Robotics

Papers filed under cs.RO on arXiv, each one already summarized by Paperlayer. Open any of them to read the summary beside the original PDF, with every point linked to the line, figure, or table it came from.

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1 to 60 of 5,360

Forward Dynamics Models
Zipei Ma, Junzhe Jiang, Jiahui Zhang +6
cs.ROarXiv:2610.13117v12026
Dream to Remember: Continual Steering of Generalist Robot Policies with World Models
Bahey Tharwat, Iman Nematollahi, Marvin Alles +3
cs.ROcs.CVcs.LGarXiv:2610.13816v12026
Sonic-AMG: Streaming Human Motion Generation from Spatial Audio
Jingcheng Ni, Zekun Li, Zhiyang Dou +6
cs.CVcs.GRcs.LGarXiv:2610.13300v12026
RESCUE: Is This Alarm Worth Acting On? Counterfactual Evaluation of VLA Runtime Monitors
David Ahmedt-Aristizabal, Abdelwahed Khamis, Mohammad Ali Armin +1
cs.ROcs.AIarXiv:2610.13516v12026
Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learning
Egor Cherepanov, Nikita Kachaev, Alexey K. Kovalev +1
cs.LGcs.AIcs.ROarXiv:2502.10550v32025
A Comparative Study of Bug Algorithms for Robot Navigation
Kimberly McGuire, Guido de Croon, Karl Tuyls
cs.ROarXiv:1808.05050v22018
CronusVLA: Towards Efficient and Robust Manipulation via Multi-Frame Vision-Language-Action Modeling
Hao Li, Shuai Yang, Yilun Chen +8
cs.ROcs.CVarXiv:2506.19816v22025
HAMLET: Switch your Vision-Language-Action Model into a History-Aware Policy
Myungkyu Koo, Daewon Choi, Taeyoung Kim +4
cs.ROcs.CVarXiv:2510.00695v32025
Inducing Structure in Reward Learning by Learning Features
Andreea Bobu, Marius Wiggert, Claire Tomlin +1
cs.ROcs.AIcs.HCarXiv:2201.07082v12022
Quantifying Hypothesis Space Misspecification in Learning from Human-Robot Demonstrations and Physical Corrections
Andreea Bobu, Andrea Bajcsy, Jaime F. Fisac +2
cs.ROcs.AIcs.HCarXiv:2002.00941v22020
What Matters in Building Vision-Language-Action Models for Generalist Robots
Xinghang Li, Peiyan Li, Long Qian +10
cs.ROcs.CVarXiv:2412.14058v42024
WorldMAP: Bootstrapping Vision-Language Navigation Trajectory Prediction with Generative World Models
Hongjin Chen, Shangyun Jiang, Tonghua Su +4
cs.AIcs.CVcs.ROarXiv:2604.07957v12026
ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics
Jie Chen, Yuxin Cai, Yizhuo Wang +5
cs.ROarXiv:2603.13833v22026
SIRL: Similarity-based Implicit Representation Learning
Andreea Bobu, Yi Liu, Rohin Shah +2
cs.ROcs.AIcs.HCarXiv:2301.00810v32023
Versatile Behavior Diffusion for Generalized Traffic Agent Simulation
Zhiyu Huang, Zixu Zhang, Ameya Vaidya +3
cs.ROarXiv:2404.02524v32024
A Generalized Acquisition Function for Preference-based Reward Learning
Evan Ellis, Gaurav R. Ghosal, Stuart J. Russell +2
cs.ROcs.AIcs.LGarXiv:2403.06003v12024
RePo: Resilient Model-Based Reinforcement Learning by Regularizing Posterior Predictability
Chuning Zhu, Max Simchowitz, Siri Gadipudi +1
cs.LGcs.AIcs.ROarXiv:2309.00082v22023
VOTE: Vision-Language-Action Optimization with Trajectory Ensemble Voting
Juyi Lin, Amir Taherin, Arash Akbari +11
cs.CVcs.AIcs.ROarXiv:2507.05116v52025
Dream-SLAM: Dreaming the Unseen for Active SLAM in Dynamic Environments
Xiangqi Meng, Pengxu Hou, Zhenjun Zhao +4
cs.ROcs.CVarXiv:2602.21967v12026
LESS is More: Rethinking Probabilistic Models of Human Behavior
Andreea Bobu, Dexter R. R. Scobee, Jaime F. Fisac +2
cs.ROcs.AIcs.HCarXiv:2001.04465v12020
Reinforcement Learning with Human Feedback for Realistic Traffic Simulation
Yulong Cao, Boris Ivanovic, Chaowei Xiao +1
cs.AIcs.LGcs.ROarXiv:2309.00709v12023
Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors
Letian Wang, Jie Liu, Hao Shao +4
cs.ROcs.AIcs.LGarXiv:2305.04412v12023
Gen-Drive: Enhancing Diffusion Generative Driving Policies with Reward Modeling and Reinforcement Learning Fine-tuning
Zhiyu Huang, Xinshuo Weng, Maximilian Igl +5
cs.ROarXiv:2410.05582v12024
JitterVLA: A Replay Benchmark for Motion Quality in VLA-Driven Human-Robot Manipulation
Faith Ogunwoye, Didar Seyidov, Konstantin Gubernatorov +1
cs.ROcs.HCcs.LGarXiv:2610.13628v12026
HorizonNav: Geometry-Guided Video Diffusion for Anticipatory 3D Robot Navigation
Hajira Amjad, Valerii Serpiva, Viacheslav Liubimov +2
cs.ROarXiv:2610.13849v12026
Mapless, Stabilizing, and Anti-Stuck Flipper Control for Articulated Tracked Robots
Valentýn Číhala, Pavel Sarga, Martin Pecka +2
cs.ROarXiv:2610.13838v12026
AlphaNIST: Emergent Assembly Skills from Binary Task Rewards
Octi Zhang, Iretiayo Akinola, Rosario Scalise +12
cs.AIcs.ROarXiv:2610.13354v12026
Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge
Nicolas Hudson, Fletcher Talbot, Mark Cox +31
cs.ROarXiv:2104.09053v12021
Splat2Act: From Captured Scenes to Personalized VLA Manipulation
Xiaomeng Ye, Krishna Jaganathan, Gyubeum Lim +3
cs.ROcs.CVarXiv:2610.13945v12026
BT-Agent: Deploying Onboard Robot Agents with Behavior Trees and Multi-Fidelity Evaluation
Fabio Hübel, Adam Lilja, Yue Yin +5
cs.ROarXiv:2610.13862v12026
Learning to Play Table Tennis From Scratch using Muscular Robots
Dieter Büchler, Simon Guist, Roberto Calandra +3
cs.ROcs.LGarXiv:2006.05935v12020
From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion
Deepali Jain, Atil Iscen, Ken Caluwaerts
cs.ROcs.CVcs.LGarXiv:2011.11722v12020
Zero-Shot Terrain Generalization for Visual Locomotion Policies
Alejandro Escontrela, George Yu, Peng Xu +2
cs.ROarXiv:2011.05513v12020
Neural Volumetric Memory for Visual Locomotion Control
Ruihan Yang, Ge Yang, Xiaolong Wang
cs.ROcs.AIcs.CVarXiv:2304.01201v12023
Neural Scene Representation for Locomotion on Structured Terrain
David Hoeller, Nikita Rudin, Christopher Choy +2
cs.ROcs.AIcs.CVarXiv:2206.08077v12022
Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control
Chuong Nguyen, Lingfan Bao, Quan Nguyen
cs.ROarXiv:2204.01147v22022
Learning to Jump from Pixels
Gabriel B. Margolis, Tao Chen, Kartik Paigwar +4
cs.ROcs.AIarXiv:2110.15344v12021
Event-based Agile Object Catching with a Quadrupedal Robot
Benedek Forrai, Takahiro Miki, Daniel Gehrig +2
cs.ROarXiv:2303.17479v22023
Learning Visual Locomotion with Cross-Modal Supervision
Antonio Loquercio, Ashish Kumar, Jitendra Malik
cs.AIcs.ROarXiv:2211.03785v12022
RRL: Resnet as representation for Reinforcement Learning
Rutav Shah, Vikash Kumar
cs.ROarXiv:2107.03380v32021
Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance
Leonard Freißmuth, Cedric Le Gentil, Helen Oleynikova +1
cs.ROarXiv:2610.13158v12026
Vision-based Vehicle Speed Estimation: A Survey
David Fernández Llorca, Antonio Hernández Martínez, Iván García Daza
cs.CVcs.AIcs.ROarXiv:2101.06159v22021
DeepVIO: Self-supervised Deep Learning of Monocular Visual Inertial Odometry using 3D Geometric Constraints
Liming Han, Yimin Lin, Guoguang Du +1
cs.ROcs.CVarXiv:1906.11435v22019
The value of information and the emergence of communication in evolved e-puck robots
Fernando Montes-Gonzalez
cs.ROcs.MAcs.NEarXiv:2610.13118v12026
Denoising Tells When to Replan: Denoising-Variance Adaptive Chunking for Flow-Based Robot Policies
Xiangdong Feng, Yuxuan Cheng, Chen Shi +5
cs.ROarXiv:2606.03847v12026
Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space
George Dimas, Panagiotis G. Kalozoumis, Panagiotis Vartholomeos +1
cs.ROeess.SYarXiv:2610.12631v12026
Deep Visual MPC-Policy Learning for Navigation
Noriaki Hirose, Fei Xia, Roberto Martin-Martin +2
cs.ROarXiv:1903.02749v22019
RoboHive: A Unified Framework for Robot Learning
Vikash Kumar, Rutav Shah, Gaoyue Zhou +5
cs.ROarXiv:2310.06828v12023
Imagination at Inference: Synthesizing In-Hand Views for Robust Visuomotor Policy Inference
Haoran Ding, Anqing Duan, Zezhou Sun +2
cs.ROarXiv:2509.15717v12025
Reflex: Visually Grounded Reactive Humanoid Control
Taoyang Jia, Weikai Huang, Linxin Song +6
cs.ROarXiv:2610.12772v12026
GJK-CBF: Control Barrier Functions for Convex Rigid Body Collision Avoidance on SE(3)
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
cs.ROcs.SYeess.SYarXiv:2610.04910v12026
ActiveReg: Information-Driven Active Regional Probing for Partial-to-Full Bone Registration
Tiancheng Li, Yingyu Wang, Peter Walker +2
cs.ROarXiv:2610.11003v12026
OmniHOI: Dexterous Hand-Object Interaction from Monocular Human Video
Ting Mao, Yanming Shao, Ziheng Wang +4
cs.ROarXiv:2610.10855v12026
An End-to-End Differentiable Framework for Contact-Aware Robot Design
Jie Xu, Tao Chen, Lara Zlokapa +4
cs.ROcs.AIcs.GRarXiv:2107.07501v22021
Same Action, Different Outcome: Variability in Dynamic Cloth Manipulation
Mahed Dadgostar, Guillem Alenyà, Júlia Borràs
cs.ROarXiv:2610.10801v12026
Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces
Siyue Yao, Xiaochi Xie, Shixuan Zhao +4
cs.ROarXiv:2610.07319v12026
Real-Time Synthesis of Robust Controlled Invariant Sets for Monotone Systems
Yasin Sonmez, Mahmoud Khaled, Majid Zamani +1
eess.SYcs.AIcs.ROarXiv:2609.14115v12026
Skill-SLM: Agent Skill-driven Small Language Models for Reliable Robot Operation
Wenhao Wang, Yanyan Li, Jiawei Yuan
cs.ROarXiv:2610.10812v12026
LPA-CWM: A Learned Physical Adjudicator for Motion Reasoning with Counterfactual World Models
Kunwei Wu, Xiang Liu, Guocai Yao +5
cs.CVcs.AIcs.ROarXiv:2609.14073v22026
Rethinking the Implications of Human Feedback for Preference Learning in Human-Robot Collaboration
Qiping Zhang, Kate Candon, Debasmita Ghose +1
cs.ROcs.AIcs.HCarXiv:2609.13982v12026

Robotics

Forward Dynamics Models

Dream to Remember: Continual Steering of Generalist Robot Policies with World Models

Sonic-AMG: Streaming Human Motion Generation from Spatial Audio

RESCUE: Is This Alarm Worth Acting On? Counterfactual Evaluation of VLA Runtime Monitors

Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learning

A Comparative Study of Bug Algorithms for Robot Navigation

CronusVLA: Towards Efficient and Robust Manipulation via Multi-Frame Vision-Language-Action Modeling

HAMLET: Switch your Vision-Language-Action Model into a History-Aware Policy

Inducing Structure in Reward Learning by Learning Features

Quantifying Hypothesis Space Misspecification in Learning from Human-Robot Demonstrations and Physical Corrections

What Matters in Building Vision-Language-Action Models for Generalist Robots

WorldMAP: Bootstrapping Vision-Language Navigation Trajectory Prediction with Generative World Models

ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics

SIRL: Similarity-based Implicit Representation Learning

Versatile Behavior Diffusion for Generalized Traffic Agent Simulation

A Generalized Acquisition Function for Preference-based Reward Learning

RePo: Resilient Model-Based Reinforcement Learning by Regularizing Posterior Predictability

VOTE: Vision-Language-Action Optimization with Trajectory Ensemble Voting

Dream-SLAM: Dreaming the Unseen for Active SLAM in Dynamic Environments

LESS is More: Rethinking Probabilistic Models of Human Behavior

Reinforcement Learning with Human Feedback for Realistic Traffic Simulation

Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors

Gen-Drive: Enhancing Diffusion Generative Driving Policies with Reward Modeling and Reinforcement Learning Fine-tuning

JitterVLA: A Replay Benchmark for Motion Quality in VLA-Driven Human-Robot Manipulation

HorizonNav: Geometry-Guided Video Diffusion for Anticipatory 3D Robot Navigation

Mapless, Stabilizing, and Anti-Stuck Flipper Control for Articulated Tracked Robots

AlphaNIST: Emergent Assembly Skills from Binary Task Rewards

Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge

Splat2Act: From Captured Scenes to Personalized VLA Manipulation

BT-Agent: Deploying Onboard Robot Agents with Behavior Trees and Multi-Fidelity Evaluation

Learning to Play Table Tennis From Scratch using Muscular Robots

From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion

Zero-Shot Terrain Generalization for Visual Locomotion Policies

Neural Volumetric Memory for Visual Locomotion Control

Neural Scene Representation for Locomotion on Structured Terrain

Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control

Learning to Jump from Pixels

Event-based Agile Object Catching with a Quadrupedal Robot

Learning Visual Locomotion with Cross-Modal Supervision

RRL: Resnet as representation for Reinforcement Learning

Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance

Vision-based Vehicle Speed Estimation: A Survey

DeepVIO: Self-supervised Deep Learning of Monocular Visual Inertial Odometry using 3D Geometric Constraints

The value of information and the emergence of communication in evolved e-puck robots

Denoising Tells When to Replan: Denoising-Variance Adaptive Chunking for Flow-Based Robot Policies

Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space

Deep Visual MPC-Policy Learning for Navigation

RoboHive: A Unified Framework for Robot Learning

Imagination at Inference: Synthesizing In-Hand Views for Robust Visuomotor Policy Inference

Reflex: Visually Grounded Reactive Humanoid Control

GJK-CBF: Control Barrier Functions for Convex Rigid Body Collision Avoidance on SE(3)

ActiveReg: Information-Driven Active Regional Probing for Partial-to-Full Bone Registration

OmniHOI: Dexterous Hand-Object Interaction from Monocular Human Video

An End-to-End Differentiable Framework for Contact-Aware Robot Design

Same Action, Different Outcome: Variability in Dynamic Cloth Manipulation

Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces

Real-Time Synthesis of Robust Controlled Invariant Sets for Monotone Systems

Skill-SLM: Agent Skill-driven Small Language Models for Reliable Robot Operation

LPA-CWM: A Learned Physical Adjudicator for Motion Reasoning with Counterfactual World Models

Rethinking the Implications of Human Feedback for Preference Learning in Human-Robot Collaboration