机器人 / 具身智能

Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks

Anh Nguyen, Dimitrios Kanoulas, Luca Muratore, Darwin G. Caldwell, Nikos G. Tsagarakis

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

Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration

Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel

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

Comments Accepted at International Conference on Intelligent Robots and Systems(IROS) 2016. Pdf file updated for stylistic consistency

Deep Reinforcement Learning for Robotic Manipulation-The state of the art

Smruti Amarjyoti

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

Comments 18 pages

Kitchen Robotic Manipulation utilizing Foundation Models

基于基础模型的厨房机器人操作

Myung-Hwan Jeon, Sankalp Yamsani, Joohyung Kim

机构 * Kumoh National Institute of Technology（金乌国立技术大学） ； University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） 纠错

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

AI总结 本研究提出一种整合多种基础模型的模块化厨房机器人感知流水线，经评估优化后可在杂乱遮挡场景下实现89.12%的ADI，无需环境重训练即可完成餐具处理等家庭操作任务。

Comments Intelligent Service Robotics (ISR)

TabletopGen: Tabletop Scene Generation and Interactive Simulation for Robotic Manipulation

TabletopGen: 桌面场景生成与机器人操作的交互式仿真

Ziqian Wang, Yonghao He, Licheng Yang, Wei Zou, Hongxuan Ma, Liu Liu, Wei Sui, Yuxin Guo, Hu Su

机构 * School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院） ； State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS), Institute of Automation, Chinese Academy of Sciences（中国科学院多模态人工智能系统国家重点实验室） ； D-Robotics ； Horizon Robotics 纠错

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

AI总结 提出TabletopGen，一种无需训练的全自动桌面场景生成与交互仿真引擎，通过实例提取、位姿对齐和物理仿真生成可交互场景，用于机器人操作数据合成。

Comments Project page: https://d-robotics-ai-lab.github.io/TabletopGen.project/

Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation

语义结构化混合专家用于组合机器人操作

Chengyu Deng, Guanqi Chen, Yizhou Chen, Zejia Liu, Zhiwen Ruan, Guanhua Chen, Jia Pan

机构 * The University of Hong Kong（香港大学） ； Southern University of Science and Technology（南方科技大学） 纠错

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

AI总结 提出语义结构化混合专家扩散策略（SMoDP），通过视觉语言模型标注的技能语义指导专家专业化，实现参数高效的多任务组合操作。

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

Robo3R: Enhancing Robotic Manipulation with Accurate Feed-Forward 3D Reconstruction

Robo3R：通过精确的前馈3D重建增强机器人操作

Sizhe Yang, Linning Xu, Hao Li, Juncheng Mu, Jia Zeng, Dahua Lin, Jiangmiao Pang

机构 * Shanghai AI Laboratory（上海人工智能实验室） ； The Chinese University of Hong Kong（香港中文大学） ； University of Science and Technology of China（中国科学技术大学） ； Tsinghua University（清华大学） 纠错

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

AI总结 Robo3R通过前馈3D重建模型，直接从RGB图像和机器人状态实时预测高精度场景几何，提升机器人操作的精度与一致性。

Comments Published at Robotics: Science and Systems (RSS) 2026

Robotic Dexterous Manipulation via Anisotropic Friction Modulation using Passive Rollers

通过被动滚轮实现异向摩擦调节的机器人灵巧操作

Ethan Fisk, Taeyoon Lee, Shenli Yuan

机构 * Northeastern University（东北大学） ； RAI Institute（RAI研究所） 纠错

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

AI总结 本文提出一种通过被动滚轮调节接触摩擦和约束方向的机器人指尖设计，实现了多样化的灵巧操作，包括滑动、旋转和多物体 manipulation，展示了低复杂度机械高效摩擦调节方法的优越性。

Comments 2026 IEEE International Conference on Robotics & Automation

ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation

为安全高效的机器人操作而设计的基于ADMM的任务导向模型预测控制（ToMPC）

Xinyu Jia, Wenxin Wang, Jun Yang, Yongping Pan, Haoyong Yu

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

AI总结 本文提出一种基于ADMM的任务导向模型预测控制框架，用于安全高效的机器人操作。该框架结合碰撞自由运动和机器人环境交互，利用运动学冗余提高障碍环境下的操作效率。

Comments 8 pages, 10 figures, accepted by IEEE Robotics and Automation Letters (RAL)

ActivePose: Active 6D Object Pose Estimation and Tracking for Robotic Manipulation

ActivePose: 用于机器人操作的主动6D物体姿态估计与跟踪

Sheng Liu, Zhe Li, Weiheng Wang, Han Sun, Heng Zhang, Hongpeng Chen, Yusen Qin, Arash Ajoudani, Yizhao Wang

机构 * Karlsruhe Institute of Technology（卡尔斯鲁厄理工大学） ； Shanghai Jiao Tong University（上海交通大学） ； Istituto Italiano di Tecnologia（意大利理工学院） ； The Hong Kong Polytechnic University（香港理工大学） ； D-Robotics（D-机器人） 纠错

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

AI总结 ActivePose通过结合视觉-语言模型与机器人想象力，实现主动6D物体姿态估计与跟踪，提升机器人操作的可靠性。

Comments 6D Pose, Diffusion Policy, Robot Learning

Anomaly detection for generic failure monitoring in robotic assembly, screwing and manipulation

通用故障监控中机器人装配、拧螺钉和操作中的异常检测

Niklas Grambow, Lisa-Marie Fenner, Felipe Kempkes, Philip Hotz, Dingyuan Wan, Jörg Krüger, Kevin Haninger

机构 * Department of Automation at Fraunhofer IPK（弗劳恩霍夫研究所自动化部门） ； Department of Industrial Automation Technology at TU Berlin（柏林技术大学工业自动化技术部门） 纠错

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

AI总结 本文提出了一种适用于多种机器人任务的异常检测方法，通过比较不同自编码器方法，验证了其在不同任务和控制策略中的泛化能力，并展示了在布线和拧螺钉任务中高可靠性的检测效果。

Comments 8 pages, 5 figures, 4 tables, the paper has been accepted for publication in the IEEE Robotics and Automation Letters

HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation

Jingyuan Sun, Chaoran Wang, Mingyu Zhang, Cui Miao, Hongyu Ji, Zihan Qu, Han Sun, Bing Wang, Qingyi Si

机构 * Shanghai Huawei Technologies Co., Ltd.（上海华为技术有限公司） 纠错

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

Comments 4 pages, 2 figures, this paper has been accepted for the workshop Perception and Planning for Mobile Manipulation in Changing Environments (PM2CE) at IROS 2025

Generative Visual Foresight Meets Task-Agnostic Pose Estimation in Robotic Table-Top Manipulation

Chuye Zhang, Xiaoxiong Zhang, Wei Pan, Linfang Zheng, Wei Zhang

机构 * Southern University of Science and Technology（南方科技大学） ； LimX Dynamics（LimX动力学） ； The University of Hong Kong（香港大学） 纠错

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

Comments 9th Conference on Robot Learning (CoRL 2025), Seoul, Korea

FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation

Zihao He, Hongjie Fang, Jingjing Chen, Hao-Shu Fang, Cewu Lu

机构 * Shanghai Jiao Tong University（上海交通大学） 纠错

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

Comments Accepted to Robotics and Automation Letters. 9 pages, 5 figures

Gripper Keypose and Object Pointflow as Interfaces for Bimanual Robotic Manipulation

Yuyin Yang, Zetao Cai, Yang Tian, Jia Zeng, Jiangmiao Pang

机构 * Shanghai AI Laboratory（上海人工智能实验室） ； Fudan University（复旦大学） ； Zhejiang University（浙江大学） ； Peking University（北京大学） 纠错

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

Comments Published at Robotics: Science and Systems (RSS) 2025

Robotic In-Hand Manipulation for Large-Range Precise Object Movement: The RGMC Champion Solution

Mingrui Yu, Yongpeng Jiang, Chen Chen, Yongyi Jia, Xiang Li

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

Comments Accepted by RA-L. Project website: https://rgmc-xl-team.github.io/ingrasp_manipulation

T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects

David Blanco-Mulero, Yifei Dong, Julia Borras, Florian T. Pokorny, Carme Torras

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

Comments 18 pages, 5 figures, 2 tables, Submitted to the International Journal of Robotics Research (IJRR). Project website: https://sites.google.com/view/t-dom

Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography

Keyu Li, Yangxin Xu, Ziqi Zhao, Ang Li, Max Q. -H. Meng

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

Comments Accepted by IEEE Transactions on Robotics

Survey of Learning-based Approaches for Robotic In-Hand Manipulation

Abraham Itzhak Weinberg, Alon Shirizly, Osher Azulay, Avishai Sintov

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

Comments Accepted to Frontiers in Robotics and AI

RGBManip: Monocular Image-based Robotic Manipulation through Active Object Pose Estimation

Boshi An, Yiran Geng, Kai Chen, Xiaoqi Li, Qi Dou, Hao Dong

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

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

Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts

Jari van Steen, Gijs van den Brandt, Nathan van de Wouw, Jens Kober, Alessandro Saccon

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

Comments 14 pages, 11 figures. Accepted for publication in IEEE Transactions on Robotics (T-RO) in June, 2024

EXOT: Exit-aware Object Tracker for Safe Robotic Manipulation of Moving Object

Hyunseo Kim, Hye Jung Yoon, Minji Kim, Dong-Sig Han, Byoung-Tak Zhang

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

Comments 2023 IEEE International Conference on Robotics and Automation (ICRA)

A versatile robotic hand with 3D perception, force sensing for autonomous manipulation

Nikolaus Correll, Dylan Kriegman, Stephen Otto, James Watson

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

Comments RSS Workshop on Perception and Manipulation Challenges for Warehouse Automation, Daejeon, Korea

Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration

Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, Matthew T. Mason

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

Comments The IEEE Robotics and Automation Letters

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation

Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger

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

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

ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds

Daniel Seita, Yufei Wang, Sarthak J. Shetty, Edward Yao Li, Zackory Erickson, David Held

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

Comments Conference on Robot Learning (CoRL), 2022. Supplementary material is available at https://sites.google.com/view/point-cloud-policy/home

Robotic Perception in Agri-food Manipulation: A Review

Jack Foster, Mazvydas Gudelis, Amir Ghalamzan Esfahani

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

Comments accepted to Task-Informed Grasping: Agri-Food manipulation (TIG-III) workshop

Learning Multi-step Robotic Manipulation Policies from Visual Observation of Scene and Q-value Predictions of Previous Action

Sulabh Kumra, Shirin Joshi, Ferat Sahin

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

Comments 7 pages, 3 figures, IEEE Conference on Robotics and Automation (ICRA) 2022. arXiv admin note: substantial text overlap with arXiv:2103.01434

OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation

Ziyuan Liu, Wei Liu, Yuzhe Qin, Fanbo Xiang, Minghao Gou, Songyan Xin, Maximo A. Roa, Berk Calli, Hao Su, Yu Sun, Ping Tan

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

Journal ref IEEE Robotics and Automation Letters, 2021

Towards Complex and Continuous Manipulation: A Gesture Based Anthropomorphic Robotic Hand Design

Li Tian, Hanhui Li, Qifa Wang, Xuezeng Du, Jialin Tao, Jordan Sia Chong, Nadia Magnenat Thalmann, Jianmin Zheng

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

Comments 8 pages, 9 figures, 3 tables, accepted by IEEE Robotics and Automation Letters