Robotics Research Hub

Recent arXiv cs.RO papers

• QF3: Fast Flow RL with Filtered Q-Gradients — Chung Min Kim, Brent Yi et al. — Flow policies have become a standard policy class for learning robot behaviors from demonstrations, but reinforcement learning is still critical for improving p
• PEARS: Physical-Prior-Guided Efficient Adaptation via Failure Reasoning and Diffusion Steering for Tactile Manipulation — Kun Song, Yiming Wang et al. — Pretrained robotic policies can suffer substantial performance degradation under out-of-distribution (OOD) conditions encountered during deployment, motivating
• DepthWorld: 3D World Model for Robot Manipulation — Jai Bardhan, Josef Sivic, Vladimir Petrik — World models offer a data-driven alternative to traditional simulators for robotics, with applications spanning policy evaluation, improvement, and planning. Al
• Mission-Aware Attestation Envelopes for Time-Critical Autonomous Action: A Hardware-in-the-Loop V2I Study — Dimitrios Nikou, Nikolaos Kekatos et al. — An autonomous system that asks for a privileged physical action is usually gated on integrity evidence: a platform proves what it is running, and the request is
• LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference — Maitham F. AL-Sunni, Timeea-Andreea Radu et al. — Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactl
• VeriFine: Scaling Verification for Self-Improvement in Embodied Reasoning — Zewei Zhou, Rachel Luo et al. — Self-improving policies continually expose new failure patterns, changing what their judges must be able to verify. However, current fixed judges constrain both
• PhoneBot: A Low-Cost Open Humanoid Robot Platform Reusing Smartphones — Ruochen Hou, Quanyou Wang et al. — The adoption of humanoid robots in education and research remains limited by high hardware costs, complex sensing systems, and substantial computational require
• Towards an Extensible Benchmark for Spoken Dialogue with Social Robots — Casey Kennington, Ross Mead et al. — Language models provide a plug-and-play interface between humans and robots, but important challenges remain when speech, dialogue, fast interaction, and collab
• EgoLAP: Learning from Egocentric Human Data through Language-Action Reasoning — Lihan Zha, Shresth Grover et al. — Egocentric human data offer a path to scaling robot learning beyond costly robot demonstrations, yet the embodiment gap makes raw human trajectories a poor supe
• NMPP: Nonlinear Model Predictive Planning for Agile UAV Flight in Cluttered Environments — Ondřej Procházka, Juraj Pauko et al. — Flying a quadrotor through a cluttered environment requires not only planning a collision-free reference trajectory based on perceived obstacles, but the refere
• Magnet-Aware Control of Legged Robots — J. Playan Garai, S. B. Djuve et al. — Autonomous robots can increase uptime and reduce human exposure in Big Science facilities, but strong magnetic fields needed for their operation corrupt sensors
• Fast Non-Parametric Heteroscedastic Imitation Learning With Geometric Priors — Maximilian Mühlbauer, Arne Sachtler et al. — When learning probabilistic policies from human demonstrations, data-efficient learning and fast adaptations to new scenarios are key requirements. One popular
• HygieneRoboBench: Benchmarking Hygiene-Aware Planning for Household Robots — Yurun Chen, Josh Qixuan Sun et al. — Contact with contaminated objects can spread hazards through a household robot's grippers, tools, and shared surfaces, while new contacts can make an existing p
• RIWANav: Recursive World-Action Models with Self-Improvement for Urban Navigation — Jing Xie, Shouwei Ruan et al. — Long-horizon urban navigation requires sequential local decisions whose errors can compound over time. Imitation learning (IL) rarely learns from failures, whil
• Feeling Through the Load: Compliant Quadruped Locomotion under Payload Interactions — Shaunak A. Mehta, Mayank Mishra et al. — Quadruped robots are increasingly expected to carry objects while moving through human environments. But what happens when a person interacts directly with the
• Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2 — Yi Shen Lim, Seungeun Oh, Jihong Park — A robot that offloads its control loop to the network carries the receiver with it, so link quality is decided by where it goes. Simulating this requires both a