful d…
Progressive Experience Fusion for Multi-Task World Model Control in Endovascular Navigation
arXiv:2608.18647v1 Announce Type: new Abstract: Autonomous endovascular navigation could support the delivery of mechanical thrombectomy to underserved areas, b…
LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories
arXiv:2608.18618v1 Announce Type: new Abstract: Autonomous laboratories hold great promise for accelerating scientific discovery. To achieve this vision, robots…