Robotics & Autonomous Systems

Research on robot learning, motion planning, autonomous vehicles, and control systems from arXiv's cs.RO category.

Sample of the collection (25 of 26 items)

• Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay Giulio Delama et al. Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter…
• MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots Yuqi Li et al. Wheeled-legged robots hold promise for traversing complex terrains and offer superior mobility compared to legged robots. However,…
• Relative Pose-Velocity Estimation Using Dual IMU Measurements and Relative Position Sensing Alessandro Melis et al. This paper addresses the problem of estimating the relative pose (position and orientation) and velocity of a vehicle with respect to a…
• Calibration-Free Gas Source Localization with Mobile Robots: Source Term Estimation Based on Concentration Measurement Ranking Wanting Jin et al. Efficient Gas Source Localization (GSL) in real-world settings is crucial, especially in emergency scenarios. Mobile robots equipped…
• Beyond VMAF: Towards Application-Specific Metrics for Teleoperation Video Ines Trautmannsheimer et al. Automated driving has made remarkable progress, yet situations still arise where human intervention is necessary. Teleoperation provides…
• Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach Daniel M. Cherenson et al. In this work, we study how to ensure probabilistic safety for nonlinear systems under distributional ambiguity. Our approach builds on a…
• Premover: Fast Vision-Language-Action Control by Acting Before Instructions Are Complete Joonha Park et al. Vision-Language-Action (VLA) policies are typically evaluated as if the user had finished typing or speaking before the robot begins…
• Introducing Environmental Constraints to Grasping Strategies for Paper-Like Flexible Materials Using a Soft Gripper Yi Dong et al. Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like…
• Real-Time Whole-Body Teleoperation of a Humanoid Robot Using IMU-Based Motion Capture with Sim2Sim and Sim2Real Validation Hamza Ahmed Durrani et al. Stable, low-latency whole-body teleoperation of humanoid robots is an open research challenge, complicated by kinematic mismatches…
• Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots Navid Feizi et al. Modeling concentric tube robots (CTRs) involves complex nonlinear continuum mechanics, and despite recent progress, physics-based models…
• BiPneu: Design and Control of a Bipolar-Pressure Pneumatic System for Soft Robots Yu Mei et al. Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes.…
• A Five-Layer MLOps Architecture for Connected Automated Driving Bastian Lampe et al. The continual assurance of safety and performance of automated driving systems (ADSs) poses significant challenges. ADSs operate in…
• EvoNav: Evolutionary Reward Function Design for Robot Navigation with Large Language Models Zhikai Zhao et al. Robot navigation is a crucial task with applications to social robots in dynamic human environments. While Reinforcement Learning (RL)…
• ConsistNav: Closing the Action Consistency Gap in Zero-Shot Object Navigation with Semantic Executive Control Haosen Wang et al. Zero-shot object navigation has advanced rapidly with open-vocabulary detectors, image--text models, and language-guided exploration.…
• Muninn: Your Trajectory Diffusion Model But Faster Gokul Puthumanaillam et al. Diffusion-based trajectory planners can synthesize rich, multimodal robot motions, but their iterative denoising makes online planning…
• LoopVLA: Learning Sufficiency in Recurrent Refinement for Vision-Language-Action Models Boyang Shen et al. Current Vision-Language-Action (VLA) models typically treat the deepest representation of a vision-language backbone as universally…
• PaMoSplat: Part-Aware Motion-Guided Gaussian Splatting for Dynamic Scene Reconstruction Yinan Deng et al. Dynamic scene reconstruction represents a fundamental yet demanding challenge in computer vision and robotics. While recent progress in…
• Embodied AI in Action: Insights from SAE World Congress 2026 on Safety, Trust, Robotics, and Real-World Deployment Jan-Mou Li et al. Embodied artificial intelligence is rapidly moving from research into real-world systems such as autonomous vehicles, mobile robots, and…
• HiDrive: A Closed-Loop Benchmark for High-Level Autonomous Driving Zhongyu Xia et al. End-to-end autonomous driving has witnessed rapid progress, yet existing benchmarks are increasingly saturated, with state-of-the-art…
• Variational Inference for Lévy Process-Driven SDEs via Neural Tilting Yaman Kindap et al. Modelling extreme events and heavy-tailed phenomena is central to building reliable predictive systems in domains such as finance,…
• Zero-Shot Sim-to-Real Robot Learning: A Dexterous Manipulation Study on Reactive Catching Kejia Ren et al. Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer…
• ORICF -- Open Robotics Inference and Control Framework Andrés Meseguer Valenzuela et al. Recent advances in artificial intelligence (AI) have enabled effective perception and language models for robots, but their deployment…
• Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level Yueqi Zhu et al. In safety-critical scenarios, the protection level of the autonomous navigation system is crucial for enabling mobile robots to perform…
• LASSA Architecture-Based Autonomous Fault-Tolerant Control of Unmanned Underwater Vehicles Hong Chen et al. Unmanned underwater vehicles (UUVs) operate persistently in communication-constrained environments, thus requiring high-level autonomous…
• PhysHanDI: Physics-Based Reconstruction of Hand-Deformable Object Interactions Jihyun Lee et al. While existing methods for reconstructing hand-object interactions have made impressive progress, they either focus on rigid or…

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