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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1,321 to 1,380 of 3,243

Deep Drone Racing: From Simulation to Reality with Domain Randomization
Antonio Loquercio, Elia Kaufmann, René Ranftl +3
cs.ROarXiv:1905.09727v22019
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez +2
cs.ROarXiv:2007.11898v22020
Flow: A Modular Learning Framework for Mixed Autonomy Traffic
Cathy Wu, Aboudy Kreidieh, Kanaad Parvate +2
cs.AIcs.ROeess.SYarXiv:1710.05465v42017
Data Scaling Laws in Imitation Learning for Robotic Manipulation
Fanqi Lin, Yingdong Hu, Pingyue Sheng +3
cs.ROarXiv:2410.18647v42024
RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
Soroush Nasiriany, Sepehr Nasiriany, Abhiram Maddukuri +1
cs.ROcs.AIcs.LGarXiv:2603.04356v12026
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
Yanjie Ze, Siheng Zhao, Weizhuo Wang +6
cs.ROcs.CVcs.LGarXiv:2511.02832v12025
Safe Reinforcement Learning with Model Uncertainty Estimates
Björn Lütjens, Michael Everett, Jonathan P. How
cs.ROcs.AIcs.LGarXiv:1810.08700v22018
GuardianBench: A Same-Scene Instruction-Contrastive Benchmark for Latent Contextual Risk in Embodied AI
Zhesheng Zhang, Jiahao Lu, Wei Liu +8
cs.AIcs.CLcs.ROarXiv:2608.21928v12026
FF-MPCC: High-speed Agile Formation Flight with Model Predictive Contouring Control
Aditya Dandwate, Vit Kratky, Parakh M. Gupta +2
cs.ROarXiv:2608.21056v12026
Coverage Aware Active Evaluation for Failure Discovery with Paired Systems
Anjali Parashar, Rachel Luo, Apoorva Sharma +6
cs.AIcs.ROarXiv:2608.13719v12026
StyleVLA: Driving Style-Aware Vision Language Action Model for Autonomous Driving
Yuan Gao, Dengyuan Hua, Mattia Piccinini +4
cs.ROarXiv:2603.09482v12026
GeneralVLA: Generalizable Vision-Language-Action Models with Knowledge-Guided Trajectory Planning
Guoqing Ma, Siheng Wang, Zeyu Zhang +2
cs.ROcs.CVarXiv:2602.04315v12026
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
Chunran Zheng, Wei Xu, Zuhao Zou +11
cs.ROcs.CVarXiv:2408.14035v22024
Magma: A Foundation Model for Multimodal AI Agents
Jianwei Yang, Reuben Tan, Qianhui Wu +10
cs.CVcs.AIcs.HCarXiv:2502.13130v12025
RoboTok: An Internet-Scale Data Engine for Human Demonstration Retrieval and Dexterous Manipulation Learning
Howard Qian, Yiting Chen, Yunfei Xie +6
cs.CVcs.ROarXiv:2609.03199v12026
A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
TRI LBM Team, Jose Barreiros, Andrew Beaulieu +79
cs.ROarXiv:2507.05331v12025
Learning Plannable Representations with Causal InfoGAN
Thanard Kurutach, Aviv Tamar, Ge Yang +2
cs.LGcs.AIcs.CVarXiv:1807.09341v12018
PLAS: Latent Action Space for Offline Reinforcement Learning
Wenxuan Zhou, Sujay Bajracharya, David Held
cs.ROcs.AIcs.LGarXiv:2011.07213v12020
PhysBench: Benchmarking and Enhancing Vision-Language Models for Physical World Understanding
Wei Chow, Jiageng Mao, Boyi Li +3
cs.CVcs.AIcs.CLarXiv:2501.16411v22025
Air-Ground Collaborative Vision-and-Language Navigation via Shared Bird's-Eye Maps
Shuning Zhang, Liang Li, Yunheng Wang +3
cs.ROcs.AIarXiv:2609.03483v12026
R2S-Eval: Robot Evaluation with Real-to-Sim Calibration via Vision-Language Models
Yidi Wang, Feixiang Ruan, Ruoqu Chen +4
cs.ROarXiv:2609.03276v12026
Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems
Pierre-Yves Lajoie, Giovanni Beltrame
cs.ROcs.CVarXiv:2301.06230v32023
ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy
Yuhui Chen, Shuai Tian, Shugao Liu +3
cs.ROcs.AIarXiv:2502.05450v22025
LeRobot: An Open-Source Library for End-to-End Robot Learning
Remi Cadene, Simon Aliberts, Francesco Capuano +14
cs.ROarXiv:2602.22818v12026
GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
Shengliang Deng, Mi Yan, Songlin Wei +10
cs.ROarXiv:2505.03233v32025
Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Better
Danny Driess, Jost Tobias Springenberg, Brian Ichter +8
cs.LGcs.ROarXiv:2505.23705v12025
Autonomous Drone Racing with Deep Reinforcement Learning
Yunlong Song, Mats Steinweg, Elia Kaufmann +1
cs.ROcs.AIarXiv:2103.08624v22021
On Global Regulatability of Robot Manipulators by Classical PID
Cheng Zhao, Jingru Zhu, Lei Guo
cs.ROeess.SYarXiv:2609.01207v22026
Importance and methods to control, vary, and characterize mud strength for studying locomotion
Divya Ramesh, Gargi Sadalgekar, Qiyuan Fu +3
physics.bio-phcond-mat.softcs.ROarXiv:2609.00563v12026
Asymptotically near-optimal RRT for fast, high-quality, motion planning
Oren Salzman, Dan Halperin
cs.ROarXiv:1308.0189v42013
Cosmos-Reason1: From Physical Common Sense To Embodied Reasoning
NVIDIA, :, Alisson Azzolini +51
cs.AIcs.CVcs.LGarXiv:2503.15558v32025
Mudskippers use tail thrusting to help crutching to move on mud of various wetness
Divya Ramesh, Gargi Sadalgekar, Jiangqi Tan +1
physics.bio-phcond-mat.softcs.ROarXiv:2609.00564v12026
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control
Junjie Wen, Yichen Zhu, Jinming Li +3
cs.ROcs.CVarXiv:2502.05855v32025
Beyond Imitation: Self-Improving Robot Policies via Off-Policy Q-Planning
Varun Giridhar, Anant Khandelwal, Jeremy A. Collins +2
cs.ROcs.LGarXiv:2608.21204v12026
AURA: Action-Gated Memory for Robot Policies at Constant VRAM
Josef Chen
cs.AIcs.ARcs.DCarXiv:2606.02775v12026
Good Token Hunting: A Hitchhiker's Guide to Token Selection for Visual Geometry Transformers
Shuhong Zheng, Michael Oechsle, Erik Sandström +3
cs.CVcs.AIcs.GRarXiv:2605.23892v12026
$π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities
Physical Intelligence, Bo Ai, Ali Amin +85
cs.LGcs.ROarXiv:2604.15483v22026
Trust as indicator of robot functional and social acceptance. An experimental study on user conformation to the iCub's answers
Ilaria Gaudiello, Elisabetta Zibetti, Sebastien Lefort +2
cs.ROcs.CYcs.HCarXiv:1510.03678v12015
RoboRefer: Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics
Enshen Zhou, Jingkun An, Cheng Chi +8
cs.ROcs.AIcs.CVarXiv:2506.04308v42025
DreamGen: Unlocking Generalization in Robot Learning through Video World Models
Joel Jang, Seonghyeon Ye, Zongyu Lin +25
cs.ROcs.AIcs.LGarXiv:2505.12705v22025
EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration
Modi Shi, Shijia Peng, Jin Chen +6
cs.ROarXiv:2602.10106v22026
$π_0$: A Vision-Language-Action Flow Model for General Robot Control
Kevin Black, Noah Brown, Danny Driess +21
cs.LGcs.ROarXiv:2410.24164v42024
Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
Joao Pedro Araujo, Yanjie Ze, Pei Xu +2
cs.ROarXiv:2510.02252v12025
Gaussian Splatting SLAM
Hidenobu Matsuki, Riku Murai, Paul H. J. Kelly +1
cs.CVcs.ROarXiv:2312.06741v22023
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
Han Xue, Jieji Ren, Wendi Chen +5
cs.ROcs.AIcs.LGarXiv:2503.02881v32025
GMT: General Motion Tracking for Humanoid Whole-Body Control
Zixuan Chen, Mazeyu Ji, Xuxin Cheng +3
cs.ROarXiv:2506.14770v22025
Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation
Yue Liao, Pengfei Zhou, Siyuan Huang +11
cs.ROcs.CVarXiv:2508.05635v32025
Pseudo-Simulation for Autonomous Driving
Wei Cao, Marcel Hallgarten, Tianyu Li +11
cs.ROcs.AIcs.CVarXiv:2506.04218v32025
ChainSplat: A Physics-Inspired Screw-Theoretic Model for Learning Deformable Linear Object Dynamics from Multi-View RGB Videos
Seungyeon Kim, Noémie Jaquier
cs.ROarXiv:2608.28570v12026
SonicNudge: Controlled Displacement of Hovering UAVs via Estimator-Controller Coupling
Shaocheng Luo, Ashir Raza, Haocheng Meng +2
eess.SYcs.ROarXiv:2608.25319v12026
Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits
Annika Schmidt, Davide Calzolari, Arne Sachtler +13
cs.ROarXiv:2609.00539v22026
Lambda-Hold Control: Human-Like Movement Emerges from a Minimal Task Reward in Predictive Musculoskeletal Simulation
Jun Hyuk Lee, Chihyeong Lee, Jooeun Ahn
cs.ROcs.GRcs.LGarXiv:2608.17030v12026
PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment
Yuyang Liu, Yanqing Shen, Ruike Chen +22
cs.ROcs.CVarXiv:2608.14284v12026
Summaries:한국어
Unified Video Action Model
Shuang Li, Yihuai Gao, Dorsa Sadigh +1
cs.ROcs.CVarXiv:2503.00200v32025
HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
Dairu Liu, Zekun Qi, Jiayu Zeng +11
cs.ROcs.AIcs.CVarXiv:2608.13555v12026
Spatial Forcing: Implicit Spatial Representation Alignment for Vision-language-action Model
Fuhao Li, Wenxuan Song, Han Zhao +5
cs.ROarXiv:2510.12276v22025
StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modeling
Meng Wei, Chenyang Wan, Xiqian Yu +9
cs.ROcs.CVarXiv:2507.05240v22025
VisualPatchWorld: Code World Models as Latent Structured Representations for Planning
Jiaxin Bai, Jiaxuan Xiong
cs.CLcs.ROarXiv:2607.25236v12026
2018 Robotic Scene Segmentation Challenge
Max Allan, Satoshi Kondo, Sebastian Bodenstedt +38
cs.CVcs.ROarXiv:2001.11190v32020
Imagined Rollouts are Kinematic, Not Dynamic: A Diagnosis of Long-Horizon World-Model Failure
Finn Rasmus Schäfer, Korbinian Moller, Yuan Gao +3
cs.ROarXiv:2607.05966v12026

Robotics

Deep Drone Racing: From Simulation to Reality with Domain Randomization

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

Flow: A Modular Learning Framework for Mixed Autonomy Traffic

Data Scaling Laws in Imitation Learning for Robotic Manipulation

RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots

TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System

Safe Reinforcement Learning with Model Uncertainty Estimates

GuardianBench: A Same-Scene Instruction-Contrastive Benchmark for Latent Contextual Risk in Embodied AI

FF-MPCC: High-speed Agile Formation Flight with Model Predictive Contouring Control

Coverage Aware Active Evaluation for Failure Discovery with Paired Systems

StyleVLA: Driving Style-Aware Vision Language Action Model for Autonomous Driving

GeneralVLA: Generalizable Vision-Language-Action Models with Knowledge-Guided Trajectory Planning

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

Magma: A Foundation Model for Multimodal AI Agents

RoboTok: An Internet-Scale Data Engine for Human Demonstration Retrieval and Dexterous Manipulation Learning

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation

Learning Plannable Representations with Causal InfoGAN

PLAS: Latent Action Space for Offline Reinforcement Learning

PhysBench: Benchmarking and Enhancing Vision-Language Models for Physical World Understanding

Air-Ground Collaborative Vision-and-Language Navigation via Shared Bird's-Eye Maps

R2S-Eval: Robot Evaluation with Real-to-Sim Calibration via Vision-Language Models

Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems

ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy

LeRobot: An Open-Source Library for End-to-End Robot Learning

GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data

Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Better

Autonomous Drone Racing with Deep Reinforcement Learning

On Global Regulatability of Robot Manipulators by Classical PID

Importance and methods to control, vary, and characterize mud strength for studying locomotion

Asymptotically near-optimal RRT for fast, high-quality, motion planning

Cosmos-Reason1: From Physical Common Sense To Embodied Reasoning

Mudskippers use tail thrusting to help crutching to move on mud of various wetness

DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control

Beyond Imitation: Self-Improving Robot Policies via Off-Policy Q-Planning

AURA: Action-Gated Memory for Robot Policies at Constant VRAM

Good Token Hunting: A Hitchhiker's Guide to Token Selection for Visual Geometry Transformers

$π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities

Trust as indicator of robot functional and social acceptance. An experimental study on user conformation to the iCub's answers

RoboRefer: Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics

DreamGen: Unlocking Generalization in Robot Learning through Video World Models

EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration

$π_0$: A Vision-Language-Action Flow Model for General Robot Control

Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking

Gaussian Splatting SLAM

Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation

GMT: General Motion Tracking for Humanoid Whole-Body Control

Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation

Pseudo-Simulation for Autonomous Driving

ChainSplat: A Physics-Inspired Screw-Theoretic Model for Learning Deformable Linear Object Dynamics from Multi-View RGB Videos

SonicNudge: Controlled Displacement of Hovering UAVs via Estimator-Controller Coupling

Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits

Lambda-Hold Control: Human-Like Movement Emerges from a Minimal Task Reward in Predictive Musculoskeletal Simulation

PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment

Unified Video Action Model

HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark

Spatial Forcing: Implicit Spatial Representation Alignment for Vision-language-action Model

StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modeling

VisualPatchWorld: Code World Models as Latent Structured Representations for Planning

2018 Robotic Scene Segmentation Challenge

Imagined Rollouts are Kinematic, Not Dynamic: A Diagnosis of Long-Horizon World-Model Failure