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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661 to 720 of 3,243

Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals
Moritz Reuss, Ömer Erdinç Yağmurlu, Fabian Wenzel +1
cs.ROarXiv:2407.05996v12024
ConLA: Contrastive Latent Action Learning from Human Videos for Robotic Manipulation
Weisheng Dai, Kai Lan, Jianyi Zhou +5
cs.ROarXiv:2602.00557v12026
Flow as the Cross-Domain Manipulation Interface
Mengda Xu, Zhenjia Xu, Yinghao Xu +4
cs.ROcs.AIarXiv:2407.15208v22024
On-the-Fly VLA Adaptation via Test-Time Reinforcement Learning
Changyu Liu, Yiyang Liu, Taowen Wang +7
cs.ROarXiv:2601.06748v32026
Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Plans
Nachiket Deo, Mohan M. Trivedi
cs.CVcs.ROarXiv:2001.00735v22020
MINT: A Unified Model for World-Space Camera and Hand Motion Estimation from Scalable Egocentric Pipeline Supervision
Zijie Zhu, Weiren Cai, Yizhou Wang +4
cs.CVcs.ROarXiv:2609.04958v12026
DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
Victor Dhedin, Ilyass Taouil, Shafeef Omar +4
cs.ROarXiv:2602.06827v32026
Deep Whole-body Parkour
Ziwen Zhuang, Shaoting Zhu, Mengjie Zhao +1
cs.ROcs.AIarXiv:2601.07701v12026
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
Min Dai, William D. Compton, Junheng Li +2
cs.ROarXiv:2601.06286v12026
Scaling World Model for Hierarchical Manipulation Policies
Qian Long, Yueze Wang, Jiaxi Song +13
cs.ROarXiv:2602.10983v22026
Coupled Control and Wireless World Models for Resilient Remote Robotic Control
H. P. Madushanka, Sumudu Samarakoon, Mehdi Bennis
cs.ROcs.LGarXiv:2609.04851v12026
Low Level Control of a Quadrotor with Deep Model-Based Reinforcement Learning
Nathan O. Lambert, Daniel S. Drew, Joseph Yaconelli +3
cs.ROcs.LGarXiv:1901.03737v22019
Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors
Drew Hanover, Philipp Foehn, Sihao Sun +2
cs.ROarXiv:2109.04210v22021
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems
Huan Yin, Xuecheng Xu, Sha Lu +5
cs.ROarXiv:2302.07433v52023
Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control
Qingrui Zhao, Kaiyue Yang, Xiyu Wang +6
cs.ROarXiv:2603.22201v32026
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs
Kevin Galloway, Koushil Sreenath, Aaron D. Ames +1
eess.SYcs.ROmath.OCarXiv:1302.7314v12013
DM0: An Embodied-Native Vision-Language-Action Model towards Physical AI
En Yu, Haoran Lv, Jianjian Sun +46
cs.ROarXiv:2602.14974v12026
Abstracting Robot Manipulation Skills via Mixture-of-Experts Diffusion Policies
Ce Hao, Xuanran Zhai, Yaohua Liu +1
cs.ROarXiv:2601.21251v12026
Goal Force: Teaching Video Models To Accomplish Physics-Conditioned Goals
Nate Gillman, Yinghua Zhou, Zitian Tang +6
cs.CVcs.AIcs.ROarXiv:2601.05848v22026
Emergent Dexterity via Diverse Resets and Large-Scale Reinforcement Learning
Patrick Yin, Tyler Westenbroek, Zhengyu Zhang +9
cs.ROarXiv:2603.15789v32026
Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping
Chi-Ming Chung, Yang-Che Tseng, Ya-Ching Hsu +6
cs.ROcs.CVarXiv:2209.13274v22022
Failure-Aware RL: Reliable Offline-to-Online Reinforcement Learning with Self-Recovery for Real-World Manipulation
Huanyu Li, Kun Lei, Sheng Zang +5
cs.ROcs.AIcs.LGarXiv:2601.07821v12026
One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation
Zhenyu Wei, Yunchao Yao, Mingyu Ding
cs.ROarXiv:2602.16712v22026
QVLA: Not All Channels Are Equal in Vision-Language-Action Model's Quantization
Yuhao Xu, Yantai Yang, Zhenyang Fan +4
cs.CVcs.ROarXiv:2602.03782v12026
Cross-Hand Latent Representation for Vision-Language-Action Models
Guangqi Jiang, Yutong Liang, Jianglong Ye +6
cs.ROarXiv:2603.10158v12026
FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation
Yao Li, Peiyuan Tang, Wuyang Zhang +7
cs.ROarXiv:2602.23648v12026
Same Trajectory, Contradictory Rewards (ROBORMBENCH): Paraphrase Fragility in Vision Language Reward Models
Wonje Jeung, Sangyeon Yoon, Hyesoo Hong +6
cs.ROcs.CLarXiv:2609.05401v12026
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai +7
cs.ROcs.AIeess.SYarXiv:1904.04595v12019
ProgressVLA: Progress-Guided Diffusion Policy for Vision-Language Robotic Manipulation
Hongyu Yan, Qiwei Li, Jiaolong Yang +1
cs.ROcs.AIarXiv:2603.27670v12026
Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
Hongjie Fang, Shirun Tang, Mingyu Mei +9
cs.ROarXiv:2602.22088v22026
Joint-Aligned Latent Action: Towards Scalable VLA Pretraining in the Wild
Hao Luo, Ye Wang, Wanpeng Zhang +5
cs.ROarXiv:2602.21736v12026
Dynamic Occupancy Grid Prediction for Urban Autonomous Driving: A Deep Learning Approach with Fully Automatic Labeling
Stefan Hoermann, Martin Bach, Klaus Dietmayer
cs.ROarXiv:1705.08781v22017
CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision
Chris Paxton, Andrew Hundt, Felix Jonathan +2
cs.ROarXiv:1611.06145v12016
Combining Optimal Control and Learning for Visual Navigation in Novel Environments
Somil Bansal, Varun Tolani, Saurabh Gupta +2
cs.ROcs.AIcs.CVarXiv:1903.02531v22019
TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
Zhemeng Zhang, Jiahua Ma, Xincheng Yang +13
cs.ROarXiv:2601.20239v62026
Video Generation Models in Robotics -- Applications, Research Challenges, Future Directions
Zhiting Mei, Tenny Yin, Ola Shorinwa +9
eess.SYcs.ROarXiv:2601.07823v12026
Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation
Homanga Bharadhwaj, Debidatta Dwibedi, Abhinav Gupta +7
cs.ROcs.CVcs.LGarXiv:2409.16283v12024
ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
Xialin He, Sirui Xu, Xinyao Li +4
cs.ROcs.CVarXiv:2603.03279v12026
FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions
Peng Li, Zihan Zhuang, Yangfan Gao +16
cs.ROcs.CLcs.CVarXiv:2601.12799v12026
Rethinking Visual-Language-Action Model Scaling: Alignment, Mixture, and Regularization
Ye Wang, Sipeng Zheng, Hao Luo +9
cs.ROarXiv:2602.09722v12026
Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
Jeffrey Fang, Glen Chou
cs.ROcs.AIeess.SYarXiv:2604.07644v12026
ActiveVLA: Injecting Active Perception into Vision-Language-Action Models for Precise 3D Robotic Manipulation
Zhenyang Liu, Yongchong Gu, Yikai Wang +2
cs.ROarXiv:2601.08325v12026
Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills
Yevgen Chebotar, Karol Hausman, Yao Lu +8
cs.ROcs.LGarXiv:2104.07749v32021
CycleVLA: Proactive Self-Correcting Vision-Language-Action Models via Subtask Backtracking and Minimum Bayes Risk Decoding
Chenyang Ma, Kai Lu, Guangyu Yang +6
cs.ROarXiv:2601.02295v22026
Robo3D: Towards Robust and Reliable 3D Perception against Corruptions
Lingdong Kong, Youquan Liu, Xin Li +6
cs.CVcs.ROarXiv:2303.17597v42023
RoboSPA: Can VLA Models Go Beyond Simple Scenes and Short-Horizon Tasks?
Zhenxuan Fan, Bo Zhang, Yutong Lin +9
cs.ROcs.AIcs.CVarXiv:2609.05324v12026
HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing
Konstantin Gubernatorov, Mikhail Sannikov, Ilya Mikhalchuk +7
cs.ROarXiv:2603.15257v22026
Interactively Picking Real-World Objects with Unconstrained Spoken Language Instructions
Jun Hatori, Yuta Kikuchi, Sosuke Kobayashi +5
cs.ROcs.CLarXiv:1710.06280v22017
What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies
Vivek Chavan, Pengtao Xie, Yahuan Shi +3
cs.ROcs.AIcs.CVarXiv:2609.05376v12026
S-VAM: Shortcut Video-Action Model by Self-Distilling Geometric and Semantic Foresight
Haodong Yan, Zhide Zhong, Jiaguan Zhu +10
cs.CVcs.ROarXiv:2603.16195v22026
FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulation
Ruiteng Zhao, Wenshuo Wang, Yicheng Ma +4
cs.ROcs.CVarXiv:2602.02142v22026
Learning to drive from a world on rails
Dian Chen, Vladlen Koltun, Philipp Krähenbühl
cs.ROcs.CVcs.LGarXiv:2105.00636v32021
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian +4
cs.ROarXiv:2104.13542v22021
A Schema Bounded Language Model for Refining Robot Policies Without Destabilizing Local Learning
Chongwen Dong, Mithun Paul Saint-Germain, Pinjari Asif +1
cs.ROcs.AIarXiv:2609.05133v12026
LIBERO-X: Robustness Litmus for Vision-Language-Action Models
Guodong Wang, Chenkai Zhang, Qingjie Liu +4
cs.CVcs.AIcs.ROarXiv:2602.06556v12026
Not All Features Are Created Equal: A Mechanistic Study of Vision-Language-Action Models
Bryce Grant, Xijia Zhao, Peng Wang
cs.ROarXiv:2603.19233v12026
Language-Conditioned World Modeling for Visual Navigation
Yifei Dong, Fengyi Wu, Yilong Dai +10
cs.CVcs.AIcs.ROarXiv:2603.26741v12026
One Diffusion Model, Two Roles: Guided Trajectory Planning and Safety-Critical Scenario Generation in Closed-Loop Simulation
Arka Pal, Rajesh Kumar, Hannes Eriksson +4
cs.CVcs.AIcs.LGarXiv:2609.04921v12026
Relational Graph Learning for Crowd Navigation
Changan Chen, Sha Hu, Payam Nikdel +2
cs.ROcs.AIcs.LGarXiv:1909.13165v32019
TaF-VLA: Tactile-Force Alignment in Vision-Language-Action Models for Force-aware Manipulation
Yuzhe Huang, Pei Lin, Wanlin Li +5
cs.ROarXiv:2601.20321v22026

Robotics

Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals

ConLA: Contrastive Latent Action Learning from Human Videos for Robotic Manipulation

Flow as the Cross-Domain Manipulation Interface

On-the-Fly VLA Adaptation via Test-Time Reinforcement Learning

Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Plans

MINT: A Unified Model for World-Space Camera and Hand Motion Estimation from Scalable Egocentric Pipeline Supervision

DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization

Deep Whole-body Parkour

Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds

Scaling World Model for Hierarchical Manipulation Policies

Coupled Control and Wireless World Models for Resilient Remote Robotic Control

Low Level Control of a Quadrotor with Deep Model-Based Reinforcement Learning

Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors

A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems

Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control

Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs

DM0: An Embodied-Native Vision-Language-Action Model towards Physical AI

Abstracting Robot Manipulation Skills via Mixture-of-Experts Diffusion Policies

Goal Force: Teaching Video Models To Accomplish Physics-Conditioned Goals

Emergent Dexterity via Diverse Resets and Large-Scale Reinforcement Learning

Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping

Failure-Aware RL: Reliable Offline-to-Online Reinforcement Learning with Self-Recovery for Real-World Manipulation

One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation

QVLA: Not All Channels Are Equal in Vision-Language-Action Model's Quantization

Cross-Hand Latent Representation for Vision-Language-Action Models

FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation

Same Trajectory, Contradictory Rewards (ROBORMBENCH): Paraphrase Fragility in Vision Language Reward Models

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization

ProgressVLA: Progress-Guided Diffusion Policy for Vision-Language Robotic Manipulation

Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation

Joint-Aligned Latent Action: Towards Scalable VLA Pretraining in the Wild

Dynamic Occupancy Grid Prediction for Urban Autonomous Driving: A Deep Learning Approach with Fully Automatic Labeling

CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision

Combining Optimal Control and Learning for Visual Navigation in Novel Environments

TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance

Video Generation Models in Robotics -- Applications, Research Challenges, Future Directions

Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation

ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation

FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions

Rethinking Visual-Language-Action Model Scaling: Alignment, Mixture, and Regularization

Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU

ActiveVLA: Injecting Active Perception into Vision-Language-Action Models for Precise 3D Robotic Manipulation

Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills

CycleVLA: Proactive Self-Correcting Vision-Language-Action Models via Subtask Backtracking and Minimum Bayes Risk Decoding

Robo3D: Towards Robust and Reliable 3D Perception against Corruptions

RoboSPA: Can VLA Models Go Beyond Simple Scenes and Short-Horizon Tasks?

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing

Interactively Picking Real-World Objects with Unconstrained Spoken Language Instructions

What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies

S-VAM: Shortcut Video-Action Model by Self-Distilling Geometric and Semantic Foresight

FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulation

Learning to drive from a world on rails

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation

A Schema Bounded Language Model for Refining Robot Policies Without Destabilizing Local Learning

LIBERO-X: Robustness Litmus for Vision-Language-Action Models

Not All Features Are Created Equal: A Mechanistic Study of Vision-Language-Action Models

Language-Conditioned World Modeling for Visual Navigation

One Diffusion Model, Two Roles: Guided Trajectory Planning and Safety-Critical Scenario Generation in Closed-Loop Simulation

Relational Graph Learning for Crowd Navigation

TaF-VLA: Tactile-Force Alignment in Vision-Language-Action Models for Force-aware Manipulation