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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721 to 780 of 3,241

A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulation
Fanqi Lin, Kushal Arora, Jean Mercat +9
cs.ROarXiv:2602.01067v12026
HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos
Yinhuai Wang, Qihan Zhao, Yuen Fui Lau +6
cs.ROcs.LGarXiv:2602.02473v12026
Dual-Part Multi-Lateral Branched Network for Multi-Class Segmentation in Cardiovascular Catheterization Angiograms
Olatunji Omisore, Ahmed Elazab, Ali Shahidinejad +1
cs.CVcs.AIcs.ROarXiv:2609.04590v12026
6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints
Chen Wang, Roberto Martín-Martín, Danfei Xu +5
cs.CVcs.ROarXiv:1910.10750v12019
DVGT-2: Vision-Geometry-Action Model for Autonomous Driving at Scale
Sicheng Zuo, Zixun Xie, Wenzhao Zheng +6
cs.CVcs.AIcs.ROarXiv:2604.00813v32026
DySL-VLA: Efficient Vision-Language-Action Model Inference via Dynamic-Static Layer-Skipping for Robot Manipulation
Zebin Yang, Yijiahao Qi, Tong Xie +3
cs.ROarXiv:2602.22896v32026
Mask World Model: Predicting What Matters for Robust Robot Policy Learning
Yunfan Lou, Xiaowei Chi, Xiaojie Zhang +9
cs.ROarXiv:2604.19683v22026
Safety Beyond the Training Data: Robust Out-of-Distribution MPC via Conformalized System Level Synthesis
Anutam Srinivasan, Antoine Leeman, Glen Chou
cs.ROcs.LGeess.SYarXiv:2602.12047v12026
SalsaNet: Fast Road and Vehicle Segmentation in LiDAR Point Clouds for Autonomous Driving
Eren Erdal Aksoy, Saimir Baci, Selcuk Cavdar
cs.CVcs.ROarXiv:1909.08291v12019
Advances in Global Solvers for 3D Vision
Zhenjun Zhao, Heng Yang, Bangyan Liao +7
cs.CVcs.ROarXiv:2602.14662v12026
Goal-Driven Autonomous Exploration Through Deep Reinforcement Learning
Reinis Cimurs, Il Hong Suh, Jin Han Lee
cs.ROarXiv:2103.07119v22021
Chain of Code: Reasoning with a Language Model-Augmented Code Emulator
Chengshu Li, Jacky Liang, Andy Zeng +7
cs.CLcs.AIcs.LGarXiv:2312.04474v42023
Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation
Yang Tian, Sizhe Yang, Jia Zeng +4
cs.ROarXiv:2412.15109v12024
AutoFly: Vision-Language-Action Model for UAV Autonomous Navigation in the Wild
Xiaolou Sun, Wufei Si, Wenhui Ni +10
cs.ROarXiv:2602.09657v12026
SOP: A Scalable Online Post-Training System for Vision-Language-Action Models
Mingjie Pan, Siyuan Feng, Qinglin Zhang +9
cs.ROarXiv:2601.03044v12026
PlayWorld: Learning Robot World Models from Autonomous Play
Tenny Yin, Zhiting Mei, Zhonghe Zheng +8
cs.ROcs.AIarXiv:2603.09030v32026
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
Chongjian Yuan, Wei xu, Xiyuan Liu +2
cs.ROarXiv:2109.07082v52021
Formal Specification and Verification of Autonomous Robotic Systems: A Survey
Matt Luckcuck, Marie Farrell, Louise Dennis +2
cs.FLcs.ROarXiv:1807.00048v32018
Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation
Martin Brossard, Silvere Bonnabel, Axel Barrau
cs.ROstat.MLarXiv:2002.10718v22020
DynVLA: Learning World Dynamics for Action Reasoning in Autonomous Driving
Shuyao Shang, Bing Zhan, Yunfei Yan +9
cs.CVcs.ROarXiv:2603.11041v22026
X-View: Graph-Based Semantic Multi-View Localization
Abel Gawel, Carlo Del Don, Roland Siegwart +2
cs.ROcs.CVarXiv:1709.09905v32017
Lyapunov-stable neural-network control
Hongkai Dai, Benoit Landry, Lujie Yang +2
cs.ROeess.SYarXiv:2109.14152v12021
Robocentric Visual-Inertial Odometry
Zheng Huai, Guoquan Huang
cs.ROarXiv:1805.04031v12018
Towards Real-Time Monocular Depth Estimation for Robotics: A Survey
Xingshuai Dong, Matthew A. Garratt, Sreenatha G. Anavatti +1
cs.ROarXiv:2111.08600v12021
SpatialNav: Leveraging Spatial Scene Graphs for Zero-Shot Vision-and-Language Navigation
Jiwen Zhang, Zejun Li, Siyuan Wang +3
cs.CVcs.AIcs.ROarXiv:2601.06806v12026
Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms
Hao Xu, Yichen Zhang, Boyu Zhou +4
cs.ROarXiv:2103.04131v52021
ARM: Advantage Reward Modeling for Long-Horizon Manipulation
Yiming Mao, Zixi Yu, Weixin Mao +5
cs.ROcs.AIcs.CVarXiv:2604.03037v22026
HoloBrain-0 Technical Report
Xuewu Lin, Tianwei Lin, Yun Du +12
cs.ROarXiv:2602.12062v12026
3D Human Pose Estimation in RGBD Images for Robotic Task Learning
Christian Zimmermann, Tim Welschehold, Christian Dornhege +2
cs.CVcs.ROarXiv:1803.02622v22018
AtomicVLA: Unlocking the Potential of Atomic Skill Learning in Robots
Likui Zhang, Tao Tang, Zhihao Zhan +9
cs.ROcs.AIcs.CVarXiv:2603.07648v12026
ActionCodec: What Makes for Good Action Tokenizers
Zibin Dong, Yicheng Liu, Shiduo Zhang +8
cs.ROcs.AIarXiv:2602.15397v12026
Observing and Controlling Features in Vision-Language-Action Models
Hugo Buurmeijer, Carmen Amo Alonso, Aiden Swann +1
cs.ROarXiv:2603.05487v12026
TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
Kaidi Zhang, Heng Zhang, Zhengtong Xu +7
cs.ROarXiv:2603.12665v32026
Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration
Edward Johns
cs.ROcs.LGarXiv:2105.06411v22021
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino +2
cs.ROcs.LGarXiv:2012.03094v32020
Long-Range Indoor Navigation with PRM-RL
Anthony Francis, Aleksandra Faust, Hao-Tien Lewis Chiang +4
cs.ROcs.AIcs.LGarXiv:1902.09458v22019
AIM: Intent-Aware Unified world action Modeling with Spatial Value Maps
Liaoyuan Fan, Zetian Xu, Chen Cao +3
cs.ROcs.LGarXiv:2604.11135v12026
DexImit: Learning Bimanual Dexterous Manipulation from Monocular Human Videos
Juncheng Mu, Sizhe Yang, Yiming Bao +6
cs.ROarXiv:2602.10105v12026
Action-to-Action Flow Matching
Jindou Jia, Gen Li, Xiangyu Chen +5
cs.ROcs.AIarXiv:2602.07322v22026
DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning
Zhenyu Jiang, Yuqi Xie, Kevin Lin +5
cs.ROcs.AIcs.CVarXiv:2410.24185v22024
VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks
Shiduo Zhang, Zhe Xu, Peiju Liu +8
cs.ROcs.AIcs.CLarXiv:2412.18194v12024
cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
Balakumar Sundaralingam, Adithyavairavan Murali, Stan Birchfield
cs.ROarXiv:2603.05493v22026
Sparse Autoencoders Reveal Interpretable and Steerable Features in VLA Models
Aiden Swann, Lachlain McGranahan, Hugo Buurmeijer +2
cs.ROarXiv:2603.19183v22026
Object Handovers: a Review for Robotics
Valerio Ortenzi, Akansel Cosgun, Tommaso Pardi +3
cs.ROeess.SYarXiv:2007.12952v22020
Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator
Tengyu Liu, Zeyu Liu, Ziyuan Jiao +2
cs.ROarXiv:2104.09194v42021
Interpolated Policy Gradient: Merging On-Policy and Off-Policy Gradient Estimation for Deep Reinforcement Learning
Shixiang Gu, Timothy Lillicrap, Zoubin Ghahramani +3
cs.LGcs.AIcs.ROarXiv:1706.00387v12017
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
cs.ROarXiv:2603.04363v12026
Evo-Depth: A Lightweight Depth-Enhanced Vision-Language-Action Model
Tao Lin, Yuxin Du, Jiting Liu +14
cs.CVcs.ROarXiv:2605.14950v12026
PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics
Zhiao Huang, Yuanming Hu, Tao Du +4
cs.LGcs.AIcs.CVarXiv:2104.03311v12021
Real-Time Robot Execution with Masked Action Chunking
Haoxuan Wang, Gengyu Zhang, Yan Yan +3
cs.ROarXiv:2601.20130v12026
Goal Staying Makes Sum-of-Costs Anonymous Multi-Agent Path Finding NP-Hard
Hang Ma
cs.MAcs.CCcs.ROarXiv:2608.28658v12026
Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor
Hyungtae Lim, Minho Oh, Hyun Myung
cs.ROcs.CVarXiv:2108.05560v22021
Devil is in Narrow Policy: Unleashing Exploration in Driving VLA Models
Canyu Chen, Yuguang Yang, Zhewen Tan +10
cs.CVcs.ROarXiv:2603.06049v12026
S4G: Amodal Single-view Single-Shot SE(3) Grasp Detection in Cluttered Scenes
Yuzhe Qin, Rui Chen, Hao Zhu +3
cs.ROcs.CVarXiv:1910.14218v12019
ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
Jean Pierre Sleiman, He Li, Alphonsus Adu-Bredu +25
cs.ROcs.AIarXiv:2602.00401v12026
AtomVLA: Scalable Post-Training for Robotic Manipulation via Predictive Latent World Models
Xiaoquan Sun, Zetian Xu, Chen Cao +9
cs.ROarXiv:2603.08519v12026
Reconstruction or Semantics? What Makes a Latent Space Useful for Robotic World Models
Nilaksh, Saurav Jha, Artem Zholus +1
cs.CVcs.LGcs.ROarXiv:2605.06388v12026
Towards Better Generalization: Joint Depth-Pose Learning without PoseNet
Wang Zhao, Shaohui Liu, Yezhi Shu +1
cs.CVcs.ROarXiv:2004.01314v22020
OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
Yunshen Wang, Shaohang Zhu, Peiyuan Zhi +7
cs.ROarXiv:2602.23843v12026
Latent Reasoning VLA: Latent Thinking and Prediction for Vision-Language-Action Models
Shuanghao Bai, Jing Lyu, Wanqi Zhou +9
cs.ROarXiv:2602.01166v22026

Robotics

A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulation

HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos

Dual-Part Multi-Lateral Branched Network for Multi-Class Segmentation in Cardiovascular Catheterization Angiograms

6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints

DVGT-2: Vision-Geometry-Action Model for Autonomous Driving at Scale

DySL-VLA: Efficient Vision-Language-Action Model Inference via Dynamic-Static Layer-Skipping for Robot Manipulation

Mask World Model: Predicting What Matters for Robust Robot Policy Learning

Safety Beyond the Training Data: Robust Out-of-Distribution MPC via Conformalized System Level Synthesis

SalsaNet: Fast Road and Vehicle Segmentation in LiDAR Point Clouds for Autonomous Driving

Advances in Global Solvers for 3D Vision

Goal-Driven Autonomous Exploration Through Deep Reinforcement Learning

Chain of Code: Reasoning with a Language Model-Augmented Code Emulator

Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation

AutoFly: Vision-Language-Action Model for UAV Autonomous Navigation in the Wild

SOP: A Scalable Online Post-Training System for Vision-Language-Action Models

PlayWorld: Learning Robot World Models from Autonomous Play

Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry

Formal Specification and Verification of Autonomous Robotic Systems: A Survey

Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation

DynVLA: Learning World Dynamics for Action Reasoning in Autonomous Driving

X-View: Graph-Based Semantic Multi-View Localization

Lyapunov-stable neural-network control

Robocentric Visual-Inertial Odometry

Towards Real-Time Monocular Depth Estimation for Robotics: A Survey

SpatialNav: Leveraging Spatial Scene Graphs for Zero-Shot Vision-and-Language Navigation

Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms

ARM: Advantage Reward Modeling for Long-Horizon Manipulation

HoloBrain-0 Technical Report

3D Human Pose Estimation in RGBD Images for Robotic Task Learning

AtomicVLA: Unlocking the Potential of Atomic Skill Learning in Robots

ActionCodec: What Makes for Good Action Tokenizers

Observing and Controlling Features in Vision-Language-Action Models

TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation

Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

Long-Range Indoor Navigation with PRM-RL

AIM: Intent-Aware Unified world action Modeling with Spatial Value Maps

DexImit: Learning Bimanual Dexterous Manipulation from Monocular Human Videos

Action-to-Action Flow Matching

DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning

VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks

cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots

Sparse Autoencoders Reveal Interpretable and Steerable Features in VLA Models

Object Handovers: a Review for Robotics

Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator

Interpolated Policy Gradient: Merging On-Policy and Off-Policy Gradient Estimation for Deep Reinforcement Learning

ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning

Evo-Depth: A Lightweight Depth-Enhanced Vision-Language-Action Model

PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics

Real-Time Robot Execution with Masked Action Chunking

Goal Staying Makes Sum-of-Costs Anonymous Multi-Agent Path Finding NP-Hard

Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor

Devil is in Narrow Policy: Unleashing Exploration in Driving VLA Models

S4G: Amodal Single-view Single-Shot SE(3) Grasp Detection in Cluttered Scenes

ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control

AtomVLA: Scalable Post-Training for Robotic Manipulation via Predictive Latent World Models

Reconstruction or Semantics? What Makes a Latent Space Useful for Robotic World Models

Towards Better Generalization: Joint Depth-Pose Learning without PoseNet

OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control

Latent Reasoning VLA: Latent Thinking and Prediction for Vision-Language-Action Models