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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3,781 to 3,840 of 6,339

CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
Yixuan Li, Yutang Lin, Jieming Cui +4
cs.ROarXiv:2506.08931v22025
Embodied.cpp: A Portable Inference Runtime of Embodied AI Models on Heterogeneous Robots
Ling Xu, Chuyu Han, Borui Li +6
cs.ROcs.CVcs.OSarXiv:2607.02501v22026
RLinf-VLA: A Unified and Efficient Framework for Reinforcement Learning of Vision-Language-Action Models
Hongzhi Zang, Mingjie Wei, Si Xu +15
cs.ROarXiv:2510.06710v32025
CognitiveReality: Robot-Agnostic Semantic Gaussian Mapping with an LLM Agent for Immersive Collaborative VR Teleoperation
Timofei Kozlov, Dmitrii Maliukov, Andrey Marchenko +3
cs.ROarXiv:2609.31418v12026
Trust and Safety
S. K. Devitt, R. Horne, Z. Assaad +15
cs.ROcs.HCarXiv:2104.06512v12021
System Identification of an Octocopter in Hover using Full-Harmonic Orthogonal Multisine Inputs
Justin J. Matt, George V. Altamirano
eess.SYcs.ROarXiv:2609.29832v12026
OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles
Taekyung Kim, Hun Kuk Park, Renya Wada +3
cs.ROcs.SYeess.SYarXiv:2609.06342v12026
One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation
Xiaomi Embodied Intelligence Team, University of Macau, : +21
cs.ROarXiv:2608.26058v12026
Baxter's Homunculus: Virtual Reality Spaces for Teleoperation in Manufacturing
Jeffrey I Lipton, Aidan J Fay, Daniela Rus
cs.ROarXiv:1703.01270v12017
InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy
Yang Tian, Yuyin Yang, Yiman Xie +13
cs.ROarXiv:2511.16651v12025
Modeling car-following behavior on urban expressways in Shanghai: A naturalistic driving study
Meixin Zhu, Xuesong Wang, Andrew P. Tarko +1
cs.ROcs.AIarXiv:1811.06395v12018
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
Tairan He, Jiawei Gao, Wenli Xiao +15
cs.ROcs.AIcs.LGarXiv:2502.01143v32025
RoboTTT: Context Scaling for Robot Policies
Yunfan Jiang, Yevgen Chebotar, Ruijie Zheng +8
cs.ROcs.AIcs.LGarXiv:2607.15275v12026
Batch Informed Trees (BIT*): Informed Asymptotically Optimal Anytime Search
Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha S. Srinivasa
cs.ROarXiv:1707.01888v42017
ABot-M0.5: Unified Mobility-and-Manipulation World Action Model
Ronghan Chen, Yandan Yang, Zuojin Tang +18
cs.CVcs.ROarXiv:2607.00678v22026
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong +7
cs.ROcs.AIcs.LGarXiv:2108.03298v22021
Rethinking Safety for Generalist Robots
Rohan Sinha, Anushri Dixit, Ran Tian +2
eess.SYcs.ROcs.SYarXiv:2609.06326v12026
Shared Autonomy via Hindsight Optimization
Shervin Javdani, Siddhartha S. Srinivasa, J. Andrew Bagnell
cs.ROarXiv:1503.07619v22015
NOPA: Neurally-guided Online Probabilistic Assistance for Building Socially Intelligent Home Assistants
Xavier Puig, Tianmin Shu, Joshua B. Tenenbaum +1
cs.ROcs.AIcs.LGarXiv:2301.05223v12023
Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning
Zishuo Li, Bowen Yang, Changtao Miao +29
cs.ROcs.CVarXiv:2607.14183v22026
BridgeVLA: Input-Output Alignment for Efficient 3D Manipulation Learning with Vision-Language Models
Peiyan Li, Yixiang Chen, Hongtao Wu +6
cs.ROcs.AIarXiv:2506.07961v22025
GRAFT: Grounded and Efficient Online Reinforcement Adaptation for Fine-Grained Robot Manipulation
Yibo Qiu, Haoliang Ye, Shu'ang Sun +3
cs.ROarXiv:2608.27079v12026
Recent Advances in Imitation Learning from Observation
Faraz Torabi, Garrett Warnell, Peter Stone
cs.ROcs.AIcs.LGarXiv:1905.13566v22019
Policies Modulating Trajectory Generators
Atil Iscen, Ken Caluwaerts, Jie Tan +4
cs.ROcs.AIcs.LGarXiv:1910.02812v12019
Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment
Dwip Dalal, Shivansh Patel, Chahit Jain +7
cs.ROcs.CVarXiv:2607.13429v12026
Teleoperation of Humanoid Robots: A Survey
Kourosh Darvish, Luigi Penco, Joao Ramos +5
cs.ROarXiv:2301.04317v12023
Phantom Navigator: Stealthy and Precise Unmanned Aerial Vehicle Redirection with Real-Time Tracking and GPS Spoofing
Haocheng Meng, Shaocheng Luo, Songqiao Xie +1
cs.ROeess.SYarXiv:2608.26011v12026
Towards Path-Creative Navigation: Robot Navigation through Embodied Interaction
Haoyu Xi, Siwei Cheng, Xiangyuan Liu +2
cs.ROarXiv:2610.11072v12026
FS6D: Few-Shot 6D Pose Estimation of Novel Objects
Yisheng He, Yao Wang, Haoqiang Fan +2
cs.CVcs.ROarXiv:2203.14628v12022
Transformer-based Monte Carlo Localization in Construction Meshes
Linus Kramer, William Talbot, Olga Vysotska +1
cs.ROarXiv:2609.31357v12026
EgoLAP: Learning from Egocentric Human Data through Language-Action Reasoning
Lihan Zha, Shresth Grover, Tenny Yin +7
cs.ROcs.AIarXiv:2610.08726v12026
RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalization
Songming Liu, Bangguo Li, Kai Ma +5
cs.ROcs.AIcs.CVarXiv:2602.03310v12026
JEPA-VLA: Video Predictive Embedding is Needed for VLA Models
Shangchen Miao, Ningya Feng, Jialong Wu +4
cs.CVcs.ROarXiv:2602.11832v12026
The Imitator Game: Benchmarking Robot Imitative Ability Beyond Action Prediction
Xunzhe Zhou, Yiyang Cai, Fengyi Wang +9
cs.ROcs.AIarXiv:2608.22301v12026
Open-World Object Manipulation using Pre-trained Vision-Language Models
Austin Stone, Ted Xiao, Yao Lu +9
cs.ROcs.AIcs.CVarXiv:2303.00905v22023
SIRL: Similarity-based Implicit Representation Learning
Andreea Bobu, Yi Liu, Rohin Shah +2
cs.ROcs.AIcs.HCarXiv:2301.00810v32023
MemoryWAM: Efficient World Action Modeling with Persistent Memory
Sizhe Yang, Juncheng Mu, Tianming Wei +8
cs.ROarXiv:2606.20562v12026
Arbitrary-Order Hermite Interpolation of Rigid-Motion Jets via Hyper-Multidual Quaternions
Daniel Condurache
cs.ROarXiv:2608.27000v12026
Unsupervised Perceptual Rewards for Imitation Learning
Pierre Sermanet, Kelvin Xu, Sergey Levine
cs.CVcs.ROarXiv:1612.06699v32016
Induced Riemannian Metrics for Motion Planning with Constraints
Phone Thiha Kyaw, Thomas Cohn, Miguel Angel Rogel Garcia +1
cs.ROarXiv:2609.25695v12026
Wow, wo, val! A Comprehensive Embodied World Model Evaluation Turing Test
Chun-Kai Fan, Xiaowei Chi, Xiaozhu Ju +18
cs.ROcs.AIcs.CVarXiv:2601.04137v12026
SkyJEPA: Learning Long-Horizon World Models for Zero-Shot Sim-to-Real Control of Quadrotors
Pratyaksh Rao, Wancong Zhang, Randall Balestriero +2
cs.ROcs.LGarXiv:2606.23444v22026
Visual Reinforcement Learning with Imagined Goals
Ashvin Nair, Vitchyr Pong, Murtaza Dalal +3
cs.LGcs.CVcs.ROarXiv:1807.04742v22018
Coral Grow-out Robotic Assessment System (CGRAS): Scaling Coral Recruit Monitoring Through Robotics and Computer Vision
Dorian Tsai, Scarlett Raine, Emilio Olivastri +12
cs.ROarXiv:2609.38846v12026
CLAP: Contrastive Latent Action Pretraining for Learning Vision-Language-Action Models from Human Videos
Chubin Zhang, Jianan Wang, Zifeng Gao +5
cs.ROcs.CVarXiv:2601.04061v22026
Dispersive Forward Tree Search for Optimal Control: Coverage, Complexity, and Computation
Shashank A. Deshpande, Jonathan P. How
cs.ROmath.OCarXiv:2608.26314v12026
Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models
Haoqi Yuan, Zhixuan Liang, Anzhe Chen +20
cs.ROcs.CVcs.LGarXiv:2606.17846v22026
Summaries:한국어
ShotcreteDepth: A Bi-modal Dataset for Robust Robotic Depth Perception in Shotcrete Construction Environments
Jakub Gregorek, Lars Arnold Dethlefsen, Patrick Schmidt +3
cs.ROarXiv:2606.23152v12026
Neural Volumetric Memory for Visual Locomotion Control
Ruihan Yang, Ge Yang, Xiaolong Wang
cs.ROcs.AIcs.CVarXiv:2304.01201v12023
Behavior Transformers: Cloning $k$ modes with one stone
Nur Muhammad Mahi Shafiullah, Zichen Jeff Cui, Ariuntuya Altanzaya +1
cs.LGcs.AIcs.CVarXiv:2206.11251v22022
AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos
Laura Smith, Nikita Dhawan, Marvin Zhang +2
cs.ROcs.CVcs.LGarXiv:1912.04443v32019
Self-Supervised Exploration via Disagreement
Deepak Pathak, Dhiraj Gandhi, Abhinav Gupta
cs.LGcs.AIcs.CVarXiv:1906.04161v12019
RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
Yuanhang Zhang, Younggyo Seo, Juyue Chen +7
cs.ROarXiv:2602.03002v22026
DenseTNT: End-to-end Trajectory Prediction from Dense Goal Sets
Junru Gu, Chen Sun, Hang Zhao
cs.CVcs.ROarXiv:2108.09640v22021
Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations
Shuran Song, Andy Zeng, Johnny Lee +1
cs.CVcs.ROarXiv:1912.04344v22019
OccluDex: Hierarchical 3D Visuo-Tactile Representation Learning for Egocentric Dexterous Manipulation under Self-Occlusion
Ziheng Xu, Yueyuan Chen, Xinyuan He +6
cs.ROarXiv:2609.39017v12026
Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks
Soroush Nasiriany, Huihan Liu, Yuke Zhu
cs.LGcs.AIcs.ROarXiv:2110.03655v32021
Vision-based Navigation with Language-based Assistance via Imitation Learning with Indirect Intervention
Khanh Nguyen, Debadeepta Dey, Chris Brockett +1
cs.LGcs.CLcs.CVarXiv:1812.04155v42018
RoboCurate: Harnessing Diversity with Action-Verified Neural Trajectory for Robot Learning
Seungku Kim, Suhyeok Jang, Byungjun Yoon +3
cs.ROcs.AIcs.CVarXiv:2602.18742v12026
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
Jianhao Jiao, Haoyang Ye, Yilong Zhu +1
cs.ROcs.CVarXiv:2010.14294v22020

Robotics

CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks

Embodied.cpp: A Portable Inference Runtime of Embodied AI Models on Heterogeneous Robots

RLinf-VLA: A Unified and Efficient Framework for Reinforcement Learning of Vision-Language-Action Models

CognitiveReality: Robot-Agnostic Semantic Gaussian Mapping with an LLM Agent for Immersive Collaborative VR Teleoperation

Trust and Safety

System Identification of an Octocopter in Hover using Full-Harmonic Orthogonal Multisine Inputs

OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles

One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation

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

InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy

Modeling car-following behavior on urban expressways in Shanghai: A naturalistic driving study

ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills

RoboTTT: Context Scaling for Robot Policies

Batch Informed Trees (BIT*): Informed Asymptotically Optimal Anytime Search

ABot-M0.5: Unified Mobility-and-Manipulation World Action Model

What Matters in Learning from Offline Human Demonstrations for Robot Manipulation

Rethinking Safety for Generalist Robots

Shared Autonomy via Hindsight Optimization

NOPA: Neurally-guided Online Probabilistic Assistance for Building Socially Intelligent Home Assistants

Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning

BridgeVLA: Input-Output Alignment for Efficient 3D Manipulation Learning with Vision-Language Models

GRAFT: Grounded and Efficient Online Reinforcement Adaptation for Fine-Grained Robot Manipulation

Recent Advances in Imitation Learning from Observation

Policies Modulating Trajectory Generators

Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment

Teleoperation of Humanoid Robots: A Survey

Phantom Navigator: Stealthy and Precise Unmanned Aerial Vehicle Redirection with Real-Time Tracking and GPS Spoofing

Towards Path-Creative Navigation: Robot Navigation through Embodied Interaction

FS6D: Few-Shot 6D Pose Estimation of Novel Objects

Transformer-based Monte Carlo Localization in Construction Meshes

EgoLAP: Learning from Egocentric Human Data through Language-Action Reasoning

RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalization

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

The Imitator Game: Benchmarking Robot Imitative Ability Beyond Action Prediction

Open-World Object Manipulation using Pre-trained Vision-Language Models

SIRL: Similarity-based Implicit Representation Learning

MemoryWAM: Efficient World Action Modeling with Persistent Memory

Arbitrary-Order Hermite Interpolation of Rigid-Motion Jets via Hyper-Multidual Quaternions

Unsupervised Perceptual Rewards for Imitation Learning

Induced Riemannian Metrics for Motion Planning with Constraints

Wow, wo, val! A Comprehensive Embodied World Model Evaluation Turing Test

SkyJEPA: Learning Long-Horizon World Models for Zero-Shot Sim-to-Real Control of Quadrotors

Visual Reinforcement Learning with Imagined Goals

Coral Grow-out Robotic Assessment System (CGRAS): Scaling Coral Recruit Monitoring Through Robotics and Computer Vision

CLAP: Contrastive Latent Action Pretraining for Learning Vision-Language-Action Models from Human Videos

Dispersive Forward Tree Search for Optimal Control: Coverage, Complexity, and Computation

Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models

ShotcreteDepth: A Bi-modal Dataset for Robust Robotic Depth Perception in Shotcrete Construction Environments

Neural Volumetric Memory for Visual Locomotion Control

Behavior Transformers: Cloning $k$ modes with one stone

AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos

Self-Supervised Exploration via Disagreement

RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains

DenseTNT: End-to-end Trajectory Prediction from Dense Goal Sets

Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations

OccluDex: Hierarchical 3D Visuo-Tactile Representation Learning for Egocentric Dexterous Manipulation under Self-Occlusion

Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks

Vision-based Navigation with Language-based Assistance via Imitation Learning with Indirect Intervention

RoboCurate: Harnessing Diversity with Action-Verified Neural Trajectory for Robot Learning

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration