机器人 / 具身智能

Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation

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

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

Comments Submitted to RA-L with ICRA 2019

Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision

Kuan Fang, Yuke Zhu, Animesh Garg, Andrey Kurenkov, Viraj Mehta, Li Fei-Fei, Silvio Savarese

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

Comments RSS 2018

Formal Guarantees on the Robustness of a Classifier against Adversarial Manipulation

Matthias Hein, Maksym Andriushchenko

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

Comments final version accepted at NIPS 2017, fixed bug in implementation of Cross-Lipschitz regularization and lower bound computation, now results are better

ZM-Net: Real-time Zero-shot Image Manipulation Network

Hao Wang, Xiaodan Liang, Hao Zhang, Dit-Yan Yeung, Eric P. Xing

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

Learning Preferences for Manipulation Tasks from Online Coactive Feedback

Ashesh Jain, Shikhar Sharma, Thorsten Joachims, Ashutosh Saxena

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

Comments IJRR accepted (Learning preferences over trajectories from coactive feedback)

Deep Learning for Detecting Robotic Grasps

Ian Lenz, Honglak Lee, Ashutosh Saxena

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

Comments Current version was accepted to IJRR Special Issue on Robot Vision 2014 Workshop version accepted to ICLR 2013. Conference version accepted to RSS 2013

Time manipulation technique for speeding up reinforcement learning in simulations

Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota

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

Comments 12 pages

Journal ref International Journal of Cybernetics and Information Technologies, vol. 8, no. 1, pp. 12-24, 2008

DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation

DECOWAM：用于腿式移动操作的解耦全身世界-动作模型

Siyuan Ma, Boshi Zhang, Yutian Zhang, Qinglian Wu, Jiaqi Zhai, Dong Wei, Qiaojun Yu

机构 * Tsinghua University（清华大学） ； Shanghai Artificial Intelligence Laboratory（上海人工智能实验室） ； Harbin Institute of Technology（哈尔滨工业大学） ； Hangzhou Yunshenchu Technology Co., Ltd. (DEEP Robotics)（杭州云神初科技有限公司（深智机器人）） 纠错

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

AI总结 本研究提出DECOWAM模型，通过解耦全身动作因素提升移动操作的视觉与动作预测性能，在真实机器人数据集ARMDOG上验证了其在协调性和鲁棒性上的优势。

Comments 8 pages, 5 figures. Introduces DECOWAM, a decoupled whole-body world-action model for legged mobile manipulation, and the ARMDOG real-robot dataset

C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video

C2Dex：基于单目视频的接触一致性重建与灵巧操作重定向

Jie Ren, Zhehao Jiang, Yinhong Yang, Haorui Jia, Han Jiang, Ben Li, Yao Yao, Cheng Lin, Qiu Shen, Zhenshan Bing, Xiao-Xiao Long, Xun Cao

机构 * Nanjing University（南京大学） ； China Mobile Research Institute（中国移动研究院） 纠错

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

AI总结 C2Dex是基于单目视频的灵巧操作框架，通过聚合物体侧稳定接触实现HOI重建与手物几何保留，在DexYCB、TACO上的轨迹成功率显著优于基线，且真实机器人复现可行。

Comments 9 pages, 5 figures. Submitted to IEEE Robotics and Automation Letters (RA-L). Project page: https://k-jie.github.io/C2Dex/

AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation

AxisGuide: 在RGB观测中接地机器人动作坐标系以实现鲁棒的视觉运动操控

Jiyun Jang, Yujin Sung, Woosung Joung, Daewon Chae, Sangwon Lee, Sohwi Kim, Jinkyu Kim, Jungbeom Lee

机构 * Korea University（韩国大学） ； University of Michigan（密歇根大学） ； KT R&D Center（KT研发中心） ； Kakao Mobility（Kakao移动） 纠错

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

AI总结 针对视觉运动策略在分布偏移下动作执行失败的问题，提出AxisGuide方法，通过渲染机器人基座坐标系轴并叠加提示通道，增强动作坐标理解，显著提升泛化性能。

Comments Accepted to Robotics: Science and Systems (RSS) 2026

ActivePusher: Active Learning and Planning with Residual Physics for Nonprehensile Manipulation

ActivePusher: 基于残差物理的主动学习与规划用于非抓取操作

Zhuoyun Zhong, Seyedali Golestaneh, Constantinos Chamzas

机构 * Department of Robotics Engineering, Worcester Polytechnic Institute (WPI)（机器人工程系，沃斯特理工学院（WPI）） 纠错

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

AI总结 本文提出ActivePusher框架，结合残差物理模型与不确定性主动学习，提升非抓取操作的数据效率和规划成功率。

Comments Accepted by the 2026 IEEE International Conference on Robotics & Automation (ICRA 2026)

A Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven Deformable Linear Object Manipulation

基于分布的实-仿-实方法用于视觉驱动的可变形线性物体操控中的对象中心智能体适应

Georgios Kamaras, Subramanian Ramamoorthy

机构 * School of Informatics, The University of Edinburgh（信息学院，爱丁堡大学） 纠错

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

AI总结 本文提出基于分布的实-仿-实方法，通过视觉感知操控可变形线性物体，利用无需模型推断进行域随机化训练，实现无微调的现实应用。

Journal ref In IEEE Robotics and Automation Letters, Volume 10, Issue 8, August 2025, Pages 8075-8082

Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets

近似最优的接触丰富SE(2)操作在可达集图上的全局规划

Simin Liu, Tong Zhao, Bernhard Paus Graesdal, Peter Werner, Jiuguang Wang, John Dolan, Changliu Liu, Tao Pang

机构 * Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人学院） ； Robotics and AI Institute（机器人与人工智能研究所） ； CSAIL, Massachusetts Institute of Technology（麻省理工学院计算机科学与人工智能实验室） 纠错

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

AI总结 本文提出了一种近似最优的接触丰富SE(2)操作全局规划方法，通过构建可达集图实现高效运动规划，显著提升了任务效率和成功率。

Comments 17 pages, 14 figures; under submission to IEEE Transactions on Robotics

Enhancing Interpretability and Interactivity in Robot Manipulation: A Neurosymbolic Approach

提升机器人操作的可解释性和交互性：一种神经符号方法

Georgios Tziafas, Hamidreza Kasaei

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

AI总结 本文提出一种神经符号方法，通过结合语言引导的视觉推理与机器人操作，提升可解释性和交互性，实现80.2%的成功率。

Comments Published in International Journal of Robotics Research (IJRR) (2025)

Decentralized Aerial Manipulation of a Cable-Suspended Load using Multi-Agent Reinforcement Learning

Jack Zeng, Andreu Matoses Gimenez, Eugene Vinitsky, Javier Alonso-Mora, Sihao Sun

机构 * Delft University of Technology（代尔夫特理工大学） ； NYU Tandon School of Engineering（纽约大学坦顿工程学院） 纠错

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

Journal ref Proceedings of the 9th Conference on Robot Learning, PMLR 305:3850-3868, 2025

Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations

Yuki Shirai, Arvind Raghunathan, Devesh K. Jha

机构 * Mitsubishi Electric Research Laboratories（三菱电机研究实验室） 纠错

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

Comments 2025 IEEE International Conference on Robotics and Automation (2025 ICRA)

Domain Translation of a Soft Robotic Arm using Conditional Cycle Generative Adversarial Network

Nilay Kushawaha, Carlo Alessi, Lorenzo Fruzzetti, Egidio Falotico

机构 * The BioRobotics Institute（生物机器人研究所） ； Scuola Superiore Sant’Anna（高级科学学院） ； CNR - Consiglio Nazionale Ricerche（国家研究理事会） 纠错

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

Comments Accepted at IEEE International Conference on Robotic Systems and Applications

Goal-conditioned dual-action imitation learning for dexterous dual-arm 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.CV；robotics(comments)

Comments 19 pages, published in Transactions on Robotics (T-RO)

Fuzzy-RRT for Obstacle Avoidance in a 2-DOF Semi-Autonomous Surgical Robotic Arm

Kaaustaaub Shankar, Wilhelm Louw, Bharadwaj Dogga, Nick Ernest, Tim Arnett, Kelly Cohen

机构 * College of Engineering and Applied Science, University of Cincinnati（工程与应用科学学院，辛辛那提大学） ； Thales Avionics（泰勒斯航空电子） 纠错

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

Comments 9 pages, 5 figures. Submitted to NAFIPS 2025 Conference (North American Fuzzy Information Processing Society). Includes results on Fuzzy-RRT performance in surgical robotics path planning

General-purpose Clothes Manipulation with Semantic Keypoints

Yuhong Deng, David Hsu

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

Comments accepted by IEEE International Conference on Robotics and Automation (ICRA 2025)

Whole-Body Teleoperation for Mobile Manipulation at Zero Added Cost

Daniel Honerkamp, Harsh Mahesheka, Jan Ole von Hartz, Tim Welschehold, Abhinav Valada

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

Comments Project Website: https://moma-teleop.cs.uni-freiburg.de

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 4, pp. 3198-3205, April 2025

GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy

So Kuroki, Jiaxian Guo, Tatsuya Matsushima, Takuya Okubo, Masato Kobayashi, Yuya Ikeda, Ryosuke Takanami, Paul Yoo, Yutaka Matsuo, Yusuke Iwasawa

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

Comments Published in the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024). arXiv admin note: substantial text overlap with arXiv:2306.09872

Screw Geometry Meets Bandits: Incremental Acquisition of Demonstrations to Generate Manipulation Plans

Dibyendu Das, Aditya Patankar, Nilanjan Chakraborty, C. R. Ramakrishnan, I. V. Ramakrishnan

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

Comments 8 pages, 6 figures, under review in IEEE Robotics and Automation Letters

Bayesian optimization for robust robotic grasping using a sensorized compliant hand

Juan G. Lechuz-Sierra, Ana Elvira H. Martin, Ashok M. Sundaram, Ruben Martinez-Cantin, Máximo A. Roa

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

Journal ref IEEE Robotics and Automation Letters ( Volume: 9, Issue: 11, November 2024)

Flow as the Cross-Domain Manipulation Interface

Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song

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

Comments Conference on Robot Learning 2024

Constant-time Motion Planning with Anytime Refinement for Manipulation

Itamar Mishani, Hayden Feddock, Maxim Likhachev

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

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 10337-10343

HRP: Human Affordances for Robotic Pre-Training

Mohan Kumar Srirama, Sudeep Dasari, Shikhar Bahl, Abhinav Gupta

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

Comments Accepted to Robotics Science and Systems 2024

Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization

Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan

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

Comments Accepted for IEEE Transactions on Robotics. arXiv admin note: text overlap with arXiv:2203.11412

Learning Extrinsic Dexterity with Parameterized Manipulation Primitives

Shih-Min Yang, Martin Magnusson, Johannes A. Stork, Todor Stoyanov

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

Comments 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)

The Impact of Evolutionary Computation on Robotic Design: A Case Study with an Underactuated Hand Exoskeleton

Baris Akbas, Huseyin Taner Yuksel, Aleyna Soylemez, Mazhar Eid Zyada, Mine Sarac, Fabio Stroppa

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

Comments 6 pages (+ref), 4 figures, IEEE International Conference on Robotics and Automation (ICRA) 2024