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
3583 storiesAERMANI-VLM: Structured Prompting and Reasoning for Aerial Manipulation with Vision Language Models
arXiv:2511.01472v2 Announce Type: replace Abstract: The rapid progress of vision--language models (VLMs) has sparked growing interest in robotic control, where …
Learning Transferable Dynamics Priors from Action to World Modeling
arXiv:2606.29501v1 Announce Type: new Abstract: We study action-conditioned world modeling as a scalable way to learn transferable dynamics priors for robot lea…
Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy
arXiv:2605.27046v2 Announce Type: replace Abstract: Motor thermal management is often overlooked in the context of electrically-actuated robots, particularly le…
Event-Conditioned Diagnostics of Kinematic, Contact, and Object-Permanence Fields in Passive Object-State World Models
arXiv:2606.28455v1 Announce Type: new Abstract: World models can predict future physical states, but prediction accuracy alone does not explain how physical inf…
GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
arXiv:2511.13216v2 Announce Type: replace Abstract: Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured envi…
CylindTrack: Depth-Aware Cylindrical Motion Modeling for Panoramic Multi-Object Tracking
arXiv:2606.30097v1 Announce Type: cross Abstract: Multi-Object Tracking (MOT) is a core capability for embodied perception, and panoramic cameras are attractive…
OpenSPM: An Environment-Transferable Robotic Key Spatial Pose Memory and Closed-Loop High-Frequency Flow-Matching Action Generation Model
arXiv:2606.29936v1 Announce Type: new Abstract: Open-environment tabletop robotic manipulation requires systems to possess semantic understanding, precise geome…
Analytic Concept-Centric Memory for Agentic Embodied Manipulation
arXiv:2606.29774v1 Announce Type: new Abstract: Long-horizon embodied manipulation requires agents to remember persistent objects, track changing scene states, …
Grasp-Oriented Non-Prehensile Manipulation via Learning a Graspability Field
arXiv:2606.30474v1 Announce Type: new Abstract: Non-prehensile manipulation is often used as a preparatory step for robotic grasping, yet existing approaches ty…
Sequential Planning via Anchored Robotic Keypoints
arXiv:2606.30613v1 Announce Type: new Abstract: We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation…
RetrDex: Efficient Object Retrieval in Cluttered Scenes with a Dexterous Hand
arXiv:2502.18423v3 Announce Type: replace Abstract: Retrieving objects buried beneath clutter is both challenging and time-consuming, as complex support relatio…
Tactile Gesture Recognition with Built-in Joint Sensors for Industrial Robots
arXiv:2508.12435v2 Announce Type: replace Abstract: While gesture recognition using vision or robot skins is an active research area in Human-Robot Collaboratio…
SPACE: Swarm Pheromone Fields for Adaptive Collision-Aware Exploration
arXiv:2606.29372v1 Announce Type: new Abstract: Massive robot swarms can explore unknown environments quickly, but adding robots eventually stops helping. Doorw…
Improvement of Robot's Simultaneous Localization and Mapping Using an Effective Transformation to Achieve Linear Model
arXiv:2606.28475v1 Announce Type: new Abstract: Nowadays mobile robots have wide engineering applications. Simultaneous localization and mapping (SLAM) is an im…
Fast and Accurate Outlier-Aware LiDAR Super-Resolution for SLAM Applications
arXiv:2606.28607v1 Announce Type: new Abstract: This work tackles the challenge of enhancing low-resolution LiDAR sensors for SLAM applications through a novel …
Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation
arXiv:2606.29941v1 Announce Type: new Abstract: Visuo-Tactile policies leveraging optical tactile sensors have shown great promise in contact-rich manipulation.…
AeroPlace-Flow: Language-Grounded Object Placement for Aerial Manipulators via Visual Foresight and Object Flow
arXiv:2603.07744v2 Announce Type: replace Abstract: Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined…
What Capable Agents Must Know: Selection Theorems for Robust Decision-Making under Uncertainty
arXiv:2603.02491v3 Announce Type: replace-cross Abstract: As artificial agents become increasingly capable, what internal structure is necessary for an agent to…
Robust Extended Kalman Filter for Land Navigation Using Massive Array of MEMS IMUs
arXiv:2606.29271v1 Announce Type: cross Abstract: We propose a robust Extended Kalman Filter (EKF) architecture for land navigation using an array of hundreds o…
Realtime Wind Estimation using Low Cost Quadrotor Uncrewed Aerial Vehicles
arXiv:2606.30581v1 Announce Type: new Abstract: In environmental monitoring as well as emergency response applications such as wildfires, wind velocity measurem…
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
arXiv:2606.29209v1 Announce Type: new Abstract: We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints cho…
A Physics-Grounded Benchmark for Multi-Agent Dynamics in World Models
arXiv:2606.28757v1 Announce Type: cross Abstract: Generative world models hold immense promise as scalable simulators for autonomous systems, particularly for s…
Critical Interval MSE: Toward Reliable Offline Validation for Robot Manipulation Policies
arXiv:2606.29898v1 Announce Type: new Abstract: Real-world evaluation is the gold standard for robot policies because it tests them against the physical conditi…
TACO: A Test and Check Framework for Robust Pose Graph Optimization
arXiv:2606.29851v1 Announce Type: new Abstract: Pose Graph Optimization (PGO) is one of the most widely adopted approaches for solving Simultaneous Localization…
Contact-Anchored Proprioceptive Odometry for Legged and Wheel-Legged Robots
arXiv:2602.17393v3 Announce Type: replace Abstract: Reliable odometry for legged robots without cameras or LiDAR remains challenging due to IMU drift and noisy …
MTD-Map: Single-Stage Long-Term LiDAR Map Maintenance Framework via Mixture Transition Distribution
arXiv:2606.29469v1 Announce Type: new Abstract: While robust map maintenance has advanced significantly, existing studies have focused on specific tasks, especi…
OP3DSG: Open-Vocabulary Part-Aware 3D Scene Graph Generation for Real-World Environments
arXiv:2606.29786v1 Announce Type: cross Abstract: 3D scene graphs (3DSGs) provide a compact and structured abstraction of 3D environments. Although advances in …
Cross-Session 3D LiDAR and Camera Fusion for Robust Localization of Unmanned Aerial Vehicles in GPS-Denied Environments
arXiv:2606.28951v1 Announce Type: new Abstract: Accurate localization of unmanned aerial vehicles (UAVs) is essential for applications such as structural health…
X-DiffVLA: X-Embodied Diffusion Action Heads for Vision-Language-Action Models
arXiv:2605.25044v2 Announce Type: replace Abstract: Learning universal policies from cross-embodied data remains a fundamental challenge in robotics. Although V…
On the Identifiability of Aided Inertial Navigation Under Measurement Delays: A Geometric Approach
arXiv:2606.29123v1 Announce Type: new Abstract: In aided inertial navigation, measurements from different sensors are often subject to unknown relative time del…