Robotics
Research on robot control, manipulation, navigation, and human-robot interaction.
cs.RO · 521 papersLoiter UAV Reinsertion Guidance for Fixed-wing UAV Corridors
This paper presents a guidance algorithm for conflict-free reinsertion of fixed-wing UAVs from a loiter lane into a main traffic corridor.
OmniLiDAR: A Unified Diffusion Framework for Multi-Domain 3D LiDAR Generation
OmniLiDAR is a unified diffusion framework that generates 3D LiDAR scans across eight diverse domains using text conditioning, addressing single-domain limitations.
LMPath: Language-Mediated Priors and Path Generation for Aerial Exploration
LMPath uses language models and satellite imagery to generate semantic priors for UAV search paths, significantly improving efficiency over traditional methods.
Realtime-VLA FLASH: Speculative Inference Framework for Diffusion-based VLAs
Realtime-VLA FLASH uses speculative inference with a lightweight draft model to significantly reduce latency in diffusion-based VLAs for real-time embodied tasks.
RoboEvolve: Co-Evolving Planner-Simulator for Robotic Manipulation with Limited Data
RoboEvolve co-evolves a VLM planner and VGM simulator to overcome data scarcity in robotic manipulation, achieving high efficiency with limited unlabeled data.
FrameSkip: Learning from Fewer but More Informative Frames in VLA Training
FrameSkip improves VLA policy training by selecting fewer, more informative frames from robot demonstrations, boosting success rates.
Manipulation Planning for Construction Activities with Repetitive Tasks
This paper introduces a VR-based method for robots to learn and perform repetitive construction tasks from single user demonstrations using screw motion geometry.
Learning Responsibility-Attributed Adversarial Scenarios for Testing Autonomous Vehicles
CARS generates responsibility-attributed adversarial scenarios for autonomous vehicles, distinguishing system failures from unavoidable traffic conflicts for better safety assurance.
TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics
TinySDP is the first real-time semidefinite programming solver for embedded systems, enabling agile, collision-free robotics with geometric guarantees.
LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
LEXI-SG is the first dense monocular visual mapping system for open-vocabulary 3D scene graphs using only RGB camera input, enabling scalable reconstruction.
Robot Squid Game: Quadrupedal Locomotion for Traversing Narrow Tunnels
This paper presents an RL framework using procedural environment generation and policy distillation for robust quadrupedal locomotion in narrow tunnels.
Causality-Aware End-to-End Autonomous Driving via Ego-Centric Joint Scene Modeling
CaAD is a causality-aware end-to-end autonomous driving framework that models ego-vehicle and agent interactions for reliable trajectory prediction.
Guide, Think, Act: Interactive Embodied Reasoning in Vision-Language-Action Models
GTA-VLA is an interactive Vision-Language-Action framework that uses user-provided spatial guidance to improve robot reasoning and robustness in embodied tasks.
AttenA+: Rectifying Action Inequality in Robotic Foundation Models
AttenA+ rectifies action inequality in robotic foundation models by prioritizing kinematically critical, low-velocity segments for improved manipulation.
Integration of an Agent Model into an Open Simulation Architecture for Scenario-Based Testing of Automated Vehicles
This paper introduces a standardized architecture for integrating traffic agent models across diverse simulation environments for automated vehicle testing.
Beyond VMAF: Towards Application-Specific Metrics for Teleoperation Video
This paper retrains VMAF with teleoperation-specific data, showing improved alignment with human perception for remote driving video quality.
CUBic: Coordinated Unified Bimanual Perception and Control Framework
CUBic is a novel framework for bimanual robot control that unifies perception and coordination, outperforming state-of-the-art visuomotor baselines.
SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation
SafeManip is a new benchmark using LTLf to evaluate temporal safety in robotic manipulation, revealing strong models often behave unsafely.
GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization
GuidedVLA enhances VLA models by specializing action attention heads with auxiliary signals to focus on task-relevant factors, improving generalization and robustness.
Real-Time Whole-Body Teleoperation of a Humanoid Robot Using IMU-Based Motion Capture with Sim2Sim and Sim2Real Validation
This paper presents a real-time whole-body teleoperation system for humanoid robots using IMU motion capture, validated in sim and real.
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