Robotics Research arXiv

Uncovering Latent Phase Structures and Branching Logic in Locomotion Policies: A Case Study on HalfCheetah Daisuke Yasui, Toshitaka Matsuki, Hiroshi Sato arxiv.org/abs/2603.18084 [𝚌𝚜.𝚁𝙾 𝚌𝚜.𝙰𝙸]

Final Report for the Workshop on Robotics & AI in Medicine Juan P Wachs arxiv.org/abs/2603.18130 [𝚌𝚜.𝚁𝙾 𝚌𝚜.𝙰𝙸]

GoalVLM: VLM-driven Object Goal Navigation for Multi-Agent System MoniJesu James, Amir Atef Habel, Aleksey Fedoseev, Dzmitry Tsetserokou arxiv.org/abs/2603.18210 [𝚌𝚜.𝚁𝙾]

ReDAG-RT: Global Rate-Priority Scheduling for Real-Time Multi-DAG Execution in ROS 2 Md. Mehedi Hasan, Rafid Mostafiz, Bikash Kumar Paul, Md. Abir Hossain, Ziaur Rahman arxiv.org/abs/2603.18238 [𝚌𝚜.𝚁𝙾]

Rapid Adaptation of Particle Dynamics for Generalized Deformable Object Mobile Manipulation Bohan Wu, Roberto Martín-Martín, Li Fei-Fei arxiv.org/abs/2603.18246 [𝚌𝚜.𝚁𝙾]

Manufacturing Micro-Patterned Surfaces with Multi-Robot Systems Annalisa T. Taylor, Malachi Landis, Ping Guo, Todd D. Murphey arxiv.org/abs/2603.18260 [𝚌𝚜.𝚁𝙾]

SG-CoT: An Ambiguity-Aware Robotic Planning Framework using Scene Graph Representations Akshat Rana, Peeyush Agarwal, K. P. S. Rana, Amarjit Malhotra arxiv.org/abs/2603.18271 [𝚌𝚜.𝚁𝙾]

Offload or Overload: A Platform Measurement Study of Mobile Robotic Manipulation Workloads Sara Pohland, Xenofon Foukas, Ganesh Ananthanarayanan, Andrey Kolobov, Sanjeev Mehrotra, … arxiv.org/abs/2603.18284 [𝚌𝚜.𝚁𝙾 𝚌𝚜.𝙰𝙸 𝚌𝚜.𝙽𝙸 𝚌𝚜.𝚂𝚈 𝚎𝚎𝚜𝚜.𝚂𝚈]

Sparse3DTrack: Monocular 3D Object Tracking Using Sparse Supervision Nikhil Gosala, B. Ravi Kiran, Senthil Yogamani, Abhinav Valada arxiv.org/abs/2603.18298 [𝚌𝚜.𝚁𝙾 𝚌𝚜.𝙰𝙸 𝚌𝚜.𝙲𝚅]

Proprioceptive-only State Estimation for Legged Robots with Set-Coverage Measurements of Learned Dynamics Abhijeet M. Kulkarni, Ioannis Poulakakis, Guoquan Huang arxiv.org/abs/2603.18308 [𝚌𝚜.𝚁𝙾]

DriveVLM-RL: Neuroscience-Inspired Reinforcement Learning with Vision-Language Models for Safe and Deployable Autonomous Driving Zilin Huang, Zihao Sheng, Zhengyang Wan, Yansong Qu, Junwei You, Sicong Jiang, Sikai Chen arxiv.org/abs/2603.18315 [𝚌𝚜.𝚁𝙾 𝚌𝚜.𝙰𝙸 𝚌𝚜.𝙲𝚅]

ManiDreams: An Open-Source Library for Robust Object Manipulation via Uncertainty-aware Task-specific Intuitive Physics Gaotian Wang, Kejia Ren, Andrew S. Morgan, Kaiyu Hang arxiv.org/abs/2603.18336 [𝚌𝚜.𝚁𝙾]

Shifting Uncertainty to Critical Moments: Towards Reliable Uncertainty Quantification for VLA Model Yanchuan Tang, Taowen Wang, Yuefei Chen, Boxuan Zhang, Qiang Guan, Ruixiang Tang arxiv.org/abs/2603.18342 [𝚌𝚜.𝚁𝙾 𝚌𝚜.𝙰𝙸 𝚌𝚜.𝙻𝙶]

HRI-SA: A Multimodal Dataset for Online Assessment of Human Situational Awareness during Remote Human-Robot Teaming Hashini Senaratne, Richard Attfield, Samith Widhanapathirana, David Howard, Cecile Paris, … arxiv.org/abs/2603.18344 [𝚌𝚜.𝚁𝙾 𝚌𝚜.𝙷𝙲 𝚌𝚜.𝙻𝙶 𝚌𝚜.𝙼𝙰]

Multi-material Direct Ink Writing and Embroidery for Stretchable Wearable Sensors Lukas Cha, Ryman Hashem, Ria Prakash, Tanguy Declety, Wenze Zhang, Liang He arxiv.org/abs/2603.18354 [𝚌𝚜.𝚁𝙾]

Contact Status Recognition and Slip Detection with a Bio-inspired Tactile Hand Chengxiao He, Wenhui Yang, Hongliang Zhao, Jiacheng Lv, Yuzhe Shao, Longhui Qin arxiv.org/abs/2603.18370 [𝚌𝚜.𝚁𝙾]

Graph-of-Constraints Model Predictive Control for Reactive Multi-agent Task and Motion Planning Anastasios Manganaris, Jeremy Lu, Ahmed H. Qureshi, Suresh Jagannathan arxiv.org/abs/2603.18400 [𝚌𝚜.𝚁𝙾]

Efficient and Versatile Quadrupedal Skating: Optimal Co-design via Reinforcement Learning and Bayesian Optimization Hanwen Wang, Zhenlong Fang, Josiah Hanna, Xiaobin Xiong arxiv.org/abs/2603.18408 [𝚌𝚜.𝚁𝙾]

MemoAct: Atkinson-Shiffrin-Inspired Memory-Augmented Visuomotor Policy for Robotic Manipulation Liufan Tan, Jiale Li, Gangshan Jing arxiv.org/abs/2603.18494 [𝚌𝚜.𝚁𝙾]

Robotic Agentic Platform for Intelligent Electric Vehicle Disassembly Zachary Allen, Max Conway, Lyle Antieau, Allen Ponraj, Nikolaus Correll arxiv.org/abs/2603.18520 [𝚌𝚜.𝚁𝙾]