机器人 / 具身智能

VIHE: Virtual In-Hand Eye Transformer for 3D Robotic Manipulation

Weiyao Wang, Yutian Lei, Shiyu Jin, Gregory D. Hager, Liangjun Zhang

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

Adaptive Shape-Servoing for Vision-based Robotic Manipulation with Model Estimation and Performance Regulation

Fangqing Chen

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

ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation

Naoki Yokoyama, Alex Clegg, Joanne Truong, Eric Undersander, Tsung-Yen Yang, Sergio Arnaud, Sehoon Ha, Dhruv Batra, Akshara Rai

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

Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models

Kevin Black, Mitsuhiko Nakamoto, Pranav Atreya, Homer Walke, Chelsea Finn, Aviral Kumar, Sergey Levine

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

Comments 22 pages, 8 figures

A novel tactile palm for robotic object manipulation

Fuqiang Zhao, Bidan Huang, Mingchang Li, Mengde Li, Zhongtao Fu, Ziwei Lei, Miao Li

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

Reinforcement Learning with Parameterized Manipulation Primitives for Robotic Assembly

Nghia Vuong, Quang-Cuong Pham

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

Comments arXiv admin note: text overlap with arXiv:2011.00778

AI-based Agents for Automated Robotic Endovascular Guidewire Manipulation

Young-Ho Kim, Èric Lluch, Gulsun Mehmet, Florin C. Ghesu, Ankur Kapoor

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

Grounding Object Relations in Language-Conditioned Robotic Manipulation with Semantic-Spatial Reasoning

Qian Luo, Yunfei Li, Yi Wu

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

Comments AAAI 2023 RL Ready for Production Workshop

Contact-Aware Non-prehensile Robotic Manipulation for Object Retrieval in Cluttered Environments

Yongpeng Jiang, Yongyi Jia, Xiang Li

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

Comments submitted to 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Bimanual crop manipulation for human-inspired robotic harvesting

Sotiris Stavridis, Dimitrios Papageorgiou, Leonidas Droukas, Zoe Doulgeri

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

Comments 8 pages, 10 figures, 1 table. This paper is a pre-print version under review

Shared-Control Robotic Manipulation in Virtual Reality

Shiyu Xu, Scott Moore, Akansel Cosgun

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

Comments 6 pages, 8 figures, submitted to HORA 2022

Kineverse: A Symbolic Articulation Model Framework for Model-Agnostic Mobile Manipulation

Adrian Röfer, Georg Bartels, Wolfram Burgard, Abhinav Valada, Michael Beetz

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

Comments 8 pages, 8 figures, Published in: IEEE Robotics and Automation Letters ( Volume: 7, Issue: 2, April 2022)

Journal ref IEEE Robotics and Automation Letters, 7 (2022) 3372-3379

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation

Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan Ratliff, Dieter Fox, Fabio Ramos, Byron Boots

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

Comments Accepted for oral presentation at the Conference on Robot Learning (CoRL), 2021. Code available at: https://github.com/NVlabs/storm

Journal ref 5th Annual Conference on Robot Learning, 2021

A Learned Stereo Depth System for Robotic Manipulation in Homes

Krishna Shankar, Mark Tjersland, Jeremy Ma, Kevin Stone, Max Bajracharya

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

Adaptive Control for Robotic Manipulation of Deformable Linear Objects with Offline and Online Learning of Unknown Models

Mingrui Yu, Hanzhong Zhong, Fangxun Zhong, Xiang Li

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

Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation

Joaquim Ortiz-Haro, Valentin N. Hartmann, Ozgur S. Oguz, Marc Toussaint

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

Learning Sequences of Manipulation Primitives for Robotic Assembly

Nghia Vuong, Hung Pham, Quang-Cuong Pham

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

Comments 7 pages, 7 figures

GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation

Daniel Fernandes Gomes, Zhonglin Lin, Shan Luo

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

Collaborative Robotic Manipulation: A Use Case of Articulated Objects in Three-dimensions with Gravity

Riccardo Bertolucci, Alessio Capitanelli, Marco Maratea, Fulvio Mastrogiovanni, Mauro Vallati

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

Comments This paper has been accepted for IEEE ICTAI 2020: https://ictai2020.org/

Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation

Branden Romero, Filipe Veiga, Edward Adelson

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

kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation

Lucas Manuelli, Wei Gao, Peter Florence, Russ Tedrake

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

Comments First two authors contributed equally. The video and supplemental material is available at https://sites.google.com/view/kpam

Interactive Open-Ended Object, Affordance and Grasp Learning for Robotic Manipulation

S. Hamidreza Kasaei, Nima Shafii, Luis Seabra Lopes, Ana Maria Tome

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

A probabilistic framework for tracking uncertainties in robotic manipulation

Huy Nguyen, Quang-Cuong Pham

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

Comments 7 pages, 4 figures

Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols

Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, Aaron M. Dollar

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

Comments Submitted to Robotics and Automation Magazine (RAM) Special Issue on Replicable and Measurable Robotics Research. 35 Pages

Journal ref IEEE Robotics & Automation Magazine, 22 (2015) 36 - 52

Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems

Xian Zhou, Puttichai Lertkultanon, Quang-Cuong Pham

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

Comments 8 pages, 4 figures, 1 table

Analyzing the Utility of a Support Pin in Sequential Robotic Manipulation

Chao Cao, Weiwei Wan, Jia Pan, Kensuke Harada

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

Comments 14 pages, 20 figures

Robotic manipulation of multiple objects as a POMDP

Joni Pajarinen, Ville Kyrki

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

Continual Model-Based Reinforcement Learning with Hypernetworks

基于超网络的连续模型强化学习

Yizhou Huang, Kevin Xie, Homanga Bharadhwaj, Florian Shkurti

机构 * Division of Engineering Science, University of Toronto, Canada（多伦多大学工程科学系） ； Department of Computer Science, University of Toronto, Canada（多伦多大学计算机科学系） 纠错

专题命中 机器人操作 ：manipulation(summary_cn,abstract)；robot learning(abstract)；分类 cs.RO、cs.AI、cs.LG；robotics(comments)

AI总结 提出HyperCRL方法，利用任务条件超网络在序列任务中持续学习动力学模型，避免重新训练并固定存储开销，在机器人 locomotion 和 manipulation 任务中优于现有持续学习方法。

Comments Updated link to project website in the abstract. 7 pages (+2 pages in appendix), 8 figures. In proceedings of the 2021 IEEE International Conference on Robotics and Automation

Data Pyramid for Embodied Manipulation: A Survey

用于具身操纵的数据金字塔

Yifan Ye, Yankai Fu, Yaoxu Lv, Bohan Hou, Jun Cen, Lingdong Kong, Duo Zheng, Tianxing Chen, Jiaming Liu, Ziang Cao, Yunfan Lou, Wei Chow, Xian Sun, Yingshuo Wang, Kuangzhi Ge, Xiaowei Chi, Xidong Zhang, Zhibo Pang, Yiwu Zhong, Sirui Han, Zhihe Lu, Weihao Yuan, Qifeng Chen, Michael Yu Wang, Yao Mu, Ziwei Liu, Jianfei Yang, Ping Luo, Shanghang Zhang

机构 * PKU（北京大学） ； NTU（南洋理工大学） ； HKUST（香港科技大学） ； NUS（新加坡国立大学） ； CUHK（香港中文大学） ； HKU（香港大学） ； Duke（杜克大学） ； UCB（加州大学伯克利分校） ； GBU（未提及具体中文名的机构） ； NJU（南京大学） ； SJTU（上海交通大学） 纠错

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

AI总结 研究围绕具身操纵数据生态系统展开，构建跨越五个互补数据源的“数据金字塔”，通过数据配方分析具身基础模型，将数据组成与多种能力联系起来，并讨论了六个开放挑战，为下一代具身系统设计奠定基础。

Comments Awesome Embodied Data Pyramid; Project Page at https://jasper-aaa.github.io/embodied-data-pyramid/ GitHub Repo at https://github.com/worldbench/awesome-embodied-data-pyramid

Robot-Factored World Models via Robot Rendering

通过机器人渲染实现机器人因素分解的世界模型

Byungjun Kim, Taeksoo Kim, Hyunsoo Cha, Hanbyul Joo

机构 * Seoul National University（首尔国立大学） 纠错

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

AI总结 研究动作条件视频世界模型，提出机器人因素分解的世界模型，通过动作实现和机器人渲染将特定机器人因素移出模型，解决深度模糊问题，实验表明其优于基线且能推广，还能从人类演示生成机器人操作视频。

Comments Project Page: https://bjkim95.github.io/rofacto/