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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1,561 to 1,620 of 3,241

GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
NVIDIA, :, Johan Bjorck +40
cs.ROcs.AIcs.LGarXiv:2503.14734v22025
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation
Minho Heo, Youngwoon Lee, Doohyun Lee +1
cs.ROcs.AIcs.LGarXiv:2305.12821v12023
Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery
Zhe Chen, Javier Alonso-Mora, Xiaoshan Bai +2
cs.MAcs.ROarXiv:2110.14891v12021
Partially Observable Markov Decision Processes (POMDPs) and Robotics
Hanna Kurniawati
cs.ROarXiv:2107.07599v12021
Artificial Protozoa Optimizer (APO): A novel bio-inspired metaheuristic algorithm for engineering optimization
Xiaopeng Wang, Vaclav Snasel, Seyedali Mirjalili +3
cs.NEcs.ROarXiv:2505.03512v12025
$π_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
Physical Intelligence, Kevin Black, Noah Brown +33
cs.LGcs.ROarXiv:2504.16054v12025
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones +1
cs.ROarXiv:2104.09025v12021
A Language Agent for Autonomous Driving
Jiageng Mao, Junjie Ye, Yuxi Qian +2
cs.CVcs.AIcs.CLarXiv:2311.10813v42023
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments
Jesus Tordesillas, Brett T. Lopez, Michael Everett +1
cs.ROcs.CVarXiv:2001.04420v22020
Talk2Car: Taking Control of Your Self-Driving Car
Thierry Deruyttere, Simon Vandenhende, Dusan Grujicic +2
cs.AIcs.CLcs.ROarXiv:1909.10838v22019
Behavior Generation with Latent Actions
Seungjae Lee, Yibin Wang, Haritheja Etukuru +3
cs.LGcs.AIcs.ROarXiv:2403.03181v22024
HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objects
Roman Kaskman, Sergey Zakharov, Ivan Shugurov +1
cs.CVcs.ROarXiv:1904.03167v22019
Autonomous robotic bridging using distributed swarm control without inter-agent communication
Vishwaak C. Thamaraiselvan, Cody L. Lundberg, Michail Theofandis +2
cs.ROarXiv:2609.01394v12026
Safe Reinforcement Learning in Constrained Markov Decision Processes
Akifumi Wachi, Yanan Sui
cs.LGcs.AIcs.ROarXiv:2008.06626v12020
Feedback MPC for Torque-Controlled Legged Robots
Ruben Grandia, Farbod Farshidian, René Ranftl +1
cs.ROarXiv:1905.06144v22019
Construction Payment Automation Using Blockchain-Enabled Smart Contracts and Reality Capture Technologies
Hesam Hamledari, Martin Fischer
cs.CRcs.AIcs.ROarXiv:2010.15232v32020
Socially Compliant Navigation through Raw Depth Inputs with Generative Adversarial Imitation Learning
Lei Tai, Jingwei Zhang, Ming Liu +1
cs.ROcs.AIcs.LGarXiv:1710.02543v22017
Feedback Control For Cassie With Deep Reinforcement Learning
Zhaoming Xie, Glen Berseth, Patrick Clary +2
cs.ROarXiv:1803.05580v22018
Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly
Jianlan Luo, Eugen Solowjow, Chengtao Wen +4
cs.ROarXiv:1903.01066v22019
The Ingredients of Real-World Robotic Reinforcement Learning
Henry Zhu, Justin Yu, Abhishek Gupta +5
cs.LGcs.ROstat.MLarXiv:2004.12570v12020
Multi-Robot Control Using Time-Varying Density Functions
Sung G. Lee, Magnus Egerstedt
math.OCcs.ROarXiv:1404.0338v12014
DRAMA: Joint Risk Localization and Captioning in Driving
Srikanth Malla, Chiho Choi, Isht Dwivedi +2
cs.CVcs.AIcs.LGarXiv:2209.10767v22022
An Intuitive Tutorial to Gaussian Process Regression
Jie Wang
stat.MLcs.LGcs.ROarXiv:2009.10862v52020
Robust Trajectory Tracking Error Model-Based Predictive Control for Unmanned Ground Vehicles
Erkan Kayacan, Herman Ramon, Wouter Saeys
cs.ROeess.SYarXiv:2103.16782v12021
Advancing Accessible Underwater Robotics: The Mini-Girona I-AUV at RAMI 2025
Taqi Hamoda, Bilal Ahmed, Deborah Ele-Ojo +9
cs.ROarXiv:2609.02605v12026
3D Object Reconstruction from a Single Depth View with Adversarial Learning
Bo Yang, Hongkai Wen, Sen Wang +3
cs.CVcs.AIcs.LGarXiv:1708.07969v12017
Baxter's Homunculus: Virtual Reality Spaces for Teleoperation in Manufacturing
Jeffrey I Lipton, Aidan J Fay, Daniela Rus
cs.ROarXiv:1703.01270v12017
Programming Soft Robots with Flexible Mechanical Metamaterials
Ahmad Rafsanjani, Katia Bertoldi, André R. Studart
cond-mat.softcond-mat.mtrl-scics.ROarXiv:1906.00306v12019
FB-OCC: 3D Occupancy Prediction based on Forward-Backward View Transformation
Zhiqi Li, Zhiding Yu, David Austin +4
cs.CVcs.ROarXiv:2307.01492v12023
Prompting Decision Transformer for Few-Shot Policy Generalization
Mengdi Xu, Yikang Shen, Shun Zhang +4
cs.LGcs.AIcs.CVarXiv:2206.13499v12022
Large Language Models for Robotics: Opportunities, Challenges, and Perspectives
Jiaqi Wang, Zihao Wu, Yiwei Li +17
cs.ROcs.AIarXiv:2401.04334v12024
ZETA: A Controlled Study of Zero-Shot Cross-Embodiment VLA Transfer for Tabletop Manipulation
Mi Yan, Wenhao Zhang, Zhiqi Zhang +14
cs.ROarXiv:2609.02546v12026
Multi-Head Attention for Multi-Modal Joint Vehicle Motion Forecasting
Jean Mercat, Thomas Gilles, Nicole El Zoghby +3
cs.LGcs.AIcs.ROarXiv:1910.03650v32019
One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry
Satvik Sharma, Samrat Sahoo, Huang Huang +3
cs.ROarXiv:2609.01938v12026
Automatic Image Segmentation by Dynamic Region Merging
Bo Peng, Lei Zhang, David Zhang
cs.CVcs.ROarXiv:1012.1193v12010
CNN-based Lidar Point Cloud De-Noising in Adverse Weather
Robin Heinzler, Florian Piewak, Philipp Schindler +1
cs.CVcs.ROarXiv:1912.03874v22019
The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systems
Kai-Chieh Hsu, Haimin Hu, Jaime Fernández Fisac
eess.SYcs.LGcs.ROarXiv:2309.05837v12023
EmergencyNet: Efficient Aerial Image Classification for Drone-Based Emergency Monitoring Using Atrous Convolutional Feature Fusion
Christos Kyrkou, Theocharis Theocharides
cs.CVcs.LGcs.ROarXiv:2104.14006v12021
Design and Validation of a Lightweight, Low-Profile Powered Knee Prosthesis with Quasi-Direct Drive Actuation
Ross J. Cortino, Ryan Posh, Emily G. Keller +1
cs.ROarXiv:2609.02003v12026
Latent Cluster Analysis for Vision-Language-Action Models
Theodor Wulff, Sergio Lanza, Tamara Bila +3
cs.ROarXiv:2609.02634v12026
Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Driving
Zihao Sheng, Yunwen Xu, Shibei Xue +1
cs.LGcs.AIcs.ROarXiv:2109.12764v12021
MS-MEM: Multi-Skill Manipulation-Enhanced Mapping via Uncertainty- and Disturbance-Aware Action Selection
Yitian Shi, Jesper Mücke, Nils Dengler +3
cs.ROarXiv:2609.02493v12026
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation
Kun Wu, Chengkai Hou, Jiaming Liu +34
cs.ROcs.AIarXiv:2412.13877v32024
Boreas: A Multi-Season Autonomous Driving Dataset
Keenan Burnett, David J. Yoon, Yuchen Wu +9
cs.ROarXiv:2203.10168v22022
PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning -- Lifelong
Mehul Damani, Zhiyao Luo, Emerson Wenzel +1
cs.ROarXiv:2010.08184v32020
Reward-rational (implicit) choice: A unifying formalism for reward learning
Hong Jun Jeon, Smitha Milli, Anca D. Dragan
cs.LGcs.AIcs.HCarXiv:2002.04833v42020
DiDrive: A Risk-Aware Hierarchical Diffusion Framework for Safe Offline Reinforcement Learning in Autonomous Driving
Qisong Guo, Jingtang Chen, Zhilin Chen +4
cs.LGcs.ROarXiv:2609.01609v12026
Sampling-Based Motion Planning: A Comparative Review
Andreas Orthey, Constantinos Chamzas, Lydia E. Kavraki
cs.ROarXiv:2309.13119v12023
Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
Danfei Xu, Suraj Nair, Yuke Zhu +4
cs.AIcs.LGcs.ROarXiv:1710.01813v22017
Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence
Hanyang Cao, Yuetong Fang, Taesoo Kwon +10
cs.ROcs.GRarXiv:2609.02134v12026
ALOHA Unleashed: A Simple Recipe for Robot Dexterity
Tony Z. Zhao, Jonathan Tompson, Danny Driess +4
cs.ROarXiv:2410.13126v12024
Shape-independent Hardness Estimation Using Deep Learning and a GelSight Tactile Sensor
Wenzhen Yuan, Chenzhuo Zhu, Andrew Owens +2
cs.ROarXiv:1704.03955v12017
MACAW: Reliable And Efficient Surgical Debridement Using Monocular Adaptive Compact Attention Windows
Ziyang Chen, Shutong Jin, Preethi Satish +6
cs.ROarXiv:2609.01961v12026
InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment
Yuxing Long, Wenzhe Cai, Hongcheng Wang +2
cs.ROcs.AIcs.CLarXiv:2406.04882v12024
HINT: Human-Intent Inception for Long-Horizon Robot Manipulation
Mingyu Mei, Haojie Xu, Shihao Jin +9
cs.ROarXiv:2609.02653v12026
Rethinking Range View Representation for LiDAR Segmentation
Lingdong Kong, Youquan Liu, Runnan Chen +6
cs.CVcs.ROarXiv:2303.05367v32023
iSDF: Real-Time Neural Signed Distance Fields for Robot Perception
Joseph Ortiz, Alexander Clegg, Jing Dong +4
cs.ROcs.CVarXiv:2204.02296v22022
SimpleTrack: Understanding and Rethinking 3D Multi-object Tracking
Ziqi Pang, Zhichao Li, Naiyan Wang
cs.CVcs.ROarXiv:2111.09621v12021
WildFab: Multi-Axis 3D Printing from Models in the Wild
Jiasheng Qu, Zhikai Shen, Chenyu Xu +6
cs.GRcs.ROarXiv:2609.02413v12026
Toward Robust LiDAR Semantic Segmentation for Real-World Deployment: Evaluation under Coarse Labels, Adverse Conditions, and Domain Shifts
Samir Abou Haidar, Alexandre Chariot, Mehdi Darouich +2
cs.ROarXiv:2609.02830v12026

Robotics

GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation

Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery

Partially Observable Markov Decision Processes (POMDPs) and Robotics

Artificial Protozoa Optimizer (APO): A novel bio-inspired metaheuristic algorithm for engineering optimization

$π_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors

A Language Agent for Autonomous Driving

FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments

Talk2Car: Taking Control of Your Self-Driving Car

Behavior Generation with Latent Actions

HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objects

Autonomous robotic bridging using distributed swarm control without inter-agent communication

Safe Reinforcement Learning in Constrained Markov Decision Processes

Feedback MPC for Torque-Controlled Legged Robots

Construction Payment Automation Using Blockchain-Enabled Smart Contracts and Reality Capture Technologies

Socially Compliant Navigation through Raw Depth Inputs with Generative Adversarial Imitation Learning

Feedback Control For Cassie With Deep Reinforcement Learning

Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly

The Ingredients of Real-World Robotic Reinforcement Learning

Multi-Robot Control Using Time-Varying Density Functions

DRAMA: Joint Risk Localization and Captioning in Driving

An Intuitive Tutorial to Gaussian Process Regression

Robust Trajectory Tracking Error Model-Based Predictive Control for Unmanned Ground Vehicles

Advancing Accessible Underwater Robotics: The Mini-Girona I-AUV at RAMI 2025

3D Object Reconstruction from a Single Depth View with Adversarial Learning

Baxter's Homunculus: Virtual Reality Spaces for Teleoperation in Manufacturing

Programming Soft Robots with Flexible Mechanical Metamaterials

FB-OCC: 3D Occupancy Prediction based on Forward-Backward View Transformation

Prompting Decision Transformer for Few-Shot Policy Generalization

Large Language Models for Robotics: Opportunities, Challenges, and Perspectives

ZETA: A Controlled Study of Zero-Shot Cross-Embodiment VLA Transfer for Tabletop Manipulation

Multi-Head Attention for Multi-Modal Joint Vehicle Motion Forecasting

One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry

Automatic Image Segmentation by Dynamic Region Merging

CNN-based Lidar Point Cloud De-Noising in Adverse Weather

The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systems

EmergencyNet: Efficient Aerial Image Classification for Drone-Based Emergency Monitoring Using Atrous Convolutional Feature Fusion

Design and Validation of a Lightweight, Low-Profile Powered Knee Prosthesis with Quasi-Direct Drive Actuation

Latent Cluster Analysis for Vision-Language-Action Models

Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Driving

MS-MEM: Multi-Skill Manipulation-Enhanced Mapping via Uncertainty- and Disturbance-Aware Action Selection

RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation

Boreas: A Multi-Season Autonomous Driving Dataset

PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning -- Lifelong

Reward-rational (implicit) choice: A unifying formalism for reward learning

DiDrive: A Risk-Aware Hierarchical Diffusion Framework for Safe Offline Reinforcement Learning in Autonomous Driving

Sampling-Based Motion Planning: A Comparative Review

Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence

ALOHA Unleashed: A Simple Recipe for Robot Dexterity

Shape-independent Hardness Estimation Using Deep Learning and a GelSight Tactile Sensor

MACAW: Reliable And Efficient Surgical Debridement Using Monocular Adaptive Compact Attention Windows

InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment

HINT: Human-Intent Inception for Long-Horizon Robot Manipulation

Rethinking Range View Representation for LiDAR Segmentation

iSDF: Real-Time Neural Signed Distance Fields for Robot Perception

SimpleTrack: Understanding and Rethinking 3D Multi-object Tracking

WildFab: Multi-Axis 3D Printing from Models in the Wild

Toward Robust LiDAR Semantic Segmentation for Real-World Deployment: Evaluation under Coarse Labels, Adverse Conditions, and Domain Shifts