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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1,201 to 1,260 of 3,243

AlphaDrive: Unleashing the Power of VLMs in Autonomous Driving via Reinforcement Learning and Reasoning
Bo Jiang, Shaoyu Chen, Qian Zhang +2
cs.CVcs.ROarXiv:2503.07608v12025
TesserAct: Learning 4D Embodied World Models
Haoyu Zhen, Qiao Sun, Hongxin Zhang +4
cs.CVcs.ROarXiv:2504.20995v12025
Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation
Meng Wei, Chenyang Wan, Jiaqi Peng +8
cs.ROarXiv:2512.08186v12025
Goal-Conditioned Reinforcement Learning with Imagined Subgoals
Elliot Chane-Sane, Cordelia Schmid, Ivan Laptev
cs.LGcs.ROarXiv:2107.00541v12021
Adverse Events in Robotic Surgery: A Retrospective Study of 14 Years of FDA Data
Homa Alemzadeh, Ravishankar K. Iyer, Zbigniew Kalbarczyk +2
cs.ROcs.CRarXiv:1507.03518v22015
Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation
Haoyuan Deng, Haichao Liu, Wenkai Guo +6
cs.ROcs.LGarXiv:2609.01596v12026
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
Anthony Francis, Claudia Pérez-D'Arpino, Chengshu Li +28
cs.ROcs.AIcs.HCarXiv:2306.16740v42023
DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
Mengda Xu, Han Zhang, Yifan Hou +4
cs.ROarXiv:2505.21864v32025
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation
Marcel Torne, Anthony Simeonov, Zechu Li +4
cs.ROcs.AIcs.LGarXiv:2403.03949v32024
SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation
Hang Yin, Xiuwei Xu, Zhenyu Wu +2
cs.CVcs.ROarXiv:2410.08189v12024
RVT-2: Learning Precise Manipulation from Few Demonstrations
Ankit Goyal, Valts Blukis, Jie Xu +3
cs.ROcs.AIcs.CVarXiv:2406.08545v12024
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
Yuanhang Zhang, Yifu Yuan, Prajwal Gurunath +7
cs.ROarXiv:2505.06776v22025
SRT-H: A Hierarchical Framework for Autonomous Surgery via Language Conditioned Imitation Learning
Ji Woong Kim, Juo-Tung Chen, Pascal Hansen +11
cs.ROarXiv:2505.10251v32025
Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics
Domenico Prattichizzo, Claudio Pacchierotti, Giulio Rosati
cs.ROarXiv:1108.1464v32011
Robot Motion Planning in Learned Latent Spaces
Brian Ichter, Marco Pavone
cs.ROarXiv:1807.10366v22018
GR-3 Technical Report
Chilam Cheang, Sijin Chen, Zhongren Cui +18
cs.ROcs.AIcs.CVarXiv:2507.15493v22025
Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems
Max Studt, Georg Schildbach
math.OCcs.MAcs.ROarXiv:2608.30874v12026
DriveSuprim: Towards Precise Trajectory Selection for End-to-End Planning
Wenhao Yao, Zhenxin Li, Shiyi Lan +4
cs.ROcs.AIcs.CVarXiv:2506.06659v32025
ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning
Kailin Li, Puhao Li, Tengyu Liu +2
cs.ROcs.CVarXiv:2503.21860v12025
DARP: A Calibrated Dual-Arm RGB-D-IR Dataset for Multi-View Robotic Perception
Manish Kansana, Mohammed Yusuf Mujawar, Sudip Mittal +2
cs.ROcs.CVarXiv:2608.31002v22026
ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation
Jiawen Yu, Hairuo Liu, Qiaojun Yu +9
cs.ROcs.CVarXiv:2505.22159v32025
OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoning
Fanqi Lin, Ruiqian Nai, Yingdong Hu +3
cs.ROarXiv:2505.11917v22025
Probably Approximately Correct MDP Learning and Control With Temporal Logic Constraints
Jie Fu, Ufuk Topcu
eess.SYcs.LGcs.LOarXiv:1404.7073v22014
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
Yanran Ding, Abhishek Pandala, Chuanzheng Li +2
cs.ROarXiv:2012.10002v12020
MuJoCo Playground
Kevin Zakka, Baruch Tabanpour, Qiayuan Liao +10
cs.ROarXiv:2502.08844v12025
WorldArena: A Unified Benchmark for Evaluating Perception and Functional Utility of Embodied World Models
Yu Shang, Zhuohang Li, Yiding Ma +18
cs.CVcs.ROarXiv:2602.08971v22026
RoboReward: General-Purpose Vision-Language Reward Models for Robotics
Tony Lee, Andrew Wagenmaker, Karl Pertsch +3
cs.ROarXiv:2601.00675v22026
EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos
Ruihan Yang, Qinxi Yu, Yecheng Wu +12
cs.ROcs.AIcs.CVarXiv:2507.12440v32025
DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control
Teli Ma, Jia Zheng, Zifan Wang +4
cs.ROarXiv:2603.10448v22026
Aether: Geometric-Aware Unified World Modeling
Aether Team, Haoyi Zhu, Yifan Wang +8
cs.CVcs.AIcs.LGarXiv:2503.18945v32025
DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping
Yifan Zhong, Xuchuan Huang, Ruochong Li +9
cs.ROcs.AIarXiv:2502.20900v52025
Scaling Spatial Intelligence with Multimodal Foundation Models
Zhongang Cai, Ruisi Wang, Chenyang Gu +26
cs.CVcs.AIcs.LGarXiv:2511.13719v42025
A Vision-Language-Action-Critic Model for Robotic Real-World Reinforcement Learning
Shaopeng Zhai, Qi Zhang, Tianyi Zhang +7
cs.ROcs.AIarXiv:2509.15937v12025
VLASH: Real-Time VLAs via Future-State-Aware Asynchronous Inference
Jiaming Tang, Yufei Sun, Yilong Zhao +7
cs.ROcs.AIcs.LGarXiv:2512.01031v22025
CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
Letian Fu, Justin Yu, Karim El-Refai +13
cs.ROcs.AIarXiv:2603.22435v22026
A Survey of Robot Manipulation in Contact
Markku Suomalainen, Yiannis Karayiannidis, Ville Kyrki
cs.ROarXiv:2112.01942v32021
Galaxea Open-World Dataset and G0 Dual-System VLA Model
Tao Jiang, Tianyuan Yuan, Yicheng Liu +7
cs.ROcs.CVarXiv:2509.00576v12025
Self-Supervised Correspondence in Visuomotor Policy Learning
Peter Florence, Lucas Manuelli, Russ Tedrake
cs.ROcs.CVcs.LGarXiv:1909.06933v12019
Large Video Planner Enables Generalizable Robot Control
Boyuan Chen, Tianyuan Zhang, Haoran Geng +9
cs.ROcs.CVarXiv:2512.15840v22025
LIC-Fusion: LiDAR-Inertial-Camera Odometry
Xingxing Zuo, Patrick Geneva, Woosik Lee +2
cs.ROarXiv:1909.04102v22019
Scene Graph-based Driving Scenario Extraction for Automotive Egocentric Datasets
Stefan Ramdhan, Kyanna Dagenais, Vera Pantelic +2
cs.ROarXiv:2609.00333v12026
PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos
Hanxiao Jiang, Hao-Yu Hsu, Kaifeng Zhang +3
cs.CVcs.AIcs.ROarXiv:2503.17973v12025
InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy
Xinyi Chen, Yilun Chen, Yanwei Fu +26
cs.ROcs.AIcs.CVarXiv:2510.13778v12025
SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing
Hao Wu, Haotian Guo, Yu Feng +3
cs.ROarXiv:2608.30368v12026
Artificial Intelligence for Long-Term Robot Autonomy: A Survey
Lars Kunze, Nick Hawes, Tom Duckett +2
cs.ROcs.AIarXiv:1807.05196v12018
ChatVLA: Unified Multimodal Understanding and Robot Control with Vision-Language-Action Model
Zhongyi Zhou, Yichen Zhu, Minjie Zhu +8
cs.ROcs.CVcs.LGarXiv:2502.14420v22025
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
Weiji Xie, Jinrui Han, Jiakun Zheng +6
cs.ROcs.AIarXiv:2506.12851v32025
UniGoal: Towards Universal Zero-shot Goal-oriented Navigation
Hang Yin, Xiuwei Xu, Lingqing Zhao +3
cs.CVcs.ROarXiv:2503.10630v32025
FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry
Kaixin Feng, Angsong Li, Shaopeng Zhang +5
cs.ROarXiv:2609.02222v12026
Towards Effective Physical Reservoir Computing with a Pneumatic Soft Robot
Jeevan Hebbal Manjunath, Jun Wang, Suyi Li +1
cs.ROarXiv:2609.02157v12026
WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments
Jianhao Zheng, Zihan Zhu, Valentin Bieri +3
cs.CVcs.ROarXiv:2504.03886v12025
World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain
Yuxi Liu, Lijun Han, Ziming Wang +3
cs.ROarXiv:2609.02542v12026
A Physics-Consistent Benchmark for Contact-Rich Human-Robot Interaction in Assistive Care
Chengxiao He, Shanghai Yuan, Liuqun Fan +1
cs.ROarXiv:2609.02402v12026
Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots
Kaixiang Lu, Haiyu Lan, Chunxiao Qiao +5
cs.ROarXiv:2609.02306v12026
VisuoTactile 6D Pose Estimation of an In-Hand Object using Vision and Tactile Sensor Data
Snehal s. Dikhale, Karankumar Patel, Daksh Dhingra +4
cs.ROarXiv:2601.01675v12026
Video Language Planning
Yilun Du, Mengjiao Yang, Pete Florence +10
cs.CVcs.AIcs.LGarXiv:2310.10625v12023
COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles
Jiaxun Cui, Hang Qiu, Dian Chen +2
cs.CVcs.ROarXiv:2205.02222v12022
Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation
Euncheol Im, Taehyun Kim, Yonghwan Oh +2
cs.ROarXiv:2609.02020v12026
Potential-Guided Particle Steering for Negation-Constrained Dexterous Grasping
Geonho Kim, SooGon Kim, Jongmin Lee
cs.ROcs.CVarXiv:2609.00555v12026
Training-Time Action Conditioning for Efficient Real-Time Chunking
Kevin Black, Allen Z. Ren, Michael Equi +1
cs.ROcs.AIarXiv:2512.05964v22025

Robotics

AlphaDrive: Unleashing the Power of VLMs in Autonomous Driving via Reinforcement Learning and Reasoning

TesserAct: Learning 4D Embodied World Models

Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation

Goal-Conditioned Reinforcement Learning with Imagined Subgoals

Adverse Events in Robotic Surgery: A Retrospective Study of 14 Years of FDA Data

Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms

DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation

Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation

SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation

RVT-2: Learning Precise Manipulation from Few Demonstrations

FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation

SRT-H: A Hierarchical Framework for Autonomous Surgery via Language Conditioned Imitation Learning

Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics

Robot Motion Planning in Learned Latent Spaces

GR-3 Technical Report

Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems

DriveSuprim: Towards Precise Trajectory Selection for End-to-End Planning

ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning

DARP: A Calibrated Dual-Arm RGB-D-IR Dataset for Multi-View Robotic Perception

ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation

OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoning

Probably Approximately Correct MDP Learning and Control With Temporal Logic Constraints

Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds

MuJoCo Playground

WorldArena: A Unified Benchmark for Evaluating Perception and Functional Utility of Embodied World Models

RoboReward: General-Purpose Vision-Language Reward Models for Robotics

EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos

DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control

Aether: Geometric-Aware Unified World Modeling

DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping

Scaling Spatial Intelligence with Multimodal Foundation Models

A Vision-Language-Action-Critic Model for Robotic Real-World Reinforcement Learning

VLASH: Real-Time VLAs via Future-State-Aware Asynchronous Inference

CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation

A Survey of Robot Manipulation in Contact

Galaxea Open-World Dataset and G0 Dual-System VLA Model

Self-Supervised Correspondence in Visuomotor Policy Learning

Large Video Planner Enables Generalizable Robot Control

LIC-Fusion: LiDAR-Inertial-Camera Odometry

Scene Graph-based Driving Scenario Extraction for Automotive Egocentric Datasets

PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos

InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy

SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing

Artificial Intelligence for Long-Term Robot Autonomy: A Survey

ChatVLA: Unified Multimodal Understanding and Robot Control with Vision-Language-Action Model

KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills

UniGoal: Towards Universal Zero-shot Goal-oriented Navigation

FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry

Towards Effective Physical Reservoir Computing with a Pneumatic Soft Robot

WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments

World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain

A Physics-Consistent Benchmark for Contact-Rich Human-Robot Interaction in Assistive Care

Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots

VisuoTactile 6D Pose Estimation of an In-Hand Object using Vision and Tactile Sensor Data

Video Language Planning

COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles

Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation

Potential-Guided Particle Steering for Negation-Constrained Dexterous Grasping

Training-Time Action Conditioning for Efficient Real-Time Chunking