机器人 / 具身智能 - arXivDaily 专题

2601.04629 2026-01-09 cs.RO 89%

UniBiDex: A Unified Teleoperation Framework for Robotic Bimanual Dexterous Manipulation

UniBiDex：一种用于机器人双臂灵巧操作的统一远程操作框架

Zhongxuan Li, Zeliang Guo, Jun Hu, David Navarro-Alarcon, Jia Pan, Hongmin Wu, Peng Zhou

机构 * Department of Computer Science, The University of Hong Kong（香港大学计算机科学系）； Dongguan Key Laboratory of Intelligent Equipment and Smart Industry, School of Advanced Engineering, The Great Bay University（东莞智能装备与智能制造重点实验室，高级工程学院，大湾区大学）； Department of Mechanical Engineering, The Hong Kong Polytechnic University（香港理工大学机械工程系）； Guangdong Academy of Sciences（广东省科学院）

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

AI总结 UniBiDex提出了一种统一的远程操作框架，用于双臂灵巧操作，通过整合异构输入设备实现实时接触丰富的双臂控制，并在厨房清洁任务中展示了更高的任务成功率和鲁棒性。

2507.18262 2025-12-30 cs.RO cs.AI cs.CV cs.HC cs.LG 89%

ReSemAct: Advancing Fine-Grained Robotic Manipulation via Semantic Structuring and Affordance Refinement

ReSemAct：通过语义结构化和效用细化推进细粒度机器人操作

Chenyu Su, Weiwei Shang, Chen Qian, Fei Zhang, Shuang Cong

机构 * Department of Automation, University of Science and Technology of China（自动化系，中国科学技术大学）

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

AI总结 ReSemAct 通过语义结构化和效用细化方法，在细粒度机器人操作中实现更精确的效用目标生成与动态环境适应。

Comments Code and videos: https://github.com/scy-v/ReSemAct and https://resemact.github.io

2507.11840 2025-11-19 cs.RO 89%

The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey

Gaofeng Li, Ruize Wang, Peisen Xu, Qi Ye, Jiming Chen

机构 * College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院）

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

2511.05199 2025-11-10 cs.RO 89%

Let Me Show You: Learning by Retrieving from Egocentric Video for Robotic Manipulation

Yichen Zhu, Feifei Feng

机构 * Midea Group, AI Research Center（美的集团人工智能研究中心）

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

Comments Accepted by IROS 2025

2412.07215 2025-11-05 cs.RO cs.MM 89%

RoboTron-Mani: All-in-One Multimodal Large Model for Robotic Manipulation

Feng Yan, Fanfan Liu, Liming Zheng, Yufeng Zhong, Yiyang Huang, Zechao Guan, Chengjian Feng, Lin Ma

机构 * Meituan（美团）

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

Journal ref Proceedings of the IEEE/CVF International Conference on Computer Vision 2025

2510.22113 2025-10-28 cs.RO cs.HC 89%

RaycastGrasp: Eye-Gaze Interaction with Wearable Devices for Robotic Manipulation

Zitiantao Lin, Yongpeng Sang, Yang Ye

机构 * College of Engineering Northeastern University Boston, USA ； Khoury College of Computer Sciences Northeastern University Boston, USA ； Department of Civil \& Environmental Engineering Northeastern University Boston, USA

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

Comments 5 pages, 5 figures; Accepted to: 2025 IEEE 4th International Conference on Intelligent Reality (ICIR 2025); Zitiantao Lin and Yongpeng Sang contributed equally to this work (co-first authors). Corresponding author: Yang Ye (y.ye@northeastern.edu)

2510.21571 2025-10-27 cs.RO cs.AI cs.CV cs.LG 89%

Scalable Vision-Language-Action Model Pretraining for Robotic Manipulation with Real-Life Human Activity Videos

Qixiu Li, Yu Deng, Yaobo Liang, Lin Luo, Lei Zhou, Chengtang Yao, Lingqi Zeng, Zhiyuan Feng, Huizhi Liang, Sicheng Xu, Yizhong Zhang, Xi Chen, Hao Chen, Lily Sun, Dong Chen, Jiaolong Yang, Baining Guo

机构 * Tsinghua University（清华大学）； Microsoft Research Asia（微软亚洲研究院）

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

Comments Project page: https://microsoft.github.io/VITRA/

2509.24579 2025-09-30 cs.RO 89%

U-DiT Policy: U-shaped Diffusion Transformers for Robotic Manipulation

Linzhi Wu, Aoran Mei, Xiyue Wang, Guo-Niu Zhu, Zhongxue Gan

机构 * College of Intelligent Robotics and Advanced Manufacturing, Fudan University（智能机器人与先进制造学院，复旦大学）

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

2509.15880 2025-09-22 cs.RO 89%

Improving Robotic Manipulation with Efficient Geometry-Aware Vision Encoder

An Dinh Vuong, Minh Nhat Vu, Ian Reid

机构 * Department of Computer Vision, Mohammed bin Zayed University of Artificial Intelligence（计算机视觉系，穆罕默德·本·扎耶德人工智能大学）； AIT Austrian Institute of Technology GmbH（奥地利技术研究所）

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

Comments 9 figures, 7 tables. Project page: https://evggt.github.io/

2508.09822 2025-09-09 cs.CV 89%

Physical Autoregressive Model for Robotic Manipulation without Action Pretraining

Zijian Song, Sihan Qin, Tianshui Chen, Liang Lin, Guangrun Wang

机构 * Sun Yat-sen University（中山大学）； Guangdong Key Laboratory of Big Data Analysis and Processing（广东大数据分析与处理重点实验室）； X-Era AI Lab（X-Era人工智能实验室）； Guangdong University of Technology（广东工业大学）

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

Comments 16 pages, 6 figures

2509.01043 2025-09-03 cs.RO 89%

TARA: A Low-Cost 3D-Printed Robotic Arm for Accessible Robotics Education

Thays Leach Mitre

机构 * Department of Computer Science, Data Science and Engineering（计算机科学与数据科学系）； New York University Shanghai（纽约大学上海校区）

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

Comments 6 pages, 5 figures. Preprint submission

2508.02649 2025-08-05 cs.RO 89%

Manip4Care: Robotic Manipulation of Human Limbs for Solving Assistive Tasks

Yubin Koh, Ahmed H. Qureshi

机构 * Department of Computer Science, Purdue University（计算机科学系，普渡大学）

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

Comments Accepted to IROS 2025

2507.17903 2025-07-25 cs.LG 89%

Federated Learning for Large-Scale Cloud Robotic Manipulation: Opportunities and Challenges

Obaidullah Zaland, Chanh Nguyen, Florian T. Pokorny, Monowar Bhuyan

机构 * Department of Computing Science, Umeå University（计算机科学系，乌梅大学）； Division of Robotics, Perception and Learning, KTH Royal Institute of Technology（机器人、感知与学习 division，皇家理工学院）

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

Comments Accepted for Presentation at IEEE International Conference on Machine Learning and Cybernetics (ICMLC) 2025

2504.08438 2025-07-15 cs.RO stat.ML 89%

Diffusion Models for Robotic Manipulation: A Survey

Rosa Wolf, Yitian Shi, Sheng Liu, Rania Rayyes

机构 * Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院）

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

Comments 26 pages, 2 figure, 9 tables

2506.08296 2025-06-12 cs.RO 89%

HiBerNAC: Hierarchical Brain-emulated Robotic Neural Agent Collective for Disentangling Complex Manipulation

Hongjun Wu, Heng Zhang, Pengsong Zhang, Jin Wang, Cong Wang

机构 * Johns Hopkins University（约翰霍普金斯大学）； Italian Institute of Technology（意大利理工学院）； University of Toronto（多伦多大学）； Massachusetts General Hospital, Harvard University（哈佛大学麻省总医院）

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

Comments 31 pages,5 figures

2505.14819 2025-05-22 cs.RO 89%

DORA: Object Affordance-Guided Reinforcement Learning for Dexterous Robotic Manipulation

Lei Zhang, Soumya Mondal, Zhenshan Bing, Kaixin Bai, Diwen Zheng, Zhaopeng Chen, Alois Christian Knoll, Jianwei Zhang

机构 * TAMS (Technical Aspects of Multimodal Systems), Department of Informatics, Universität Hamburg（技术多模态系统（TAMS），信息学院，汉堡大学）； Agile Robots AG（敏捷机器人公司）； Technical University of Munich（慕尼黑技术大学）

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

Comments 8 pages

2505.06919 2025-05-13 cs.RO 89%

The First WARA Robotics Mobile Manipulation Challenge -- Lessons Learned

David Cáceres Domínguez, Marco Iannotta, Abhishek Kashyap, Shuo Sun, Yuxuan Yang, Christian Cella, Matteo Colombo, Martina Pelosi, Giuseppe F. Preziosa, Alessandra Tafuro, Isacco Zappa, Finn Busch, Yifei Dong, Alberta Longhini, Haofei Lu, Rafael I. Cabral Muchacho, Jonathan Styrud, Sebastiano Fregnan, Marko Guberina, Zheng Jia, Graziano Carriero, Sofia Lindqvist, Silvio Di Castro, Matteo Iovino

机构 * Center for Applied Autonomous Sensor Systems (AASS)（应用自主传感系统中心）； Politecnico di Milano（米兰理工学院）； Division of Robotics, Perception and Learning, Royal Institute of Technology (KTH)（机器人、感知与学习 division，皇家理工学院）； Lund Technical University (LTH)（卢恩技术大学）； University of Basilicata（巴塞拉塔大学）； Pharmaceutical Technology & Development, R&D, AstraZeneca（制药技术与开发，研发，阿斯利康）； ABB Corporate Research（ABB企业研究）

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

2505.06628 2025-05-13 cs.RO 89%

ACORN: Adaptive Contrastive Optimization for Safe and Robust Fine-Grained Robotic Manipulation

Zhongquan Zhou, Shuhao Li, Zixian Yue

机构 * School of Information Science & Engineering, Lanzhou University（信息科学与工程学院，兰州大学）

专题命中机器人操作：manipulation(title,abstract)；robotic(title)；embodied AI(abstract)；embodied agent(abstract)

Comments 6 pages,4 figures

2411.14950 2025-05-02 cs.RO cs.SY eess.SY 89%

Trajectory Planning and Control for Robotic Magnetic Manipulation

Ogulcan Isitman, Gokhan Alcan, Ville Kyrki

机构 * Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University（电气工程与自动化系，电气工程学院，阿alto大学）； Faculty of Engineering and Natural Sciences, Automation Technology and Mechanical Engineering, Tampere University（工程与自然科学学院，自动化技术与机械工程，塔尔基大学）

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

Comments 8 pages, 6 figures

2503.13913 2025-03-19 cs.RO 89%

Project URSULA: Design of a Robotic Squid for Underwater Manipulation

Berke Gur

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

Comments Presented during the IEEE OES AUV 2024 Symposium held in Boston, MA, USA between the dates 18-20 September, 2024. 6 pages, 7 pages, 17 references

2503.08622 2025-03-12 cs.RO 89%

Cross-Embodiment Robotic Manipulation Synthesis via Guided Demonstrations through CycleVAE and Human Behavior Transformer

Apan Dastider, Hao Fang, Mingjie Lin

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

Comments Under Review in IROS 2025

2503.07087 2025-03-11 cs.RO 89%

iManip: Skill-Incremental Learning for Robotic Manipulation

Zexin Zheng, Jia-Feng Cai, Xiao-Ming Wu, Yi-Lin Wei, Yu-Ming Tang, Wei-Shi Zheng

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

2503.02748 2025-03-05 cs.RO 89%

Bridging VLM and KMP: Enabling Fine-grained robotic manipulation via Semantic Keypoints Representation

Junjie Zhu, Huayu Liu, Jin Wang, Bangrong Wen, Kaixiang Huang, Xiaofei Li, Haiyun Zhan, Guodong Lu

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

2409.11925 2025-03-04 cs.RO 89%

Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR

Kelin Li, Shubham M Wagh, Nitish Sharma, Saksham Bhadani, Wei Chen, Chang Liu, Petar Kormushev

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

Comments This work has been submitted to the IEEE for possible publication

2410.11013 2024-12-19 cs.RO 89%

Incorporating Task Progress Knowledge for Subgoal Generation in Robotic Manipulation through Image Edits

Xuhui Kang, Yen-Ling Kuo

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

Comments WACV2025, 12 pages, 11 figures

2411.19650 2024-12-02 cs.RO cs.AI cs.CL cs.CV cs.LG 89%

CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation

Qixiu Li, Yaobo Liang, Zeyu Wang, Lin Luo, Xi Chen, Mozheng Liao, Fangyun Wei, Yu Deng, Sicheng Xu, Yizhong Zhang, Xiaofan Wang, Bei Liu, Jianlong Fu, Jianmin Bao, Dong Chen, Yuanchun Shi, Jiaolong Yang, Baining Guo

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

Comments Project Webpage: https://cogact.github.io/

2405.14406 2024-11-28 cs.RO cs.CE 89%

A Unification Between Deep-Learning Vision, Compartmental Dynamical Thermodynamics, and Robotic Manipulation for a Circular Economy

Federico Zocco, Wassim M. Haddad, Andrea Corti, Monica Malvezzi

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

Comments To be submitted

Journal ref IEEE Access ( Volume: 12), 2024, pp. 173502 - 173516

2409.09016 2024-10-17 cs.RO 89%

Closed-Loop Visuomotor Control with Generative Expectation for Robotic Manipulation

Qingwen Bu, Jia Zeng, Li Chen, Yanchao Yang, Guyue Zhou, Junchi Yan, Ping Luo, Heming Cui, Yi Ma, Hongyang Li

专题命中机器人操作：robotic(title,abstract)；manipulation(title)；robotics(abstract)；embodied AI(abstract)

Comments Accepted at NeurIPS 2024. Code and models: https://github.com/OpenDriveLab/CLOVER

2402.15487 2024-10-10 cs.RO cs.AI cs.CV cs.LG 89%

RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation

Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg, Hooshang Nayyeri, Shenlong Wang, Yunzhu Li

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

Comments Project Page: https://jianghanxiao.github.io/roboexp-web/

2406.10615 2024-09-27 cs.RO cs.AI cs.CV cs.LG 89%

Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation

Tong Zhang, Yingdong Hu, Jiacheng You, Yang Gao

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

Comments CoRL 2024. Project website: http://sgrv2-robot.github.io

1. 机器人操作 22033 篇

UniBiDex: A Unified Teleoperation Framework for Robotic Bimanual Dexterous Manipulation

ReSemAct: Advancing Fine-Grained Robotic Manipulation via Semantic Structuring and Affordance Refinement

The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey

Let Me Show You: Learning by Retrieving from Egocentric Video for Robotic Manipulation

RoboTron-Mani: All-in-One Multimodal Large Model for Robotic Manipulation

RaycastGrasp: Eye-Gaze Interaction with Wearable Devices for Robotic Manipulation

Scalable Vision-Language-Action Model Pretraining for Robotic Manipulation with Real-Life Human Activity Videos

U-DiT Policy: U-shaped Diffusion Transformers for Robotic Manipulation

Improving Robotic Manipulation with Efficient Geometry-Aware Vision Encoder

Physical Autoregressive Model for Robotic Manipulation without Action Pretraining

TARA: A Low-Cost 3D-Printed Robotic Arm for Accessible Robotics Education

Manip4Care: Robotic Manipulation of Human Limbs for Solving Assistive Tasks

Federated Learning for Large-Scale Cloud Robotic Manipulation: Opportunities and Challenges

Diffusion Models for Robotic Manipulation: A Survey

HiBerNAC: Hierarchical Brain-emulated Robotic Neural Agent Collective for Disentangling Complex Manipulation

DORA: Object Affordance-Guided Reinforcement Learning for Dexterous Robotic Manipulation

The First WARA Robotics Mobile Manipulation Challenge -- Lessons Learned

ACORN: Adaptive Contrastive Optimization for Safe and Robust Fine-Grained Robotic Manipulation

Trajectory Planning and Control for Robotic Magnetic Manipulation

Project URSULA: Design of a Robotic Squid for Underwater Manipulation

Cross-Embodiment Robotic Manipulation Synthesis via Guided Demonstrations through CycleVAE and Human Behavior Transformer

iManip: Skill-Incremental Learning for Robotic Manipulation

Bridging VLM and KMP: Enabling Fine-grained robotic manipulation via Semantic Keypoints Representation

Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR

Incorporating Task Progress Knowledge for Subgoal Generation in Robotic Manipulation through Image Edits

CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation

A Unification Between Deep-Learning Vision, Compartmental Dynamical Thermodynamics, and Robotic Manipulation for a Circular Economy

Closed-Loop Visuomotor Control with Generative Expectation for Robotic Manipulation

RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation

Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation