机器人 / 具身智能

On-Device Diffusion Transformer Policy for Efficient Robot Manipulation

Yiming Wu, Huan Wang, Zhenghao Chen, Jianxin Pang, Dong Xu

机构 * School of Computing and Data Science, The University of Hong Kong（计算与数据科学学院，香港大学） ； School of Engineering, Westlake University（工程学院，西湖大学） ； School of Information and Physical Sciences, University of Newcastle（信息与物理科学学院，新castle大学） ； UBTech Robotics Corp.（UBTech机器人公司） 纠错

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

Comments ICCV 2025

G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation

Tianxing Chen, Yao Mu, Zhixuan Liang, Zanxin Chen, Shijia Peng, Qiangyu Chen, Mingkun Xu, Ruizhen Hu, Hongyuan Zhang, Xuelong Li, Ping Luo

机构 * The University of Hong Kong（香港大学） ； Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究所（TeleAI），中国电信） ； Shenzhen University（深圳大学） ； AgileX Robotics（AgileX机器人） ； GDIIST ； HKU Shanghai Intelligent Computing Research Center（香港大学上海智能计算研究中心） 纠错

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

Comments Webpage: https://tianxingchen.github.io/G3Flow/, accepted to CVPR 2025

Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets

Kaiyuan Chen, Shuangyu Xie, Zehan Ma, Pannag R Sanketi, Ken Goldberg

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

DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation

Zhixuan Liang, Yao Mu, Yixiao Wang, Tianxing Chen, Wenqi Shao, Wei Zhan, Masayoshi Tomizuka, Ping Luo, Mingyu Ding

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

Comments Accepted by CVPR 2025. Camera ready version. Previous DexDiffuser. Project page: https://dexdiffuser.github.io/

RAI: Flexible Agent Framework for Embodied AI

Kajetan Rachwał, Maciej Majek, Bartłomiej Boczek, Kacper Dąbrowski, Paweł Liberadzki, Adam Dąbrowski, Maria Ganzha

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

Comments 12 pages, 8 figures, submitted to 23rd International Conference on Practical applications of Agents and Multi-Agent Systems (PAAMS'25)

Flow-based Domain Randomization for Learning and Sequencing Robotic Skills

Aidan Curtis, Eric Li, Michael Noseworthy, Nishad Gothoskar, Sachin Chitta, Hui Li, Leslie Pack Kaelbling, Nicole Carey

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

Next-Future: Sample-Efficient Policy Learning for Robotic-Arm Tasks

Fikrican Özgür, René Zurbrügg, Suryansh Kumar

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

Comments 10 pages, 9 figures, 6 tables

RoboAct-CLIP: Video-Driven Pre-training of Atomic Action Understanding for Robotics

Zhiyuan Zhang, Yuxin He, Yong Sun, Junyu Shi, Lijiang Liu, Qiang Nie

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

Comments IROS 2025

DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignment

Wendi Chen, Han Xue, Fangyuan Zhou, Yuan Fang, Cewu Lu

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

Comments Accepted to ICRA 2025. Project page: https://deform-pam.robotflow.ai

Local Policies Enable Zero-shot Long-horizon Manipulation

Murtaza Dalal, Min Liu, Walter Talbott, Chen Chen, Deepak Pathak, Jian Zhang, Ruslan Salakhutdinov

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

Comments ICRA 2025 accepted paper. Main Paper 7 pages, 3 tables, 3 figures. Appendix 6 pages, 2 figures, 6 tables

Articulated Object Manipulation using Online Axis Estimation with SAM2-Based Tracking

Xi Wang, Tianxing Chen, Qiaojun Yu, Tianling Xu, Zanxin Chen, Yiting Fu, Ziqi He, Cewu Lu, Yao Mu, Ping Luo

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

Comments Project Page: https://hytidel.github.io/video-tracking-for-axis-estimation/

Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation

Xuanlin Li, Tong Zhao, Xinghao Zhu, Jiuguang Wang, Tao Pang, Kuan Fang

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

Click to Grasp: Zero-Shot Precise Manipulation via Visual Diffusion Descriptors

Nikolaos Tsagkas, Jack Rome, Subramanian Ramamoorthy, Oisin Mac Aodha, Chris Xiaoxuan Lu

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

Comments 8 pages, 4 figures

Learning Generalizable Feature Fields for Mobile Manipulation

Ri-Zhao Qiu, Yafei Hu, Yuchen Song, Ge Yang, Yang Fu, Jianglong Ye, Jiteng Mu, Ruihan Yang, Nikolay Atanasov, Sebastian Scherer, Xiaolong Wang

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

Comments Preprint. Project website is at: https://geff-b1.github.io/

Rethinking the Intermediate Features in Adversarial Attacks: Misleading Robotic Models via Adversarial Distillation

Ke Zhao, Huayang Huang, Miao Li, Yu Wu

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

Vision-based Manipulation of Transparent Plastic Bags in Industrial Setups

F. Adetunji, A. Karukayil, P. Samant, S. Shabana, F. Varghese, U. Upadhyay, R. A. Yadav, A. Partridge, E. Pendleton, R. Plant, Y. Petillot, M. Koskinopoulou

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

Reinforcement Learning-Based Bionic Reflex Control for Anthropomorphic Robotic Grasping exploiting Domain Randomization

Hirakjyoti Basumatary, Daksh Adhar, Atharva Shrawge, Prathamesh Kanbaskar, Shyamanta M. Hazarika

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

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

EnvBridge: Bridging Diverse Environments with Cross-Environment Knowledge Transfer for Embodied AI

Tomoyuki Kagaya, Yuxuan Lou, Thong Jing Yuan, Subramanian Lakshmi, Jayashree Karlekar, Sugiri Pranata, Natsuki Murakami, Akira Kinose, Koki Oguri, Felix Wick, Yang You

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

RPMArt: Towards Robust Perception and Manipulation for Articulated Objects

Junbo Wang, Wenhai Liu, Qiaojun Yu, Yang You, Liu Liu, Weiming Wang, Cewu Lu

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

Comments 8 pages, 7 figures, accepted by 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), project website at https://r-pmart.github.io

Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation

Lipeng Zhuang, Shiyu Fan, Yingdong Ru, Florent Audonnet, Paul Henderson, Gerardo Aragon-Camarasa

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

Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation

Homanga Bharadhwaj, Debidatta Dwibedi, Abhinav Gupta, Shubham Tulsiani, Carl Doersch, Ted Xiao, Dhruv Shah, Fei Xia, Dorsa Sadigh, Sean Kirmani

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

Comments Preprint. Under Review

KALIE: Fine-Tuning Vision-Language Models for Open-World Manipulation without Robot Data

Grace Tang, Swetha Rajkumar, Yifei Zhou, Homer Rich Walke, Sergey Levine, Kuan Fang

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

Comments 8 pages, 7 figures

Grounding Language Models in Autonomous Loco-manipulation Tasks

Jin Wang, Nikos Tsagarakis

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

Comments Summit to ICRA@40. arXiv admin note: substantial text overlap with arXiv:2406.14655

HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation

Jin Wang, Rui Dai, Weijie Wang, Luca Rossini, Francesco Ruscelli, Nikos Tsagarakis

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

Comments Project page: https://hy-motion.github.io/

Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model

Jin Wang, Arturo Laurenzi, Nikos Tsagarakis

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

Comments Paper accepted by IROS 2024

Curriculum Is More Influential Than Haptic Information During Reinforcement Learning of Object Manipulation Against Gravity

Pegah Ojaghi, Romina Mir, Ali Marjaninejad, Andrew Erwin, Michael Wehner, Francisco J Valero-Cueva

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

HACMan++: Spatially-Grounded Motion Primitives for Manipulation

Bowen Jiang, Yilin Wu, Wenxuan Zhou, Chris Paxton, David Held

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

RVT-2: Learning Precise Manipulation from Few Demonstrations

Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, Dieter Fox

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

Comments Accepted to RSS 2024

BANSAI: Towards Bridging the AI Adoption Gap in Industrial Robotics with Neurosymbolic Programming

Benjamin Alt, Julia Dvorak, Darko Katic, Rainer Jäkel, Michael Beetz, Gisela Lanza

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

Comments 6 pages, 3 figures, accepted at the 2024 CIRP International Conference on Manufacturing Systems (CMS)

DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects

Dominik Bauer, Zhenjia Xu, Shuran Song

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

Comments Under review. 17 pages, 14 figures