机器人 / 具身智能

How Robust is 3D Human Pose Estimation to Occlusion?

István Sárándi, Timm Linder, Kai O. Arras, Bastian Leibe

专题命中 机器人数据与评测 ：robotics(abstract)；分类 cs.RO、cs.CV；robotic(comments)

Comments Accepted for IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'18) - Workshop on Robotic Co-workers 4.0: Human Safety and Comfort in Human-Robot Interactive Social Environments

The RBO Dataset of Articulated Objects and Interactions

Roberto Martín-Martín, Clemens Eppner, Oliver Brock

专题命中 机器人数据与评测 ：manipulation(abstract)；分类 cs.RO、cs.CV；robotics(comments)

Comments 6 pages; Submitted to the International Journal of Robotics Research (Data Paper), Sage; Equal contribution by first two authors

Learning to Navigate by Growing Deep Networks

Thushan Ganegedara, Lionel Ott, Fabio Ramos

专题命中 机器人数据与评测 ：navigation(abstract)；分类 cs.RO、cs.CV；robotics(comments)

Comments 10 pages, Australasian Conference on Robotics and Automation, 2017

The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM

Elias Mueggler, Henri Rebecq, Guillermo Gallego, Tobi Delbruck, Davide Scaramuzza

专题命中 机器人数据与评测 ：robotics(abstract,journal_ref)；分类 cs.RO、cs.CV

Comments 7 pages, 4 figures, 3 tables

Journal ref International Journal of Robotics Research, Vol. 36, Issue 2, pp. 142-149, Feb. 2017

Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task

Stephen James, Andrew J. Davison, Edward Johns

专题命中 机器人数据与评测 ：manipulation(abstract)；分类 cs.RO、cs.LG；robot learning(comments)

Comments 1st Conference on Robot Learning (CoRL 2017), Mountain View, United States

PROBE-GK: Predictive Robust Estimation using Generalized Kernels

Valentin Peretroukhin, William Vega-Brown, Nicholas Roy, Jonathan Kelly

专题命中 机器人数据与评测 ：robotics(abstract,comments)；分类 cs.RO、cs.CV

Comments In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'16), Stockholm, Sweden, May 16-21, 2016

Driving in the Matrix: Can Virtual Worlds Replace Human-Generated Annotations for Real World Tasks?

Matthew Johnson-Roberson, Charles Barto, Rounak Mehta, Sharath Nittur Sridhar, Karl Rosaen, Ram Vasudevan

专题命中 机器人数据与评测 ：robotics(abstract,comments)；分类 cs.RO、cs.CV

Comments Proceedings of International Conference on Robotics and Automation (ICRA) 2017, 8 pages

Learning Modular Neural Network Policies for Multi-Task and Multi-Robot Transfer

Coline Devin, Abhishek Gupta, Trevor Darrell, Pieter Abbeel, Sergey Levine

专题命中 机器人数据与评测 ：robotic(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Under review at the International Conference on Robotics and Automation (ICRA) 2017

Gaussian Process-Based Decentralized Data Fusion and Active Sensing for Mobility-on-Demand System

Jie Chen, Kian Hsiang Low, Colin Keng-Yan Tan

专题命中 机器人数据与评测 ：robotic(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Robotics: Science and Systems (RSS 2013), Extended version with proofs, 10 pages

CADENCE: Predicting Realized MAPF Execution Time Beyond Sum of Costs

CADENCE：预测实际MAPF执行时间超越成本总和

Abhishek Seetharamu, Badrikanath Praharaj, Sreeram MV

机构 * University of California, Berkeley（加州大学伯克利分校） 纠错

专题命中 机器人数据与评测 ：robotic(abstract,comments)；分类 cs.RO；robotics(comments)

AI总结 提出CADENCE框架，通过分析原始运动负担和交互感知协调特征，发现原始运动负担能显著提高多智能体路径规划执行时间的预测精度，超越传统成本总和指标。

Comments 7 pages, 4 figures, 3 tables and this paper was accepted at Multi-Agent Robotic Systems: Real-World Collaboration and Interaction a workshop at the international conference of robotics and automation (ICRA 2026)

Lifelong Learning in Vision-Language Models: Enhanced EWC with Cross-Modal Knowledge Retention

视觉-语言模型的终身学习：增强的EWC与跨模态知识保留

Hamza Ahmed Durrani, Rafay Suleman Durrani

机构 * Sejong University, Computer Science Engineering（世宗大学，计算机科学工程） ； Technische Universität Ilmenau, Computer Engineering（伊门瑙技术大学，计算机工程） 纠错

专题命中 机器人数据与评测 ：robotic(abstract,comments)；分类 cs.RO；robotics(comments)

AI总结 本文提出一种结合增强EWC与参数高效微调的框架，有效减少视觉-语言模型在连续学习中的遗忘，通过多模态Fisher信息矩阵计算和跨模态一致性保留，实现78%的遗忘率降低，并在动态环境中提升多模态AI系统的适应能力。

Comments 8 pages, 5 figures, 1 table. Applications in autonomous driving, intelligent robotic assistants, and adaptive robotics systems

Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive Motions

考虑饱和的角速度估计：将SLAM的鲁棒性扩展到激进运动

Simon-Pierre Deschênes, Dominic Baril, Matěj Boxan, Johann Laconte, Philippe Giguère, François Pomerleau

机构 * Northern Robotics Laboratory, Université Laval, Quebec City, Quebec, Canada（北方机器人实验室，拉瓦尔大学，魁北克市，魁北克，加拿大） 纠错

专题命中 机器人数据与评测 ：robotics(abstract,comments)；分类 cs.RO

AI总结 本文提出一种新的角速度估计方法，以提高SLAM算法在剧烈运动引起的陀螺仪饱和情况下的鲁棒性。通过使用加速度计在机器人翻滚时估计角速度，显著降低定位误差，并提出TIGS数据集以支持研究。

Comments 7 pages, 7 figures, published in 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 10711-10718

Bridging the Basilisk Astrodynamics Framework with ROS 2 for Modular Spacecraft Simulation and Hardware Integration

将Basilisk轨道动力学框架与ROS 2连接起来以实现模块化航天器仿真与硬件集成

Elias Krantz, Ngai Nam Chan, Gunnar Tibert, Huina Mao, Christer Fuglesang

机构 * KTH Royal Institute of Technology（瑞典皇家理工学院） 纠错

专题命中 机器人数据与评测 ：robotics(abstract,comments)；分类 cs.RO

AI总结 本文提出一种轻量级开源通信桥接Basilisk轨道动力学模拟器与ROS 2，实现航天器控制的实时双向数据交换，支持快速开发、回路测试及仿真到硬件的无缝过渡。

Comments Presented at the International Conference on Space Robotics (iSpaRo) 2025

Journal ref 2025 International Conference on Space Robotics (iSpaRo), Sendai, Japan, 2025

A Photorealistic Dataset and Vision-Based Algorithm for Anomaly Detection During Proximity Operations in Lunar Orbit

面向月球轨道近距操作的逼真数据集和基于视觉的异常检测算法

Selina Leveugle, Chang Won Lee, Svetlana Stolpner, Chris Langley, Paul Grouchy, Steven Waslander, Jonathan Kelly

机构 * Space and Terrestrial Autonomous Robotic Systems (STARS) Laboratory at the University of Toronto Institute for Aerospace Studies (UTIAS)（多伦多大学航空航天研究所（UTIAS）空间与地面自主机器人系统实验室） ； Toronto Robotics and AI Laboratory (TRAIL) at the University of Toronto Institute for Aerospace Studies (UTIAS)（多伦多大学航空航天研究所（UTIAS）多伦多机器人与人工智能实验室） ； MDA Space Inc.（MDA航天公司） 纠错

专题命中 机器人数据与评测 ：robotic(abstract)；robotics(comments,journal_ref)；分类 cs.RO

AI总结 本文提出MRAD算法，通过月球轨道合成数据集ALLO实现空间域异常检测，展现算法在像素和图像层面的高检测性能，推动空间操作中鲁棒的异常检测方法发展。

Comments In IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE International Conference on Robotics and Automation (ICRA'26), 1-5 Jun. 2026, Vienna, Austria

Journal ref IEEE Robotics and Automation Letters (RA-L), Vol. 11, No. 3, pp. 2418 - 2415, Mar. 2026

DDBot: Differentiable Physics-based Digging Robot for Unknown Granular Materials

DDBot: 基于可微物理的未知颗粒材料挖掘机器人

Xintong Yang, Minglun Wei, Yu-Kun Lai, Ze Ji

机构 * School of Engineering, Cardiff University（工程学院，卡迪夫大学） ； School of Computer Science and Informatics, Cardiff University（计算机科学与信息学学院，卡迪夫大学） 纠错

专题命中 机器人数据与评测 ：manipulation(abstract)；robotics(comments,journal_ref)；分类 cs.RO

AI总结 DDBot通过可微物理模拟和优化方法，实现对未知颗粒材料的高效挖掘与高精度操作。

Comments Published as a regular paper by the IEEE Transactions on Robotics

Journal ref IEEE Transactions on Robotics, vol. 42, pp. 152-169, 2026

Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors

Zixi Chen, Shixin Zhang, Shan Luo, Fuchun Sun, Bin Fang

专题命中 机器人数据与评测 ：robotics(abstract,comments)；分类 cs.RO

Comments 8 pages, 6 figures, accepted by IEEE Robotics and Automation Letters

Journal ref in IEEE Robotics and Automation Letters, vol. 8, no. 3, pp. 1239-1246, March 2023

IMA-Catcher: An IMpact-Aware Nonprehensile Catching Framework based on Combined Optimization and Learning

Francesco Tassi, Jianzhuang Zhao, Gustavo J. G. Lahr, Luna Gava, Marco Monforte, Arren Glover, Chiara Bartolozzi, Arash Ajoudani

机构 * Human-Robot Interfaces and Interaction Lab., Istituto Italiano di Tecnologia, Italy（人机交互实验室，意大利理工学院） ； Event-Driven Perception for Robotics Lab, Istituto Italiano di Tecnologia, Italy（事件驱动感知机器人实验室，意大利理工学院） 纠错

专题命中 机器人数据与评测 ：robotic(abstract)；robotics(comments,journal_ref)；分类 cs.RO

Comments 25 pages, 17 figures, accepted by International Journal of Robotics Research (IJRR)

Journal ref The International Journal of Robotics Research. 2025;0(0)

Lightweight Event-based Optical Flow Estimation via Iterative Deblurring

Yilun Wu, Federico Paredes-Vallés, Guido C. H. E. de Croon

机构 * Micro Air Vehicle Laboratory, Faculty of Aerospace Engineering, Delft University of Technology（微空气车辆实验室，航空航天工程学院，代尔夫特理工大学） 纠错

专题命中 机器人数据与评测 ：robotic(abstract)；robotics(comments,journal_ref)；分类 cs.CV

Comments Accepted to IEEE International Conference on Robotics and Automation (ICRA'24), Yokohama, Japan, May 13-17, 2024. arXiv revision includes additional ablation studies results

Journal ref Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2024, pp. 14708-14715

Enhanced Model-Free Dynamic State Estimation for a Soft Robot Finger Using an Embedded Optical Waveguide Sensor

Henrik Krauss, Kenjiro Takemura

专题命中 机器人数据与评测 ：robotic(abstract)；robotics(comments,journal_ref)；分类 cs.RO

Comments Accepted for publication in IEEE Robotics and Automation Letters (RA-L) 2024

Journal ref IEEE Robotics and Automation Letters, vol. 9, no. 7, pp. 6123-6129, July 2024

A Sim-to-Real Deep Learning-based Framework for Autonomous Nano-drone Racing

Lorenzo Lamberti, Elia Cereda, Gabriele Abbate, Lorenzo Bellone, Victor Javier Kartsch Morinigo, Michał Barcis, Agata Barcis, Alessandro Giusti, Francesco Conti, Daniele Palossi

专题命中 机器人数据与评测 ：navigation(abstract)；robotics(comments,journal_ref)；分类 cs.RO

Comments 8 pages, 10 Figures, 3 Tables, This paper has been accepted for publication in the IEEE Robotics and Automation Letters (RAL). Copyright 2023 IEEE

Journal ref IEEE Robotics and Automation Letters (Volume: 9, Issue: 2, February 2024)

Learning Model Predictive Control for Quadrotors

Guanrui Li, Alex Tunchez, Giuseppe Loianno

专题命中 机器人数据与评测 ：navigation(abstract)；robotics(comments,journal_ref)；分类 cs.RO

Comments Guanrui Li and Alex Tunchez contributed equally to this paper. This paper has been accepted to the 2022 IEEE International Conference on Robotics and Automation. Please cite this paper with the standard IEEE Conference format. Link to the Video: https://youtu.be/-5cIsIM5G7M

Journal ref International Conference on Robotics and Automation (ICRA), 2022

Attitude-Estimation-Free GNSS and IMU Integration

Taro Suzuki

专题命中 机器人数据与评测 ：navigation(abstract)；robotics(comments,journal_ref)；分类 cs.RO

Comments Published in IEEE Robotics and Automation Letters (RA-L)

Journal ref IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 2, pp. 1090-1097, Feb. 2024

Evaluating the Task Generalization of Temporal Convolutional Networks for Surgical Gesture and Motion Recognition using Kinematic Data

Kay Hutchinson, Ian Reyes, Zongyu Li, Homa Alemzadeh

专题命中 机器人数据与评测 ：robotic(abstract)；robotics(comments,journal_ref)；分类 cs.RO

Comments 8 pages, 4 figures, 6 tables. To be published in IEEE Robotics and Automation Letters (RA-L)

Journal ref IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 5132-5139, Aug. 2023

Simulation of Dynamic Environments for SLAM

Elia Bonetto, Chenghao Xu, Aamir Ahmad

专题命中 机器人数据与评测 ：robotics(abstract,comments)；分类 cs.RO；navigation(comments)

Comments CITE AS: @inproceedings{ bonetto2023dynamicSLAM, title={{S}imulation of {D}ynamic {E}nvironments for {SLAM}}, author={Elia Bonetto and Chenghao Xu and Aamir Ahmad}, booktitle={ICRA2023 Workshop on Active Methods in Autonomous Navigation}, year={2023}, url={https://robotics.pme.duth.gr/workshop_active2/wp-content/uploads/2023/05/01.-Simulation-of-Dynamic-Environments-for-SLAM.pdf} }. arXiv admin note: substantial text overlap with arXiv:2303.04466

StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects

Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton

专题命中 机器人数据与评测 ：分类 cs.RO、cs.AI、cs.CV；robotics(comments)；robot learning(comments)

Comments Accepted to Robotics: Science and Systems (RSS) 2023. The previous version appeared in CoRL Workshop on Language and Robot Learning 2022

From Warfighting Needs to Robot Actuation: A Complete Rapid Integration Swarming Solution

Eugene M. Taranta, Adam Seiwert, Anthony Goeckner, Khiem Nguyen, Erin Cherry

专题命中 机器人数据与评测 ：robotics(abstract,comments)；分类 cs.RO

Comments 58 pages, 29 figures. Published in Field Robotics

Journal ref Field Robotics, 3, 460-515 (2023)

Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements

Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny

专题命中 机器人数据与评测 ：robotic(abstract)；robotics(comments,journal_ref)；分类 cs.RO

Comments 7 pages, 10 figures, published in IEEE Robotics and Automation Letters

Journal ref in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4955 - 4961, July 2021

DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects

Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox

专题命中 机器人数据与评测 ：robotic(abstract,comments)；分类 cs.RO；robotics(comments)

Comments For associated web page, see \url{https://sites.google.com/nvidia.com/defgraspsim}. To be published in the IEEE Robotics and Automation Letters (RA-L) special issue on Robotic Handling of Deformable Objects, 2022. arXiv admin note: substantial text overlap with arXiv:2107.05778

Handling Concurrency in Behavior Trees

Michele Colledanchise, Lorenzo Natale

专题命中 机器人数据与评测 ：robotics(abstract,comments)；分类 cs.RO

Comments preprint version accepted to be published in IEEE Transaction on Robotics. arXiv admin note: text overlap with arXiv:1908.01539

Journal ref IEEE Transactions on Robotics, 2021

Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation

Fahira Afzal Maken, Fabio Ramos, Lionel Ott

专题命中 机器人数据与评测 ：robotics(abstract,comments)；分类 cs.RO

Comments 8 pages, 3 figures, Robotics and Automation Letters

Journal ref Robotics and Automation Letters, 2022