Robotic Perception

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Overview

Robotic perception studies how robots use sensory data to estimate what is around them, how it is arranged, and how it may change. Approaches include neural networks and vision-language models for recognition and segmentation; SLAM, depth estimation, and 3D maps for geometry; and fusion of cameras with LiDAR, radar, tactile, or proprioceptive sensors. Active viewpoint selection and interaction help resolve occlusion and ambiguity, while scene graphs and affordance models connect perception to navigation and manipulation. A central challenge is making systems reliable outside curated benchmarks—under changing lighting, clutter, unfamiliar environments, and tight limits on latency and onboard computing—while representing uncertainty well enough for safe action.

Latest papers 304

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

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  1. How Should a Robot Configure Its Laser Scanner for Inspection?

    Jun 19, 2026Zhiling Chen, David Gorsich, Matthew P. Castanier +3Robotic InspectionRobotics

    University of Connecticut, Storrs, CT, USA · US Army DEVCOM Ground Vehicle Systems Center (GVSC), Warren, MI, USA

  2. Efficiently Linking Real Scenes with Synthetic Data Generation for AI-based Cognitive Robotics and Computer Vision Applications

    Jun 18, 2026Paul Koch, Vivek Chavan, André Sers +4Synthetic-to-Real Domain AdaptationSynthetic Data Generation for Robotics

    Fraunhofer IPK, Berlin, Germany. · TU Berlin, Germany

  3. ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments

    Jun 18, 2026Natapat Kirdwichai, Danesh TaraporeRobotic Data CollectionRobotics

    Faculty of Engineering and Physical Sciences, University of Southampton, United Kingdom

  4. Fail-RAG : A Retrieval Augmented Generation Informed Framework for Robot Failure Identification

    Jun 17, 2026Ameya Salvi, Jie HuRetrieval-Augmented GenerationRobot Failure Detection

    Hitachi America, Ltd., Michigan, U.S.A.

  5. Viking Hill Dataset: A Lidar-Radar-Camera Dataset for Detection and Segmentation in Forest Scenes

    Jun 17, 2026Vladimír Kubelka, Oleksandr Kotlyar, Unal Artan +1Millimeter-Wave RadarmmWave Radar Sensing

    Örebro University, AASS research centre, Robot Navigation and Perception Lab, Örebro, Sweden

  6. Monocular 3D Occupancy Perception for Robots on Sidewalks via Hybrid 2D-3D Learning

    Jun 17, 2026Yukai Ma, Joe Lin, Liu Liu +43D Occupancy PredictionRobotic Perception

    University of California, Los Angeles · Zhejiang University · Coco Robotics +1

  7. Leveraging Energy Features for Surface Classification with Deep Learning: A Comparative Analysis Across Three Independent Datasets

    Jun 17, 2026Alexander Belyaev, Oleg KushnarevMobile RoboticsRobotic Perception

    National Research Tomsk Polytechnic University, Tomsk, Russia

  8. Technical Report for ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge: Leveraging DINOv3 for Robust Outdoor Scene Understanding in Field Robotics

    Jun 17, 2026Jaeil Park, Hyobin Choi, Sangjin Lee +2RoboticsRobotic Perception

    Multimodal Intelligence and Perception Laboratory (MIP), Department of Electrical Engineering and Computer Science, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, Republic of Korea. · Laboratory for Information and Decision Systems (LIDS), Massachusetts Institute of Technology (MIT), Cambridge, MA, USA.

  9. MuseVLA: An Adaptive Multimodal Sensing Vision-Language-Action Model for Robotic Manipulation

    Jun 16, 2026Xingyuming Liu, Ruichun Ma, Heyu Guo +7Language-Conditioned Robot ManipulationRobotic Manipulation

    School of Computer Science, Peking University · 2Microsoft Research Asia · *Work done during internship at Microsoft Research Asia. +2

  10. Leveraging Deep Learning for Object and Position Recognition of Load Carriers for Autonomous Logistics Vehicles

    Jun 14, 2026Christoph Legat, Tobias Miller, Marco RiessMobile RoboticsObject Pose Estimation

    Research Group on Cognitive Autonomy & Predictive Intelligence, Technical University of Applied Sciences, Augsburg, Germany · Grenzebach Maschinenbau GmbH, Asbach-Bäumenheim, Germany

  11. FARM: Find Anything using Relational Spatial Memory

    Jun 13, 2026Siming He, Leo Huang, Adam Lilja +6Visual Spatial ReasoningRelational Reasoning

    1UC Berkeley · 2Stanford University

  12. Segmentation-based Detection for Efficient Multi-Task Spacecraft Perception

    Jun 13, 2026Sivaperuman Muniyasamy, Surendar DevasundaramImage SegmentationMulti-Task Learning

    University of Arizona, Tucson, AZ, USA

  13. Proprioceptive-visual correspondence enables self-other distinction in humanoid robots

    Jun 11, 2026Yurun Chen, Tianyuan Gao, Yizhong Ge +5Robotic PerceptionHumanoid Robotics

    Eastern Institute of Technology, Ningbo · Peking University · Carnegie Mellon University +3

  14. GeoCFNet: Geometry-Aware Confidence Field Network for Robot-Assisted Endoscopic Submucosal Dissection

    Jun 11, 2026Rui Tang, Guankun Wang, Long Bai +5Robotic PerceptionSurgical Robotics

    Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China · Theory Lab, Central Research Institute, 2012 Labs, Huawei Technologies Co. Ltd., Hong Kong SAR, China

  15. Illumination-Robust Camera-Based Heart-Rate Estimation for Physiological Sensing in Robots

    Jun 10, 2026Zhi Wei Xu, Torbjörn E. M. NordlingRemote PhotoplethysmographyDistribution Shift Robustness

    Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan.

  16. PEBRE: An Open-Hardware Compute and Perception Add-On for the Pepper Robot

    Jun 10, 2026Malte Kuhlmann, Ignacio Bugueno-Cordova, Emil Alms +2RoboticsRobotic Perception

    Leibniz Universität Hannover, L3S Research Center, Appelstraße 4, Hanover, 30167, Lower Saxony, Germany. · University of Chile, Department of Electrical Engineering, Avda. Tupper 2007, Santiago, 8370451, Region Metropolitana, Chile. · University of Chile, Advanced Mining Technology Center, Avda. Tupper 2007, Santiago, 8370451, Region Metropolitana, Chile.

  17. Point Cloud Segmentation for Autonomous Clip Positioning in Laparoscopic Cholecystectomy on a Phantom

    Jun 10, 2026Balázs Gyenes, Nikolai Franke, Paul Maria Scheikl +53D Point Cloud SegmentationRobotic Manipulation

    Institute for Anthropomatics & Robotics - Karlsruhe Institute of Technology, Germany · HIDSS4Health - Helmholtz Information and Data Science School for Health, Karlsruhe/Heidelberg, Germany · Department of Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander-University, Erlangen-Nuremberg, Germany +1

  18. Cross-Modal Benchmarking for Robotic Perception in Natural Environments

    Jun 10, 2026David Hall, Joshua Knights, Mark Cox +1Metric Depth EstimationVisual Place Recognition

    CSIRO Robotics, CSIRO, Australia. · University of Sydney (USyd), Australia. · Queensland University of Technology (QUT), Australia.

  19. AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation

    Jun 9, 2026Tianhao Zang, Siwei Cheng, Haidong Huang +2Robot NavigationSafe Robot Navigation

    Eastern Institute of Technology, Ningbo, China · University of Nottingham, Nottingham, UK · College of Information Science and Technology, Eastern Institute of Technology, Ningbo, P. R. China. +3

  20. MV-Actor: Aligning Multi-View Semantics and Spatial Awareness for Bimanual Manipulation

    Jun 9, 2026Yinchen Tian, Huan Li, Muyao Peng +3Bimanual Robotic ManipulationMulti-View Learning

    School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China · Institute for AI Industry Research (AIR), Tsinghua University, Beijing, China · AIR Wuxi Innovation Center, Tsinghua University, Wuxi, China

  21. VGP-Nav: Metric-Aware Visual Geometric Perception for Robot Navigation

    Jun 8, 2026Hewei Pan, Weiye Zhu, Zekai Zhang +4Robot NavigationRobot Localization

    Southern University of Science and Technology, Shenzhen, China. · MBZUAI, Abu Dhabi, UAE. · Shenzhen University, Shenzhen, China. +1

  22. PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning

    Jun 7, 2026Haoyu Li, Aaron Thomas, Shuyan Zhou +13D SGG3D Scene Representation

    Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC 27708, USA. · Department of Computer Science, Duke University, Durham, NC 27708, USA.

  23. Revisiting Articulated Parts Perception in Robot Manipulation

    Jun 6, 2026Xiaoqian Wu, Yejie Guo, Xiaoyang Chen +3Geometric Representation LearningArticulated Object Manipulation

    Shanghai Jiao Tong University

  24. T-FunS3D: Task-Driven Hierarchical Open-Vocabulary 3D Functionality Segmentation

    Jun 4, 2026Jingkun Feng, Reza SabzevariOpen-Vocabulary 3D Segmentation3D Part Segmentation

    P4MARS Lab at the Faculty of Aerospace Engineering, Delft University of Technology

  25. What Objects Enable, Not What They Are: Functional Latent Spaces for Affordance Reasoning

    Jun 4, 2026Rohan Siva, Neel P. Bhatt, Yunhao Yang +6Latent Visual ReasoningRobot Task Planning

    1The University of Texas at Austin · 2Neurosymbolic Intelligence · University of Colorado Boulder

  26. TransTac: Visuo-Tactile Modality Transition via Ultraviolet-Encoded Transparent Elastomers

    Jun 3, 2026Lingyue Yang, Bin FangVision-Based Tactile Sensing3D Reconstruction

    Beijing University of Posts and Telecommunications, Beijing, China.

  27. Toward Gripper-Integrated Active Electrosense for Pre-Contact Sensing in Underwater Soft Grippers

    Jun 2, 2026Ahsan Tanveer, Muhammad Hamza, Waqar Hussain Afridi +2Active SensingRobotic Manipulation

    Intelligent Biomimetic Design Lab, School of Advanced Manufacturing and Robotics, and with the State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing 100871, China · National Engineering Research Center of Software Engineering, Peking University, Beijing 100871, China · Institute of Ocean Research, Peking University, Beijing 100871, China

  28. How Visible Are Silent Manipulation Failures? An Observability Study of False-Success Detection in Simulated Robot Episodes

    Jun 2, 2026Aarav BediRobot Failure DetectionBimanual Robotic Manipulation

    University of California, Berkeley · Department of Mechanical Engineering University of California, Berkeley Berkeley, California, USA

  29. Hierarchical Object Representation for Spatial Robot Perception: Points, Meshes, and Superquadrics

    Jun 1, 2026Ceng Zhang, Wan Su, Mohamed Samshad +23D Reconstruction3D SGG

    1National University of Singapore (NUS) · 2Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)

  30. A Sonar-Visual Dataset for Cross-Modal Underwater Robot Perception

    May 31, 2026Weitung Chen, Phil Tinn, Per Gunnar Auran +2Cross-Modal LearningUnderwater Robotics

    Massachusetts Institute of Technology (MIT), Cambridge, MA, USA · SINTEF, Trondheim, Norway · Department of Marine Technology, Norwegian University of Science and Technology (NTNU), Trondheim, Norway