机器人 / 具身智能 - arXivDaily 专题

2407.09984 2024-07-16 cs.RO 70%

Stabilizing Dynamic Systems through Neural Network Learning: A Robust Approach

Yu Zhang, Haoyu Zhang, Yongxiang Zou, Houcheng Li, Long Cheng

专题命中机器人学习：robotics(abstract)；robotic(abstract)；分类 cs.RO

Comments arXiv admin note: text overlap with arXiv:2309.08849

2406.16093 2024-06-25 cs.RO cs.AI cs.CV cs.LG 70%

Towards Natural Language-Driven Assembly Using Foundation Models

Omkar Joglekar, Tal Lancewicki, Shir Kozlovsky, Vladimir Tchuiev, Zohar Feldman, Dotan Di Castro

专题命中机器人学习：robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

2405.18757 2024-05-30 cs.RO 70%

Multi-objective Cross-task Learning via Goal-conditioned GPT-based Decision Transformers for Surgical Robot Task Automation

Jiawei Fu, Yonghao Long, Kai Chen, Wang Wei, Qi Dou

专题命中机器人学习：robot learning(abstract)；robotic(abstract)；分类 cs.RO

2306.16316 2024-03-19 cs.RO 70%

Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry

Shengchao Yan, Baohe Zhang, Yuan Zhang, Joschka Boedecker, Wolfram Burgard

专题命中机器人学习：robotics(abstract)；robot learning(abstract)；分类 cs.RO

Comments accepted by ICRA 2024

2303.04137 2024-03-15 cs.RO 70%

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, Shuran Song

专题命中机器人学习：robot learning(abstract)；manipulation(abstract)；分类 cs.RO

Comments An extended journal version of the original RSS2023 paper

2308.14670 2023-08-29 cs.RO 70%

Symmetric Models for Visual Force Policy Learning

Colin Kohler, Anuj Shrivatsav Srikanth, Eshan Arora, Robert Platt

专题命中机器人学习：manipulation(abstract)；robotic(abstract)；分类 cs.RO

2304.09632 2023-04-20 cs.RO 70%

CASOG: Conservative Actor-critic with SmOoth Gradient for Skill Learning in Robot-Assisted Intervention

Hao Li, Xiao-Hu Zhou, Xiao-Liang Xie, Shi-Qi Liu, Zhen-Qiu Feng, Zeng-Guang Hou

专题命中机器人学习：manipulation(abstract)；robotic(abstract)；分类 cs.RO

Comments 13 pages, 5 figure, preprint

2202.01426 2022-03-25 cs.RO 70%

Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter

Baichuan Huang, Teng Guo, Abdeslam Boularias, Jingjin Yu

专题命中机器人学习：robotics(abstract)；robot learning(abstract)；分类 cs.RO

Comments Accepted by ICRA 2022

2202.08401 2022-02-18 cs.RO 70%

Multi-Modal Fusion in Contact-Rich Precise Tasks via Hierarchical Policy Learning

Piaopiao Jin, Yinjie Lin, Yanchao Tan, Tiefeng Li, Wei Yang

专题命中机器人学习：manipulation(abstract)；robotic(abstract)；分类 cs.RO

2110.08620 2021-10-19 cs.RO 70%

Learning Cloth Folding Tasks with Refined Flow Based Spatio-Temporal Graphs

Peng Zhou, Omar Zahra, Anqing Duan, Shengzeng Huo, Zeyu Wu, David Navarro-Alarcon

专题命中机器人学习：manipulation(abstract)；robotic(abstract)；分类 cs.RO

Comments 8 pages, 6 figures

1903.07003 2020-03-13 eess.SY cs.LG cs.SY 70%

Task Decomposition for Iterative Learning Model Predictive Control

Charlott Vallon, Francesco Borrelli

专题命中机器人学习：manipulation(abstract)；robotic(abstract)；分类 cs.LG

1709.02249 2018-12-21 cs.CV cs.AI cs.LG cs.RO 70%

Uncertainty-Aware Learning from Demonstration using Mixture Density Networks with Sampling-Free Variance Modeling

Sungjoon Choi, Kyungjae Lee, Sungbin Lim, Songhwai Oh

专题命中机器人学习：robotics(abstract)；分类 cs.RO、cs.AI、cs.CV

2511.20848 2025-11-27 cs.RO cs.AI cs.HC cs.LG cs.SY eess.SY 69%

NOIR 2.0: Neural Signal Operated Intelligent Robots for Everyday Activities

NOIR 2.0：神经信号操作的智能机器人用于日常活动

Tasha Kim, Yingke Wang, Hanvit Cho, Alex Hodges

机构 * Institute for Computational and Mathematical Engineering（计算与数学工程研究所）； Department of Computer Science（计算机科学系）； Department of Mechanical Engineering（机械工程系）

专题命中机器人学习：robot learning(abstract,comments)；分类 cs.RO、cs.AI、cs.LG

AI总结 NOIR 2.0通过改进的脑解码算法和少样本学习提升机器人执行日常任务的效率和适应性。

Comments Conference on Robot Learning (CoRL 2024), CoRoboLearn

2409.20173 2025-09-09 cs.RO cs.CV cs.LG 69%

ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input

Petr Vanc, Giovanni Franzese, Jan Kristof Behrens, Cosimo Della Santina, Karla Stepanova, Jens Kober, Robert Babuska

机构 * Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Czech Republic（捷克信息学、机器人学与自动控制研究所，布拉格捷克技术大学）； Cognitive Robotics, Delft University of Technology, The Netherlands（认知机器人学，代尔夫特理工大学）

专题命中机器人学习：robotic(abstract)；分类 cs.RO、cs.CV、cs.LG；robotics(comments)

Comments 8 pages, 9 figures. IEEE Robotics and Automation Letters. Accepted August 2025

2411.19393 2025-05-30 cs.RO cs.AI cs.LG cs.SY eess.SY 69%

Global Tensor Motion Planning

An T. Le, Kay Hansel, João Carvalho, Joe Watson, Julen Urain, Armin Biess, Georgia Chalvatzaki, Jan Peters

机构 * IEEE

专题命中机器人学习：robot learning(abstract)；分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments 8 pages, 3 figures. Accepted at IEEE Robotics and Automation Letters 2025

1902.10657 2019-09-12 cs.RO cs.CV cs.LG 69%

From explanation to synthesis: Compositional program induction for learning from demonstration

Michael Burke, Svetlin Penkov, Subramanian Ramamoorthy

专题命中机器人学习：robotics(abstract,journal_ref)；分类 cs.RO、cs.CV、cs.LG

Journal ref Proceedings of Robotics: Science and Systems (2019)

1903.05635 2019-09-12 cs.RO cs.LG 68%

Cleaning tasks knowledge transfer between heterogeneous robots: a deep learning approach

Jaeseok Kim, Nino Cauli, Pedro Vicente, Bruno Damas, Alexandre Bernardino, José Santos-Victor, Filippo Cavallo

专题命中机器人学习：robotic(abstract,comments)；分类 cs.RO、cs.LG

Comments This paper was published in the Journal of Intelligent & Robotic Systems on August 29th, 2019. Link: https://doi.org/10.1007/s10846-019-01072-4

Journal ref Journal of Intelligent & Robotic Systems (2019/08/29). https://doi.org/10.1007/s10846-019-01072-4

2606.12406 2026-08-13 cs.RO cs.AI cs.LG cs.SY eess.SY 版本更新 67%

FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning

FACTR 2: 学习商用机器人手臂的外部力感知提升策略学习

Steven Oh, Jason Jingzhou Liu, Tony Tao, Philip Han, Kenneth Shaw, Satoshi Funabashi, Ruslan Salakhutdinov, Deepak Pathak

机构 * Carnegie Mellon University（卡内基梅隆大学）； Waseda University（早稻田大学）

专题命中机器人学习：manipulation(abstract)；分类 cs.RO、cs.AI、cs.LG

AI总结提出无需专用力传感器的数据驱动方法NEXT，可在1分钟内从10分钟自由运动数据中训练，实现与专用关节力矩传感器相当的估计，并结合FIRST采样策略提升策略学习性能。

Comments Website at https://jasonjzliu.com/factr2

2608.10600 2026-08-12 cs.RO cs.CV cs.LG 新提交 67%

BooST: Bridging Semantics and Motions for Efficient Skill Transfer

BooST：桥接语义与运动以实现高效的技能迁移

Jusuk Lee, Daesol Cho, Jonghun Shin, Seungyeon Yoo, Jonghae Park, Taekbeom Lee, H. Jin Kim

机构 * Seoul National University（首尔大学）； Georgia Institute of Technology（佐治亚理工学院）

专题命中机器人学习：robot learning(abstract)；分类 cs.RO、cs.CV、cs.LG

AI总结 BooST是桥接语义与运动的两阶段框架，通过跨模态VQ-VAE生成统一技能表示并蒸馏为轻量级策略，在仿真与真实机器人场景下实现了更优的少样本适配、跨领域技能迁移及鲁棒性。

Comments Project page: https://boost-robots.github.io/

2604.07331 2026-04-09 cs.RO cs.AI cs.CV 67%

RoSHI: A Versatile Robot-oriented Suit for Human Data In-the-Wild

RoSHI：一种面向机器人的多功能服装

Wenjing Margaret Mao, Jefferson Ng, Luyang Hu, Daniel Gehrig, Antonio Loquercio

机构 * Department of Electrical and Systems Engineering, University of Pennsylvania（宾夕法尼亚大学电气与系统工程系）

专题命中机器人学习：robot learning(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结 RoSHI结合低成本稀疏IMU与Project Aria眼镜，实现从第一人称感知中估计完整3D姿态和身体形状，用于真实世界机器人学习。

Comments 8 pages, 4 figures. *Equal contribution by first three authors. Project webpage: https://roshi-mocap.github.io/

2603.03818 2026-03-19 cs.LG cs.AI cs.RO 67%

Pretrained Vision-Language-Action Models are Surprisingly Resistant to Forgetting in Continual Learning

预训练视觉-语言-动作模型在持续学习中出人意料地表现出遗忘抵抗性

Huihan Liu, Changyeon Kim, Bo Liu, Minghuan Liu, Yuke Zhu

机构 * The University of Texas at Austin（德克萨斯大学奥斯汀分校）； Microsoft Superintelligence（微软超级智能）

专题命中机器人学习：robot policy(abstract)；分类 cs.RO、cs.AI、cs.LG

AI总结研究发现预训练的视觉-语言-动作模型在持续学习中表现出较强的遗忘抵抗性，简单经验回放在这些模型上效果显著，即使数据量小也能实现零遗忘。

Comments Project website: https://continual-vlas.github.io/forget-me-not/

2504.04612 2025-09-16 cs.RO cs.AI cs.LG 67%

Tool-as-Interface: Learning Robot Policies from Observing Human Tool Use

Haonan Chen, Cheng Zhu, Shuijing Liu, Yunzhu Li, Katherine Driggs-Campbell

机构 * University of Illinois, Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）； UT Austin（德克萨斯大学奥斯汀分校）； Columbia University（哥伦比亚大学）

专题命中机器人学习：robot learning(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments Accepted to CoRL 2025. Project page: https://tool-as-interface.github.io. 17 pages, 14 figures

2407.05530 2025-05-20 cs.RO cs.AI cs.CV 67%

This&That: Language-Gesture Controlled Video Generation for Robot Planning

Boyang Wang, Nikhil Sridhar, Chao Feng, Mark Van der Merwe, Adam Fishman, Nima Fazeli, Jeong Joon Park

机构 * University of Michigan（密歇根大学）； University of Washington（华盛顿大学）

专题命中机器人学习：robot learning(abstract)；分类 cs.RO、cs.AI、cs.CV

2503.18871 2025-04-07 cs.LG cs.AI cs.RO 67%

Bootstrapped Model Predictive Control

Yuhang Wang, Hanwei Guo, Sizhe Wang, Long Qian, Xuguang Lan

专题命中机器人学习：world model(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments Published as a conference paper at ICLR 2025

2502.15119 2025-02-24 cs.RO cs.AI cs.CV 67%

CurricuVLM: Towards Safe Autonomous Driving via Personalized Safety-Critical Curriculum Learning with Vision-Language Models

Zihao Sheng, Zilin Huang, Yansong Qu, Yue Leng, Sruthi Bhavanam, Sikai Chen

专题命中机器人学习：navigation(abstract)；分类 cs.RO、cs.AI、cs.CV

2409.04882 2024-09-10 cs.RO cs.AI cs.LG 67%

Learning to Open and Traverse Doors with a Legged Manipulator

Mike Zhang, Yuntao Ma, Takahiro Miki, Marco Hutter

专题命中机器人学习：robotics(abstract)；分类 cs.RO、cs.AI、cs.LG

2408.06316 2024-08-13 cs.RO cs.AI cs.LG 67%

Body Transformer: Leveraging Robot Embodiment for Policy Learning

Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu, Jongmin Lee, Pieter Abbeel

专题命中机器人学习：robot learning(abstract)；分类 cs.RO、cs.AI、cs.LG

2304.00776 2024-07-09 cs.LG cs.AI cs.RO 67%

Chain-of-Thought Predictive Control

Zhiwei Jia, Vineet Thumuluri, Fangchen Liu, Linghao Chen, Zhiao Huang, Hao Su

专题命中机器人学习：manipulation(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments ICML 2024; project page at https://sites.google.com/view/cotpc

2406.00001 2024-06-04 cs.RO cs.AI cs.LG 67%

PhyPlan: Generalizable and Rapid Physical Task Planning with Physics Informed Skill Networks for Robot Manipulators

Mudit Chopra, Abhinav Barnawal, Harshil Vagadia, Tamajit Banerjee, Shreshth Tuli, Souvik Chakraborty, Rohan Paul

专题命中机器人学习：embodied agent(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments arXiv admin note: substantial text overlap with arXiv:2402.15767

2402.03081 2024-02-06 cs.RO cs.AI cs.LG 67%

Preference-Conditioned Language-Guided Abstraction

Andi Peng, Andreea Bobu, Belinda Z. Li, Theodore R. Sumers, Ilia Sucholutsky, Nishanth Kumar, Thomas L. Griffiths, Julie A. Shah

专题命中机器人学习：manipulation(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments HRI 2024

1. 机器人学习 858 篇

Stabilizing Dynamic Systems through Neural Network Learning: A Robust Approach

Towards Natural Language-Driven Assembly Using Foundation Models

Multi-objective Cross-task Learning via Goal-conditioned GPT-based Decision Transformers for Surgical Robot Task Automation

Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Symmetric Models for Visual Force Policy Learning

CASOG: Conservative Actor-critic with SmOoth Gradient for Skill Learning in Robot-Assisted Intervention

Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter

Multi-Modal Fusion in Contact-Rich Precise Tasks via Hierarchical Policy Learning

Learning Cloth Folding Tasks with Refined Flow Based Spatio-Temporal Graphs

Task Decomposition for Iterative Learning Model Predictive Control

Uncertainty-Aware Learning from Demonstration using Mixture Density Networks with Sampling-Free Variance Modeling

NOIR 2.0: Neural Signal Operated Intelligent Robots for Everyday Activities

ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input

Global Tensor Motion Planning

From explanation to synthesis: Compositional program induction for learning from demonstration

Cleaning tasks knowledge transfer between heterogeneous robots: a deep learning approach

FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning

BooST: Bridging Semantics and Motions for Efficient Skill Transfer

RoSHI: A Versatile Robot-oriented Suit for Human Data In-the-Wild

Pretrained Vision-Language-Action Models are Surprisingly Resistant to Forgetting in Continual Learning

Tool-as-Interface: Learning Robot Policies from Observing Human Tool Use

This&That: Language-Gesture Controlled Video Generation for Robot Planning

Bootstrapped Model Predictive Control

CurricuVLM: Towards Safe Autonomous Driving via Personalized Safety-Critical Curriculum Learning with Vision-Language Models

Learning to Open and Traverse Doors with a Legged Manipulator

Body Transformer: Leveraging Robot Embodiment for Policy Learning

Chain-of-Thought Predictive Control

PhyPlan: Generalizable and Rapid Physical Task Planning with Physics Informed Skill Networks for Robot Manipulators

Preference-Conditioned Language-Guided Abstraction