机器人 / 具身智能 - arXivDaily 专题

2310.14386 2023-10-24 cs.RO cs.CV cs.LG 83%

Learning Generalizable Manipulation Policies with Object-Centric 3D Representations

Yifeng Zhu, Zhenyu Jiang, Peter Stone, Yuke Zhu

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.CV、cs.LG；robot learning(comments)

Comments Accepted at the 7th Annual Conference on Robot Learning (CoRL), 2023 in Atlanta, US

2309.00987 2023-10-17 cs.RO cs.AI cs.LG 83%

Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation

Yuanpei Chen, Chen Wang, Li Fei-Fei, C. Karen Liu

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments 7th Conference on Robot Learning (CoRL 2023)

2301.05609 2023-08-09 cs.RO cs.CV cs.LG 83%

Co-manipulation of soft-materials estimating deformation from depth images

Giorgio Nicola, Enrico Villagrossi, Nicola Pedrocchi

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.CV、cs.LG；robotics(comments)

Comments Pre-print, Accepted to Robotics and Computer Integrated Manufacturing

2211.09423 2022-11-21 cs.RO cs.CV cs.LG 83%

DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation

Yuzhe Qin, Binghao Huang, Zhao-Heng Yin, Hao Su, Xiaolong Wang

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.CV、cs.LG；robot learning(comments)

Comments Conference on Robot Learning (CoRL) 2022; project page: https://yzqin.github.io/dexpoint

2203.06856 2022-08-09 cs.CV cs.AI cs.RO 83%

ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation

Bokui Shen, Zhenyu Jiang, Christopher Choy, Leonidas J. Guibas, Silvio Savarese, Anima Anandkumar, Yuke Zhu

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.CV；robotics(journal_ref)

Comments RSS 2022 Best Student Paper Award Finalist. Please check out more details at https://b0ku1.github.io/acid/

Journal ref Robotics: Science and Systems (RSS), 2022

2107.08865 2022-07-15 cs.RO cs.AI cs.LG 83%

Ab Initio Particle-based Object Manipulation

Siwei Chen, Xiao Ma, Yunfan Lu, David Hsu

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Robotics: Science and Systems (RSS) 2021

2201.12716 2022-05-09 cs.RO cs.AI cs.CV cs.SY eess.SY 83%

You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration

Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.CV；robotics(journal_ref)

Journal ref Robotics: Science and Systems (RSS) 2022

2202.04877 2022-02-11 cs.RO cs.AI cs.CV 83%

Memory-based gaze prediction in deep imitation learning for robot manipulation

Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.CV；robotics(comments)

Comments 7 pages. Accepted in 2022 IEEE/RSJ International Conference on Robotics and Automation (ICRA)

2111.07999 2021-11-16 cs.LG cs.AI cs.RO 83%

Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization

Youngwoon Lee, Joseph J. Lim, Anima Anandkumar, Yuke Zhu

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments Published at the Conference on Robot Learning (CoRL) 2021

2111.06383 2021-11-12 cs.LG cs.AI cs.RO 83%

Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation

I-Chun Arthur Liu, Shagun Uppal, Gaurav S. Sukhatme, Joseph J. Lim, Peter Englert, Youngwoon Lee

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments Published at the Conference on Robot Learning (CoRL) 2021

2011.02462 2020-11-05 cs.RO cs.AI cs.LG 83%

Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps

Jialiang Zhao, Daniel Troniak, Oliver Kroemer

专题命中机器人操作：robotic(title,abstract)；分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments Submitted and accepted to 4th Conference on Robot Learning (CoRL2020)

2010.11704 2020-10-23 cs.CV cs.AI cs.RO eess.IV 83%

Using Conditional Generative Adversarial Networks to Reduce the Effects of Latency in Robotic Telesurgery

Neil Sachdeva, Misha Klopukh, Rachel St. Clair, William Hahn

专题命中机器人操作：robotic(title,abstract)；分类 cs.RO、cs.AI、cs.CV

Comments 6 pages with 5 figures and 1 table. J Robotic Surg (2020)

1910.04729 2019-10-11 cs.LG cs.AI cs.RO stat.ML 83%

Efficient Intrinsically Motivated Robotic Grasping with Learning-Adaptive Imagination in Latent Space

Muhammad Burhan Hafez, Cornelius Weber, Matthias Kerzel, Stefan Wermter

专题命中机器人操作：robotic(title,abstract)；分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments In: Proceedings of the Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), Oslo, Norway, Aug. 19-22, 2019

1909.02129 2019-09-06 cs.RO cs.CV cs.LG 83%

Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation

Jialiang Zhao, Jacky Liang, Oliver Kroemer

专题命中机器人操作：robotic(title,abstract)；分类 cs.RO、cs.CV、cs.LG；robotics(comments)

Comments Submitted and accepted to 12th Conference on Field and Service Robotics (FSR 2019)

1808.00177 2019-01-23 cs.LG cs.AI cs.RO stat.ML 83%

Learning Dexterous In-Hand Manipulation

OpenAI, Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafal Jozefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, Jonas Schneider, Szymon Sidor, Josh Tobin, Peter Welinder, Lilian Weng, Wojciech Zaremba

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.LG

Comments Making OpenAI the first author. We wish this paper to be cited as "Learning Dexterous In-Hand Manipulation" by OpenAI et al. We are replicating the approach from the physics community: arXiv:1812.06489

1803.05752 2018-09-21 cs.RO cs.AI cs.LG 83%

Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning

Weihao Yuan, Johannes A. Stork, Danica Kragic, Michael Y. Wang, Kaiyu Hang

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments 2018 International Conference on Robotics and Automation

1504.03071 2015-09-22 cs.RO cs.AI cs.LG 83%

Robobarista: Object Part based Transfer of Manipulation Trajectories from Crowd-sourcing in 3D Pointclouds

Jaeyong Sung, Seok Hyun Jin, Ashutosh Saxena

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments In International Symposium on Robotics Research (ISRR) 2015

1212.6837 2013-01-01 cs.RO cs.AI cs.CV 83%

Autonomously Learning to Visually Detect Where Manipulation Will Succeed

Hai Nguyen, Charles C. Kemp

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI、cs.CV

Comments 15 pages, 10 figures. Submitted to the Autonomous Robots Journal Special Issue "Beyond Grasping - Modern Approaches for Dexterous Manipulation"

2608.12122 2026-08-13 cs.RO cs.CV 新提交 82%

HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing

HandEdit：用于自我中心视角下人类到机器人灵巧手图像编辑的统一基准

Zhenjie Yang, Xingyu Jiao, Guopeng Zhong, Shuzhe Yang, Shi Che, Chao Wu, Chenyu Jiang, Dongjie Zhang, Yideng Zhang, Zheng Zhang, Muyun Jiang, Haisheng Su, Shuang Jin, Donghang Zhang, Chao Yang, Li Chen, Hongyang Li, Zuxuan Wu, Yu-Gang Jiang, Xiaosong Jia, Junchi Yan

专题命中机器人操作：robotics(abstract)；embodied AI(abstract)；manipulation(abstract)；robotic(abstract)

AI总结 HandEdit是含2亿+实例、覆盖26种URDF的统一具身感知图像编辑基准，用于弥合人类与机器人数据差异，可评估11种图像编辑基线，助力具身人工智能发展。

Comments Technical Report. Project Page: https://handedit.github.io/

2605.05756 2026-05-08 cs.RO cs.CV 82%

MaMi-HOI: Harmonizing Global Kinematics and Local Geometry for Human-Object Interaction Generation

MaMi-HOI：协调全局运动学与局部几何以生成人-物交互

Hao Wang, Shiqi Wang, Qi Liu

机构 * School of Future Technology, South China University of Technology, Guangzhou, Guangdong, China（未来技术学院，华南理工大学，广州，广东，中国）

专题命中机器人操作：embodied AI(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

AI总结本文提出MaMi-HOI框架，通过几何感知接近适配器和运动学和谐适配器协调宏观运动流畅性与微观空间精度，实现自然运动与精确接触的平衡，扩展了长轨迹生成能力。

2512.01629 2025-12-03 cs.CV cs.RO 82%

SPARK: Sim-ready Part-level Articulated Reconstruction with VLM Knowledge

SPARK: 面向模拟的关节化重建与VLK知识

Yumeng He, Ying Jiang, Jiayin Lu, Yin Yang, Chenfanfu Jiang

专题命中机器人操作：robotics(abstract)；embodied AI(abstract)；manipulation(abstract)；robotic(abstract)

AI总结 SPARK通过结合VLK和生成扩散模型，实现从单张图像中生成物理一致的关节化3D物体，提升机器人操作和交互建模的应用效果。

Comments Project page: https://heyumeng.com/SPARK/index.html. 17 pages, 7 figures

2102.01295 2025-05-23 cs.RO cs.AI 82%

Gaze-based dual resolution deep imitation learning for high-precision dexterous robot manipulation

Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi

机构 * Laboratory for Intelligent Systems and Informatics, Graduate School of Information Science and Technology, The University of Tokyo（智能系统与信息学实验室，信息科学与技术研究生院，东京大学）

专题命中机器人操作：manipulation(title,abstract)；robotics(comments,journal_ref)；分类 cs.RO、cs.AI

Comments 8 pages. The supplementary video can be found at: https://www.youtube.com/watch?v=ytpChcFqD5g Published in IEEE Robotics and Automation Letters. Replaced to add video url in the manuscript

Journal ref IEEE Robotics and Automation Letters, Vol. 6, No. 2, 2021

2503.04931 2025-03-10 cs.RO cs.AI 82%

Curiosity-Driven Imagination: Discovering Plan Operators and Learning Associated Policies for Open-World Adaptation

Pierrick Lorang, Hong Lu, Matthias Scheutz

专题命中机器人操作：robotics(abstract)；manipulation(abstract)；world model(abstract)；robotic(abstract)

Comments 8 pages, 4 figures. Accepted at ICRA 2025

2403.10454 2024-10-08 cs.RO cs.AI 82%

Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness

Aidan Curtis, George Matheos, Nishad Gothoskar, Vikash Mansinghka, Joshua Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling

专题命中机器人操作：robotics(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

2409.01581 2024-09-04 cs.RO cs.AI 82%

GaussianPU: A Hybrid 2D-3D Upsampling Framework for Enhancing Color Point Clouds via 3D Gaussian Splatting

Zixuan Guo, Yifan Xie, Weijing Xie, Peng Huang, Fei Ma, Fei Richard Yu

专题命中机器人操作：robotics(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

Comments 7 pages, 5 figures

2404.00442 2024-04-02 cs.RO cs.AI cs.HC 82%

Interactive Multi-Robot Flocking with Gesture Responsiveness and Musical Accompaniment

Catie Cuan, Kyle Jeffrey, Kim Kleiven, Adrian Li, Emre Fisher, Matt Harrison, Benjie Holson, Allison Okamura, Matt Bennice

专题命中机器人操作：robotics(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

2206.01411 2023-03-21 cs.RO cs.AI 82%

One-shot Learning for Autonomous Aerial Manipulation

Claudio Zito, Eliseo Ferrante

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.AI；robotics(journal_ref)

Comments aerial manipulation, aerial grasping, one-shot learning, collaborative transportation

Journal ref Frontiers in Robotics and AI, Sec. Computational Intelligence in Robotics, Volume 9, 2022

2207.02856 2022-07-08 cs.RO cs.CV cs.SY eess.SY 82%

Physical Interaction and Manipulation of the Environment using Aerial Robots

Azarakhsh Keipour

专题命中机器人操作：manipulation(title,abstract)；分类 cs.RO、cs.CV；robotics(comments)

Comments Robotics Ph.D. Dissertation - Carnegie Mellon University Robotics Institute, May 2022 https://www.ri.cmu.edu/publications/physical-interaction-and-manipulation-of-the-environment-using-aerial-robots/

1703.10254 2020-06-02 cs.RO cs.AI 82%

Bandit-Based Model Selection for Deformable Object Manipulation

Dale McConachie, Dmitry Berenson

专题命中机器人操作：manipulation(title,abstract)；robotics(comments,journal_ref)；分类 cs.RO、cs.AI

Comments Presented at the Workshop on the Algorithmic Foundations of Robotics, 2016, San Francisco, CA

Journal ref Algorithmic Foundations of Robotics XII. Springer Proceedings in Advanced Robotics, vol 13 (2020)

2603.29227 2026-07-28 cs.RO 版本更新 82%

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

基于核回归的SDF库：利用核回归进行实时符号距离函数估计的开源库

Zhirui Dai, Tianxing Fan, Mani Amani, Jaemin Seo, Ki Myung Brian Lee, Hyondong Oh, Nikolay Atanasov

机构 * University of California, San Diego（加州大学圣地亚哥分校）； Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院）

专题命中机器人操作：robotics(abstract,comments)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

AI总结本文提出Kernel-SDF开源库，通过核回归实时估计带不确定性的符号距离函数，提供高精度SDF、梯度和网格构造，适用于机器人应用。

Comments Accepted to IEEE Robotics and Automation Letters (RA-L) 2026; code: https://github.com/ExistentialRobotics/kernel_sdf

1. 机器人操作 22067 篇

Learning Generalizable Manipulation Policies with Object-Centric 3D Representations

Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation

Co-manipulation of soft-materials estimating deformation from depth images

DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation

ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation

Ab Initio Particle-based Object Manipulation

You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration

Memory-based gaze prediction in deep imitation learning for robot manipulation

Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization

Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation

Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps

Using Conditional Generative Adversarial Networks to Reduce the Effects of Latency in Robotic Telesurgery

Efficient Intrinsically Motivated Robotic Grasping with Learning-Adaptive Imagination in Latent Space

Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation

Learning Dexterous In-Hand Manipulation

Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning

Robobarista: Object Part based Transfer of Manipulation Trajectories from Crowd-sourcing in 3D Pointclouds

Autonomously Learning to Visually Detect Where Manipulation Will Succeed

HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing

MaMi-HOI: Harmonizing Global Kinematics and Local Geometry for Human-Object Interaction Generation

SPARK: Sim-ready Part-level Articulated Reconstruction with VLM Knowledge

Gaze-based dual resolution deep imitation learning for high-precision dexterous robot manipulation

Curiosity-Driven Imagination: Discovering Plan Operators and Learning Associated Policies for Open-World Adaptation

Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness

GaussianPU: A Hybrid 2D-3D Upsampling Framework for Enhancing Color Point Clouds via 3D Gaussian Splatting

Interactive Multi-Robot Flocking with Gesture Responsiveness and Musical Accompaniment

One-shot Learning for Autonomous Aerial Manipulation

Physical Interaction and Manipulation of the Environment using Aerial Robots

Bandit-Based Model Selection for Deformable Object Manipulation

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