Robotic Perception

Follow this topic Ask about this topic

Latest papers 303

64 papers in the last four weeks, up 191% on the four weeks before. 0.4% of all new papers.

All topics

Perception Beyond the Visible: Incompleteness-Aware Scene Understanding for Robot Autonomy
Oct 13, 2026Rohit MohanRobotic Perception 4D Scene Understanding
LynxScenes: A Large-Scale Real-World Benchmark for Outdoor Wheel-Legged Robot Perception, Navigation, Imagination and Reconstruction
Oct 13, 2026Jun Tian, Hao Wu, Ruo Chen +5Robot Navigation Robotic Perception
Deep Robotics · University of Illinois at Urbana-Champaign · The Hong Kong University of Science and Technology +3
ReAP: From Visual Failure Recognition to Action-Conditioned Risk Prediction for Runtime Failure Monitoring
Oct 12, 2026Jingyuan Liu, Yunpeng Qing, Changxu Wei +1Robot Failure Detection Robotic Perception
ACE Robotics · Fudan University · Zhejiang University +1
Edge-Native Temporal--Graph Dual-Expert Inference for Dexterous Grasp Classification
Oct 10, 2026Jiajian Zheng, Bin Zhang, Wen Fan +1Robotic Grasping Robotic Perception
School of Microelectronics Shanghai University Shanghai, 201800, China · Department of Bioengineering Imperial College London London SW7 2AZ, United Kingdom
Toward Lunar Legged Robots: Field Deployment Lessons at LUNA
Oct 8, 2026Adrian Fuhrer, Joseph Church, Oliver Fischer +6Robotics Legged Robotics
ETH Zurich, Robotics Systems Lab; Leonhardstrasse 21, 8092 Zurich, Switzerland
From Language to Motion: Task-Conditioned Focal-Stack Trajectory Integration for Microscopic Robots
Oct 8, 2026Junjie Xie, Chuxuan He, Junkai Huang +6Robotics Vision-Based Robot Control
Institute of Automation, Chinese Academy of Sciences · Zhejiang Gongshang University · Safe AI Lab, Carnegie Mellon University +1
SenseWeather: Multimodal Sensing for Robust Robotic Perception under Extreme Conditions
Oct 8, 2026Fucai Ke, Sukai Huang, Junyi Hao +4Robotic Perception Multimodal Robustness
Faculty of Information Technology, Monash University, Clayton, VIC 3800, Australia
Neural Networks for Temporal Pattern Recognition and Dynamic Arm Gesture Speed Estimation for Robot Control
Oct 8, 2026Milán Zsolt Bagladi, László GulyásRecurrent Neural Networks Robotic Perception
Department of Artificial Intelligence ELTE Eötvös Loránd University Budapest, Hungary
Agentic RSR: Real-to-Sim-to-Real through Scene Reconstruction and Execution-Grounded Robot Policies
Oct 7, 2026Yihan Li, Yating Feng, Shengjiu Sun +7Sim-to-Real Transfer Robotic Manipulation
Sun Yat-sen University · The Hong Kong University of Science and Technology (Guangzhou)
Argos: Adapt Rich Geometric Priors for Generalizable Online Scene-Change-Detection
Oct 7, 2026Ruihan Xu, Jiae Yoon, Kaichen Zhou +2Robotic Perception 4D Scene Understanding
MIT
Enhancing Robotic Perception and Adaptability through Sensor Fusion and Origami-Inspired Designs
Oct 7, 2026Namai Chandra, Jaison Jose, Kavi Arya +1Robotic Perception Mobile Robotics
IIT Madras · e-Yantra, IIT Bombay
End-to-End Safe Social Navigation via Multi-Task Reinforcement Learning and Probabilistic Perception
Oct 5, 2026Tommaso Van Der Meer, Andrea Garulli, Antonio Giannitrapani +3Robotic RL Safe Robot Navigation
Dipartimento di Ingegneria dell’Informazione e Scienze Matematiche, Universit`a di Siena, Siena, Italy · Uninettuno University, Rome, Italy · Visual Intelligence for Transportation (VITA) Lab, ´Ecole Polytechnique F´ed´erale de Lausanne (EPFL), Lausanne, Switzerland
Deep Prior Learning for Embodied Perception
Oct 4, 2026Yimou Wu, Jiaxin Guo, Yun-hui Liu +13D ViTs Camera Pose Estimation
The Chinese University of Hong Kong
ROMA: LLM System for Real-World Object-Centric Multi-Sensory Active Perception
Oct 3, 2026Ruoxuan Feng, Yutong Chen, Ruihua Song +4Robotic Perception Multimodal Sensor Fusion
Gaoling School of Artificial Intelligence, Renmin University of China · Beijing Key Laboratory of Research on Large Models and Intelligent Governance · Beijing Academy of Artificial Intelligence +3
Attention-Based Surface Representation Learning for Robot State Prediction and Open-Ended Surface Classification
Oct 3, 2026Oleg Kushnarev, Alexander BelyaevRobotic Perception Classification
National Research Tomsk Polytechnic University, Tomsk, 634050 Russia
Autoware in Construction: Gap Analysis and LiDAR Perception Toward Off-Road Autonomous Driving
Oct 3, 2026Yu Otsuki, Teja Emmey, Sena Matsushita +2Autonomous Driving Autonomous Driving Perception
Department of Civil and Environmental Engineering, University of California, Irvine (UCI), Irvine, CA, USA · TIER IV, Inc., Shinagawa, Tokyo, Japan
XGenAct: Geometry-Enhanced World Action Models through Cross-Task Generation
Oct 2, 2026Tingting Du, Ziyao Wang, Guoheng Sun +1World Action Models Robotic Manipulation
University of Wisconsin–Madison · University of Maryland, College Park
CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments
Oct 2, 2026Feiyang Chen, Jincheng Hu, Yiduo Chen +53D Occupancy Prediction 3D Scene Completion
Tongji University, Shanghai, China. · Loughborough University, Loughborough, United Kingdom.
Query-Conditioned Articulation Estimation from a Single Image
Oct 1, 2026Abdelrhman Werby, Fabio Scaparro, Kai O. ArrasArticulated Object Reconstruction Robotic Manipulation
Socially Intelligent Robotics Lab, Institute for Artificial Intelligence, University of Stuttgart, Germany
ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot
Oct 1, 2026Jian Hu, Shujing He, Leixin Chang +4Endoscopy Robot Policy Learning
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China · School of Mechanical Engineering and ZJU-UIUC Institute, Zhejiang University, Zhejiang, China · School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China
quARtet Marker: A 3D-Printable Multi-Tag Fiducial for Robust Near-Frontal Pose Estimation
Oct 1, 2026Araki Wakiuchi, Hikaru Sasaki, Takamitsu MatsubaraObject Pose Estimation Robotic Manipulation
Materials Informatics Initiative, RD Technology and Digital Transformation Center, JSR Corporation, 3-103-9 Tonomachi, Kawasaki-ku, Kawasaki, Kanagawa, Japan, 210-0821. · Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma, Nara, Japan, 630-0192.
GroundingPI: A Grounding Foundation Model towards Physical Intelligence with Visual Primitives
Sep 30, 2026Qize Yu, Lianrui Fan, Boyu Chen +23Vision-Language Grounding VLMs for Robotics
XPeng Inc. · Peking University · The University of Hong Kong +4
IndoorBEV: A Lightweight Real-Time LiDAR BEV Perception System for Indoor Mobile Robots
Sep 30, 2026Haichuan LiRobotic Perception Bird's-Eye-View Representation
University of Turku
When to Adapt: Multi-Signal Domain Shift Detection for Efficient Training-Free Adaptation in Open-Vocabulary Segmentation
Sep 29, 2026Michele Antonazzi, Alejandra C. Hernandez, José Araujo +2Distribution Shift Continual Test-Time Adaptation
EECS and Digital Futures, KTH Royal Institute of Technology, Stockholm, Sweden · Ericsson Research, Ericsson AB, Stockholm, Sweden
GlassFormer: Learning Real-time Glass Segmentation using Radar-Depth Fusion
Sep 29, 2026Suhani Grover, Astik Srivastava, Viswas Dinesh +2Robotic Perception Semantic Segmentation
Robotics Research Center, IIIT Hyderabad, India
Learning to Explore Hidden Kinematics for Articulated Object Manipulation
Sep 29, 2026Ruiyao Liu, Boshu Lei, Zhuoyang Pan +1RL for Robotics Active Perception
GRASP Lab, University of Pennsylvania, Philadelphia, PA 19104, USA
Simulation for Planetary Robotic Perception and Autonomy: A Concise Survey of Recent Capabilities and Gaps
Sep 28, 2026Hoyun Kim, Giseop KimSpace Robotics Robotics Simulation
Department of Robotics and Mechatronics Engineering, DGIST, Daegu, Republic of Korea
CoralPlan: Observation Skill Selection and Execution for Underwater Robotic Inspection
Sep 25, 2026Yuer Gao, Yu Zhao, Yi CaiUnderwater Robotics Robotic Inspection
The Hong Kong University of Science and Technology (HKUST).
FRESHLATENT: Channel-Aware Latent Adaptation for Resource-Constrained Embodied VLM Perception
Sep 24, 2026Rajat Bhattacharjya, Minwoo Kim, Arnab Sarkar +5VLM Robustness Robotic Perception
University of California, Irvine, USA · Kookmin University, Seoul, South Korea · Indian Institute of Technology, Kharagpur, India
Memory-Aware Multi-Sensor Perception for Efficient and Safe Navigation in Dynamic Environments
Sep 24, 2026Jingshuo Li, Yifan Xue, Yifei Li +2Robot Navigation Safe Robot Navigation
School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, USA

Oct 13, 2026J/K move · Enter open · S save

Perception Beyond the Visible: Incompleteness-Aware Scene Understanding for Robot Autonomy

Rohit Mohan

Robotic Perception 4D Scene Understanding

Open paper AskPDF arXiv

Reliable robot autonomy requires reasoning about the world from partial and noisy observations. However, many perception systems model only visible scene regions, rely on fixed semantic categories, and assume reliable sensor measurements. These assumptions break under occlusion, novel object encounters, and sensor degradation. In this paper, I present a research vision for incompleteness-aware scene understanding. I organize this vision around three fundamental challenges: incomplete evidence, incomplete knowledge, and incomplete sensor reliability. I discuss my research contributions toward addressing these challenges through amodal perception, semantic occupancy forecasting, open-world scene understanding, label-efficient learning, and uncertainty-guided multi-modal fusion. Building on these contributions, I outline future research directions toward belief-centric 4D scene representations. These representations aim to jointly model geometry, semantics, motion, and uncertainty. I also discuss active sensing and safe adaptation strategies that allow robots to reduce uncertainty through interaction. The goal is to develop calibrated and actionable scene representations that support reliable autonomy in dynamic, open-world environments.