Robotics Research Hub
Latest cs.RO robotics preprints from arXiv plus ZeroGantry Frontier analysis of academic and lab developments — foundation models, sim-to-real, manipulation, and locomotion research that matters for builders.
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- Figure 03 Humanoid Achieves Autonomous Ladder Climb in Helix AI Demo — Figure AI released video of its Figure 03 humanoid climbing a short ladder fully autonomously around August 1, 2026. CEO Brett Adcock shared the footage showing
Recent arXiv cs.RO papers
- Towards Surgical World-Action Modeling: A Preliminary Joint Visual-Trajectory Forecasting for Surgical Motion Planning — Weiliang Huang, Huanrong Liu et al. — Reliable surgical planning requires models to anticipate not only how instruments will move, but also how the operative visual state will evolve together with s
- DART-S: Reachability-Audited Active-Suspension Preconditioning for Off-Road Vehicle Jumps — Yu Hu, Fangzhou Zhao et al. — Airborne torque reaction cannot recover takeoff errors beyond the wheel angular-momentum budget. DART-S applies ramp-face suspension preconditioning to change p
- Video2DoorTraversal: Push Door Traversal via Simulated Door Twins — Xincheng Tang, Yiji Chen et al. — Door opening and traversal is a long-horizon loco-manipulation task that requires precise handle interaction and coordinated base-arm control. We present Video2
- DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation — Siyuan Ma, Boshi Zhang et al. — Mobile manipulation requires a robot to predict how locomotion and arm motion jointly alter future observations and control. Existing world-action models, devel
- Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms — Yanchen Guan, Xingcheng Liu et al. — End-to-end autonomous driving has evolved from camera-to-control regression toward planning-oriented systems that use structured representations, trajectory-lev
- Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking — Tao Huang, Ruofei Liu et al. — Humanoid robots have recently demonstrated promising capabilities in real-world ball sports. However, achieving professional motion styles while maintaining str
- Evidence-Gated Task and Motion Planning with Vision-Language Models — Tsunehiko Tanaka, Matthew Stephenson et al. — Robots executing long-horizon manipulation tasks from natural-language instructions must reason about both semantic task structure and geometric feasibility. Ho
- Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback — G. Q. Bao Tran, Takanori Miyoshi, Ho Duc Tho — We study bilateral teleoperation between nonlinear, multi-DOF robotic manipulators in the presence of constant communication delays. Unlike classical wave-trans
- Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space — Zeren Luo, Jiahui Zhang et al. — Although legged animals are capable of performing explosive motions while traversing confined spaces, replicating this behavior in quadrupedal robots has been a
- PVRA: A Pointwise Key-point Voting Framework for Robotic Assembly — Kulunu Samarawickrama, Roel Pieters — Modern computer vision has enabled partial autonomy in robotic assembly manipulation. However, performing autonomous manipulation of a progressive assembly dema
- MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces — Zeren Luo, Jiahui Zhang et al. — Enabling robots to walk on yielding terrain is vital for applications ranging from disaster response to planetary exploration. While bipedal robots hold immense
- Calming Robot Pitches? Exploring the Influence of Robot Voice Pitch on Children's Stress Levels — Nina G. M. van Roij, Emilia I. Barakova et al. — This study examined whether variations in robot speech pitch influence children's stress levels during a robot-guided game. Although lower-pitched voices have b
- Towards general embodied intelligence: integrating large language models, knowledge bases, and reasoning capabilities to build the next generation of AI agents — Fujiang Yuan, Xia Huang et al. — The convergence of large language models (LLMs), structured knowledge bases (KBs), and reasoning ability (RA) presents a promising trajectory toward general emb
- CoToGrasp: Contact-Topology-Conditioned Dexterous Grasp Synthesis via Canonical Workspace Learning — Julien Merand, Boris Meden et al. — Current dexterous grasp planners primarily optimize for physical stability, focusing on whether an object can be grasped rather than how it should be grasped to
- GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulation — Julien Merand, Boris Meden et al. — Multifingered grasping is a crucial robotic skill, but current deep-learning grasp planners often struggle to generalize to new objects because they are trained
- Keeping the Franka Emika Panda alive: a ROS 2 stack with a reliable position interface — Antonio Langella, Davide Risi et al. — This paper presents an open-source software stack that restores ROS 2 support for the Franka Emika Panda robot while resolving the long-standing unreliability o