机器人 / 具身智能

Toward Maturity-Based Certification of Embodied AI: Quantifying Trustworthiness Through Measurement Mechanisms

迈向基于成熟度的具身AI认证：通过测量机制量化可信度

Michael C. Darling, Alan H. Hesu, Michael A. Mardikes, Brian C. McGuigan, Reed M. Milewicz

机构 * Michael C. Darling ； Alan H. Hesu ； Michael A. Mardikes ； Brian C. McGuigan ； Reed M. Milewicz 纠错

专题命中 机器人数据与评测 ：embodied AI(title,abstract)；分类 cs.AI、cs.LG

AI总结 本文提出基于成熟度的具身AI认证框架，通过量化机制评估可信度，并通过无人机检测案例验证其可行性。

Comments Accepted to AAAI-26 Bridge Program B10: Making Embodied AI Reliable with Testing and Formal Verification

MLLM-Fabric: Multimodal Large Language Model-Driven Robotic Framework for Fabric Sorting and Selection

Liman Wang, Hanyang Zhong, Tianyuan Wang, Shan Luo, Jihong Zhu

机构 * School of Physics, Engineering and Technology, University of York（物理、工程与技术学院，约克大学） ； Department of Engineering, King’s College London（工程学院，伦敦国王学院） 纠错

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Accepted to IEEE Robotics and Automation Letters (RAL)

Stonefish: Supporting Machine Learning Research in Marine Robotics

Michele Grimaldi, Patryk Cieslak, Eduardo Ochoa, Vibhav Bharti, Hayat Rajani, Ignacio Carlucho, Maria Koskinopoulou, Yvan R. Petillot, Nuno Gracias

机构 * Oceans Systems Lab (OSL), Heriot-Watt University（赫瑞斯泰大学海洋系统实验室） ； Underwater Vision and Robotics Lab (CIRS), University of Girona（加泰罗尼亚理工大学水下视觉与机器人实验室） 纠错

专题命中 机器人数据与评测 ：robotics(title,abstract)；分类 cs.RO、cs.AI

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

OPA-Pack: Object-Property-Aware Robotic Bin Packing

Jia-Hui Pan, Yeok Tatt Cheah, Zhengzhe Liu, Ka-Hei Hui, Xiaojie Gao, Pheng-Ann Heng, Yun-Hui Liu, Chi-Wing Fu

机构 * Department of Computer Science and Engineering, the Chinese University of Hong Kong（计算机科学与工程系，香港中文大学） ； Hong Kong Centre for Logistics Robotics（香港物流机器人中心） ； School of Data Science, Lingnan University（数据科学学院，岭南大学） ； Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong（机械与自动化工程系，香港中文大学） 纠错

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Submitted to IEEE Transactions on Robotics (TRO) on Feb. 10, 2025

Learning-based adaption of robotic friction models

Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok

机构 * Ludwig-Maximilians-Universität München（慕尼黑路德维希-马克西米利安大学） ； German Aerospace Center（德国航空航天中心） 纠错

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.LG；robotics(journal_ref)

Journal ref Robotics and Computer-Integrated Manufacturing 2024

Exploring GPT-4 for Robotic Agent Strategy with Real-Time State Feedback and a Reactive Behaviour Framework

Thomas O'Brien, Ysobel Sims

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.LG；robotics(journal_ref)

Journal ref Australasian Conference on Robotics and Automation (2023)

Robotic Table Tennis: A Case Study into a High Speed Learning System

David B. D'Ambrosio, Jonathan Abelian, Saminda Abeyruwan, Michael Ahn, Alex Bewley, Justin Boyd, Krzysztof Choromanski, Omar Cortes, Erwin Coumans, Tianli Ding, Wenbo Gao, Laura Graesser, Atil Iscen, Navdeep Jaitly, Deepali Jain, Juhana Kangaspunta, Satoshi Kataoka, Gus Kouretas, Yuheng Kuang, Nevena Lazic, Corey Lynch, Reza Mahjourian, Sherry Q. Moore, Thinh Nguyen, Ken Oslund, Barney J Reed, Krista Reymann, Pannag R. Sanketi, Anish Shankar, Pierre Sermanet, Vikas Sindhwani, Avi Singh, Vincent Vanhoucke, Grace Vesom, Peng Xu

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Published and presented at Robotics: Science and Systems (RSS2023)

Improving the realism of robotic surgery simulation through injection of learning-based estimated errors

Juan Antonio Barragan, Hisashi Ishida, Adnan Munawar, Peter Kazanzides

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.LG；robotics(journal_ref)

Comments 6 page paper

Journal ref 2024 International Symposium on Medical Robotics (ISMR)

Microsaccade-inspired Event Camera for Robotics

Botao He, Ze Wang, Yuan Zhou, Jingxi Chen, Chahat Deep Singh, Haojia Li, Yuman Gao, Shaojie Shen, Kaiwei Wang, Yanjun Cao, Chao Xu, Yiannis Aloimonos, Fei Gao, Cornelia Fermuller

专题命中 机器人数据与评测 ：robotics(title,abstract)；分类 cs.RO、cs.CV

Comments Published on Science Robotics June 2024 issue

Robust Forecasting for Robotic Control: A Game-Theoretic Approach

Shubhankar Agarwal, David Fridovich-Keil, Sandeep P. Chinchali

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.LG；robotics(journal_ref)

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

Enabling AI and Robotic Coaches for Physical Rehabilitation Therapy: Iterative Design and Evaluation with Therapists and Post-Stroke Survivors

Min Hun Lee, Daniel P. Siewiorek, Asim Smailagic, Alexandre Bernardino, Sergi Bermúdez i Badia

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments International Journal of Social Robotics (2022)

Object Detection Using Sim2Real Domain Randomization for Robotic Applications

Dániel Horváth, Gábor Erdős, Zoltán Istenes, Tomáš Horváth, Sándor Földi

专题命中 机器人数据与评测 ：robotic(title)；robotics(abstract,comments)；分类 cs.RO、cs.CV

Comments Published in IEEE Transactions on Robotics (T-RO)

Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, Nikhil J Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Kuang-Huei Lee, Sergey Levine, Yao Lu, Linda Luu, Carolina Parada, Peter Pastor, Jornell Quiambao, Kanishka Rao, Jarek Rettinghouse, Diego Reyes, Pierre Sermanet, Nicolas Sievers, Clayton Tan, Alexander Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Mengyuan Yan, Andy Zeng

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.LG；manipulation(comments)

Comments See website at https://say-can.github.io/ V1. Initial Upload. V2. Added PaLM results. Added study about new capabilities (drawer manipulation, chain of thought prompting, multilingual instructions). Added an ablation study of language model size. Added an open-source version of \algname on a simulated tabletop environment. Improved readability

F-SIOL-310: A Robotic Dataset and Benchmark for Few-Shot Incremental Object Learning

Ali Ayub, Alan R. Wagner

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.CV；robotics(journal_ref)

Comments Fixed the link to dataset

Journal ref IEEE International Conference on Robotics and Automation (ICRA) 2021

Deep-CNN based Robotic Multi-Class Under-Canopy Weed Control in Precision Farming

Yayun Du, Guofeng Zhang, Darren Tsang, M. Khalid Jawed

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.CV；robotics(comments)

Comments 8 pages, 7 figures, International Conference on Robotics and Automation (IEEE)

Real-Time Ellipse Detection for Robotics Applications

Azarakhsh Keipour, Guilherme A. S. Pereira, Sebastian Scherer

专题命中 机器人数据与评测 ：robotics(title,abstract)；分类 cs.RO、cs.CV

Comments Accepted to RA-L and IROS 2021

Journal ref IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7009-7016, Oct. 2021

Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems

Giorgos Mamakoukas, Maria L. Castano, Xiaobo Tan, Todd D. Murphey

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.LG；robotics(journal_ref)

Journal ref IEEE Transactions on Robotics, 2021

The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception

J. P. Rodríguez-Gómez, R. Tapia, J. L. Paneque, P. Grau, A. Gómez Eguíluz, J. R. Martínez-de Dios, A. Ollero

专题命中 机器人数据与评测 ：robotic(title)；robotics(abstract,journal_ref)；分类 cs.RO、cs.CV

Comments 8 pages, 22 figures, Video: "this https URL https://www.youtube.com/watch?v=ymCRnlWxX24&t=35s"

Journal ref IEEE Robotics and Automation Letters (RA-L), 2021

A User's Guide to Calibrating Robotics Simulators

Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos

专题命中 机器人数据与评测 ：robotics(title,abstract)；分类 cs.RO、cs.LG；robot learning(comments)

Comments Accepted at Conference on Robot Learning 2020

BayesSim: adaptive domain randomization via probabilistic inference for robotics simulators

Fabio Ramos, Rafael Carvalhaes Possas, Dieter Fox

专题命中 机器人数据与评测 ：robotics(title,abstract)；分类 cs.RO、cs.LG

Comments Code available at https://github.com/rafaelpossas/bayes_sim

Journal ref Robotics Science and Systems (RSS) 2019

Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery

Menglong Ye, Edward Johns, Ankur Handa, Lin Zhang, Philip Pratt, Guang-Zhong Yang

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.CV；robotics(comments)

Comments A two-page short report to be presented at the Hamlyn Symposium on Medical Robotics 2017. An extension of this work is on progress

RoSE: A Robotic Soft Esophagus for Endoprosthetic Stent Testing

RoSE：用于腔内支架测试的机器人软食管

Dipankar Bhattacharya, Sherine Jesna V. A., Leo K. Cheng, Weiliang Xu

专题命中 机器人数据与评测 ：robotic(title,abstract)；robotics(comments,journal_ref)；分类 cs.RO

AI总结 本研究开发了仿生机器人软食管RoSE作为腔内支架体外测试装置，通过测试两种不同径向刚度支架的径向力、迁移情况及对吞咽功能的影响，为支架评估提供创新平台。

Comments Author accepted manuscript. 31 pages, 13 figures, 3 tables. Published in Soft Robotics (2021). Project page: https://bhattner143.github.io/rose-stent.github.io/

Journal ref Soft Robotics, Vol. 8, No. 4 (2021)

Grounded Semantic Re-Binding for Robust Instruction Generalization in Vision-Language-Action Models

面向视觉-语言-动作模型的鲁棒指令泛化的基础语义重绑定

Zhaokai Yin, Zhipeng Zhang

专题命中 机器人数据与评测 ：robotics(abstract,abstract_cn)；manipulation(abstract)；robotic(abstract)；分类 cs.RO

AI总结 针对视觉-语言-动作模型因指令释义导致性能骤降的架构问题，提出GSR方法，在LIBERO-Para基准提升成功率44.6%，推出ParaVLA模型，规避低效数据扩展，实现鲁棒指令泛化。

Comments 23 pages, 8 figures

PhySPRING: Structure-Preserving Reduction of Physics-Informed Twins via GNN

PhySPRING: 通过图神经网络实现物理信息双胞胎的结构保持降维

Yixiong Jing, Xingyuan Chen, Guangming Wang, Olaf Wysocki, Haibing Wu, Brian Sheil

机构 * University of Cambridge（剑桥大学） ； Shanghai Jiao Tong University（上海交通大学） 纠错

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robot policy(abstract)；robotic(abstract)

AI总结 PhySPRING通过图神经网络学习层次化简化图拓扑及其机械参数，实现弹簧-质量双胞胎的结构保持降维，提升重建和预测精度并提高计算效率。

Comments 16 pages and 6 pages, conference paper

Mini-BEHAVIOR-Gran: Revealing U-Shaped Effects of Instruction Granularity on Language-Guided Embodied Agents

Mini-BEHAVIOR-Gran：揭示指令粒度对语言引导的具身智能体的影响

Sukai Huang, Chenyuan Zhang, Fucai Ke, Zhixi Cai, Gholamreza Haffari, Lizhen Qu, Hamid Rezatofighi

机构 * Faculty of Information Technology, Monash University（信息技术学院，莫纳什大学） 纠错

专题命中 机器人数据与评测 ：embodied agent(title)；embodied AI(abstract)；分类 cs.AI；robotics(comments)

AI总结 本文提出Mini-BEHAVIOR-Gran基准，通过多级指令变体研究指令粒度对具身智能体性能的影响，发现粒度与性能呈非单调U型关系，粗粒度性能反弹与浅层 grounding 有关。

Comments 23 pages, Keywords: Language Grounding, Language Granularity, Instruction Following Agent, Width-based Planning Research Area: Multimodality and Language Grounding to Vision, Robotics and Beyond Research Area Keywords: vision language navigation, multimodality, neurosymbolic approaches

MarketGen: A Scalable Simulation Platform with Auto-Generated Embodied Supermarket Environments

MarketGen: 一个可扩展的仿真平台，具有自动生成的具身超市环境

Xu Hu, Yiyang Feng, Junran Peng, Jiawei He, Liyi Chen, Wei Sui, Chuanchen Luo, Xucheng Yin, Qing Li, Zhaoxiang Zhang

机构 * The Hong Kong Polytechnic University（香港理工大学） ； University of Science and Technology Beijing（北京科技大学） ； NLPR, MAIS, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） ； University of Chinese Academy of Sciences（中国科学院大学） ； XYZ Embodied AI（XYZ具身AI） ； Shandong University（山东大学） ； Linketic ； D-Robotics 纠错

专题命中 机器人数据与评测 ：robotics(abstract)；embodied AI(abstract)；embodied agent(abstract)；manipulation(abstract)

AI总结 MarketGen通过自动生成复杂超市环境，为评估超市代理提供了一个新的基准，加速了复杂商业应用中具身AI的研究。

Comments Project Page: https://xuhu0529.github.io/MarketGen

RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalization

RDT2：探索UMI数据的缩放极限以实现零样本跨具身泛化

Songming Liu, Bangguo Li, Kai Ma, Lingxuan Wu, Hengkai Tan, Xiao Ouyang, Hang Su, Jun Zhu

机构 * Tsinghua University（清华大学） 纠错

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结 RDT2通过三阶段训练配方实现零样本跨具身泛化，提升机器人在开放词汇任务中的表现

XDen-1K: A Density Field Dataset of Real-World Objects

XDen-1K：一个现实世界物体的密度场数据集

Jingxuan Zhang, Tianqi Yu, Yatu Zhang, Jinze Wu, Kaixin Yao, Jingyang Liu, Yuyao Zhang, Jiayuan Gu, Jingyi Yu

机构 * ShanghaiTech University（上海科技大学） 纠错

专题命中 机器人数据与评测 ：robotics(abstract)；embodied AI(abstract)；manipulation(abstract)；robotic(abstract)

AI总结 XDen-1K通过提供大规模现实世界物体的多模态数据，推动物理基础视觉推理和具身AI的研究。

Comments 10 pages, 7 figures

Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single View

Jinyu Zhang, Haitao Lin, Jiashu Hou, Xiangyang Xue, Yanwei Fu

机构 * Fudan University（复旦大学） ； Shanghai Innovation Institute（上海创新研究院） 纠错

专题命中 机器人数据与评测 ：robotics(abstract)；embodied AI(abstract)；manipulation(abstract)；robotic(abstract)

Semantic Consistent Language Gaussian Splatting for Point-Level Open-vocabulary Querying

Hairong Yin, Huangying Zhan, Yi Xu, Raymond A. Yeh

机构 * Department of Computer Science, Purdue University, USA（普渡大学计算机科学系） ； Goertek Alpha Labs, USA（歌尔声学实验室） 纠错

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)