Topic

Foundation models & pretraining

Cross-embodiment pretraining, scaling laws, and the generalist-policy bet.

73papers in 2026-07

6.26%of all cs.RO that month

+1.9ppshare change, last 6 vs prior 12 months

24-month volume

arXiv query: cat:cs.RO AND (abs:"foundation model" OR abs:"cross-embodiment" OR abs:"generalist policy")

Presented at reading clubs

These already have a slide kit, so they are the fastest ones to pick up and present.

2026-03-24

VTAM: Video-Tactile-Action Models for Complex Physical Interaction Beyond VLAs

Haoran Yuan, Weigang Yi, Zhenyu Zhang +9 · 12 citations

clubWorld models Tactile & force sensing

2026-02-18

EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data

Ruijie Zheng, Dantong Niu, Yuqi Xie +12 · 71 citations

clubVision-language-action Dexterous manipulation

2026-02-06

DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos

Shenyuan Gao, William Liang, Kaiyuan Zheng +27 · 96 citations

clubWorld models Dexterous manipulation

2025-12-27

Emergence of Human to Robot Transfer in Vision-Language-Action Models

Simar Kareer, Karl Pertsch, James Darpinian +5 · 39 citations

clubVision-language-action Egocentric & human data

2025-09-23

EgoBridge: Domain Adaptation for Generalizable Imitation from Egocentric Human Data

Ryan Punamiya, Dhruv Patel, Patcharapong Aphiwetsa +5 · 30 citations

clubNeurIPSEgocentric & human data Imitation & diffusion policies

2025-08-13

DINOv3

Oriane Siméoni, Huy V. Vo, Maximilian Seitzer +23 · 1,312 citations

clubFoundation models & pretraining Data collection & teleoperation

2025-05-16

EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video

Ryan Hoque, Peide Huang, David J. Yoon +2 · 193 citations

clubICLR 2026Dexterous manipulation Egocentric & human data

Recent work

2026-08-27

Riemann-1.0: An Embodied World Action Model for Physical AI

Haofeng Sun, Jiangbo Pei, Fei Kang +13

Egocentric & human data Simulation, sim-to-real & benchmarks

2026-08-27

PredVLA: A Sub-Million-Parameter Predictive-Coding Policy for Robot Manipulation

Hiroki Sawada, Shunichi Kasahara

Vision-language-action Simulation, sim-to-real & benchmarks

2026-08-27

RTNav: Towards Real-Time Zero-Shot Object Navigation

Easop Lee, Lingyu Zhang, Boyuan Chen

Simulation, sim-to-real & benchmarks Navigation & mobility

2026-08-26

One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation

Xiaomi Embodied Intelligence Team, University of Macau, : +21

Vision-language-action Humanoids & locomotion

2026-08-26

$R^3$: Training Robots to Reason in Natural Language via Reinforcement Learning

Lehong Wu, Yuxiao Qu, Zheyuan Hu +4

Imitation & diffusion policies Reinforcement learning & control

2026-08-26

LM-X: Explainable Action Modeling with Progress, Event, and Uncertainty Prediction for Generalist Robot Manipulation

Jin Lou, Zhiyuan Jing, Andong Chen +20

Foundation models & pretraining

2026-08-26

Opportunities of Self Supervised Learning for GNSS: Evaluation of a Deep Learning-Enhanced PVT Algorithm

Thomas Barbero, Bertrand Ekambi

World models Navigation & mobility

2026-08-25

Longitudinal Robot Learning from Demonstration with Care Providers in a Home Environment

Nina Moorman, Julianna Schalkwyk, Vriksha Srihari +6

ICRA 2026Foundation models & pretraining Human-robot interaction

2026-08-25

Latent Action as Intention Enables Efficient Future Imagination for World Action Models

Xiang Li, Yupeng Zheng, Songen Gu +10

Foundation models & pretraining Video & generative modeling

2026-08-25

GaussianWAM: Distilling Geometry and Semantics from 3D Gaussian Fields into World-Action Models

Zijian Zhang, Yuqing Jiang, Weitao Zhou +6

Foundation models & pretraining

2026-08-25

PonderPounce: A Pretrained MLLM as an Episode Context Engine for Robot Control

Suhwan Choi, Jaeyoon Jung, Sungkyung Kim +2

Vision-language-action Foundation models & pretraining

2026-08-25

Hierarchical Skill Retrieval for Data-Efficient Adaptation of Vision-Language-Action Models

Haoran Hao, Shahram Najam Syed, Jeff Schneider +1

Vision-language-action Foundation models & pretraining

2026-08-24

GeoWAM: Visual Geometry World Action Models for Autonomous Driving

Yiren Lu, Xin Ye, Jiaming Liu +10

World models 3D & spatial reasoning

2026-08-24

Reward-Free Continual Adaptation for Resilient Space Robots

Andrej Orsula, Miguel Olivares-Mendez, Carol Martinez

World models Reinforcement learning & control

2026-08-24

Guided Riemannian Optimization (GuRO): Bridging Model Predictive Control and Decision Transformers

Hossein Abdi, Satya Prakash Dash, Mingfei Sun

Humanoids & locomotion Reinforcement learning & control

2026-08-24

Free-Energy-Gated Plasticity for Real-Time Online Motor Learning in Physical Human-Robot Interaction

Hiroki Sawada, Jun Tani

Foundation models & pretraining Human-robot interaction

2026-08-24

SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation

Shibo Zhao, Guofei Chen, Honghao Zhu +7 · 1 citation

3D & spatial reasoning Navigation & mobility

2026-08-24

UniMem: Unifying Multimodal Memory and Control for Vision-Language-Action Models

Lars Osterberg, Maggie Wang, Mac Schwager

Vision-language-action Foundation models & pretraining

2026-08-23

Physical Agentic AI: An Architecture for Orchestrating a Robot Crew with LLMs

Xinyuan Liu, Eren Sadikoglu, Riana Chatterjee +1

Humanoids & locomotion Navigation & mobility

2026-08-23

Robust Bimanual Vision-Language-Action Models via Embarrassingly Simple Modality Masking

Dongzhou Cheng, Ziang Li, Yixiao Zhou +6

Vision-language-action Foundation models & pretraining

2026-08-23

The Imitator Game: Benchmarking Robot Imitative Ability Beyond Action Prediction

Xunzhe Zhou, Yiyang Cai, Fengyi Wang +9

Egocentric & human data Foundation models & pretraining

2026-08-22

Ludi${}_{\scriptscriptstyle 0.1}$: An Agentic System for Socially Intelligent Robots

Wooseong Chung, William Cong, Jakub Dworakowski +14

Navigation & mobility Foundation models & pretraining

2026-08-21

The Coastline as a Structural Constraint: Harnessing Scene Geometry for Autonomous Surface Vessel Localization

Derek R. Benham, Joshua G. Mangelson

Foundation models & pretraining

2026-08-21

Just Noticeable Difference Modeling for Token Compression in Vision-Language-Action Models

Zhuoyuan Li, Rui Zhao, Jin Wang +5

Vision-language-action Foundation models & pretraining

2026-08-20

Learning-Based Measurement-Robust Control Barrier Functions for Obstacle Avoidance under State Estimation Error

Nicholas Rober, Yixuan Jia, Jonathan P. How

Reinforcement learning & control Navigation & mobility

2026-08-20

Towards general embodied intelligence: integrating large language models, knowledge bases, and reasoning capabilities to build the next generation of AI agents

Fujiang Yuan, Xia Huang, Lusheng Wang +7 · 5 citations

Foundation models & pretraining

2026-08-20

Learning Hierarchical Skill Policies with Offline Quality-Diversity Reinforcement Learning

Tanachai Anakewat, Takayuki Osa, Tatsuya Harada

IROS 2026Humanoids & locomotion Reinforcement learning & control

2026-08-20

CVSD-Reg: Cross-Modal Visual Semantic Prior Distillation for Robust LiDAR Registration

Eunsoo Im, Junghun Suh, Gyeonggwan Lee +1

3D & spatial reasoning Foundation models & pretraining

2026-08-19

Fine-Tuning VLAs with Self-Demonstrated Generative Control for Multi-Task Manipulation

Prachi Garg, Steve Xing, Prahit Yaugand +2

Vision-language-action Simulation, sim-to-real & benchmarks

2026-08-19

ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning

Jayjun Lee, Jessica Yin, Asif Rana +7

Dexterous manipulation Tactile & force sensing

2026-08-19

RoboEdit: Turning Human Manipulation Videos into Scalable Robot Experience

Yaowei Guo, Zeng Tao, Yuxin Jiang +7

Egocentric & human data Foundation models & pretraining

2026-08-19

DevGRU: Depth-guided Visual Navigation using a Collision-aware Recurrent Model

Kyung Min Han, Eunsom Kim, Young J. Kim

Navigation & mobility Foundation models & pretraining

2026-08-19

The Embodiment Gap in Robot Foundation Models

Yukiyasu Domae, Keisuke Shirai, Hanbit Oh +7

Vision-language-action Foundation models & pretraining

2026-08-18

Geo-VLA: Geometry-Aware Vision-Language-Action Planning via Internalization of Map Semantics

Ran Chen, Jiaxing Ren, Zhikun Zhang +3

Vision-language-action Navigation & mobility

2026-08-18

Revisiting the "Push-T" Robot Manipulation Task with Agentic Robotics

Shuangyu Xie, Kaiyuan Chen, Ken Goldberg

Egocentric & human data Imitation & diffusion policies

2026-08-18

Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM

Sebastian Barbas Laina, Tianyi Zhang, Panagiotis Petropoulakis +5

3D & spatial reasoning Foundation models & pretraining

2026-08-18

Embodied-Navigator: Point, Think, Memorize, and Align for Efficient Navigation

Hongyan Feng, Sunlai Chen, Xuanyu Liu +9

Reinforcement learning & control 3D & spatial reasoning

2026-08-17

PROBE: Manipulation-Grounded Visual Question Answering with VLM Agents

Vineet Bhat, Siyi Chen, Alex Zook +4

Dexterous manipulation Simulation, sim-to-real & benchmarks

2026-08-17

VLCP: Vision Language Control Policy Closed-Loop Code Replanning for Robot Manipulation

Dhia Naouali, Minghan Wu, Claudia Wong +2

Dexterous manipulation Foundation models & pretraining

2026-08-17

$τ_0$-VLA: a Hierarchical Robot Foundation Model with World-Model-Guided Test-Time Computation

Xiaowei Cai, Yunuo Cai, Bingao Chen +36

World models Vision-language-action

343 papers in this corpus carry the foundation models & pretraining tag. How tagging works.