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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781 to 840 of 3,241

Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
Chenghao Yin, Da Huang, Di Yang +16
cs.ROarXiv:2601.02078v42026
BridgeV2W: Bridging Video Generation Models to Embodied World Models via Embodiment Masks
Yixiang Chen, Peiyan Li, Jiabing Yang +8
cs.ROcs.CVarXiv:2602.03793v12026
EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks
Yihang Li, Xuelong Wei, Jingzhou Luo +26
cs.ROarXiv:2604.23570v12026
How Fast Can I Run My VLA? Demystifying VLA Inference Performance with VLA-Perf
Wenqi Jiang, Jason Clemons, Karu Sankaralingam +1
cs.ROarXiv:2602.18397v12026
PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation
Yuanzhe Liu, Jingyuan Zhu, Yuchen Mo +9
cs.ROarXiv:2601.07060v22026
DriveVA: Video Action Models are Zero-Shot Drivers
Mengmeng Liu, Diankun Zhang, Jiuming Liu +7
cs.CVcs.ROarXiv:2604.04198v22026
Brain-Computer Interface Controlled Robotic Gait Orthosis
An H. Do, Po T. Wang, Christine E. King +2
cs.HCcs.ROarXiv:1208.5024v32012
UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos
Gu Zhang, Qicheng Xu, Haozhe Zhang +16
cs.ROarXiv:2603.22264v12026
Cognitively-Grounded On-Device Runtime Learning for Ground Robots in Unknown Physical Environments
Yihao Cai, Yanbing Mao, Christian Lebiere
cs.ROarXiv:2608.28677v12026
OAT: Ordered Action Tokenization
Chaoqi Liu, Xiaoshen Han, Jiawei Gao +3
cs.ROcs.AIcs.LGarXiv:2602.04215v22026
HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations
Xiaomeng Xu, Jisang Park, Han Zhang +6
cs.ROarXiv:2603.03243v22026
MeanFuser: Fast One-Step Multi-Modal Trajectory Generation and Adaptive Reconstruction via MeanFlow for End-to-End Autonomous Driving
Junli Wang, Yinan Zheng, Xueyi Liu +9
cs.CVcs.ROarXiv:2602.20060v22026
Learning to be Safe: Deep RL with a Safety Critic
Krishnan Srinivasan, Benjamin Eysenbach, Sehoon Ha +2
cs.LGcs.ROarXiv:2010.14603v12020
Slip Detection with Combined Tactile and Visual Information
Jianhua Li, Siyuan Dong, Edward Adelson
cs.ROarXiv:1802.10153v12018
Dual Park-Ravani Interpolation of Rigid Motions: Acceleration-Field Continuity and Holonomic Hermite Repair
Daniel Condurache
cs.ROarXiv:2608.28826v12026
VLAS: Vision-Language-Action Model With Speech Instructions For Customized Robot Manipulation
Wei Zhao, Pengxiang Ding, Min Zhang +4
cs.ROarXiv:2502.13508v22025
ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation
Yang Li, Zhaxizhuoma, Hongru Jiang +11
cs.ROarXiv:2603.15169v12026
VLA-ATTC: Adaptive Test-Time Compute for VLA Models with Relative Action Critic Model
Wenhao Li, Xiu Su, Yichao Cao +5
cs.ROarXiv:2605.01194v22026
VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation
Shuai Tian, Yupeng Zheng, Yuhang Zheng +7
cs.ROarXiv:2607.02503v12026
Interleave-VLA: Enhancing Robot Manipulation with Interleaved Image-Text Instructions
Cunxin Fan, Xiaosong Jia, Yihang Sun +8
cs.ROarXiv:2505.02152v22025
Global Prior Meets Local Consistency: Dual-Memory Augmented Vision-Language-Action Model for Efficient Robotic Manipulation
Zaijing Li, Bing Hu, Rui Shao +5
cs.ROcs.AIcs.CVarXiv:2602.20200v22026
Structured World Models from Human Videos
Russell Mendonca, Shikhar Bahl, Deepak Pathak
cs.ROcs.AIcs.CVarXiv:2308.10901v12023
RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback
Yufei Wang, Zhanyi Sun, Jesse Zhang +4
cs.ROcs.AIcs.LGarXiv:2402.03681v42024
Towards Robust and Secure Embodied AI: A Survey on Vulnerabilities and Attacks
Wenpeng Xing, Minghao Li, Mohan Li +1
cs.CRcs.AIcs.ROarXiv:2502.13175v22025
Articraft: An Agentic System for Scalable Articulated 3D Asset Generation
Matt Zhou, Ruining Li, Xiaoyang Lyu +6
cs.CVcs.GRcs.ROarXiv:2605.15187v12026
RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
Yuanhang Zhang, Younggyo Seo, Juyue Chen +7
cs.ROarXiv:2602.03002v22026
EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation
Douglas Morrison, Peter Corke, Jürgen Leitner
cs.ROarXiv:2003.01314v32020
A Survey of World Models for Autonomous Driving
Tuo Feng, Wenguan Wang, Yi Yang
cs.ROcs.CVarXiv:2501.11260v42025
AerialVLN: Vision-and-Language Navigation for UAVs
Shubo Liu, Hongsheng Zhang, Yuankai Qi +3
cs.CVcs.AIcs.ROarXiv:2308.06735v12023
Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
Zewei Zhang, Kehan Wen, Michael Xu +7
cs.ROarXiv:2604.17335v22026
Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks
Jiazhao Zhang, Kunyu Wang, Shaoan Wang +6
cs.ROcs.CVarXiv:2412.06224v22024
LaST$_{0}$: Latent Spatio-Temporal Chain-of-Thought for Robotic Vision-Language-Action Model
Zhuoyang Liu, Jiaming Liu, Hao Chen +11
cs.ROarXiv:2601.05248v42026
SGE: Semantically-Guided Exploration for Unstructured Environments via Image-Space Waypoint Sampling
Christopher Tatsch, Yu Gu
cs.ROcs.AIarXiv:2608.29315v12026
Scaling Verification Can Be More Effective than Scaling Policy Learning for Vision-Language-Action Alignment
Jacky Kwok, Xilun Zhang, Mengdi Xu +4
cs.ROcs.AIeess.SYarXiv:2602.12281v22026
$AutoDrive\text{-}P^3$: Unified Chain of Perception-Prediction-Planning Thought via Reinforcement Fine-Tuning
Yuqi Ye, Zijian Zhang, Junhong Lin +3
cs.ROcs.CVarXiv:2603.28116v12026
AdaVLA: Adaptive Step Flow Matching for Training-free Acceleration of Vision-Language-Action Models
Sunghwan Han, Youngtae Han, Youngmin Yi
cs.ROcs.LGarXiv:2608.29208v12026
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review
Nathan F. Lepora
cs.ROarXiv:2105.14455v22021
Adaptive Action Chunking at Inference-time for Vision-Language-Action Models
Yuanchang Liang, Xiaobo Wang, Kai Wang +5
cs.ROarXiv:2604.04161v22026
Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data
Zhikai Zhang, Haofei Lu, Yunrui Lian +12
cs.ROarXiv:2603.12686v12026
NeuralSim: Augmenting Differentiable Simulators with Neural Networks
Eric Heiden, David Millard, Erwin Coumans +2
cs.ROarXiv:2011.04217v22020
S3CNet: A Sparse Semantic Scene Completion Network for LiDAR Point Clouds
Ran Cheng, Christopher Agia, Yuan Ren +2
cs.CVcs.AIcs.LGarXiv:2012.09242v12020
RedLight-VLA: Models for traffic-rule grounding and behavioral emphasis in driving policies
Bala Murali Manoghar Sai Sudhakar, Sourab Bapu Sridhar, Sandipan Das +5
cs.ROcs.CVarXiv:2608.28656v12026
TacUMI: A Multi-Modal Universal Manipulation Interface for Contact-Rich Tasks
Tailai Cheng, Kejia Chen, Lingyun Chen +8
cs.ROarXiv:2601.14550v12026
JEPA-VLA: Video Predictive Embedding is Needed for VLA Models
Shangchen Miao, Ningya Feng, Jialong Wu +4
cs.CVcs.ROarXiv:2602.11832v12026
Towards Monocular Vision based Obstacle Avoidance through Deep Reinforcement Learning
Linhai Xie, Sen Wang, Andrew Markham +1
cs.ROarXiv:1706.09829v12017
System Identification of Admittance Models for Large Real-World Objects
Nathan I. Baum, Nathaniel G. Luttmer, Mark A. Minor
cs.ROarXiv:2608.29935v12026
EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy
Zhirui Fang, Qingchi Yu, Ziyang Chen +18
cs.ROarXiv:2608.29896v12026
Visuo-Tactile World Models
Carolina Higuera, Sergio Arnaud, Byron Boots +3
cs.ROarXiv:2602.06001v12026
BPP: Long-Context Robot Imitation Learning by Focusing on Key History Frames
Max Sobol Mark, Jacky Liang, Maria Attarian +4
cs.ROcs.LGarXiv:2602.15010v22026
DexterityGen: Foundation Controller for Unprecedented Dexterity
Zhao-Heng Yin, Changhao Wang, Luis Pineda +11
cs.ROcs.AIcs.LGarXiv:2502.04307v12025
Empirical Study of Off-Policy Policy Evaluation for Reinforcement Learning
Cameron Voloshin, Hoang M. Le, Nan Jiang +1
cs.LGcs.AIcs.ROarXiv:1911.06854v32019
LingoQA: Visual Question Answering for Autonomous Driving
Ana-Maria Marcu, Long Chen, Jan Hünermann +9
cs.ROcs.AIcs.CVarXiv:2312.14115v42023
RoboPhys-3D: A Comprehensive Embodied World Model Evaluation via 3D Reconstruction
Tianyi Wang, Jiazhou Chen, Yiming Xu +7
cs.ROcs.AIcs.CVarXiv:2608.28718v12026
Endo-Depth-and-Motion: Reconstruction and Tracking in Endoscopic Videos using Depth Networks and Photometric Constraints
David Recasens, José Lamarca, José M. Fácil +2
cs.CVcs.LGcs.ROarXiv:2103.16525v22021
VDO-SLAM: A Visual Dynamic Object-aware SLAM System
Jun Zhang, Mina Henein, Robert Mahony +1
cs.ROarXiv:2005.11052v32020
MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models
Hanyang Yu, Haitao Lin, Jingbo Zhang +4
cs.CVcs.LGcs.ROarXiv:2606.13515v12026
Connecting Touch and Vision via Cross-Modal Prediction
Yunzhu Li, Jun-Yan Zhu, Russ Tedrake +1
cs.CVcs.LGcs.ROarXiv:1906.06322v12019
DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments
Ming Liao, Chao Ye, Jianing Fei +1
cs.ROarXiv:2609.00619v12026
ProxPI: Proximal Prior Injection for Sampling-Based MPC under Learned-Prior Mismatch
Euncheol Im, Myotaeg Lim, Yisoo Lee
cs.ROeess.SYarXiv:2609.00941v12026
AnyTouch 2: General Optical Tactile Representation Learning For Dynamic Tactile Perception
Ruoxuan Feng, Yuxuan Zhou, Siyu Mei +6
cs.ROcs.AIcs.CVarXiv:2602.09617v12026

Robotics

Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot

BridgeV2W: Bridging Video Generation Models to Embodied World Models via Embodiment Masks

EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks

How Fast Can I Run My VLA? Demystifying VLA Inference Performance with VLA-Perf

PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation

DriveVA: Video Action Models are Zero-Shot Drivers

Brain-Computer Interface Controlled Robotic Gait Orthosis

UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos

Cognitively-Grounded On-Device Runtime Learning for Ground Robots in Unknown Physical Environments

OAT: Ordered Action Tokenization

HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations

MeanFuser: Fast One-Step Multi-Modal Trajectory Generation and Adaptive Reconstruction via MeanFlow for End-to-End Autonomous Driving

Learning to be Safe: Deep RL with a Safety Critic

Slip Detection with Combined Tactile and Visual Information

Dual Park-Ravani Interpolation of Rigid Motions: Acceleration-Field Continuity and Holonomic Hermite Repair

VLAS: Vision-Language-Action Model With Speech Instructions For Customized Robot Manipulation

ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation

VLA-ATTC: Adaptive Test-Time Compute for VLA Models with Relative Action Critic Model

VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation

Interleave-VLA: Enhancing Robot Manipulation with Interleaved Image-Text Instructions

Global Prior Meets Local Consistency: Dual-Memory Augmented Vision-Language-Action Model for Efficient Robotic Manipulation

Structured World Models from Human Videos

RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback

Towards Robust and Secure Embodied AI: A Survey on Vulnerabilities and Attacks

Articraft: An Agentic System for Scalable Articulated 3D Asset Generation

RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains

EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation

A Survey of World Models for Autonomous Driving

AerialVLN: Vision-and-Language Navigation for UAVs

Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking

Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks

LaST$_{0}$: Latent Spatio-Temporal Chain-of-Thought for Robotic Vision-Language-Action Model

SGE: Semantically-Guided Exploration for Unstructured Environments via Image-Space Waypoint Sampling

Scaling Verification Can Be More Effective than Scaling Policy Learning for Vision-Language-Action Alignment

$AutoDrive\text{-}P^3$: Unified Chain of Perception-Prediction-Planning Thought via Reinforcement Fine-Tuning

AdaVLA: Adaptive Step Flow Matching for Training-free Acceleration of Vision-Language-Action Models

Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review

Adaptive Action Chunking at Inference-time for Vision-Language-Action Models

Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data

NeuralSim: Augmenting Differentiable Simulators with Neural Networks

S3CNet: A Sparse Semantic Scene Completion Network for LiDAR Point Clouds

RedLight-VLA: Models for traffic-rule grounding and behavioral emphasis in driving policies

TacUMI: A Multi-Modal Universal Manipulation Interface for Contact-Rich Tasks

JEPA-VLA: Video Predictive Embedding is Needed for VLA Models

Towards Monocular Vision based Obstacle Avoidance through Deep Reinforcement Learning

System Identification of Admittance Models for Large Real-World Objects

EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy

Visuo-Tactile World Models

BPP: Long-Context Robot Imitation Learning by Focusing on Key History Frames

DexterityGen: Foundation Controller for Unprecedented Dexterity

Empirical Study of Off-Policy Policy Evaluation for Reinforcement Learning

LingoQA: Visual Question Answering for Autonomous Driving

RoboPhys-3D: A Comprehensive Embodied World Model Evaluation via 3D Reconstruction

Endo-Depth-and-Motion: Reconstruction and Tracking in Endoscopic Videos using Depth Networks and Photometric Constraints

VDO-SLAM: A Visual Dynamic Object-aware SLAM System

MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models

Connecting Touch and Vision via Cross-Modal Prediction

DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments

ProxPI: Proximal Prior Injection for Sampling-Based MPC under Learned-Prior Mismatch

AnyTouch 2: General Optical Tactile Representation Learning For Dynamic Tactile Perception