机器人 / 具身智能

6-DOF Grasping for Target-driven Object Manipulation in Clutter

Adithyavairavan Murali, Arsalan Mousavian, Clemens Eppner, Chris Paxton, Dieter Fox

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

Comments Accepted to the International Conference on Robotics and Automation (ICRA) 2020

A Lobster-inspired Robotic Glove for Hand Rehabilitation

Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, Fang Wan, Chaoyang Song

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

Comments 6 pages, 8 figures, accepted for IEEE ICRA 2017

Journal ref 2017 IEEE International Conference on Robotics and Automation (ICRA)

A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes

Max Bajracharya, James Borders, Dan Helmick, Thomas Kollar, Michael Laskey, John Leichty, Jeremy Ma, Umashankar Nagarajan, Akiyoshi Ochiai, Josh Petersen, Krishna Shankar, Kevin Stone, Yutaka Takaoka

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

Comments The video is available at: https://youtu.be/HSyAGMGikLk. 7 pages, 5 figures, accepted by IEEE 2020 Robotics International Conference on Robotics and Automation (ICRA)

Joint Learning of Instance and Semantic Segmentation for Robotic Pick-and-Place with Heavy Occlusions in Clutter

Kentaro Wada, Kei Okada, Masayuki Inaba

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

Comments 7 pages, 13 figures, IEEE International Conference on Robotics and Automation (ICRA) 2019

ROBEL: Robotics Benchmarks for Learning with Low-Cost Robots

Michael Ahn, Henry Zhu, Kristian Hartikainen, Hugo Ponte, Abhishek Gupta, Sergey Levine, Vikash Kumar

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

Comments Published @ CoRL2019. For details visit - http://www.roboticsbenchmarks.org

Journal ref Conference on Robot Learning, 2019

kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion

Wei Gao, Russ Tedrake

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

Comments In submission. The video demo and source code are available on https://sites.google.com/view/generalizable-manipulation/

GarmNet: Improving Global with Local Perception for Robotic Laundry Folding

Daniel Fernandes Gomes, Shan Luo, Luis F. Teixeira

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

Comments 13 pages, 5 figures, published in the 20th Towards Autonomous Robotic Systems Conference

Learning Probabilistic Multi-Modal Actor Models for Vision-Based Robotic Grasping

Mengyuan Yan, Adrian Li, Mrinal Kalakrishnan, Peter Pastor

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

Journal ref The 2019 International Conference on Robotics and Automation (ICRA)

Learning Robust Manipulation Skills with Guided Policy Search via Generative Motor Reflexes

Philipp Ennen, Pia Bresenitz, Rene Vossen, Frank Hees

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

Comments IEEE International Conference on Robotics and Automation (ICRA) 2019

Learning a visuomotor controller for real world robotic grasping using simulated depth images

Ulrich Viereck, Andreas ten Pas, Kate Saenko, Robert Platt

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

Comments 1st Conference on Robot Learning (CoRL), 13-15 November 2017, Mountain View, CA

MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation

MorphIt：面向表征驱动适应的机器人形态的灵活球形近似

Nataliya Nechyporenko, Yutong Zhang, Sean Campbell, Alessandro Roncone

机构 * Human Interaction and RObotics [HIRO] Group（人机交互与机器人[HIRO]组） ； Department of Computer Science（计算机科学系） ； College of Engineering and Applied Science（工程与应用科学学院） ； University of Colorado Boulder（科罗拉多大学波尔得分校） 纠错

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

AI总结 MorphIt是一种新型球形近似框架，可将机器人形态表征作为可调资源，通过梯度优化实现任务驱动型形态适应，速度比同类方法快达100倍，能提升机器人碰撞检测等能力，为机器人操作开辟新前沿。

GIRAF: Towards Generalizable Human Interactions with Articulated Objects

GIRAF：迈向与关节物体的可泛化人类交互

Xiaohan Zhang, Sebastian Starke, Alexander Winkler, Federica Bogo, Samir Aroudj, Yuting Ye

机构 * Meta 纠错

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

AI总结 针对合成与关节物体的逼真全身人类交互难题，现有模型有局限。本文提出文本条件扩散模型，通过以物体为中心的表示、混合域训练策略和基于接触的增强方案应对挑战，实验证明其对未见物体配置泛化能力强，超越现有方法。

Comments 12 pages, 6 figures, 3 tables. Accepted at the Third Workshop on Human Motion Generation (HuMoGen), CVPR 2026

RMPflow: A Computational Graph for Automatic Motion Policy Generation

RMPflow：一种用于自动运动策略生成的计算图

Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

机构 * NVIDIA, Seattle Robotics Lab（NVIDIA西雅图机器人实验室） ； Georgia Institute of Technology, Robot Learning Lab（佐治亚理工学院机器人学习实验室） ； University of Washington, Robotics and State Estimation Lab（华盛顿大学机器人与状态估计实验室） 纠错

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

AI总结 本文提出了一种基于Riemannian Motion Policies几何一致变换的新型策略合成算法RMPflow，通过结合局部策略生成全局策略并利用稀疏结构提高计算效率，同时研究了其几何性质并验证了在高自由度 manipulation 系统中通过障碍物规划的简化效果。

Comments WAFR 2018

On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning

关键点模仿学习的泛化能力、设计选择与局限性

Thomas Lips, Marco Moletta, Michael C. Welle, Danica Kragic, Francis wyffels

机构 * AI and Robotics Lab, IDLAB-AIRO, Ghent University-imec（人工智能与机器人实验室，IDLAB-AIRO，根特大学-imec） ； Robotics, Perception and Learning Lab, (RPL), EECS, KTH Royal Institute of Technology（机器人、感知与学习实验室，（RPL），EECS，皇家理工学院） ； INCAR Robotics AB, Stockholm, Sweden（INCAR机器人公司，斯德哥尔摩，瑞典） 纠错

专题命中 机器人操作 ：manipulation(abstract,abstract_cn)；robot learning(abstract)；robotic(abstract)；分类 cs.RO

AI总结 本文通过2000多次真实世界实验，系统评估了基于视觉基础模型的关键点模仿学习在机器人操作中的泛化能力、设计选择及局限性，发现其总体成功率达75%，显著优于RGB基线（47%），与S2扩散模型（73%）相当，但未超越其他表示方法且继承了基础模型的局限。

Comments This version was submitted to IROS 2026

Hybrid Training for Vision-Language-Action Models

视觉-语言-动作模型的混合训练

Pietro Mazzaglia, Cansu Sancaktar, Markus Peschl, Daniel Dijkman

机构 * Qualcomm AI Research（高通AI研究） 纠错

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

AI总结 本文提出混合训练框架，旨在使视觉-语言-动作模型在推理时能够根据需要生成思考过程或直接预测动作，从而在保持性能提升的同时提高推理效率。

Comments Published as a conference paper at ICLR 2026

LLMPhy: Parameter-Identifiable Physical Reasoning Combining Large Language Models and Physics Engines

LLMPhy: 结合大语言模型和物理引擎的参数可识别物理推理

Anoop Cherian, Radu Corcodel, Siddarth Jain, Diego Romeres

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

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

AI总结 LLMPhy通过整合大语言模型与物理引擎，解决复杂物理推理中参数识别问题，提出数字孪生构建方法，引入新数据集验证性能，实现更准确的参数恢复与稳定收敛。

Comments Accepted at AISTATS 2026

RePose-NeRF: Robust Radiance Fields for Mesh Reconstruction under Noisy Camera Poses

Sriram Srinivasan, Gautam Ramachandra

机构 * Bellatrix Aerospace（贝尔拉克斯航空航天） 纠错

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

Comments Several figures are included to illustrate the reconstruction and rendering quality of the proposed method, which is why the submission exceeds the 50MB file size limit. > Several figures are included to illustrate the reconstruction and rendering quality of the proposed method, which is why the submission exceeds the 50,000 KB file size limit (Now this has been resolved)

Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation

Akshaya Agrawal, Parker Mayer, Zachary Kingston, Geoffrey A. Hollinger

机构 * Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University（协作机器人与智能系统研究所，俄勒冈州立大学） ； Department of Computer Science, Purdue University（计算机科学系，普渡大学） 纠错

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

Comments Accepted for publication at IEEE International Conference on Robotics and Automation (ICRA) 2025

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA), pp. 7726-7732, 2025

Image-Based Visual Servoing for Enhanced Cooperation of Dual-Arm Manipulation

Zizhe Zhang, Yuan Yang, Wenqiang Zuo, Guangming Song, Aiguo Song, Yang Shi

机构 * Department of Electrical and System Engineering, University of Pennsylvania（电气与系统工程系，宾夕法尼亚大学） ； School of Instrument Science and Engineering, Southeast University（仪器科学与工程学院，东南大学） ； School of Materials Science and Engineering, Southeast University（材料科学与工程学院，东南大学） ； Department of Mechanical Engineering, University of Victoria（机械工程系，维多利亚大学） 纠错

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

Comments 8 pages, 7 figures. Project website: https://zizhe.io/ral-ibvs-enhanced/. This work has been accepted to the IEEE Robotics and Automation Letters in Feb 2025

Journal ref IEEE Robotics and Automation Letters 10 (2025) 3374-3381

Generalizing Multi-Objective Search via Objective-Aggregation Functions

Hadar Peer, Eyal Weiss, Ron Alterovitz, Oren Salzman

机构 * Technion, Israel Institute of Technology（技术学院，以色列理工学院） ； University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校） 纠错

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

EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos

Ruihan Yang, Qinxi Yu, Yecheng Wu, Rui Yan, Borui Li, An-Chieh Cheng, Xueyan Zou, Yunhao Fang, Xuxin Cheng, Ri-Zhao Qiu, Hongxu Yin, Sifei Liu, Song Han, Yao Lu, Xiaolong Wang

机构 * UC San Diego（加州大学圣地亚哥分校） ； UIUC（伊利诺伊大学香槟分校） ； MIT（麻省理工学院） ； NVIDIA（英伟达） 纠错

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

Comments More videos can be found on our website: https://rchalyang.github.io/EgoVLA

IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion

Hongming Chen, Yiyang Lin, Ziliang Li, Biyu Ye, Yuying Zhang, Ximin Lyu

机构 * School of Intelligent Systems Engineering, Sun Yat-sen University（智能系统工程学院，中山大学） 纠错

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

OVAL-Prompt: Open-Vocabulary Affordance Localization for Robot Manipulation through LLM Affordance-Grounding

Edmond Tong, Anthony Opipari, Stanley Lewis, Zhen Zeng, Odest Chadwicke Jenkins

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

Comments Accepted to Vision-Language Models for Navigation and Manipulation (VLMNM) Workshop (ICRA 2024)

RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation

Guanrui Li, Xinyang Liu, Giuseppe Loianno

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

Comments This paper has been accepted for publication in the IEEE Transactions on Robotics (T-RO), 2024. Please cite the paper using appropriate formats

Journal ref IEEE Transactions on Robotics (T-RO), 2024

On Bringing Robots Home

Nur Muhammad Mahi Shafiullah, Anant Rai, Haritheja Etukuru, Yiqian Liu, Ishan Misra, Soumith Chintala, Lerrel Pinto

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

Comments Project website and videos are available at https://dobb-e.com, technical documentation for getting started is available at https://docs.dobb-e.com, and code is released at https://github.com/notmahi/dobb-e

Robots as AI Double Agents: Privacy in Motion Planning

Rahul Shome, Zachary Kingston, Lydia E. Kavraki

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

Comments To be published at at 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems

Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation

Teng Xue, Hakan Girgin, Teguh Santoso Lembono, Sylvain Calinon

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

Comments This paper has been accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA), London, 2023

Journal ref IEEE International Conference on Robotics and Automation (ICRA), London, 2023

Human-Multirobot Collaborative Mobile Manipulation: the Omnid Mocobots

Matthew L. Elwin, Billie Strong, Randy A. Freeman, Kevin M. Lynch

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

Comments 8 pages, 10 figures. Videos available at https://www.youtube.com/watch?v=SEuFfONryL0. Submitted to IEEE Robotics and Automation Letters (RA-L)

Journal ref IEEE Robotics and Automation Letters (RA-L), January 2023, Volume 8, Issue 1, Pages 376-383, ISSN 2377-3766

A Survey of Robot Manipulation in Contact

Markku Suomalainen, Yiannis Karayiannidis, Ville Kyrki

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

Comments Accepted for publication in Robotics and Autonomous Systems

Journal ref Robotics and Autonomous Systems, Volume 156, 2022, 104224, ISSN 0921-8890,

RBO Hand 3 -- A Platform for Soft Dexterous Manipulation

Steffen Puhlmann, Jason Harris, Oliver Brock

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

Comments This paper is currently under revision in IEEE Transactions on Robotics

Journal ref IEEE Transactions on Robotics, 2022