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 storiesAdvDex: Learning Dexterous Manipulation from Human Demonstrations via Joint-Aligned Actions and Adversarial Learning
arXiv:2608.14028v1 Announce Type: new Abstract: Dexterous manipulation is a fundamental capability for embodied intelligence, but scaling it remains difficult b…
Communication in modular robotic motor control: Bilateral controllers under realistic constraints
arXiv:2608.13904v1 Announce Type: new Abstract: Robotic motor control in musculoskeletal systems requires fast, accurate movement and robust postural stabilizat…
Ontology-Grounded World Models for Failure Diagnosis and Closed-Loop Repair in Physical AI Systems
arXiv:2608.13901v1 Announce Type: new Abstract: EV-WM represents candidate quality with feature and event scores, but these scores do not explicitly record an u…
Graph-MambaNav: Spatial-Temporal Graph Mamba Leveraging Object-Relation Knowledge for Object-Goal Navigation
arXiv:2608.13723v1 Announce Type: new Abstract: Object-goal navigation requires an agent to reason over object relationships and prioritize target-relevant obje…
Adjacency-Based Spectral Proxy Control of Mobile Communication Agents
arXiv:2608.13616v1 Announce Type: new Abstract: We consider a heterogeneous mobile-agent network composed of uncontrolled task agents and controllable communica…
From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances
arXiv:2605.04649v2 Announce Type: replace Abstract: High-precision assembly frequently involves tight-tolerance insertions, where even slight pose errors can ca…
LatentAM: Real-Time, Large-Scale Latent Gaussian Attention Mapping via Online Dictionary Learning
arXiv:2602.12314v2 Announce Type: replace Abstract: We present LatentAM, an online 3D Gaussian Splatting (3DGS) mapping framework that builds scalable latent fe…
OctoSplat: Hybrid OctoMap-Gaussian Splatting for Active Semantic Mapping and Phenotyping with Horticultural Robots
arXiv:2601.12122v2 Announce Type: replace Abstract: Semantic reconstruction of agricultural scenes plays a vital role in tasks such as phenotyping and yield est…
Edge Case Detection in Automated Driving: Methods, Challenges, and Future Directions
arXiv:2410.08491v3 Announce Type: replace Abstract: Automated vehicles (AVs) promise to enhance transportation safety and efficiency. However, ensuring their re…
A Temporal Barrier Framework for Collision Avoidance in Multi-Agent Autonomous Aerial Vehicles
arXiv:2608.14239v1 Announce Type: cross Abstract: Operating teams of autonomous aircraft in dynamic, uncertain, and potentially adversarial environments require…
OpenBelief-Nav: Evidence-Preserving Object Memory for Open-Vocabulary Language-Guided Navigation
arXiv:2608.13923v1 Announce Type: cross Abstract: Open-vocabulary 3D scene graphs provide compact semantic memory for language-guided navigation, but mapped obj…
Estimating Dynamic Soft Continuum Robot States From Boundaries
arXiv:2505.04491v3 Announce Type: replace Abstract: State estimation is one of the fundamental problems in robotics. For soft continuum robots, this task is par…
Reward Machines for Signal Temporal Logic
arXiv:2608.13625v1 Announce Type: cross Abstract: Signal temporal logic (STL) provides a formal language for specifying real-time properties of real-valued obse…
THRIVE: Therapeutic Humanoid Robot In Virtual Environment
arXiv:2608.14462v1 Announce Type: new Abstract: This paper presents THRIVE (Therapeutic Humanoid Robot In Virtual Environment), an at-home rehabilitation platfo…
PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment
arXiv:2608.14284v1 Announce Type: new Abstract: Fine-grained robotic evaluation matters for understanding embodied models, going beyond binary success rates and…
AgilePE: Autonomous UAV Pursuit-Evasion via Self-Play Reinforcement Learning
arXiv:2608.14135v1 Announce Type: new Abstract: Autonomous pursuit-evasion is a fundamental challenge for Unmanned Aerial Vehicles (UAVs), requiring rapid decis…
FlatLab: A Unified Methodology Framework and Simulation-Based Benchmark for Robotic Manipulation of Flat Objects
arXiv:2608.14049v1 Announce Type: new Abstract: Robotic manipulation of flat objects is challenging due to the ungraspable configurations and strong variations …
hint$^2$: Hierarchical World Models for Inference-Time Temporal Logic Guidance
arXiv:2608.13678v1 Announce Type: new Abstract: A central goal of robot learning is to enable robots to execute rich instructions specified at runtime. Large-sc…
Knowledge-Data-Dual-Driven Reinforcement Learning for Autonomous Vehicle Control in Mixed Traffic
arXiv:2608.13878v1 Announce Type: new Abstract: In mixed traffic, decision-making for autonomous vehicles (AVs) confronts three interrelated challenges. First, …
BICPO-VLA: Behavior-Identified Continuation Preference Optimization for Smooth Asynchronous Vision-Language-Action Control
arXiv:2608.13924v1 Announce Type: new Abstract: The request-to-handoff gap has three coupled sources: ambiguity about the behavior intended at request time, phy…
Demonstration of Space Robot Teleoperation over a Lossy and Delayed Network using ATMOS
arXiv:2608.14031v1 Announce Type: new Abstract: We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar …
PILOT: Privileged Imitation Learning for End-to-End Motion Planning of Autonomous UAVs under Partial Observability
arXiv:2608.14082v1 Announce Type: new Abstract: Autonomous navigation in cluttered environments is hampered by partial observability and dynamic constraints. Th…
OccPlanner: Goal-Aware Occupancy-Conditioned Diffusion Planner for Pixel-Goal Navigation
arXiv:2608.14160v1 Announce Type: new Abstract: Pixel-goal navigation specifies targets directly in the agent's camera view, but a target pixel provides neither…
MMUSV-Sim: A Perception-Oriented Simulation and Data-Generation Platform for Multi-USV Cooperative Perception
arXiv:2608.14207v1 Announce Type: new Abstract: Cooperative perception among multiple unmanned surface vehicles (USVs) combines complementary observations to ex…
Accelerating Large-scale Bundle Adjustment for LiDAR Mapping via Parallel Computing
arXiv:2608.14266v1 Announce Type: new Abstract: LiDAR bundle adjustment is widely utilized in mapping to construct globally consistent point cloud maps. In this…
Control-Informed Constraint Adaptation in Minimum-Time Trajectory Planning for Autonomous Racing
arXiv:2608.14448v1 Announce Type: new Abstract: Autonomous racecars operate at the limits of vehicle dynamics, where small control errors translate into safety-…
Expected Free Energy-based Informative Path Planning for Robotic Mars Exploration
arXiv:2608.14466v1 Announce Type: new Abstract: An autonomous robot efficiently exploring an unknown environment, such as looking for water sources on Mars, fac…
Spatiotemporal Tube-Based Safety-Certificate for Autonomous Navigation of Articulated Vehicles
arXiv:2608.14531v1 Announce Type: new Abstract: Articulated vehicles are the workhorses of freight transportation, and their autonomous navigation is challengin…
Learning-Guided Sparsification of Dynamic Graphs in Robotic Exploration
arXiv:2604.16509v2 Announce Type: replace Abstract: Many robotic exploration algorithms rely on graph structures for frontier-based exploration and dynamic path…
RoboSynChallenge: Mastering Real-World Dexterity via Generalizing Synthesized Manipulation Skills
arXiv:2608.12416v1 Announce Type: new Abstract: Achieving generalizable robotic manipulation remains a central challenge in embodied intelligence. Despite rapid…