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 storiesJ-LAW: Joint Localization and Actionable World Modeling via Coupled Latent Factor Graphs
arXiv:2606.28712v1 Announce Type: new Abstract: Classical SLAM estimates metric poses and a geometric map but produces no actionable predictive model for planni…
REPAIR-Bench: A Benchmark for Robot Error Perception And Interaction Recovery
arXiv:2606.29937v1 Announce Type: new Abstract: Understanding how users perceive and respond to robot failures is essential for building robust and trustworthy …
TUGS: Physics-based Compact Representation of Underwater Scenes by Tensorized Gaussian
arXiv:2505.08811v3 Announce Type: replace-cross Abstract: Underwater 3D scene reconstruction is crucial for multimedia applications in adverse environments, suc…
An Optimal Algorithm for Changing from Latitudinal to Longitudinal Formation of Autonomous Aircraft Squadrons
arXiv:1712.00513v2 Announce Type: replace Abstract: This work presents an algorithm for changing from latitudinal to longitudinal formation of autonomous aircra…
PinNet: Keypoint-Aware Learned Local Descriptors with Geometric Embedding for Loop Closure in LiDAR SLAM
arXiv:2606.28637v1 Announce Type: new Abstract: Loop closure is essential to reduce drift and build globally consistent maps in large-scale environments. Howeve…
ActiveVital: Geometry-Aware Embodied Vital Signs Monitoring for Home Healthcare Robots
arXiv:2606.30275v1 Announce Type: new Abstract: Home robots require reliable vital signs monitoring to support long-term companionship and safety in daily envir…
When Stopping Fails: Rethinking Minimal Risk Conditions through Human-Interactive Autonomous Driving for Safe Transportation Systems
arXiv:2606.29115v1 Announce Type: new Abstract: Autonomous vehicles (AVs) are increasingly deployed in urban environments, yet their safety frameworks remain pr…
Multi-Class Human/Object Detection on Robot Manipulators using Proprioceptive Sensing
arXiv:2508.02425v2 Announce Type: replace Abstract: In physical human-robot collaboration (pHRC) settings, humans and robots collaborate directly in shared envi…
Learning from Mistakes: Rollout-Retrieval Lifelong Policy Learning for Autonomous Driving
arXiv:2606.30537v1 Announce Type: new Abstract: Autonomous driving policies should be able to improve continually as deployment exposes them to increasingly div…
FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control
arXiv:2606.28476v1 Announce Type: new Abstract: High-precision humanoid control is limited by target-domain dynamics mismatch, where the same control objective …
Stability Boundaries and Motor Performance in Delayed Robot-Mediated Dyadic Interactions
arXiv:2510.14511v3 Announce Type: replace Abstract: This paper establishes analytical stability boundaries for robot-mediated human-human (dyadic) interaction s…
Sim2Swim: Zero-Shot Velocity Control for Agile AUV Maneuvering in 3 Minutes
arXiv:2512.08656v2 Announce Type: replace Abstract: Holonomic autonomous underwater vehicles (AUVs) have the hardware ability for agile maneuvering in both tran…
CORE: Common Outcome Regularities from Action-Free Visual Demonstrations for Robot Manipulation
arXiv:2606.29517v1 Announce Type: new Abstract: Robot imitation learning often relies on costly robot demonstrations, while abundant action-free visual demonstr…
LNN-Fly: Continuous-Time UAV Navigation for Robust Obstacle Avoidance under Timing Mismatch
arXiv:2606.28827v1 Announce Type: new Abstract: End-to-end unmanned aerial vehicle (UAV) navigation can achieve impressive agility in simulation, yet its obstac…
SWITCH: Benchmarking Modeling and Handling of Tangible Interfaces in Long-horizon Embodied Scenarios
arXiv:2511.17649v4 Announce Type: replace-cross Abstract: Tangible control interfaces (TCIs), such as appliance panels, remotes, elevators, and embedded GUIs, a…
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
arXiv:2606.30243v1 Announce Type: new Abstract: This paper presents KYON, a hybrid wheel-legged quadruped robot equipped with a bimanual upper body for loco-man…
Vision-Language Models for Deployable Social Robot Navigation: Bridging Semantic Reasoning and Low-Level Control
arXiv:2606.28760v1 Announce Type: new Abstract: Social robot navigation (SRN) requires more than geometric path planning; it demands understanding human intenti…
When May I Help You? On The Effect of Proactivity on Group Human-Robot Collaboration
arXiv:2606.28469v1 Announce Type: new Abstract: Robot initiative is a central challenge in multi-party human-robot collaboration. A robot that contributes witho…
Empowering a Single-Frequency GNSS Receiver to Achieve High-Precision Positioning with Relative Observations
arXiv:2606.29192v1 Announce Type: new Abstract: Global Navigation Satellite System (GNSS) navigation is widely used to provide absolute, outdoor positioning in …
MoPe: Motion Permanence for Robust Monocular Gaussian Mapping in Dynamic Environments
arXiv:2606.29237v1 Announce Type: new Abstract: Robust robot autonomy depends on scene representations that remain stable enough to support localization, naviga…
Reachability Guarantees for Cart-Pole Swing-Up and Stabilization
arXiv:2606.28627v1 Announce Type: cross Abstract: The cart-pole swing-up is a canonical benchmark for nonlinear control of underactuated systems, yet an end-to-…
RIPA: Sensory-Vector Prompt Injection Attacks on LLM-Controlled ROS 2 Robots
arXiv:2606.28649v1 Announce Type: cross Abstract: We present RIPA, the first systematic multi-channel empirical study of prompt injection attacks delivered thro…
Embodiment Meets Environment: Toward Context-Aware, Safe Physical Caregiving Robots
arXiv:2606.28592v1 Announce Type: new Abstract: Physical caregiving robots need to assist different users with different tasks in diverse environments, and they…
Where Do Humans Look When Demonstrating to Robots? Human Gaze Behavior in Pick-and-Place Tasks Across Demonstration Devices
arXiv:2506.05808v2 Announce Type: replace Abstract: Imitation learning for generalizable performance often requires a large volume of demonstration data, making…
CubifyGS: Object-Centric 3D Gaussian Splatting for Lifelong Dynamic Scene Maintenance
arXiv:2606.28720v1 Announce Type: new Abstract: Lifelong scene mapping under rigid object rearrangement remains a fundamental challenge in robotics. While 3D Ga…
Representation Learning for Equivariant Inference with Guarantees
arXiv:2505.19809v3 Announce Type: replace-cross Abstract: In many real-world applications of regression, conditional probability estimation, and uncertainty qua…
Motion planning for hundreds of floating robots
arXiv:2606.09620v2 Announce Type: replace Abstract: Planning collision-free motion for large robot fleets is difficult because collision avoidance induces stron…
MOAR Planner: Multi-Objective and Adaptive Risk-Aware Path Planning for Infrastructure Inspection with a UAV
arXiv:2606.30575v1 Announce Type: new Abstract: The problem of autonomous navigation for UAV inspection remains challenging as it requires effectively navigatin…
Understanding LLM Intervention Explanations in Multi-Party Human-Robot Interaction
arXiv:2606.29460v1 Announce Type: new Abstract: Large Language Models (LLMs) are increasingly embedded in social robots to support natural group interactions, y…
He3-Seeker: Robotic Information Planning for Lunar Helium-3 Distribution Mapping
arXiv:2606.28746v1 Announce Type: new Abstract: Lunar helium-3 is a highly valuable strategic resource, pivotal to the advancement of both deep-space exploratio…