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 storiesImagining Recovery: Inference-Time Counterfactual Realignment for Vision-Language-Action Models
arXiv:2608.14822v1 Announce Type: new Abstract: Vision-language-action (VLA) models have improved the flexibility and generality of robotic manipulation, yet th…
Real-time Estimator of Actuator Control and Health (REACH) on an Eel-Inspired Soft Robot
arXiv:2608.14865v1 Announce Type: new Abstract: An actuator health estimation algorithm for a soft swimming robot that can perform anguilliform swimming is deve…
GaussMemory: Task-Driven 3D Gaussian Scene Memory for Long-Horizon Robotic Manipulation
arXiv:2608.14986v1 Announce Type: new Abstract: Long-horizon robotic manipulation fundamentally relies on persistent spatial memory. However, existing 3D memory…
NPU Offloading of a Frozen Visual Encoder for Robot Policy Training
arXiv:2608.15002v1 Announce Type: new Abstract: When a robot policy is trained for a new task or dataset, its visual encoder can be frozen and only its action g…
LAPF: LLM-Agent-Based Path Finder Using the UAVScenes Dataset
arXiv:2608.15175v1 Announce Type: new Abstract: Uncrewed aerial vehicles (UAVs) are increasingly deployed for autonomous navigation in complex outdoor environme…
PhaseLoRA: Control-Regime-Conditioned Low-Rank Adaptation for Continuous-Action Vision-Language-Action Policies
arXiv:2608.15285v1 Announce Type: new Abstract: Parameter-efficient fine-tuning (PEFT) is a natural way to adapt pretrained vision-language-action (VLA) policie…
MM-BEV: Enhancing Timeliness by Computing Where and When it Matters
arXiv:2608.15437v1 Announce Type: new Abstract: Multimodal bird's-eye-view (BEV) perception combines LiDAR depth accuracy with dense camera semantics, but its h…
Accelerating Mixed Discrete-Continuous Motion Planning via Neural Graphs of Convex Sets
arXiv:2608.15440v1 Announce Type: new Abstract: Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formul…
Vision-Based Tactile Intelligence for Robotics: Sensing, Learning, and Embodied Manipulation
arXiv:2608.15490v1 Announce Type: new Abstract: Tactile sensing is essential for robots in contact-rich tasks, yet many tactile sensors still provide sparse, lo…
Degenerate in Whose Frame? An Equivariance Condition for Degeneracy Detection in LiDAR Registration
arXiv:2608.15532v1 Announce Type: new Abstract: Degeneracy detectors for LiDAR registration commonly return six per-axis binary labels. We ask whether these lab…
ReForce: Learning Force-aware Retargeting for Dexterous Manipulation
arXiv:2608.15560v1 Announce Type: new Abstract: Human demonstrations offer a scalable data source for dexterous manipulation, but transferring them to robot act…
Not All History Helps: Velocity-Aware Selective Memory for Long-Horizon End-to-End Autonomous Driving
arXiv:2608.15573v1 Announce Type: new Abstract: Reliable long-horizon planning remains a key challenge in end-to-end autonomous driving. By accounting for futur…
GAINS: Leveraging Inconsistent Human Intervention Signals in Reinforcement Learning
arXiv:2608.15707v1 Announce Type: new Abstract: Correcting robot manipulation policies through human intervention holds great promise for real-world deployment,…
Some Modifications to Our End-to-End UAV Planner
arXiv:2608.15741v1 Announce Type: new Abstract: The one-stage planner YOPO maps a single depth image and the robot state directly to a set of candidate trajecto…
Making two action heads agree: coordination mechanisms and a runtime collapse certificate for flow-matching policies
arXiv:2608.15748v1 Announce Type: new Abstract: A dual-representation flow-matching policy decodes each predicted motion into joint and end-effector spaces, and…
Reliable Piezoresistive Strain Sensing Through Physical Limits and Uncertainty Monitoring
arXiv:2608.15784v1 Announce Type: new Abstract: Soft piezoresistive strain sensors are one of the most common sensing solutions for wearable and soft robotic ap…
Scaling Manual-Grounded Appliance Manipulation with Data Synthesis and Unified Planning
arXiv:2608.15863v1 Announce Type: new Abstract: Operating household appliances requires long-horizon planning that is state-dependent and robust to disturbances…
RAPAC-DP: Response-Aligned Pending-Action Compensation for Diffusion Policies under Delayed Execution
arXiv:2608.15924v1 Announce Type: new Abstract: Cloud-side inference gives imitation-learning policies access to greater computational resources, but communicat…
OccamView: Object-Conditioned View Selection for Frame-Budgeted Active 3D Gaussian Reconstruction
arXiv:2608.16499v1 Announce Type: new Abstract: Active 3D Gaussian reconstruction fundamentally relies on selecting informative next-best views under limited se…
ViHaTeleop: A Low-Cost, Lightweight Visual-Haptic Teleoperation System for Dexterous Manipulation Learning
arXiv:2608.16572v1 Announce Type: new Abstract: Learning from demonstration is a promising approach for dexterous manipulation, but collecting high-quality cont…
Orbit-Planner: Towards Latent World Models for On-Orbit Obstacle Avoidance of Satellite Agents
arXiv:2608.16651v1 Announce Type: new Abstract: Satellite agents for on-orbit navigation tasks need to predict collision risks using limited onboard observation…
H-PAC Hand: Control-Oriented Modeling and Tendon-Elasticity Compensation for an Underactuated Robotic Hand
arXiv:2608.16712v1 Announce Type: new Abstract: Underactuated tendon-driven hands offer compact actuation and passive compliance, but tendon elongation under re…
MatchingPolicy: Correspondence-Aware Policy Enables Cross-Object In-Context Learning
arXiv:2608.16715v1 Announce Type: new Abstract: In-context imitation learning enables few-shot policy generalization but struggles to maintain performance on un…
Adaptive Repulsive Pheromone Clustering for Foraging Robot Swarms
arXiv:2608.16822v1 Announce Type: new Abstract: The Central Place Foraging Algorithm (CPFA) combines site fidelity, pheromone-guided navigation, and uninformed …
FlexWorm: Primitive-augmented Hybrid Contact-motion Planning for Suction-based Multi-segment Deformable Robots
arXiv:2608.16853v1 Announce Type: new Abstract: Multi-segment suction-based soft robots are promising for inspection and maintenance in confined or fragile envi…
Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memory
arXiv:2608.16889v1 Announce Type: new Abstract: Long-horizon robot manipulation chains many contact-rich skills into one multi-stage task. Vision-language-actio…
Beam-Wise Statistical Background Subtraction for Static Roadside LiDAR: A Cross-Sensor Benchmark Study
arXiv:2608.14868v1 Announce Type: cross Abstract: Background subtraction is a key preprocessing step for infrastructure-based LiDAR perception, enabling efficie…
Admissibility-Preserving Control for Strict-Feedback Nonlinear Systems with Asymmetric Actuator Constraints
arXiv:2608.15375v1 Announce Type: cross Abstract: This paper develops Admissibility-Preserving Control (APC), a realization-centered safety-critical control fra…
Pluralistic Human-Robot Interaction: Designing for Robot Interaction with Diverse Communities
arXiv:2608.16049v1 Announce Type: cross Abstract: Social robots are being developed for homes, schools, and other environments where they will interact with div…
HaReCAP: Habitual-action Grounding for Recursive Large Language Model Agents
arXiv:2608.16447v1 Announce Type: cross Abstract: Long-horizon embodied tasks require LLM agents to iteratively decompose high-level goals, revise plans in resp…