机器人 / 具身智能 - arXivDaily 专题

2506.13922 2025-11-11 cs.RO 57%

DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance

Maximilian Du, Shuran Song

机构 * Stanford University（斯坦福大学）

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

Comments 9 pages main, 21 pages with appendix and citations. 9 figures. Presented at Neurips 2025

2504.14305 2025-10-28 cs.RO 57%

Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning

Jiyuan Shi, Xinzhe Liu, Dewei Wang, Ouyang Lu, Sören Schwertfeger, Chi Zhang, Fuchun Sun, Chenjia Bai, Xuelong Li

机构 * Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究院（TeleAI），中国电信）； ShanghaiTech University（上海科技大学）； University of Science and Technology of China（中国科学技术大学）； Northwestern Polytechnical University（西北工业大学）； Tsinghua University（清华大学）

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

Comments NeurIPS 2025. Code: https://github.com/TeleHuman/ALMI-Open, Dataset: https://huggingface.co/datasets/TeleEmbodied/ALMI-X

2510.18137 2025-10-22 cs.RO 57%

Quality Over Quantity: Curating Contact-Based Robot Datasets Improves Learning

Hrishikesh Sathyanarayan, Victor Vantilborgh, Ian Abraham

机构 * Department of Mechanical Engineering, Yale University（耶鲁大学机械工程系）； Department of Electromechanical, Systems and Metal Engineering, Ghent University（根特大学机电系统与金属工程系）

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

2510.03081 2025-10-06 cs.RO 57%

Embracing Evolution: A Call for Body-Control Co-Design in Embodied Humanoid Robot

Guiliang Liu, Bo Yue, Yi Jin Kim, Kui Jia

机构 * The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳））； DexForce Technology（DexForce技术）

专题命中机器人学习：robotics(abstract)；分类 cs.RO

2509.12562 2025-09-17 cs.RO 57%

Robust Online Residual Refinement via Koopman-Guided Dynamics Modeling

Zhefei Gong, Shangke Lyu, Pengxiang Ding, Wei Xiao, Donglin Wang

机构 * Westlake University（西湖大学）； Nanjing University（南京大学）； Zhejiang University（浙江大学）

专题命中机器人学习：robotic(abstract)；分类 cs.RO

2509.08241 2025-09-11 cs.RO cs.SY eess.SY 57%

Sample-Efficient Online Control Policy Learning with Real-Time Recursive Model Updates

Zixin Zhang, James Avtges, Todd D. Murphey

专题命中机器人学习：robotics(abstract)；分类 cs.RO

2508.19953 2025-09-01 cs.RO 57%

Divide, Discover, Deploy: Factorized Skill Learning with Symmetry and Style Priors

Rafael Cathomen, Mayank Mittal, Marin Vlastelica, Marco Hutter

机构 * ETH Zurich（苏黎世联邦理工学院）

专题命中机器人学习：robotics(abstract)；分类 cs.RO

Comments Accepted to CoRL 2025. For code and videos, please check: https://leggedrobotics.github.io/d3-skill-discovery/

2508.19684 2025-08-28 cs.RO physics.app-ph 57%

Embodied Intelligence for Sustainable Flight: A Soaring Robot with Active Morphological Control

Ghadeer Elmkaiel, Syn Schmitt, Michael Muehlebach

机构 * Learning and Dynamical Systems, Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所学习与动力系统部门）； Institute for Modelling and Simulation of Biomechanical Systems, University of Stuttgart（斯图加特大学生物力学系统建模与仿真研究所）

专题命中机器人学习：robotics(abstract)；分类 cs.RO

2301.02018 2025-08-26 eess.SY cs.RO cs.SY 57%

Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming

Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki

机构 * Mechanical Engineering, Tampere University, Finland（塔尔库大学机械工程系）； Mechanical Engineering Program, Division of Engineering, New York University Abu Dhabi, United Arab Emirates（纽约大学阿布扎克分校工程学院机械工程项目）； Department of Electrical Engineering（电气工程系）； Automation, Aalto University, Finland（自动化，艾尔沃斯大学）

专题命中机器人学习：robotics(abstract)；分类 cs.RO

Comments 12 pages, 6 figures

2410.11571 2025-08-21 cs.RO 57%

SDS -- See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration

Maria Stamatopoulou, Jeffrey Li, Dimitrios Kanoulas

机构 * Robot Perception Lab, University College London, United Kingdom（伦敦大学学院机器人感知实验室）

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

2508.08743 2025-08-13 cs.RO 57%

Boosting Action-Information via a Variational Bottleneck on Unlabelled Robot Videos

Haoyu Zhang, Long Cheng

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, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所多模态人工智能系统国家重点实验室）

专题命中机器人学习：robotic(abstract)；分类 cs.RO

2508.03660 2025-08-06 cs.LG 57%

Efficient Morphology-Aware Policy Transfer to New Embodiments

Michael Przystupa, Hongyao Tang, Martin Jagersand, Santiago Miret, Mariano Phielipp, Matthew E. Taylor, Glen Berseth

专题命中机器人学习：robotics(abstract)；分类 cs.LG

Comments 19 pages, 10 Figures, Published at the 2025 Reinforcement Learning Conference

2409.15585 2025-07-15 cs.RO 57%

XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning

Prabin Kumar Rath, Nakul Gopalan

机构 * Arizona State University（亚利桑那州立大学）

专题命中机器人学习：robotic(abstract)；分类 cs.RO

Comments Website at https://prabinrath.github.io/xmop Paper has 17 pages, 13 figures, 5 tables

2410.14191 2025-05-21 cs.RO 57%

A Probabilistic Model for Skill Acquisition with Switching Latent Feedback Controllers

Juyan Zhang, Dana Kulic, Michael Burke

机构 * Department of Electrical and Computer Systems Engineering Faculty of Engineering（电气与计算机系统工程系工程学院）

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

2504.20459 2025-04-30 cs.RO 57%

SAS-Prompt: Large Language Models as Numerical Optimizers for Robot Self-Improvement

Heni Ben Amor, Laura Graesser, Atil Iscen, David D'Ambrosio, Saminda Abeyruwan, Alex Bewley, Yifan Zhou, Kamalesh Kalirathinam, Swaroop Mishra, Pannag Sanketi

机构 * School of Computing and Augmented Intelligence, Arizona State University（计算与增强智能学院，亚利桑那州立大学）； Google DeepMind（谷歌DeepMind）

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

Comments ICRA 2025

2504.10474 2025-04-15 cs.RO 57%

Co-optimizing Physical Reconfiguration Parameters and Controllers for an Origami-inspired Reconfigurable Manipulator

Zhe Chen, Li Chen, Hao Zhang, Jianguo Zhao

专题命中机器人学习：robotic(abstract)；分类 cs.RO

2501.10261 2025-04-14 cs.LG 57%

Logarithmic Regret for Nonlinear Control

James Wang, Bruce D. Lee, Ingvar Ziemann, Nikolai Matni

专题命中机器人学习：robotics(abstract)；分类 cs.LG

2503.12584 2025-03-18 cs.RO cs.SY eess.SY 57%

MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices

Giovanni Franzese, Max Spahn, Jens Kober, Cosimo Della Santina

专题命中机器人学习：robotic(abstract)；分类 cs.RO

2503.06869 2025-03-11 cs.RO 57%

Collective Behavior Clone with Visual Attention via Neural Interaction Graph Prediction

Kai Li, Zhao Ma, Liang Li, Shiyu Zhao

专题命中机器人学习：robotics(abstract)；分类 cs.RO

2412.01344 2025-02-25 cs.LG cs.GT stat.ME stat.ML 57%

Practical Performative Policy Learning with Strategic Agents

Qianyi Chen, Ying Chen, Bo Li

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

2502.14731 2025-02-21 q-bio.NC cs.LG 57%

Beyond Performance Scores: Directed Functional Connectivity as a Brain-Based Biomarker for Motor Skill Learning and Retention

Anil Kamat, Rahul Rahul, Lora Cavuoto, Harry Burke, Matthew Hackett, Jack Norfleet, Steven Schwaitzberg, Suvranu De

专题命中机器人学习：robotics(abstract)；分类 cs.LG

2409.14440 2024-11-13 cs.RO 57%

Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations

Bo Zhou, Ruixuan Jiao, Yi Li, Xiaogang Yuan, Fang Fang, Shihua Li

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

Comments 8 pages, 7 figures. This is the second version of the paper, and it is subject to further revisions. The current submission does not necessarily reflect the final quality or content of the paper

2209.10244 2024-10-28 cs.RO 57%

Condition-based Design of Variable Impedance Controllers from User Demonstrations

Alberto San-Miguel, Guillem Alenyà, Vicenç Puig

专题命中机器人学习：robotics(abstract)；分类 cs.RO

Comments This work has been submitted to Elsevier Control Engineering Practice for possible publication

2410.05715 2024-10-11 cs.RO 57%

Demonstration Based Explainable AI for Learning from Demonstration Methods

Morris Gu, Elizabeth Croft, Dana Kulic

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

Comments 8 Pages, 9 Figures, 2 Tables

2410.03076 2024-10-07 cs.RO 57%

Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation

Jing Yuan Luo, Yunlong Song, Victor Klemm, Fan Shi, Davide Scaramuzza, Marco Hutter

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

2410.01968 2024-10-04 cs.RO 57%

Bi-Level Motion Imitation for Humanoid Robots

Wenshuai Zhao, Yi Zhao, Joni Pajarinen, Michael Muehlebach

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

Comments CoRL 2024

2404.06413 2024-09-18 cs.RO cs.CL math.OC 57%

Foundation Models to the Rescue: Deadlock Resolution in Connected Multi-Robot Systems

Kunal Garg, Songyuan Zhang, Jacob Arkin, Chuchu Fan

专题命中机器人学习：robotic(abstract)；分类 cs.RO

2403.07129 2024-09-17 cs.RO 57%

RaceMOP: Mapless Online Path Planning for Multi-Agent Autonomous Racing using Residual Policy Learning

Raphael Trumpp, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Marco Caccamo

专题命中机器人学习：robotics(abstract)；分类 cs.RO

Comments IEEE/RSJ International Conference on Intelligent Robots and Systems 2024

2203.03374 2024-07-31 cs.RO cs.SY eess.SY 57%

A Unified Formulation of Geometry-aware Dynamic Movement Primitives

Fares J. Abu-Dakka, Matteo Saveriano, Ville Kyrki

专题命中机器人学习：robotic(abstract)；分类 cs.RO

Comments 18 pages, 12 figures, journal

2407.14612 2024-07-23 cs.RO 57%

A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots

Daniel Marew, Nisal Perera, Shangqun Yu, Sarah Roelker, Donghyun Kim

专题命中机器人学习：robotic(abstract)；分类 cs.RO

1. 机器人学习 858 篇

DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance

Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning

Quality Over Quantity: Curating Contact-Based Robot Datasets Improves Learning

Embracing Evolution: A Call for Body-Control Co-Design in Embodied Humanoid Robot

Robust Online Residual Refinement via Koopman-Guided Dynamics Modeling

Sample-Efficient Online Control Policy Learning with Real-Time Recursive Model Updates

Divide, Discover, Deploy: Factorized Skill Learning with Symmetry and Style Priors

Embodied Intelligence for Sustainable Flight: A Soaring Robot with Active Morphological Control

Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming

SDS -- See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration

Boosting Action-Information via a Variational Bottleneck on Unlabelled Robot Videos

Efficient Morphology-Aware Policy Transfer to New Embodiments

XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning

A Probabilistic Model for Skill Acquisition with Switching Latent Feedback Controllers

SAS-Prompt: Large Language Models as Numerical Optimizers for Robot Self-Improvement

Co-optimizing Physical Reconfiguration Parameters and Controllers for an Origami-inspired Reconfigurable Manipulator

Logarithmic Regret for Nonlinear Control

MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices

Collective Behavior Clone with Visual Attention via Neural Interaction Graph Prediction

Practical Performative Policy Learning with Strategic Agents

Beyond Performance Scores: Directed Functional Connectivity as a Brain-Based Biomarker for Motor Skill Learning and Retention

Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations

Condition-based Design of Variable Impedance Controllers from User Demonstrations

Demonstration Based Explainable AI for Learning from Demonstration Methods

Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation

Bi-Level Motion Imitation for Humanoid Robots

Foundation Models to the Rescue: Deadlock Resolution in Connected Multi-Robot Systems

RaceMOP: Mapless Online Path Planning for Multi-Agent Autonomous Racing using Residual Policy Learning

A Unified Formulation of Geometry-aware Dynamic Movement Primitives

A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots