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
3542 stories$\omega$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
arXiv:2608.06375v1 Announce Type: new Abstract: Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, …
LoDA: A Level of Detection Aware Method and a Multimodal Sensing Benchmark for Object Level Change Detection
arXiv:2608.05356v1 Announce Type: cross Abstract: High-definition 3D LiDAR maps are important for autonomous driving and smart-city services, which require reli…
Hijacking Robots with a Piece of Paper: A Systematic Study of Physical Prompt Injection in VLM-Controlled Robots
arXiv:2608.05715v1 Announce Type: new Abstract: Vision-Language Models (VLMs) are increasingly deployed as planners in robotic systems, where they translate nat…
ErgoSurf: Ergodic Control for the Coverage of Unknown Surfaces
arXiv:2608.06208v1 Announce Type: new Abstract: Contact-centric tasks on surfaces, ranging from inspection and cleaning to sanding and polishing, require robots…
Transcutaneous Spinal Cord Stimulation Disrupts Conscious Ankle Proprioception and Produces a More Constrained Locomotor Pattern in Unimpaired Adults
arXiv:2608.05635v1 Announce Type: cross Abstract: Transcutaneous spinal cord stimulation (tSCS) modulates spinal sensorimotor circuits primarily through activat…
Robot Learning from Human Demonstrations: Handwritten Alphabet Trajectories and Human-Likeness Evaluation
arXiv:2608.06221v1 Announce Type: new Abstract: Learning from demonstration (LfD) provides a developmental framework through which robots can develop motor skil…
XEWorld: Can Action-Conditioned World Models Generalize to Unseen Robot Embodiments?
arXiv:2608.05799v1 Announce Type: new Abstract: Action-conditioned world models are promising learned simulators for robotic manipulation, yet evaluating them e…
SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation
arXiv:2608.05970v1 Announce Type: new Abstract: Embodied visuomotor models, including Diffusion Policy (DP) and Vision-Language-Action (VLA) models, have demons…
In-Context VLA: Endowing Vision-Language-Action Models with Language via In-Context Post-Training and Agentic Tool Use
arXiv:2608.05738v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have become the dominant recipe for generalist manipulation, yet they are al…
Robotic Nanoparticle Synthesis via Solution-based Processes
arXiv:2604.12169v2 Announce Type: replace Abstract: We present a screw geometry-based manipulation planning framework for the robotic automation of solution-bas…
IcFuzz: Fuzzing Isaac Sim with Semantic Stage Guidance and Multi-level Mutation
arXiv:2608.06088v1 Announce Type: new Abstract: Robotics simulators serve as a foundational infrastructure for embodied AI, facilitating safe and scalable robot…
NavTrust: Benchmarking Trustworthiness for Embodied Navigation
arXiv:2603.19229v2 Announce Type: replace Abstract: There are two major categories of embodied navigation: Vision-Language Navigation (VLN), where agents naviga…
Unified Planning-Learning Framework for Robust UUV Navigation Under Partial Observability
arXiv:2608.05365v1 Announce Type: new Abstract: This paper presents an observation-only autonomy framework for Unmanned Underwater Vehicles (UUVs) navigation in…
Adaptive-WAM: Quality-Guided Early-Exit Planning from Intermediate Video-Diffusion Features
arXiv:2608.06008v1 Announce Type: new Abstract: Large video diffusion models provide rich spatiotemporal priors for autonomous driving, but existing world-actio…
Coordinated Multi-Robot Disassembly for Makespan Optimization of Large-Scale Assemblies
arXiv:2608.05830v1 Announce Type: new Abstract: Multi-robot task and motion planning for disassembly tasks requires robots to operate in confined workspaces whi…
Parallel-in-Time Nonlinear Optimal Control via GPU-native Sequential Convex Programming
arXiv:2603.10711v3 Announce Type: replace Abstract: Real-time solution of nonlinear optimal control problems remains challenging on embedded robotic hardware, w…
Topometric Autonomous Vehicle Localization by Combining Visual Embeddings and Feed-Forward 3D Models
arXiv:2608.06021v1 Announce Type: new Abstract: Effective Visual Localization (VL) requires a map of the environment that combines compactness for efficient sca…
Near-sensor Computing for Rapid Visuotactile Perception
arXiv:2608.05725v1 Announce Type: new Abstract: Visuotactile sensors reconstruct dense contact geometry from measured surface gradients, but host-based processi…
PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
arXiv:2608.05586v1 Announce Type: new Abstract: Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. Howe…
VLAff: Vision-Language-Affordance Model for Unified Actionable Affordances
arXiv:2608.05215v1 Announce Type: new Abstract: Learning manipulation skills from human videos is promising for scalable robot learning. However, the embodiment…
Acoustic-driven millimetric helical robot: ultrasonic synergistic manipulation in confined fluidic environment
arXiv:2608.05746v1 Announce Type: new Abstract: Acoustic field-driven manipulation provides a non-contact and non-invasive strategy for controlling microscale a…
Nonvisual Classification of Ground-Condition by Artificial Proprioception in an Amoeba-Inspired Autonomous Walking Robot
arXiv:2608.05684v1 Announce Type: new Abstract: Nonvisual classification of ground condition based on a multimodal sensing approach was investigated for an amoe…
ATP: Anatomical Torque with Passivity-based Control Framework for Safe Upper-Limb Exoskeleton Assistance
arXiv:2608.05723v1 Announce Type: new Abstract: Providing assistance across diverse movements is a central objective of exoskeletons, and anatomical knowledge c…
DFM-VLA: Iterative Action Refinement for Robot Manipulation via Discrete Flow Matching
arXiv:2603.26320v4 Announce Type: replace Abstract: Vision-Language-Action (VLA) models that encode actions using a discrete tokenization scheme have been widel…
Observation-Grounded Self-Predictive Reinforcement Learning for Visual Continuous Control
arXiv:2608.05989v1 Announce Type: cross Abstract: Sample-efficient policy learning from pixels is a long-standing challenge in reinforcement learning (RL). Rece…
Path Planning of Cleaning Robot with Reinforcement Learning
arXiv:2208.08211v2 Announce Type: replace Abstract: Recently, as the demand for cleaning robots has steadily increased, therefore household electricity consumpt…
Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments
arXiv:2608.06170v1 Announce Type: new Abstract: Hierarchical 3D scene graphs are a promising representation for high-level spatial reasoning in autonomous mobil…
Shape-Aware Oriented Bounding Box (OBB) to Horizontal Bounding Box (HBB) Conversion
arXiv:2608.05858v1 Announce Type: cross Abstract: Accurate object detection in aerial and satellite imagery is dependent upon the bounding box representation. T…
ARGUS: Aligning Robot Scene Geometry Under Shifting Views with Large 3D Vision Models
arXiv:2608.05579v1 Announce Type: new Abstract: Large-scale visuomotor policies have demonstrated impressive performance across a wide range of robot manipulati…
A Master-Salve Robot Manipulator for Needle-Based Teleoperation in MRI Chamber
arXiv:2608.06354v1 Announce Type: new Abstract: We present a MR safe, master-slave robot manipulator for abdominal interventions in the MRI chamber. A human ope…