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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4,981 to 5,040 of 6,308

Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration
Pengxiang Ding, Jianfei Ma, Xinyang Tong +13
cs.ROcs.CVarXiv:2502.14795v22025
Towards Agile Vision-Based Multi-UAV Flight: Revisiting State Estimation
Michal Pliska, Matouš Vrba, Ondřej Víta +3
cs.ROarXiv:2609.39611v12026
Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
Donghyun Kim, Jared Di Carlo, Benjamin Katz +2
cs.ROarXiv:1909.06586v12019
A Survey of Sim-to-Real Methods in RL: Progress, Prospects and Challenges with Foundation Models
Longchao Da, Justin Turnau, Thirulogasankar Pranav Kutralingam +3
cs.LGcs.AIcs.ROarXiv:2502.13187v32025
ABot-M0: VLA Foundation Model for Robotic Manipulation with Action Manifold Learning
Yandan Yang, Shuang Zeng, Tong Lin +11
cs.CVcs.CLcs.ROarXiv:2602.11236v22026
BadRobot: Jailbreaking Embodied LLM Agents in the Physical World
Hangtao Zhang, Chenyu Zhu, Xianlong Wang +9
cs.CYcs.AIcs.ROarXiv:2407.20242v52024
TwinBrainVLA: Unleashing the Potential of Generalist VLMs for Embodied Tasks via Asymmetric Mixture-of-Transformers
Bin Yu, Shijie Lian, Xiaopeng Lin +8
cs.ROcs.CVarXiv:2601.14133v22026
Unifying Policy Learning and State Prediction through Spatial Language Modeling
Minye Wu, Zehao Wang, Tinne Tuytelaars
cs.ROcs.AIarXiv:2610.12172v12026
ManiPhysicsBench: Physics-Based Assessment of Object Preservation in VLA Manipulation
Sangwu Park, Yeonjun In, Wonjoong Kim +3
cs.ROarXiv:2610.02802v12026
Proprioceptive Sketches as Long-Horizon Intent for Generative Action Policies
Fangyuan Wang, Songhao Huang, Haoxiang Sun +5
cs.ROarXiv:2610.02759v12026
RoboBridge: A Self-Evolving Embodied Agent Framework for Sim-to-Real Transfer
Chenxi Li, Zhangrui Zhao, Rui Li +8
cs.ROarXiv:2610.02717v12026
Navigating Occluded Intersections with Autonomous Vehicles using Deep Reinforcement Learning
David Isele, Reza Rahimi, Akansel Cosgun +2
cs.AIcs.ROarXiv:1705.01196v22017
GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigation
Mukul Khanna, Ram Ramrakhya, Gunjan Chhablani +7
cs.AIcs.ROarXiv:2404.06609v12024
GeoScaffold: Learning Compact Geometric Latents via Reconstruction for Efficient Vision-Language Navigation
Yixuan Jiang, Wentong Li, An Liu +5
cs.ROcs.CVarXiv:2610.02697v12026
DreamTrue: Action-Faithful Robot World Model with Counterfactual Post-Training
Junyan Li, Ruizhi Li, Yu Liu +6
cs.ROcs.CVarXiv:2610.12468v12026
VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation
Yutian Zhang, Xingrui Xiong, Siyuan Ma +12
cs.ROcs.AIarXiv:2610.08220v12026
Mind the Refinement Gap: When Safe High-Level Robot Plans Produce Unsafe Executions
Stabak Das, Priyesh Ranjan, Xiangfang Li +1
cs.LGcs.ROarXiv:2610.02662v12026
Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Shichao Yang, Yu Song, Michael Kaess +1
cs.CVcs.ROarXiv:1703.07334v12017
Test-time Multi-agent Coordination by Decomposed Value Gradient Flow
Dongsu Lee, Haoran Xu, Amy Zhang
cs.LGcs.ROarXiv:2610.02554v12026
MaxMin-RLHF: Alignment with Diverse Human Preferences
Souradip Chakraborty, Jiahao Qiu, Hui Yuan +5
cs.CLcs.AIcs.LGarXiv:2402.08925v22024
EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration
Modi Shi, Shijia Peng, Jin Chen +6
cs.ROarXiv:2602.10106v22026
Virtual vs. Real: Trading Off Simulations and Physical Experiments in Reinforcement Learning with Bayesian Optimization
Alonso Marco, Felix Berkenkamp, Philipp Hennig +4
cs.ROcs.LGcs.SYarXiv:1703.01250v12017
Large Language Models for Robotics: Opportunities, Challenges, and Perspectives
Jiaqi Wang, Zihao Wu, Yiwei Li +17
cs.ROcs.AIarXiv:2401.04334v12024
Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data
Xieyuanli Chen, Shijie Li, Benedikt Mersch +4
cs.ROarXiv:2105.08971v22021
Multi-Fidelity Policy Gradients Stabilize Data-Scarce Reinforcement Learning
Xinjie Liu, Ruihan Zhao, Anirban Chaudhuri +3
cs.LGcs.AIcs.ROarXiv:2610.02505v12026
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
Jie Tan, Tingnan Zhang, Erwin Coumans +5
cs.ROcs.AIarXiv:1804.10332v22018
PRompt Optimization in Multi-Step Tasks (PROMST): Integrating Human Feedback and Heuristic-based Sampling
Yongchao Chen, Jacob Arkin, Yilun Hao +3
cs.CLcs.AIcs.HCarXiv:2402.08702v42024
Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control
Kendall Lowrey, Aravind Rajeswaran, Sham Kakade +2
cs.LGcs.AIcs.ROarXiv:1811.01848v32018
Lifelong Robot Library Learning: Bootstrapping Composable and Generalizable Skills for Embodied Control with Language Models
Georgios Tziafas, Hamidreza Kasaei
cs.ROarXiv:2406.18746v22024
Rethinking World-Action Model for Compositional and In-Context Robotic Manipulation
Shukai Gong, Xuanran Zhai, Yintianrun Zhang +16
cs.ROarXiv:2610.02368v12026
Ross3D: Reconstructive Visual Instruction Tuning with 3D-Awareness
Haochen Wang, Yucheng Zhao, Tiancai Wang +3
cs.CVcs.AIcs.CLarXiv:2504.01901v12025
Diffusion Reward: Learning Rewards via Conditional Video Diffusion
Tao Huang, Guangqi Jiang, Yanjie Ze +1
cs.LGcs.CVcs.ROarXiv:2312.14134v32023
HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos
Zhi Wang, Botao He, Kelin Yu +4
cs.ROcs.AIcs.CVarXiv:2605.24934v32026
Aether: Geometric-Aware Unified World Modeling
Aether Team, Haoyi Zhu, Yifan Wang +8
cs.CVcs.AIcs.LGarXiv:2503.18945v32025
Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions
Kaifeng Zhang, Shuo Sha, Hanxiao Jiang +7
cs.ROcs.CVcs.LGarXiv:2511.04665v22025
ARTEMIS: Autoregressive End-to-End Trajectory Planning with Mixture of Experts for Autonomous Driving
Renju Feng, Ning Xi, Duanfeng Chu +6
cs.ROarXiv:2504.19580v22025
Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection
Manh Duong Phung, Cong Hoang Quach, Tran Hiep Dinh +1
cs.ROcs.AIcs.CVarXiv:1706.04399v12017
Safe Multi-Robot Coordination via VLM-LLM Reasoning and Reachability Analysis
Mohamed Dwedar, Ahmad Hafez, Alexander Jesser +1
cs.ROcs.AIeess.SYarXiv:2609.27816v12026
ViDAL: A Visual Dynamics-Grounded Action Latent Space for Vision-Language-Action Models
Yuan Xu, Yixiang Chen, Qisen Ma +10
cs.ROarXiv:2610.08150v12026
Text2Action: Generative Adversarial Synthesis from Language to Action
Hyemin Ahn, Timothy Ha, Yunho Choi +2
cs.LGcs.CLcs.ROarXiv:1710.05298v22017
GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors
Tianyi Xie, Haotian Zhang, Jinhyung Park +17
cs.ROarXiv:2606.05160v12026
CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies
Junlan Xiao, Junwei Jiang, Zaibin Zhang +4
cs.ROarXiv:2609.24118v12026
GlassGuard: Verified Glass Plane Mapping for Robot Navigation
Hanwen Guo, Zhengzhi Lin, Yusen Xie +1
cs.ROarXiv:2610.02110v12026
MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square
Yue Pan, Pengchuan Xiao, Yujie He +2
cs.ROcs.CVarXiv:2102.03771v32021
HumanoidToolBench: Benchmarking Humanoid Tool Use from Selection to Mobile Execution
Kyochul Jang, Seohyeon Park, Ohchul Kwon +9
cs.ROcs.AIarXiv:2610.02089v12026
Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
Chenghao Yin, Da Huang, Di Yang +16
cs.ROarXiv:2601.02078v42026
FlowWAM: Optical Flow as a Unified Action Representation for World Action Models
Yixiang Chen, Peiyan Li, Yuan Xu +13
cs.ROcs.CVarXiv:2607.13017v12026
CODA: A Real-World Road Corner Case Dataset for Object Detection in Autonomous Driving
Kaican Li, Kai Chen, Haoyu Wang +10
cs.CVcs.LGcs.ROarXiv:2203.07724v32022
Path Integral Guided Policy Search
Yevgen Chebotar, Mrinal Kalakrishnan, Ali Yahya +3
cs.ROcs.LGarXiv:1610.00529v22016
SegMap: Segment-based mapping and localization using data-driven descriptors
Renaud Dubé, Andrei Cramariuc, Daniel Dugas +5
cs.ROcs.CVarXiv:1909.12837v12019
A Survey of End-to-End Driving: Architectures and Training Methods
Ardi Tampuu, Maksym Semikin, Naveed Muhammad +2
cs.AIcs.ROarXiv:2003.06404v22020
Training-Free Diffusion Planning with Analytical Local Scores
Michael Y. Fatemi, Jinhao Liang, Ferdinando Fioretto
cs.ROcs.LGarXiv:2610.01959v12026
Online, Reachability-Aware, Sampling-Based Motion Planning
Brendan Gould, Zhiyuan Zhang, Panagiotis Tsiotras +1
cs.ROcs.SYeess.SYarXiv:2609.09073v12026
Rethinking Learned Occupancy in Autonomous Active Mapping with Observation-Gated Filtering
Jiahui Zhang, Bonian Han, Gongbo Liang +1
cs.ROcs.CVarXiv:2609.09069v12026
A Distributed Consensus Particle Filter for Target Tracking using Autonomous Surface Vessels
Carter Noh, Kyle Crandall, Connor Yates +1
cs.ROarXiv:2609.09066v12026
Learning High-Frequency Continuous Action Chunks in Latent Space
Kunyun Wang, Yuhang Zheng, Yupeng Zheng +2
cs.ROarXiv:2605.24931v12026
DiVeR: Decision-Critical Verifier Learning for VLA Test-Time Scaling
Seongheon Park, Heecheol Kim, Shulin Tian +5
cs.ROcs.AIcs.LGarXiv:2610.04933v12026
Decentralized Evolution of Hexapod Gaits with Independent Leg Controllers
Gary B. Parker, John Asaro, Jim O'Connor
cs.AIcs.ROarXiv:2609.12400v12026
Online Joint Calibration of Steering Offset and Planar LiDAR Extrinsics for Wheeled Mobile Robots
Subodh Mishra, Arindam Dhar, Suprotim Majumdar +1
cs.ROarXiv:2608.26789v12026
Dijkstra as an Oracle for Online Stochastic Shortest Path Navigation with Provable Guarantees
Mansur M. Arief, Ali Akarma, Ahmad Alfan Alfian Irfan
cs.ROcs.AImath.OCarXiv:2608.17703v12026

Robotics

Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration

Towards Agile Vision-Based Multi-UAV Flight: Revisiting State Estimation

Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

A Survey of Sim-to-Real Methods in RL: Progress, Prospects and Challenges with Foundation Models

ABot-M0: VLA Foundation Model for Robotic Manipulation with Action Manifold Learning

BadRobot: Jailbreaking Embodied LLM Agents in the Physical World

TwinBrainVLA: Unleashing the Potential of Generalist VLMs for Embodied Tasks via Asymmetric Mixture-of-Transformers

Unifying Policy Learning and State Prediction through Spatial Language Modeling

ManiPhysicsBench: Physics-Based Assessment of Object Preservation in VLA Manipulation

Proprioceptive Sketches as Long-Horizon Intent for Generative Action Policies

RoboBridge: A Self-Evolving Embodied Agent Framework for Sim-to-Real Transfer

Navigating Occluded Intersections with Autonomous Vehicles using Deep Reinforcement Learning

GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigation

GeoScaffold: Learning Compact Geometric Latents via Reconstruction for Efficient Vision-Language Navigation

DreamTrue: Action-Faithful Robot World Model with Counterfactual Post-Training

VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation

Mind the Refinement Gap: When Safe High-Level Robot Plans Produce Unsafe Executions

Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments

Test-time Multi-agent Coordination by Decomposed Value Gradient Flow

MaxMin-RLHF: Alignment with Diverse Human Preferences

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

Virtual vs. Real: Trading Off Simulations and Physical Experiments in Reinforcement Learning with Bayesian Optimization

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

Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data

Multi-Fidelity Policy Gradients Stabilize Data-Scarce Reinforcement Learning

Sim-to-Real: Learning Agile Locomotion For Quadruped Robots

PRompt Optimization in Multi-Step Tasks (PROMST): Integrating Human Feedback and Heuristic-based Sampling

Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control

Lifelong Robot Library Learning: Bootstrapping Composable and Generalizable Skills for Embodied Control with Language Models

Rethinking World-Action Model for Compositional and In-Context Robotic Manipulation

Ross3D: Reconstructive Visual Instruction Tuning with 3D-Awareness

Diffusion Reward: Learning Rewards via Conditional Video Diffusion

HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos

Aether: Geometric-Aware Unified World Modeling

Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions

ARTEMIS: Autoregressive End-to-End Trajectory Planning with Mixture of Experts for Autonomous Driving

Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection

Safe Multi-Robot Coordination via VLM-LLM Reasoning and Reachability Analysis

ViDAL: A Visual Dynamics-Grounded Action Latent Space for Vision-Language-Action Models

Text2Action: Generative Adversarial Synthesis from Language to Action

GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors

CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies

GlassGuard: Verified Glass Plane Mapping for Robot Navigation

MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square

HumanoidToolBench: Benchmarking Humanoid Tool Use from Selection to Mobile Execution

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

FlowWAM: Optical Flow as a Unified Action Representation for World Action Models

CODA: A Real-World Road Corner Case Dataset for Object Detection in Autonomous Driving

Path Integral Guided Policy Search

SegMap: Segment-based mapping and localization using data-driven descriptors

A Survey of End-to-End Driving: Architectures and Training Methods

Training-Free Diffusion Planning with Analytical Local Scores

Online, Reachability-Aware, Sampling-Based Motion Planning

Rethinking Learned Occupancy in Autonomous Active Mapping with Observation-Gated Filtering

A Distributed Consensus Particle Filter for Target Tracking using Autonomous Surface Vessels

Learning High-Frequency Continuous Action Chunks in Latent Space

DiVeR: Decision-Critical Verifier Learning for VLA Test-Time Scaling

Decentralized Evolution of Hexapod Gaits with Independent Leg Controllers

Online Joint Calibration of Steering Offset and Planar LiDAR Extrinsics for Wheeled Mobile Robots

Dijkstra as an Oracle for Online Stochastic Shortest Path Navigation with Provable Guarantees