机器人 / 具身智能 - arXivDaily 专题

1905.04411 2019-05-14 cs.RO cs.CV cs.LG 89%

Learning Robotic Manipulation through Visual Planning and Acting

Angelina Wang, Thanard Kurutach, Kara Liu, Pieter Abbeel, Aviv Tamar

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

Comments RSS 2019. Website at https://sites.google.com/berkeley.edu/vpa/home

1806.08756 2018-09-10 cs.RO cs.CV cs.LG 89%

Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation

Peter R. Florence, Lucas Manuelli, Russ Tedrake

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

1803.06773 2018-03-20 cs.LG cs.AI cs.RO stat.ML 89%

Composable Deep Reinforcement Learning for Robotic Manipulation

Tuomas Haarnoja, Vitchyr Pong, Aurick Zhou, Murtaza Dalal, Pieter Abbeel, Sergey Levine

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

Comments Videos: https://sites.google.com/view/composing-real-world-policies/

1610.00633 2016-11-24 cs.RO cs.AI cs.LG 89%

Deep Reinforcement Learning for Robotic Manipulation with Asynchronous Off-Policy Updates

Shixiang Gu, Ethan Holly, Timothy Lillicrap, Sergey Levine

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

2401.08957 2026-02-24 cs.RO cs.AI 89%

Learning from Imperfect Demonstrations with Self-Supervision for Robotic Manipulation

通过自监督学习从不完美示范中学习用于机器人操作

Kun Wu, Ning Liu, Zhen Zhao, Di Qiu, Jinming Li, Zhengping Che, Zhiyuan Xu, Jian Tang

机构 * Syracuse University（苏利文大学）； Beijing Innovation Center of Humanoid Robotics（北京人形机器人创新中心）； Peking University（北京大学）； Shanghai University（上海大学）

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

AI总结本文提出SSDF框架，通过自监督学习利用不完美示范数据提升机器人操作任务的性能。

Comments 8 pages, 4 figures

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA)

2410.07801 2024-11-04 cs.RO cs.CV cs.SE cs.SY eess.SY 89%

LucidGrasp: Robotic Framework for Autonomous Manipulation of Laboratory Equipment with Different Degrees of Transparency via 6D Pose Estimation

Maria Makarova, Daria Trinitatova, Qian Liu, Dzmitry Tsetserukou

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

Comments Accepted to the 2024 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2024), 6 pages, 8 figures

2312.01236 2024-08-16 cs.RO cs.LG 89%

Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation

Niklas Funk, Erik Helmut, Georgia Chalvatzaki, Roberto Calandra, Jan Peters

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

Comments Accepted at IEEE Transactions On Robotics. Project Website: https://sites.google.com/view/evetac

2309.16347 2024-03-08 cs.RO cs.CL cs.LG 89%

Intrinsic Language-Guided Exploration for Complex Long-Horizon Robotic Manipulation Tasks

Eleftherios Triantafyllidis, Filippos Christianos, Zhibin Li

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

Comments Accepted at the International Conference on Robotics and Automation (ICRA), 2024. The manuscript consists of 10 pages and 6 figures

2310.08233 2023-10-13 cs.RO cs.AI 89%

The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales

Minh Q. Ta, Holly Dinkel, Hameed Abdul-Rashid, Yangfei Dai, Jessica Myers, Tan Chen, Junyi Geng, Timothy Bretl

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

Comments 3 pages, 3 figures, Best Poster Finalist at the 2023 Robotics and AI in Future Factory Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Video presentation [https://www.youtube.com/watch?v=JOXrBpMmI0A]. Robotics and AI in Future Factory workshop [https://sites.google.com/view/robot-ai-future-factory/]

2105.05985 2023-03-10 cs.RO cs.LG 89%

An Open-Source Multi-Goal Reinforcement Learning Environment for Robotic Manipulation with Pybullet

Xintong Yang, Ze Ji, Jing Wu, Yu-Kun Lai

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

Comments Submitted to Taros 2021

Journal ref Towards Autonomous Robotic Systems. TAROS 2021. Lecture Notes in Computer Science(), vol 13054. Springer, Cham

2205.08316 2022-10-12 cs.RO cs.CV 89%

Self-Supervised Learning of Multi-Object Keypoints for Robotic Manipulation

Jan Ole von Hartz, Eugenio Chisari, Tim Welschehold, Abhinav Valada

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

Comments Presented at IEEE ICRA 2022 Workshop 'Reinforcement Learning for Contact-Rich Manipulation'

2206.14424 2022-06-30 cs.RO cs.AI cs.SY eess.SY 89%

Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots

Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath

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

Comments Extended version of the manuscript accepted to IEEE Robotics and Automation Letters (RA-L) 2022

2011.06985 2020-11-16 cs.RO cs.AI 89%

Robotic self-representation improves manipulation skills and transfer learning

Phuong D. H. Nguyen, Manfred Eppe, Stefan Wermter

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

Comments Submitted to IEEE Robotics and Automation Letters (RA-L) 2021 with International Conference on Robotics and Automation Conference Option (ICRA) 2021

1909.05405 2020-02-20 cs.RO cs.CV eess.IV 89%

SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics

Yang Li, Florian Richter, Jingpei Lu, Emily K. Funk, Ryan K. Orosco, Jianke Zhu, Michael C. Yip

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

Comments The first two authors made equal contribution on this paper

Journal ref IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 2294-2301, April 2020

2512.04884 2026-04-17 cs.RO 89%

Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation

嗨！- 一个用于力导向、跨视角人工 manipulation 的多模态数据集

Tim Engelbracht, René Zurbrügg, Matteo Wohlrapp, Martin Büchner, Abhinav Valada, Marc Pollefeys, Hermann Blum, Zuria Bauer

机构 * ETH Zurich（苏黎世联邦理工学院）； Technical University of Munich（慕尼黑技术大学）； University of Freiburg（弗赖堡大学）； Microsoft（微软）； University of Bonn（波恩大学）

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

AI总结本文提出一个结合视觉、动作和触觉的多模态数据集，包含381个人工物体在38种环境中的3048个序列，用于评估方法在人机视角间的迁移能力及探索交互力等未被研究的模态。

2602.21811 2026-02-26 cs.RO 89%

DexRepNet++: Learning Dexterous Robotic Manipulation with Geometric and Spatial Hand-Object Representations

DexRepNet++: 通过几何和空间手-物体表示学习灵巧的机器人操作

Qingtao Liu, Zhengnan Sun, Yu Cui, Haoming Li, Gaofeng Li, Lin Shao, Jiming Chen, Qi Ye

机构 * IEEE Publication Technology Group（IEEE出版技术组）

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

AI总结 DexRepNet++通过几何和空间手-物体表示提升机器人灵巧操作的泛化能力和效率。

Comments Accepted by IEEE Transactions on Robotics (T-RO), 2026

Journal ref IEEE Transactions on Robotics, vol. 42, pp. 799-818, 2026

2402.07127 2025-10-22 cs.RO cs.AI cs.CV cs.LG 89%

Learning by Watching: A Review of Video-based Learning Approaches for Robot Manipulation

Chrisantus Eze, Christopher Crick

机构 * Computer Science Department, Oklahoma State University, Stillwater, Oklahoma, USA（俄克拉荷马州立大学计算机科学系）

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

Comments Published at IEEE Access

2412.04445 2025-10-17 cs.RO cs.AI cs.CL cs.CV cs.LG 89%

Moto: Latent Motion Token as the Bridging Language for Learning Robot Manipulation from Videos

Yi Chen, Yuying Ge, Weiliang Tang, Yizhuo Li, Yixiao Ge, Mingyu Ding, Ying Shan, Xihui Liu

机构 * The University of Hong Kong（香港大学）； ARC Lab, Tencent PCG（腾讯PCG实验室）； The Chinese University of Hong Kong（香港中文大学）； University of California, Berkeley（加州大学伯克利分校）

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

Comments ICCV 2025. Project page: https://chenyi99.github.io/moto/

2509.06048 2025-09-09 cs.RO 89%

Robotic Manipulation Framework Based on Semantic Keypoints for Packing Shoes of Different Sizes, Shapes, and Softness

Yi Dong, Yangjun Liu, Jinjun Duan, Yang Li, Zhendong Dai

机构 * College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics（机械与电子工程学院，南京航空航天大学）； State Key Laboratory of Internet of Things for Smart City（智能城市物联网国家重点实验室）； Department of Electromechanical Engineering, University of Macau（机电工程系，澳门大学）

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

Comments Yi Dong and Yangjun Liu contributed equally to the work. Accepted by Robotics and Autonomous Systems. https://authors.elsevier.com/c/1lgjX3HdG3supQ

Journal ref Robotics and Autonomous Systems, vol. 194, Dec. 2025, 105174

2410.11402 2025-04-03 cs.RO 89%

M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes

Sixu Yan, Zeyu Zhang, Muzhi Han, Zaijin Wang, Qi Xie, Zhitian Li, Zhehan Li, Hangxin Liu, Xinggang Wang, Song-Chun Zhu

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

2412.13211 2025-03-03 cs.RO cs.AI cs.CV cs.LG 89%

ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks

Arth Shukla, Stone Tao, Hao Su

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

2401.12202 2024-11-20 cs.RO cs.AI cs.CV cs.LG 89%

OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Robotics

Peiqi Liu, Yaswanth Orru, Jay Vakil, Chris Paxton, Nur Muhammad Mahi Shafiullah, Lerrel Pinto

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

Comments Github repo: https://github.com/ok-robot/ok-robot

2405.08576 2024-05-15 cs.RO cs.AI cs.CV cs.LG 89%

Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation

Jared Mejia, Victoria Dean, Tess Hellebrekers, Abhinav Gupta

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

Comments Accepted to ICRA 2024

2401.10702 2024-01-22 cs.RO 89%

G.O.G: A Versatile Gripper-On-Gripper Design for Bimanual Cloth Manipulation with a Single Robotic Arm

Dongmyoung Lee, Wei Chen, Xiaoshuai Chen, Nicolas Rojas

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

Comments Accepted for IEEE Robotics and Automation Letters in January 2024. Dongmyoung Lee and Wei Chen contributed equally to this research

Journal ref IEEE Robotics and Automation Letters 2024

2104.11213 2021-04-23 cs.CV cs.AI cs.LG cs.RO 89%

ManipulaTHOR: A Framework for Visual Object Manipulation

Kiana Ehsani, Winson Han, Alvaro Herrasti, Eli VanderBilt, Luca Weihs, Eric Kolve, Aniruddha Kembhavi, Roozbeh Mottaghi

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

Comments CVPR 2021 -- (Oral presentation)

2010.06544 2021-03-02 cs.RO 89%

Real-Time Deep Learning Approach to Visual Servo Control and Grasp Detection for Autonomous Robotic Manipulation

Eduardo Godinho Ribeiro, Raul de Queiroz Mendes, Valdir Grassi

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

Comments 27 pages, 24 figures. Preprint published in the Elsevier's Robotics and Autonomous Systems journal on February 24, 2021

Journal ref Journal: Robotics and Autonomous Systems, publisher: Elsevier, volume number: 139, year: 2021, page number: 103757

2303.00905 2023-10-27 cs.RO cs.AI cs.CV 89%

Open-World Object Manipulation using Pre-trained Vision-Language Models

Austin Stone, Ted Xiao, Yao Lu, Keerthana Gopalakrishnan, Kuang-Huei Lee, Quan Vuong, Paul Wohlhart, Sean Kirmani, Brianna Zitkovich, Fei Xia, Chelsea Finn, Karol Hausman

专题命中机器人操作：manipulation(title,abstract)；robot learning(abstract,comments)；navigation(abstract)；robot policy(abstract)

Comments Accepted at the 7th Conference on Robot Learning (CoRL 2023)

2406.01586 2026-08-19 cs.RO cs.AI 版本更新 88%

ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation

ManiCM：用于机器人操作的基于一致性模型的实时3D扩散策略

Zifeng Gao, Guanxing Lu, Tianxing Chen, Wenxun Dai, Ziwei Wang, Chao Shang, Wenbo Ding, Yansong Tang

机构 * Tsinghua Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院，清华大学）； Shanghai AI Laboratory（上海人工智能实验室）； Nanyang Technological University（南洋理工大学）

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

AI总结该研究提出ManiCM模型，通过一致性约束实现一步推理，在31项机器人操作任务上，推理速度较最优方法提升10倍且保持竞争力。

Comments https://manicm-fast.github.io/

2608.14986 2026-08-18 cs.RO cs.AI 新提交 88%

GaussMemory: Task-Driven 3D Gaussian Scene Memory for Long-Horizon Robotic Manipulation

GaussMemory：面向长时程机器人操作的任务驱动三维高斯场景记忆

Zhiqiang Hu, Shouren Huang, Masatoshi Ishikawa

机构 * Research Institute for Science & Technology, Tokyo University of Science（东京理科大学科学技术研究所）

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

AI总结该研究针对现有三维机器人记忆系统被动存储的缺陷，提出任务驱动的主动场景记忆框架GaussMemory，在LIBERO、VLABench基准上超越了MemoryVLA、π₀-FAST等方法。

Comments 8 pages, 10 figures. Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)

2603.01229 2026-07-31 cs.RO cs.AI 版本更新 88%

RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design

RMBench: 具有政策设计洞察的内存依赖机器人操作基准

Tianxing Chen, Yuran Wang, Mingleyang Li, Yan Qin, Hao Shi, Zixuan Li, Yifan Hu, Yingsheng Zhang, Kaixuan Wang, Yue Chen, Hongcheng Wang, Junjie Wang, Tianhang Yang, Renjing Xu, Ruihai Wu, Yao Mu, Yaodong Yang, Hao Dong, Ping Luo

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

AI总结 RMBench通过9个涵盖多层级内存复杂度的任务系统评估政策内存能力，提出Mem-0模块化政策支持可控消融研究，揭示现有政策的内存限制及架构设计对内存性能的影响。

Comments website: https://rmbench.github.io/

1. 机器人操作 22033 篇

Learning Robotic Manipulation through Visual Planning and Acting

Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation

Composable Deep Reinforcement Learning for Robotic Manipulation

Deep Reinforcement Learning for Robotic Manipulation with Asynchronous Off-Policy Updates

Learning from Imperfect Demonstrations with Self-Supervision for Robotic Manipulation

LucidGrasp: Robotic Framework for Autonomous Manipulation of Laboratory Equipment with Different Degrees of Transparency via 6D Pose Estimation

Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation

Intrinsic Language-Guided Exploration for Complex Long-Horizon Robotic Manipulation Tasks

The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales

An Open-Source Multi-Goal Reinforcement Learning Environment for Robotic Manipulation with Pybullet

Self-Supervised Learning of Multi-Object Keypoints for Robotic Manipulation

Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots

Robotic self-representation improves manipulation skills and transfer learning

SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics

Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation

DexRepNet++: Learning Dexterous Robotic Manipulation with Geometric and Spatial Hand-Object Representations

Learning by Watching: A Review of Video-based Learning Approaches for Robot Manipulation

Moto: Latent Motion Token as the Bridging Language for Learning Robot Manipulation from Videos

Robotic Manipulation Framework Based on Semantic Keypoints for Packing Shoes of Different Sizes, Shapes, and Softness

M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes

ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks

OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Robotics

Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation

G.O.G: A Versatile Gripper-On-Gripper Design for Bimanual Cloth Manipulation with a Single Robotic Arm

ManipulaTHOR: A Framework for Visual Object Manipulation

Real-Time Deep Learning Approach to Visual Servo Control and Grasp Detection for Autonomous Robotic Manipulation

Open-World Object Manipulation using Pre-trained Vision-Language Models

ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation

GaussMemory: Task-Driven 3D Gaussian Scene Memory for Long-Horizon Robotic Manipulation

RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design