机器人 / 具身智能

Instruct2Act: From Human Instruction to Actions Sequencing and Execution via Robot Action Network for Robotic Manipulation

Instruct2Act: 从人类指令到动作序列和执行的机器人操作网络

Archit Sharma, Dharmendra Sharma, John Rebeiro, Peeyush Thakur, Narendra Dhar, Laxmidhar Behera

机构 * Indian Institute of Technology Mandi（印度理工学院曼迪分校） 纠错

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

AI总结 Instruct2Act通过机器人操作网络实现从人类指令到动作序列的解析与执行，达到91.5%的子动作预测准确率和90%的任务成功率。

EveryDayVLA: A Vision-Language-Action Model for Affordable Robotic Manipulation

Samarth Chopra, Alex McMoil, Ben Carnovale, Evan Sokolson, Rajkumar Kubendran, Samuel Dickerson

机构 * University of Pittsburgh Center for Research Computing（匹兹堡大学研究中心计算中心） 纠错

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

Comments Submitted to ICRA 2026

ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations

Qiyuan Zeng, Chengmeng Li, Jude St. John, Zhongyi Zhou, Junjie Wen, Guorui Feng, Yichen Zhu, Yi Xu

机构 * Shanghai University（上海大学） ； Stanford University（斯坦福大学） ； Midea Group（美的集团） 纠错

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

Comments technique report. The website is available at https://activeumi.github.io

Visual Prompting for Robotic Manipulation with Annotation-Guided Pick-and-Place Using ACT

Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai, Yukiyasu Domae

机构 * Embodied AI Research Team（具身人工智能研究团队） ； National Institute of AIST（国家信息与系统技术研究所） 纠错

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

A Genetic Fuzzy-Enabled Framework on Robotic Manipulation for In-Space Servicing

Nathan Steffen, Wilhelm Louw, Nicholas Ernest, Timothy Arnett, Kelly Cohen

机构 * University of Cincinnati（克利夫兰大学） ； Thales Avionics（泰勒斯航空电子） 纠错

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

Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation

Qingwen Bu, Hongyang Li, Li Chen, Jisong Cai, Jia Zeng, Heming Cui, Maoqing Yao, Yu Qiao

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

Comments Project page: https://opendrivelab.com/RoboDual/

ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulation

Xiaoqi Li, Mingxu Zhang, Yiran Geng, Haoran Geng, Yuxing Long, Yan Shen, Renrui Zhang, Jiaming Liu, Hao Dong

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

End-to-End Affordance Learning for Robotic Manipulation

Yiran Geng, Boshi An, Haoran Geng, Yuanpei Chen, Yaodong Yang, Hao Dong

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

Comments 8 pages, 3 figures

Learning physics-informed simulation models for soft robotic manipulation: A case study with dielectric elastomer actuators

Manu Lahariya, Craig Innes, Chris Develder, Subramanian Ramamoorthy

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

Neuromorphic Event-Based Slip Detection and suppression in Robotic Grasping and Manipulation

Rajkumar Muthusamy, Xiaoqian Huang, Yahya Zweiri, Lakmal Seneviratne, Dongming Gan

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

Comments 18 pages, 14 figures

Journal ref IEEE Access,Volume: 8, 19 August 2020

Robotic Lever Manipulation using Hindsight Experience Replay and Shapley Additive Explanations

Sindre Benjamin Remman, Anastasios M. Lekkas

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

Comments Published in proceedings of the European Control Conference 2021

DASH: Modularized Human Manipulation Simulation with Vision and Language for Embodied AI

Yifeng Jiang, Michelle Guo, Jiangshan Li, Ioannis Exarchos, Jiajun Wu, C. Karen Liu

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

Comments SCA'2021

Journal ref In The ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA 21), September 6~9, 2021, Virtual Event, USA. ACM, New York, NY, USA, 12 pages

PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance

Arvind U. Raghunathan, Devesh K. Jha, Diego Romeres

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

Comments Under review at IJRR

SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction

Jingpei Lu, Ambareesh Jayakumari, Florian Richter, Yang Li, Michael C. Yip

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

Comments 7 pages, 7 figures, ICRA 2021 camera-ready version

V2CNet: A Deep Learning Framework to Translate Videos to Commands for Robotic Manipulation

Anh Nguyen, Thanh-Toan Do, Ian Reid, Darwin G. Caldwell, Nikos G. Tsagarakis

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

Comments 15 pages. arXiv admin note: substantial text overlap with arXiv:1710.00290

Towards Soft Robotic Exogloves for Musculoskeletal Manipulation to Reduce Pain and Spasticity

迈向用于肌肉骨骼操作以减轻疼痛和痉挛的软机器人外骨骼手套

Antonia Salluce, Maeryn Erdheim, Gailen Davis, Lauren H. Sullivan, Max-William Kanz, Jacqueline Libby

机构 * Department of Mechanical Engineering, Stevens Institute of Technology（机械工程系，史蒂文斯理工学院） ； Faculty of Mechanical Engineering, Stevens Institute of Technology（机械工程学院，史蒂文斯理工学院） 纠错

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

AI总结 研究针对全球众多受手部痉挛和疼痛影响者，开发能辅助行动并缓解疼痛的软机器人外骨骼手套。核心方法是定制软气动执行器，主要贡献是成功设计、制造并测试执行器，还通过试用用户验证了手套的舒适性和有效性。

Comments 8 pages, 15 figures. To be published in the IEEE RAS/EMBS 11th International Conference on Biomedical Robotics and Biomechatronics (BioRob 2026)

Beyond the Majority: Long-tail Imitation Learning for Robotic Manipulation

超越多数：用于机器人操作的长尾模仿学习

Junhong Zhu, Ji Zhang, Jingkuan Song, Lianli Gao, Heng Tao Shen

机构 * University of Electronic Science and Technology of China（电子科技大学） ； Southwest Jiaotong University（西南交通大学） ； Tongji University（同济大学） 纠错

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

AI总结 本文提出APA方法，通过从数据丰富的头部任务迁移知识以提升机器人操作中数据稀缺的尾部任务性能。

Comments accept by IEEE International Conference on Robotics and Automation (ICRA 2026), 8 pages, 6 figures,

A High-Fidelity Digital Twin for Robotic Manipulation Based on 3D Gaussian Splatting

基于3D高斯点云的高保真机器人操作数字孪生

Ziyang Sun, Lingfan Bao, Tianhu Peng, Jingcheng Sun, Chengxu Zhou

机构 * Department of Computer Science, University College London（计算机科学系，伦敦大学学院） 纠错

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

AI总结 本文提出基于3D高斯点云的高保真数字孪生框架，通过语义融合和高效几何转换方法，实现快速、可靠的机器人操作

Comments Under review of Journal of Robot Learning

An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild

面向野外自主空中操控的开源软机器人平台

Erik Bauer, Marc Blöchlinger, Pascal Strauch, Arman Raayatsanati, Curdin Cavelti, Robert K. Katzschmann

机构 * Soft Robotics Laboratory（软机器人实验室） ； Department of Mechanical and Process Engineering（机械与过程工程系） 纠错

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

AI总结 本研究提出了一种开源软机器人平台，利用机载感知系统实现自主空中操控，提高了应用的可扩展性和实用性。

Comments Project website: https://sites.google.com/view/open-source-soft-platform/open-source-soft-robotic-platform GitHub: https://github.com/raptor-ethz

Journal ref Proceedings of Machine Learning Research (2025) 3094-3106

Tac2Motion: Contact-Aware Reinforcement Learning with Tactile Feedback for Robotic Hand Manipulation

Yitaek Kim, Casper Hewson Rask, Christoffer Sloth

机构 * The Maersk Mc-Kinney Moller Institute, University of Southern Denmark（马士基麦金尼莫勒研究所，丹麦南部大学） 纠错

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

Comments This paper has submitted to Dexterous Humanoid Manipulation Workshop, Humanoid 2025

Zero-shot Whole-Body Manipulation with a Large-Scale Soft Robotic Torso via Guided Reinforcement Learning

Curtis C. Johnson, Carlo Alessi, Egidio Falotico, Marc D. Killpack

机构 * Department of Mechanical Engineering, Brigham Young University（机械工程系， Brigham Young 大学） ； Humanoid Sensing and Perception, Italian Institute of Technology（人形感知与感知，意大利理工研究院） ； The BioRobotics Institute, Scuola Superiore Sant’Anna（生物机器人研究所，圣安娜高等学院） 纠错

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

Comments Submitted to IEEE Transactions on Robotics for review

Unfolding the Literature: A Review of Robotic Cloth Manipulation

Alberta Longhini, Yufei Wang, Irene Garcia-Camacho, David Blanco-Mulero, Marco Moletta, Michael Welle, Guillem Alenyà, Hang Yin, Zackory Erickson, David Held, Júlia Borràs, Danica Kragic

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

Comments 30 pages, 3 figures, 2 tables. Submitted to Annual Review of Control, Robotics, and Autonomous Systems

EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation

Benjamin Alt, Minh Dang Nguyen, Andreas Hermann, Darko Katic, Rainer Jäkel, Rüdiger Dillmann, Eric Sax

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

Comments 8 pages, 8 figures, presented at the 56th International Symposium on Robotics (ISR Europe)

Journal ref ISR Europe 2023

Vitreoretinal Surgical Robotic System with Autonomous Orbital Manipulation using Vector-Field Inequalities

Yuki Koyama, Murilo Marques Marinho, Kanako Harada

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

Comments 7 pages, 7 figures, accepted on ICRA2023

Journal ref 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 4654-4660

Let's Collaborate: Regret-based Reactive Synthesis for Robotic Manipulation

Karan Muvvala, Peter Amorese, Morteza Lahijanian

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

Comments To appear in IEEE International Conference on Robotics and Automation (ICRA), May. 2022

The Importance and the Limitations of Sim2Real for Robotic Manipulation in Precision Agriculture

Carlo Rizzardo, Sunny Katyara, Miguel Fernandes, Fei Chen

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

Comments Accepted at "2nd Workshop on Closing the Reality Gap in Sim2Real Transfer for Robotics" at R:SS 2020 on 12th July 2020 ( https://sim2real.github.io/ )

EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation

Douglas Morrison, Peter Corke, Jürgen Leitner

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

Comments IEEE Robotics and Automation Letters (RA-L). Preprint Version. Accepted April, 2020. The dataset, code and videos can be found at https://dougsm.github.io/egad/

Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation

Tapomayukh Bhattacharjee, Gilwoo Lee, Hanjun Song, Siddhartha S. Srinivasa

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

Comments 8 pages

Journal ref IEEE Robotics and Automation Letters, Volume: 4 , Issue: 2 , Page(s): 1485 - 1492, April 2019

REMAC: Self-Reflective and Self-Evolving Multi-Agent Collaboration for Long-Horizon Robot Manipulation

REMAC：用于长时程机器人操作的自反思与自进化多智能体协作框架

Puzhen Yuan, Angyuan Ma, Yunchao Yao, Huaxiu Yao, Masayoshi Tomizuka, Mingyu Ding

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

AI总结 本研究提出REMAC自适应多智能体规划框架，通过自反思与自进化实现多机器人长时程任务规划，在RoboCasa基准测试中使任务平均成功率提升40%、执行效率提升52.7%。

Comments 24 pages, 8 figures

DriftWorld: Fast World Modeling through Drifting

DriftWorld：通过漂移实现快速世界建模

Susie Lu, Haonan Chen, Weirui Ye, Yilun Du

机构 * Massachusetts Institute of Technology（麻省理工学院） ； Harvard University（哈佛大学） 纠错

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

AI总结 研究针对预测性世界模型生成展开慢的问题，提出基于漂移生成模型的DriftWorld，训练时学习动作条件漂移以快速生成未来帧，在机器人操作基准测试中实现快速准确决策，还能作离线模拟器，性能优于基于扩散的基线。

Comments Website at https://susie-lu.github.io/driftworld/