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 storiesRGB-D Video Generation for Improving Human-to-Robot Object Handover Prediction
arXiv:2608.13028v1 Announce Type: cross Abstract: Human-to-robot (H2R) object handover is a fundamental capability for human-robot collaboration, yet progress i…
DreamX-Phi 1.0: Action-Conditioned Video World Model for Robotic Manipulation
arXiv:2608.13489v1 Announce Type: cross Abstract: We present \textbf{DreamX-Phi 1.0}, an action-conditioned video world model for robotic manipulation that, giv…
Evolutionary Brain-Body Co-Optimization Consistently Fails to Select for Morphological Potential
arXiv:2508.17464v2 Announce Type: replace Abstract: Brain-body co-optimization remains a challenging problem. To understand and overcome its challenges, we exha…
Trajectory Prediction via Bayesian Intention Inference under Unknown Goals and Kinematics
arXiv:2509.24928v2 Announce Type: replace Abstract: This work introduces an adaptive Bayesian algorithm for real-time trajectory prediction via intention infere…
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
arXiv:2511.07820v4 Announce Type: replace Abstract: Despite the rise of billion-parameter foundation models trained across thousands of graphical processing uni…
APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots
arXiv:2602.11143v3 Announce Type: replace Abstract: Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based …
Perception-Aware Autonomous Exploration in Feature-Limited Environments
arXiv:2603.15605v2 Announce Type: replace Abstract: Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation…
SpatialVAM:Spatial-Aware Multi-View Video Diffusion as a Data-Efficient Robot Policy
arXiv:2604.03181v2 Announce Type: replace Abstract: Robotic manipulation requires understanding both the 3D spatial structure of the environment and its tempora…
JailWAM: Jailbreaking World Action Models in Robot Control
arXiv:2604.05498v2 Announce Type: replace Abstract: World Action Models (WAMs) have emerged as a promising paradigm for robotic manipulation, enabling physical …
Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
arXiv:2605.12974v3 Announce Type: replace Abstract: We study how to ensure probabilistic safety for nonlinear systems under distributional ambiguity. Our approa…
Trajectory First: A Curriculum for Discovering Diverse Policies
arXiv:2506.01568v4 Announce Type: replace-cross Abstract: Being able to solve a task in diverse ways makes agents more robust to task variations and less prone …
RadarGen: Automotive Radar Point Cloud Generation from Cameras
arXiv:2512.17897v2 Announce Type: replace-cross Abstract: We present RadarGen, a diffusion model for synthesizing realistic automotive radar point clouds from m…
OTPL-VIO: Robust Visual-Inertial Odometry with Optimal Transport Line Association and Adaptive Uncertainty
arXiv:2603.09653v2 Announce Type: replace-cross Abstract: Robust stereo visual-inertial odometry (VIO) remains challenging in low-texture scenes and under abrup…
Training Non-Differentiable Networks via Optimal Transport
arXiv:2605.01928v2 Announce Type: replace-cross Abstract: We optimize losses that jump: spiking thresholds, quantized layers, and discrete routing put jumps in …
Predictive Relative-Velocity Steering for Safe Robotic Manipulator Teleoperation in Dynamic Environments
arXiv:2608.13284v1 Announce Type: new Abstract: Recent advances in teleoperation have enabled robotic manipulators to perform dexterous, human-arm-like motions.…
Global Convergence of an SQP Method for Contact-Implicit Trajectory Optimization
arXiv:2406.01763v5 Announce Type: replace-cross Abstract: Contact-Implicit Trajectory Optimization (CITO) is a powerful framework for planning motions of robots…
OpenRC: An Open-Source Robotic Colonoscopy Framework for Multimodal Data Acquisition and Autonomy Research
arXiv:2604.03781v2 Announce Type: replace Abstract: Colorectal cancer screening critically depends on colonoscopy, yet existing platforms offer limited support …
Attention from Action, for Action: Emergent Visual Bottlenecks for Policy Learning
arXiv:2608.13422v1 Announce Type: new Abstract: Visual bottlenecks that focus policy inputs on regions of interest (ROIs) can improve data-efficient visuomotor …
AMR-Pose: An Active LED Marker-Based Relative Pose Estimation Framework With Probabilistic Switching PnP for Cooperative AUVs
arXiv:2608.12866v1 Announce Type: new Abstract: Reliable relative pose estimation between autonomous underwater vehicles (AUVs) is critical for cooperative ocea…
Mobile manipulators and humanoids: The future of robotics
Humanoid robotics and software startups have emerged weekly for the past year, capturing media attention and billions of dollars in investment. While some human…
Energy-Aware Wind-Resilient Routing for Truck-Assisted Multi-UAV Delivery under Wind Uncertainty
arXiv:2608.11641v1 Announce Type: cross Abstract: Energy feasibility under wind uncertainty is a critical safety issue for low-altitude air-ground delivery. In …
Towards Tighter Convex Relaxation of Mixed-Integer Programs: Leveraging Logic Network Flow for Task and Motion Planning
arXiv:2509.24235v2 Announce Type: replace Abstract: This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow," th…
Robotic Manipulation is Vision-to-Geometry Mapping: Vision-Geometry Backbones over Language and Video Models
arXiv:2604.12908v2 Announce Type: replace Abstract: At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physica…
TMRL: Diffusion Timestep-Modulated Pretraining Enables Exploration for Efficient Policy Finetuning
arXiv:2605.12236v2 Announce Type: replace Abstract: Fine-tuning pre-trained robot policies with reinforcement learning (RL) often inherits the bottlenecks intro…
Decoupled Quadratic Kalman Filter for Elliptical Extended Object Tracking with Log-normal Axis Modeling
arXiv:2512.14426v2 Announce Type: replace-cross Abstract: Extended object tracking involves estimating both the physical extent and kinematic parameters of a ta…
Inverse-dynamics observer design for a linear single-track vehicle model with distributed tire dynamics
arXiv:2603.07499v3 Announce Type: replace-cross Abstract: Accurate estimation of the vehicle's sideslip angle and tire forces is essential for enhancing safety …
Early Warning Signals for OpenVLA Failure under Visual Distribution Shift
arXiv:2606.29699v1 Announce Type: cross Abstract: Vision Language Action models combine perception, language grounding, and control in a single policy, but thei…
Top-down Traffic Scenario Generation via Joint Initial-Goal Diffusion and Trajectory Infilling
arXiv:2608.11407v1 Announce Type: new Abstract: Robust traffic simulators are crucial for developing and testing autonomous vehicles to reduce the costly, labor…
From Self-Normal-Positioning to Omni-Directional Tracking: Real-Time Surface Modeling Enabled Probe Tilt Control for Robotic Ultrasound Imaging
arXiv:2608.11409v1 Announce Type: new Abstract: Ultrasound (US) provides real-time, radiation-free imaging, but the image quality depends strongly on how the pr…
Locomotion Variability and User Experience in Smart Wheelchair Human-Robot Interaction
arXiv:2608.11417v1 Announce Type: new Abstract: Human movement is inherently variable, with variability structured according to task relevance: movements are ty…