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. Predictive Spatio-Temporal Scene Graphs for Semi-Static Scenes

    Apr 30, 2026Miguel Saavedra-Ruiz, Charlie Gauthier, Kumaraditya Gupta +4Spatiotemporal ReasoningSpatiotemporal Forecasting

    Department of Computer Science and Operations Research, Universit´e de Montr´eal, Montr´eal, QC, Canada. · Mila - Quebec AI Institute, Montreal, QC, Canada. · Independent Researcher. +1

  2. OmniRobotHome: A Multi-Camera Home Platform for Real-Time Human-Robot Interaction

    Apr 30, 2026Junyoung Lee, Inhee Lee, Kyungwon Cho +9Human Motion PredictionHuman-Robot Interaction

    Seoul National University · RLWRLD

  3. Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance

    Apr 28, 2026Carson Kohlbrenner, Niraj Pudasaini, William Xie +3RL for RoboticsRobotic Tactile Sensing

    University of Colorado Boulder, 1111 Engineering Drive, Boulder, CO USA.

  4. Efficient Image Annotation via Semi-Supervised Object Segmentation with Label Propagation

    Apr 24, 2026Vitalii Tutevych, Raphael Memmesheimer, Luca Eichler +4Image SegmentationSemi-Supervised Learning

    Autonomous Intelligent Systems Group, University of Bonn, Germany

  5. FLARE-BO: Fused Luminance and Adaptive Retinex Enhancement via Bayesian Optimisation for Low-Light Robotic Vision

    Apr 23, 2026Nathan Shankar, Pawel Ladosz, Hujun YinImage EnhancementBayesian Optimization

    Department of Mechanical, Aerospace and Civil Engineering and the Department of Electrical and Electronic Engineering at the University of Manchester, Manchester, M13 9PL, United Kingdom

  6. FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception

    Apr 23, 2026Zhen Zhang, Weinan Wang, Hejia Sun +4Dexterous ManipulationVisuomotor Policy Learning

    The Chinese University of Hong Kong · The Hong Kong Polytechnic University

  7. Fringe Projection Based Vision Pipeline for Autonomous Hard Drive Disassembly

    Apr 19, 2026Badrinath Balasubramaniam, Vignesh Suresh, Benjamin Metcalf +1Fringe Projection Profilometry3D Reconstruction

    School of Electrical and Computer Engineering, University of Georgia, Athens, 30605, GA, USA · Alcon Research Laboratories, Fort Worth, 76134, Texas, USA · University of Georgia, Athens, 30605, GA, USA +1

  8. CAVERS: Multimodal SLAM Data from a Natural Karstic Cave with Ground Truth Motion Capture

    Apr 16, 2026Giacomo Franchini, David Rodríguez-Martínez, Alfonso Martínez-Petersen +2Simultaneous Localization and MappingVisual SLAM

    Polytechnic of Turin Interdepartmental Centre for Service Robotics (PIC4SeR), Corso Francesco Ferrucci 112, 10141 Turin, Italy · Systems Engineering and Automation Department, Universidad de M´alaga, Ortiz Ramos s/n, 29010, M´alaga, Spain

  9. RobotPan: A 360∘^\circ Surround-View Robotic Vision System for Embodied Perception

    Apr 15, 2026Jiahao Ma, Qiang Zhang, Peiran Liu +11Robotic PerceptionPanoramic 3D Reconstruction

  10. GeomPrompt: Geometric Prompt Learning for RGB-D Semantic Segmentation Under Missing and Degraded Depth

    Apr 13, 2026Krishna Jaganathan, Patricio VelaSemantic SegmentationRobotic Perception

    Georgia Institute of Technology

  11. Ψ-Map: Panoptic Surface Integrated Mapping Enables Real2Sim Transfer

    Apr 13, 2026Xuan Yu, Yuxuan Xie, Changjian Jiang +43D ReconstructionRobotic Perception

    Department of Control Science and Engineering, Zhejiang University, Hangzhou, Zhejiang, P. R. China

  12. Auditing Demographic Bias in Facial Landmark Detection for Fair Human-Robot Interaction

    Apr 8, 2026Pablo Parte, Roberto Valle, José M. Buenaposada +1Algorithmic FairnessRobotic Perception

    Departamento de Inteligencia Artificial, Universidad Politécnica de Madrid, Spain · Departamento de Informática y Estadística, Universidad Rey Juan Carlos, Spain

  13. Designing Privacy-Preserving Visual Perception for Robot Navigation Based on User Privacy Preferences

    Apr 7, 2026Xuying Huang, Sicong Pan, Delphine Reinhardt +1Robot NavigationRobotics

    Humanoid Robots Lab, University of Bonn, the Lamarr Institute for Machine Learning and Artificial Intelligence and the Center for Robotics, Bonn, Germany · Computer Security and Privacy, University of Goettingen, Goettingen, Germany

  14. Learning-Based Fault Detection for Legged Robots in Remote Dynamic Environments

    Apr 3, 2026Abriana Stewart-Height, Seema Jahagirdar, Nikolai MatniRobot Failure DetectionLegged Robotics

    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge MA 02139, USA · Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, 19104, USA

  15. STRNet: Visual Navigation with Spatio-Temporal Representation through Dynamic Graph Aggregation

    Apr 3, 2026Hao Ren, Zetong Bi, Yiming Zeng +3Robot NavigationVision-Based Robot Control

    Sun Yat-sen University · Insta360 Research · Wuhan University

  16. Robust Embodied Perception in Dynamic Environments via Disentangled Weight Fusion

    Apr 2, 2026Juncen Guo, Xiaoguang Zhu, Jingyi Wu +4Domain-Incremental LearningContinual Robot Learning

    Fudan University · University of California, Davis

  17. LiPS: Lightweight Panoptic Segmentation for Resource-Constrained Robotics

    Apr 1, 2026Calvin Galagain, Martyna Poreba, François Goulette +1Panoptic SegmentationRobotic Perception

    Université Paris-Saclay, CEA LIST, F-91120 Palaiseau, France · U2IS, ENSTA, Institut Polytechnique de Paris, 91120 Palaiseau, France · University of Bonn, Center for Robotics, Bonn, Germany

  18. A Dual-Stream Transformer Architecture for Illumination-Invariant TIR-LiDAR Person Tracking

    Apr 1, 2026Yuki Minase, Kanji TanakaVisual Object TrackingRobotic Perception

    Yuki Minase and Kanji Tanaka are with the Graduate School of Engineering, University of Fukui, Japan.

  19. M2H-MX: Multi-Task Semantic and Geometric Perception for Real-Time Monocular 3D Scene Graph Construction

    Mar 31, 2026U. V. B. L. Udugama, George Vosselman, Francesco NexRobotic PerceptionMulti-Task Learning

    Department of Earth Observation Science, University of Twente, Enschede, 7522 NH, The Netherlands

  20. Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression

    Mar 31, 2026Zhirui Dai, Tianxing Fan, Mani Amani +4Signed Distance FunctionsRobotic Perception

    Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093, USA. · Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34051, Republic of Korea.

  21. Detection of Adversarial Attacks in Robotic Perception

    Mar 30, 2026Ziad Sharawy, Mohammad Nakshbandi, Sorin Mihai GrigorescuAdversarial Example DetectionAdversarial Robustness

    Department of Mechatronics and Robotics, Faculty of Electrical Engineering and Computer Science, Transylvania University of Bras,ov, Romania

  22. YOLO Object Detectors for Robotics -- a Comparative Study

    Mar 27, 2026Patryk Niżeniec, Marcin Iwanowski, Marcin GahblerObject DetectionYou Only Look Once

    Nicolaus Copernicus University in Toruń, Faculty of Physics, Astronomy and Informatics, Institute of Engineering and Technology, ul. Grudziądzka 5, 87-100 Toruń, Poland

  23. arg-VU: Affordance Reasoning with Physics-Aware 3D Geometry for Visual Understanding in Robotic Surgery

    Mar 26, 2026Nan Xiao, Yunxin Fan, Farong Wang +1Surgical RoboticsRobotic Perception

    University of Tennessee, Knoxville, TN, USA · Stanford University, Palo Alto, CA, USA

  24. SafeGuard ASF: SR Agentic Humanoid Robot System for Autonomous Industrial Safety

    Mar 26, 2026Thanh Nguyen Canh, Thang Tran Viet, Thanh Tuan Tran +1Robot SafetyHumanoid Robotics

    Strike Robotics

  25. Deep Learning Aided Vision System for Planetary Rovers

    Mar 26, 2026Lomash Relia, Jai G Singla, Amitabh +1Robotic PerceptionMetric Depth Estimation

    Department of Computer Engineering Devang Patel Institute of Advanced Technology and Research Anand, India · Space Applications Centre Indian Space Research Organization Ahmedabad, India

  26. ThermoAct:Thermal-Aware Vision-Language-Action Models for Robotic Perception and Decision-Making

    Mar 26, 2026Young-Chae Son, Dae-Kwan Ko, Yoon-Ji Choi +1Robotic PerceptionLanguage-Conditioned Robot Control

    Dongguk University

  27. Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection

    Mar 24, 2026Anna Soukhovei, Carson Kohlbrenner, Caleb Escobedo +3Robotic Perception

    University of Colorado Boulder, 1111 Engineering Drive, Boulder, CO USA

  28. Learning What Can Be Picked: Active Reachability Estimation for Efficient Robotic Fruit Harvesting

    Mar 24, 2026Nur Afsa Syeda, Mohamed Elmahallawy, Luis Fernando de la Torre +1Agricultural RoboticsRobotic Perception

    Washington State University, Richland, WA 99354, USA

  29. Edge Radar Material Classification Under Geometry Shifts

    Mar 24, 2026Jannik Hohmann, Dong Wang, Andreas NüchtermmWave Radar SensingDistribution Shift

    Department of Informatics XVII (Robotics), Julius-Maximilians-University Würzburg, 97074 Würzburg, Germany. · Zentrum für Telematik e.V., Würzburg · U2IS, ENSTA, Institut Polytechnique de Paris, France.

  30. PiCo: Active Manifold Canonicalization for Robust Robotic Visual Anomaly Detection

    Mar 24, 2026Teng Yan, Binkai Liu, Shuai Liu +2Robotic PerceptionRobotic Inspection

    The Hong Kong University of Science and Technology (Guangzhou)