机器人 / 具身智能

Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space

Jinrong Yang, Kexun Chen, Zhuoling Li, Shengkai Wu, Yong Zhao, Liangliang Ren, Wenqiu Luo, Chaohui Shang, Meiyu Zhi, Linfeng Gao, Mingshan Sun, Hui Cheng

机构 * CVTE（中国维克托技术有限公司） ； SYSU（深圳大学） ； SWJTU HKU（上海交通大学香港大学） 纠错

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

Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills

Haoqi Yuan, Yu Bai, Yuhui Fu, Bohan Zhou, Yicheng Feng, Xinrun Xu, Yi Zhan, Börje F. Karlsson, Zongqing Lu

机构 * Peking University（北京大学） ； BAAI（百度人工智能研究院） ； BeingBeyond 纠错

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

PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies

Jialiang Zhao, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, Edward Adelson

机构 * MIT CSAIL 纠错

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

Comments Nominated for the best paper award at ICRA 2025

Preference-Driven Active 3D Scene Representation for Robotic Inspection in Nuclear Decommissioning

Zhen Meng, Kan Chen, Xiangmin Xu, Erwin Jose Lopez Pulgarin, Emma Li, Philip G. Zhao, David Flynn

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

Comments This work has been submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning

Kailin Li, Puhao Li, Tengyu Liu, Yuyang Li, Siyuan Huang

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

Comments Accepted to CVPR 2025

FLEX: A Framework for Learning Robot-Agnostic Force-based Skills Involving Sustained Contact Object Manipulation

Shijie Fang, Wenchang Gao, Shivam Goel, Christopher Thierauf, Matthias Scheutz, Jivko Sinapov

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

Comments Accepted at IEEE-ICRA-2025

RoboGrasp: A Universal Grasping Policy for Robust Robotic Control

Yiqi Huang, Travis Davies, Jiahuan Yan, Xiang Chen, Yu Tian, Luhui Hu

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

Learning Generalizable 3D Manipulation With 10 Demonstrations

Yu Ren, Yang Cong, Ronghan Chen, Jiahao Long

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

Scaling Manipulation Learning with Visual Kinematic Chain Prediction

Xinyu Zhang, Yuhan Liu, Haonan Chang, Abdeslam Boularias

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

Comments CoRL 2024

Single-Shot Learning of Stable Dynamical Systems for Long-Horizon Manipulation Tasks

Alexandre St-Aubin, Amin Abyaneh, Hsiu-Chin Lin

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

Comments 7 pages, submitted to ICRA 2025

Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction

Aidan Curtis, Nishanth Kumar, Jing Cao, Tomás Lozano-Pérez, Leslie Pack Kaelbling

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

1 Modular Parallel Manipulator for Long-Term Soft Robotic Data Collection

Kiyn Chin, Carmel Majidi, Abhinav Gupta

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

Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Clouds

Oliver Lemke, Zuria Bauer, René Zurbrügg, Marc Pollefeys, Francis Engelmann, Hermann Blum

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

Comments Accepted at ICRA 2024 Workshops. Code and videos available at https://spot-compose.github.io/

Future Predictive Success-or-Failure Classification for Long-Horizon Robotic Tasks

Naoya Sogi, Hiroyuki Oyama, Takashi Shibata, Makoto Terao

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

Comments IJCNN 2024

Data-efficient, Explainable and Safe Box Manipulation: Illustrating the Advantages of Physical Priors in Model-Predictive Control

Achkan Salehi, Stephane Doncieux

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

Comments accepted for publication by l4dc 2024, 12 pages (with references), 4 figures, 2 tables

GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion

Jiazhao Zhang, Nandiraju Gireesh, Jilong Wang, Xiaomeng Fang, Chaoyi Xu, Weiguang Chen, Liu Dai, He Wang

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

Embodied Referring Expression for Manipulation Question Answering in Interactive Environment

Qie Sima, Sinan Tan, Huaping Liu

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

Graph learning in robotics: a survey

Francesca Pistilli, Giuseppe Averta

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

DMFC-GraspNet: Differentiable Multi-Fingered Robotic Grasp Generation in Cluttered Scenes

Philipp Blättner, Johannes Brand, Gerhard Neumann, Ngo Anh Vien

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

Comments Submitted IROS 2023 workshop "Policy Learning in Geometric Spaces"

Deep Instance Segmentation and Visual Servoing to Play Jenga with a Cost-Effective Robotic System

Luca Marchionna, Giulio Pugliese, Mauro Martini, Simone Angarano, Francesco Salvetti, Marcello Chiaberge

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

Journal ref Sensors. 2023; 23(2):752

Dealing with Sparse Rewards in Continuous Control Robotics via Heavy-Tailed Policies

Souradip Chakraborty, Amrit Singh Bedi, Alec Koppel, Pratap Tokekar, Dinesh Manocha

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

A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control

Qingfeng Yao, Jilong Wan, Shuyu Yang, Cong Wang, Linghan Meng, Qifeng Zhang, Donglin Wang

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

Comments 8 pages

Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation

Charles Sun, Jędrzej Orbik, Coline Devin, Brian Yang, Abhishek Gupta, Glen Berseth, Sergey Levine

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

Comments 16 pages, Published at CoRL 2021

Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics

Ingmar Schubert, Danny Driess, Ozgur S. Oguz, Marc Toussaint

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

Journal ref 35th Conference on Neural Information Processing Systems (NeurIPS 2021), Sydney, Australia

Reset-Free Reinforcement Learning via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention

Abhishek Gupta, Justin Yu, Tony Z. Zhao, Vikash Kumar, Aaron Rovinsky, Kelvin Xu, Thomas Devlin, Sergey Levine

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

Comments Published at ICRA 2021. First four authors contributed equally

Go Fetch: Mobile Manipulation in Unstructured Environments

Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, Florian Tschopp, Jen Jen Chung, Lionel Ott, Juan Nieto, Roland Siegwart

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

Comments Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, and Florian Tschopp contributed equally to this work

Journal ref ICRA 2020 Workshop on Perception, Action, Learning: From Metric-Semantic Scene Understanding to High-level Task Execution, 2020

Scene Understanding for Autonomous Manipulation with Deep Learning

Anh Nguyen

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

Comments PhD Thesis, 88 pages

Latest Datasets and Technologies Presented in the Workshop on Grasping and Manipulation Datasets

Matteo Bianchi, Jeannette Bohg, Yu Sun

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

Do Robots Really Need Anthropomorphic Hands? A Comparison of Human and Robotic Hands

机器人真的需要拟人化的手吗？人类手与机器人手的比较

Alexander Fabisch, Wadhah Zai El Amri, Chandandeep Singh, Nicolás Navarro-Guerrero

机构 * Robotics Innovation Center, Deutsches Forschungszentrum für Künstliche Intelligenz GmbH (DFKI)（德意志人工智能研究中心机器人创新中心） ； Leibniz Universität Hannover, L3S Research Center（汉诺威莱布尼茨大学L3S研究中心） 纠错

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

AI总结 本文通过比较人类手与机器人手的生物力学、感知和控制机制，探讨机器人是否需要拟人化手，发现复杂的手部设计并非所有任务所必需，而手部机制的复杂性与执行任务的广度相关，同时指出传感器集成和智能操作策略仍需进一步研究。

Journal ref Journal of Intelligent and Robotic Systems 112 (2026)

Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation Planning

Ziyuan Jiao, Yida Niu, Zeyu Zhang, Yangyang Wu, Yao Su, Yixin Zhu, Hangxin Liu, Song-Chun Zhu

机构 * State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing（国家一般人工智能重点实验室，北京一般人工智能研究院（BIGAI），北京） ； Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院） ； Institute for Artificial Intelligence and School of Artificial Intelligence, Peking University（北京大学人工智能研究院和人工智能学院） ； Department of Automation, Tsinghua University（清华大学自动化系） 纠错

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

Comments 20 pages, 13 figures; accepted by Transactions on Robotics