机器人 / 具身智能 - arXivDaily 专题

2409.14365 2024-09-26 cs.RO 89%

D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation

Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Wenbo Cui, Chengyang Zhao, Xiaomeng Fang, Leonidas Guibas, He Wang

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

2407.07868 2024-09-10 cs.RO cs.AI cs.CV cs.LG 89%

Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation

Eugene Teoh, Sumit Patidar, Xiao Ma, Stephen James

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

Comments Project website: https://greenaug.github.io/

2405.03865 2024-06-07 cs.RO cs.AI cs.CV cs.LG 89%

Information-driven Affordance Discovery for Efficient Robotic Manipulation

Pietro Mazzaglia, Taco Cohen, Daniel Dijkman

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

Comments arXiv admin note: substantial text overlap with arXiv:2308.14915

2309.14236 2024-05-14 cs.RO cs.AI cs.CV cs.LG 89%

MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation

Patrick Lancaster, Nicklas Hansen, Aravind Rajeswaran, Vikash Kumar

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

Comments 10 pages, 8 figures

2403.07870 2024-03-13 cs.RO 89%

OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, Lerrel Pinto

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

2403.03890 2024-03-07 cs.RO cs.AI cs.CV cs.LG 89%

Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation

Xiao Ma, Sumit Patidar, Iain Haughton, Stephen James

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

Comments Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2024). Videos and code: https://yusufma03.github.io/projects/hdp/

2401.09038 2024-01-18 cs.RO 89%

Visual Robotic Manipulation with Depth-Aware Pretraining

Wanying Wang, Jinming Li, Yichen Zhu, Zhiyuan Xu, Zhengping Che, Yaxin Peng, Chaomin Shen, Dong Liu, Feifei Feng, Jian Tang

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

Comments submitted to ICRA2024

2312.06129 2023-12-12 cs.RO 89%

Household navigation and manipulation for everyday object rearrangement tasks

Shrutheesh R. Iyer, Anwesan Pal, Jiaming Hu, Akanimoh Adeleye, Aditya Aggarwal, Henrik I. Christensen

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

Comments Paper accepted at IEEE IRC-2023

2310.03023 2023-10-05 cs.RO cs.AI cs.CV cs.LG 89%

Human-oriented Representation Learning for Robotic Manipulation

Mingxiao Huo, Mingyu Ding, Chenfeng Xu, Thomas Tian, Xinghao Zhu, Yao Mu, Lingfeng Sun, Masayoshi Tomizuka, Wei Zhan

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

2210.12386 2023-05-24 cs.RO 89%

Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning

Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Erez Karpas, Marc Toussaint

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

Comments Submitted to ICRA 2023

2304.10595 2023-04-24 cs.RO 89%

The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing

Leonel Rozo, Andras G. Kupcsik, Philipp Schillinger, Meng Guo, Robert Krug, Niels van Duijkeren, Markus Spies, Patrick Kesper, Sabrina Hoppe, Hanna Ziesche, Mathias Bürger, Kai O. Arras

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

2211.09019 2023-03-08 cs.RO cs.AI cs.CV cs.LG 89%

Learning Reward Functions for Robotic Manipulation by Observing Humans

Minttu Alakuijala, Gabriel Dulac-Arnold, Julien Mairal, Jean Ponce, Cordelia Schmid

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

2209.05451 2022-11-14 cs.RO cs.AI cs.CL cs.CV cs.LG 89%

Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation

Mohit Shridhar, Lucas Manuelli, Dieter Fox

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

Comments CoRL 2022. Project Website: https://peract.github.io/

2203.08098 2022-11-01 cs.RO 89%

RB2: Robotic Manipulation Benchmarking with a Twist

Sudeep Dasari, Jianren Wang, Joyce Hong, Shikhar Bahl, Yixin Lin, Austin Wang, Abitha Thankaraj, Karanbir Chahal, Berk Calli, Saurabh Gupta, David Held, Lerrel Pinto, Deepak Pathak, Vikash Kumar, Abhinav Gupta

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

Comments accepted at the NeurIPS 2021 Datasets and Benchmarks Track

2204.06433 2022-04-14 cs.RO 89%

A Systematic Comparison of Simulation Software for Robotic Arm Manipulation using ROS2

Florent P. Audonnet, Andrew Hamilton, Gerardo Aragon-Camarasa

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

2101.00755 2021-01-05 cs.RO 89%

Machine Learning for Robotic Manipulation

Quan Vuong

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

Comments Review paper written for UCSD PhD Research Exam

2005.02588 2020-05-07 cs.RO 89%

DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation

Fang Wan, Haokun Wang, Xiaobo Liu, Linhan Yang, Chaoyang Song

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

Comments 13 pages, 6 figures, 2 tables, accepted for AIM 2020

1806.10293 2018-11-29 cs.LG cs.AI cs.CV cs.RO stat.ML 89%

QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation

Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, Sergey Levine

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

Comments CoRL 2018 camera ready. 23 pages, 14 figures

1811.01484 2018-11-09 cs.RO 89%

Quantifying the Reality Gap in Robotic Manipulation Tasks

Jack Collins, David Howard, Jürgen Leitner

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

Comments Submitted to ICRA 2019 (Under Review)

2509.12379 2025-09-17 cs.RO cs.AI cs.LG 89%

Geometric Red-Teaming for Robotic Manipulation

Divyam Goel, Yufei Wang, Tiancheng Wu, Guixiu Qiao, Pavel Piliptchak, David Held, Zackory Erickson

机构 * Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）； National Institute of Standards and Technology（国家标准与技术研究院）

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

Comments Accepted at the 9th Annual Conference on Robot Learning (CoRL 2025, Oral)

2408.14747 2024-08-28 cs.RO cs.AI cs.LG 89%

Benchmarking Reinforcement Learning Methods for Dexterous Robotic Manipulation with a Three-Fingered Gripper

Elizabeth Cutler, Yuning Xing, Tony Cui, Brendan Zhou, Koen van Rijnsoever, Ben Hart, David Valencia, Lee Violet C. Ong, Trevor Gee, Minas Liarokapis, Henry Williams

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

Journal ref Australasian conference on robotics and automation (ACRA 2023)

2312.10008 2024-06-11 cs.RO cs.AI cs.LG 89%

Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects

Paul Maria Scheikl, Nicolas Schreiber, Christoph Haas, Niklas Freymuth, Gerhard Neumann, Rudolf Lioutikov, Franziska Mathis-Ullrich

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

Journal ref IEEE Robotics and Automation Letters 9 (2024) 5338-5345

2309.07609 2023-09-15 cs.RO cs.CV cs.LG 89%

Learning Quasi-Static 3D Models of Markerless Deformable Linear Objects for Bimanual Robotic Manipulation

Piotr Kicki, Michał Bidziński, Krzysztof Walas

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

Comments Under review for IEEE Robotics and Automation Letters

2303.04016 2023-03-10 cs.RO cs.CV cs.LG 89%

Decoupling Skill Learning from Robotic Control for Generalizable Object Manipulation

Kai Lu, Bo Yang, Bing Wang, Andrew Markham

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

Comments Accepted to IEEE International Conference on Robotics and Automation (ICRA) 2023

2201.07779 2022-01-21 cs.RO cs.CV cs.LG 89%

Look Closer: Bridging Egocentric and Third-Person Views with Transformers for Robotic Manipulation

Rishabh Jangir, Nicklas Hansen, Sambaran Ghosal, Mohit Jain, Xiaolong Wang

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

Comments Accepted in Robotics and Automation Letters Journal (RA-L 2022). Website at https://jangirrishabh.github.io/lookcloser .8 Pages

1810.03043 2018-10-09 cs.RO cs.AI cs.CV 89%

Robustness via Retrying: Closed-Loop Robotic Manipulation with Self-Supervised Learning

Frederik Ebert, Sudeep Dasari, Alex X. Lee, Sergey Levine, Chelsea Finn

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

Comments accepted at the Conference on Robot Learning (CoRL) 2018

2605.22882 2026-08-05 cs.CV cs.RO 版本更新 89%

GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation

GEM-4D：用于机器人操作的几何增强视频世界模型

Kaichen Zhou, Yuzhen Chen, Fangneng Zhan, Hang Hua, Grace Chen, Xinhai Chang, Ao Qu, Yilun Du, Zhuang Liu, Paul Pu Liang, Mengyu Wang

机构 * Harvard AI and Robotics Lab（哈佛人工智能与机器人实验室）； Harvard University（哈佛大学）； Media Lab and EECS（媒体实验室和电子工程与计算机科学系）； MIT（麻省理工学院）； Princeton University（普林斯顿大学）； MIT-IBM Watson AI Lab（麻省理工-IBM沃森人工智能实验室）

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

AI总结提出GEM-4D，通过注入从预训练几何基础模型蒸馏的密集4D对应监督，增强视频世界模型的几何一致性，并引入逆动力学模块将视频滚动转换为可执行机器人轨迹，提升操作成功率。

Comments Robotic World Model, Video Generative Model

2606.25503 2026-06-25 cs.RO cs.CV 新提交 89%

AISPO: Enhancing Depth Reliability for Robotic Manipulation of Non-Lambertian Objects via Affine-Invariant Shape Prior

AISPO: 通过仿射不变形状先验增强非朗伯体物体机器人操作的深度可靠性

Zhiming Chen, Linfang Zheng, Kun Zhang, Hyung Jin Chang, Wei Zhang, Hongyu Yu, Hua Chen

机构 * The Hong Kong University of Science & Technology（香港科技大学）； The University of Hong Kong（香港大学）； Southern University of Science & Technology（南方科技大学）； Zhejiang University（浙江大学）； LimX Dynamics

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

AI总结提出AISPO深度补全框架，结合多尺度RGB-D特征融合与仿射不变形状先验，提升非朗伯体物体（如透明、高反光表面）的深度可靠性，显著提高机器人抓取成功率。

Comments Published in IEEE Robotics and Automation Letters. 8 pages. Accepted April 2026

Journal ref IEEE Robotics and Automation Letters, vol. 11, no. 7, pp. 7996-8003, July 2026

2411.00554 2025-07-16 cs.RO cs.AI cs.CE 89%

Differentiable Physics-based System Identification for Robotic Manipulation of Elastoplastic Materials

Xintong Yang, Ze Ji, Yu-Kun Lai

机构 * School of Engineering, Cardiff University（工程学院）； School of Computer Science and Informatics, Cardiff University（计算机科学与信息学学院）

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

Comments Accepted by the Internation Journal of Robotics Research

Journal ref The International Journal of Robotics Research. 2025;0(0)

2503.05652 2025-08-26 cs.RO cs.AI cs.CV cs.LG 89%

BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities

Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, Li Fei-Fei

机构 * Stanford University（斯坦福大学）

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

Comments 9th Conference on Robot Learning (CoRL 2025), Seoul, Korea. Project website: https://behavior-robot-suite.github.io/

1. 机器人操作 22033 篇

D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation

Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation

Information-driven Affordance Discovery for Efficient Robotic Manipulation

MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation

OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation

Visual Robotic Manipulation with Depth-Aware Pretraining

Household navigation and manipulation for everyday object rearrangement tasks

Human-oriented Representation Learning for Robotic Manipulation

Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning

The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing

Learning Reward Functions for Robotic Manipulation by Observing Humans

Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation

RB2: Robotic Manipulation Benchmarking with a Twist

A Systematic Comparison of Simulation Software for Robotic Arm Manipulation using ROS2

Machine Learning for Robotic Manipulation

DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation

QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation

Quantifying the Reality Gap in Robotic Manipulation Tasks

Geometric Red-Teaming for Robotic Manipulation

Benchmarking Reinforcement Learning Methods for Dexterous Robotic Manipulation with a Three-Fingered Gripper

Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects

Learning Quasi-Static 3D Models of Markerless Deformable Linear Objects for Bimanual Robotic Manipulation

Decoupling Skill Learning from Robotic Control for Generalizable Object Manipulation

Look Closer: Bridging Egocentric and Third-Person Views with Transformers for Robotic Manipulation

Robustness via Retrying: Closed-Loop Robotic Manipulation with Self-Supervised Learning

GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation

AISPO: Enhancing Depth Reliability for Robotic Manipulation of Non-Lambertian Objects via Affine-Invariant Shape Prior

Differentiable Physics-based System Identification for Robotic Manipulation of Elastoplastic Materials

BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities