机器人 / 具身智能

URDF-Anything: Constructing Articulated Objects with 3D Multimodal Language Model

Zhe Li, Xiang Bai, Jieyu Zhang, Zhuangzhe Wu, Che Xu, Ying Li, Chengkai Hou, Shanghang Zhang

机构 * State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University（多媒体信息处理国家重点实验室，计算机学院，北京大学） ； University of Washington（华盛顿大学） 纠错

专题命中 机器人数据与评测 ：embodied AI(abstract)；world model(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Accepted to the 39th Conference on Neural Information Processing Systems (NeurIPS 2025)

Articulate3D: Holistic Understanding of 3D Scenes as Universal Scene Description

Anna-Maria Halacheva, Yang Miao, Jan-Nico Zaech, Xi Wang, Luc Van Gool, Danda Pani Paudel

机构 * ETH Zurich（苏黎世联邦理工学院） ； TU Munich（慕尼黑技术大学） 纠错

专题命中 机器人数据与评测 ：embodied AI(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Unified Vision-Language-Action Model

Yuqi Wang, Xinghang Li, Wenxuan Wang, Junbo Zhang, Yingyan Li, Yuntao Chen, Xinlong Wang, Zhaoxiang Zhang

机构 * CASIA（中国科学院自动化研究所） ； BAAI（阿里巴巴人工智能研究院） ； THU（清华大学） ； HKISI（香港理工大学） 纠错

专题命中 机器人数据与评测 ：manipulation(abstract)；world model(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments technical report

EnerVerse-AC: Envisioning Embodied Environments with Action Condition

Yuxin Jiang, Shengcong Chen, Siyuan Huang, Liliang Chen, Pengfei Zhou, Yue Liao, Xindong He, Chiming Liu, Hongsheng Li, Maoqing Yao, Guanghui Ren

专题命中 机器人数据与评测 ：manipulation(abstract)；world model(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments Website: https://annaj2178.github.io/EnerverseAC.github.io

RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins

Yao Mu, Tianxing Chen, Zanxin Chen, Shijia Peng, Zhiqian Lan, Zeyu Gao, Zhixuan Liang, Qiaojun Yu, Yude Zou, Mingkun Xu, Lunkai Lin, Zhiqiang Xie, Mingyu Ding, Ping Luo

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments CVPR 2025 Highlight. 22 pages. Project page: https://robotwin-benchmark.github.io/

RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)

Yao Mu, Tianxing Chen, Shijia Peng, Zanxin Chen, Zeyu Gao, Yude Zou, Lunkai Lin, Zhiqiang Xie, Ping Luo

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Project page: https://robotwin-benchmark.github.io/early-version/

SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes

Min Liu, Gang Yang, Siyuan Luo, Lin Shao

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Accepted to IROS 2024

GS-LTS: 3D Gaussian Splatting-Based Adaptive Modeling for Long-Term Service Robots

Bin Fu, Jialin Li, Bin Zhang, Ruiping Wang, Xilin Chen

专题命中 机器人数据与评测 ：robotics(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Manipulate-Anything: Automating Real-World Robots using Vision-Language Models

Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments Project page: https://robot-ma.github.io/. All supplementary material, prompts and code can be found on the project page

GRUtopia: Dream General Robots in a City at Scale

Hanqing Wang, Jiahe Chen, Wensi Huang, Qingwei Ben, Tai Wang, Boyu Mi, Tao Huang, Siheng Zhao, Yilun Chen, Sizhe Yang, Peizhou Cao, Wenye Yu, Zichao Ye, Jialun Li, Junfeng Long, Zirui Wang, Huiling Wang, Ying Zhao, Zhongying Tu, Yu Qiao, Dahua Lin, Jiangmiao Pang

专题命中 机器人数据与评测 ：embodied AI(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.CV

URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images

Zoey Chen, Aaron Walsman, Marius Memmel, Kaichun Mo, Alex Fang, Karthikeya Vemuri, Alan Wu, Dieter Fox, Abhishek Gupta

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Accepted at RSS2024

Towards Real-World Aerial Vision Guidance with Categorical 6D Pose Tracker

Jingtao Sun, Yaonan Wang, Danwei Wang

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

General-purpose foundation models for increased autonomy in robot-assisted surgery

Samuel Schmidgall, Ji Woong Kim, Alan Kuntz, Ahmed Ezzat Ghazi, Axel Krieger

专题命中 机器人数据与评测 ：robotics(abstract)；robot learning(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Sonicverse: A Multisensory Simulation Platform for Embodied Household Agents that See and Hear

Ruohan Gao, Hao Li, Gokul Dharan, Zhuzhu Wang, Chengshu Li, Fei Xia, Silvio Savarese, Li Fei-Fei, Jiajun Wu

专题命中 机器人数据与评测 ：embodied AI(abstract)；embodied agent(abstract)；navigation(abstract)；分类 cs.RO、cs.CV

Comments In ICRA 2023. Project page: https://ai.stanford.edu/~rhgao/sonicverse/. Code: https://github.com/StanfordVL/sonicverse. Gao and Li contributed equally to this work and are in alphabetical order

Context-aware 6D Pose Estimation of Known Objects using RGB-D data

Ankit Kumar, Priya Shukla, Vandana Kushwaha, G. C. Nandi

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.CV

Open Arms: Open-Source Arms, Hands & Control

David Hanson, Alishba Imran, Gerardo Morales, Vytas Krisciunas, Aditya Sagi, Aman Malali, Rushali Mohbe, Raviteja Upadrashta

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Submitted to 36th Conference on Neural Information Processing Systems (NeurIPS 2022)

Learning Real-World Robot Policies by Dreaming

AJ Piergiovanni, Alan Wu, Michael S. Ryoo

专题命中 机器人数据与评测 ：robotics(abstract)；robot learning(abstract)；world model(abstract)；分类 cs.RO、cs.CV

Journal ref IROS 2019

Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World

Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, Pieter Abbeel

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments 8 pages, 7 figures. Submitted to 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)

Compositional Motion Generation from Demonstration with Object-Centric Neural Fields

基于以对象为中心的神经场的示范组合运动生成

Ahmet Ercan Tekden, Yasemin Bekiroglu

机构 * Chalmers University of Technology（查尔姆斯理工大学） ； University College London（伦敦大学学院） 纠错

专题命中 机器人数据与评测 ：robot learning(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO

AI总结 提出基于以对象为中心神经场的示范组合运动生成框架，通过时空组合性连接感知与运动，结合规范神经场与潜在条件变形渲染场景，用时间混合专家生成轨迹，在模拟和实际实验中展现良好性能。

Comments Accepted by IEEE Robotics and Automation Letters (RAL)

COFFAIL: A Dataset of Successful and Anomalous Robot Skill Executions in the Context of Coffee Preparation

COFFAIL：咖啡准备情境中成功与异常机器人技能执行数据集

Alex Mitrevski, Ayush Salunke

机构 * Division of Systems and Control, Chalmers University of Technology（系统与控制系，楚姆勒斯理工大学） ； Bonn-Rhein-Sieg University of Applied Sciences（波恩-莱茵-西弗大学） ； Autonomous Systems Group, Bonn-Rhein-Sieg University of Applied Sciences（自主系统组，波恩-莱茵-西弗大学） 纠错

专题命中 机器人数据与评测 ：robot learning(abstract)；manipulation(abstract)；robot policy(abstract)；分类 cs.RO

AI总结 本文提出COFFAIL数据集，包含厨房环境中机器人成功与异常咖啡制作技能执行数据，用于通过模仿学习训练机器人策略。

Comments Presented as an extended abstract at the 2nd German Robotics Conference (GRC)

AetherVision-Bench: An Open-Vocabulary RGB-Infrared Benchmark for Multi-Angle Segmentation across Aerial and Ground Perspectives

Aniruddh Sikdar, Aditya Gandhamal, Suresh Sundaram

机构 * Robert Bosch Centre for Cyber Physical Systems, Indian Institute of Science, Bengaluru, India（罗伯特·博世协同物理系统中心，印度科学研究院，班加罗尔） ； Kotak IISc AI-ML Centre, Indian Institute of Science, Bengaluru, India（Kotak IISc AI-ML 中心，印度科学研究院，班加罗尔） ； Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India（航空航天工程系，印度科学研究院，班加罗尔） 纠错

专题命中 机器人数据与评测 ：embodied AI(abstract)；navigation(abstract)；world model(abstract)；分类 cs.CV

Comments Accepted at Workshop on Foundation Models Meet Embodied Agents at CVPR 2025 (Non-archival Track)

Robot Skill Generalization via Keypoint Integrated Soft Actor-Critic Gaussian Mixture Models

Iman Nematollahi, Kirill Yankov, Wolfram Burgard, Tim Welschehold

专题命中 机器人数据与评测 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV；robotics(comments)

Comments Accepted at the International Symposium on Experimental Robotics (ISER) 2023. Videos at http://kis-gmm.cs.uni-freiburg.de/

Grounding Language with Visual Affordances over Unstructured Data

Oier Mees, Jessica Borja-Diaz, Wolfram Burgard

专题命中 机器人数据与评测 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV；robotics(comments)

Comments Accepted at the 2023 IEEE International Conference on Robotics and Automation (ICRA). Project website: http://hulc2.cs.uni-freiburg.de

Arena-Bench: A Benchmarking Suite for Obstacle Avoidance Approaches in Highly Dynamic Environments

Linh Kästner, Teham Bhuiyan, Tuan Anh Le, Elias Treis, Johannes Cox, Boris Meinardus, Jacek Kmiecik, Reyk Carstens, Duc Pichel, Bassel Fatloun, Niloufar Khorsandi, Jens Lambrecht

专题命中 机器人数据与评测 ：robotics(abstract,comments)；navigation(abstract)；robotic(abstract)；分类 cs.RO

Comments Robotics and Automation Letters (RA-L), 2022, 8 pages, 6 figures

RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment

Mingxin Yu, Lin Shao, Zhehuan Chen, Tianhao Wu, Qingnan Fan, Kaichun Mo, Hao Dong

专题命中 机器人数据与评测 ：robotics(abstract,comments)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Submitted to IEEE International Conference on Robotics and Automation (ICRA) 2022

Inverting the Pose Forecasting Pipeline with SPF2: Sequential Pointcloud Forecasting for Sequential Pose Forecasting

Xinshuo Weng, Jianren Wang, Sergey Levine, Kris Kitani, Nicholas Rhinehart

专题命中 机器人数据与评测 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV；robot learning(comments)

Comments Published in Conference on Robot Learning (CoRL), 2020. Project webpage: http://www.xinshuoweng.com/projects/SPF2/

SHOP-VRB: A Visual Reasoning Benchmark for Object Perception

Michal Nazarczuk, Krystian Mikolajczyk

专题命中 机器人数据与评测 ：robotics(abstract,comments)；manipulation(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments International Conference on Robotics and Automation (ICRA) 2020

Energy Efficiency Maximization for FAS-Assisted Downlink Communication in Mobile Embodied AI Networks (MEAN) over Interference Channels

干扰信道中移动具身人工智能网络（MEAN）里流体天线系统（FAS）辅助的下行通信的能效最大化

Ruopeng Xu, Zhaohui Yang, Jiaxiang Wang, Chenliang Wu, Zhaoyang Zhang

专题命中 机器人数据与评测 ：embodied AI(title,abstract)

AI总结 针对干扰信道中FAS辅助的下行MEAN，该研究联合优化智能体位置、FAS端口选择与发射功率以最大化能效，提出的迭代算法在噪声严重时性能优于基准方案。

EvolvingWorld: An Open-Schema Framework for Co-Evolving Role-Play Agents and World Model in Interactive Literary World

EvolvingWorld：用于交互式文学世界中角色与世界模型协同进化的开放架构框架

Qing Zong, Yue Guo, Mengxin Yang, Yiwen Guo, Yangqiu Song

机构 * Hong Kong University of Science and Technology（香港科技大学） ； LIGHTSPEED（光速） ； Huazhong University of Science and Technology（华中科技大学） 纠错

专题命中 机器人数据与评测 ：world model(title,abstract)

AI总结 研究交互式文学世界中角色与世界协同进化问题，提出EvolvingWorld框架，含角色智能体和世界模型两个耦合模块，制定7个可训练任务，构建数据集并引入评估协议，实验证明其能有效改进长期模拟。

Do Large Language Model Voters Strategize? An Oracle-Based Benchmark for Manipulation under Voting Rules

大语言模型选民会策略投票吗？一个基于预言机的投票规则操纵基准测试

Seyed Pouyan Mousavi Davoudi, Alireza Amiri-Margavi, Amin Gholami Davodi, Hamidreza Hasani Balyani, Arshia Gharagozlou

专题命中 机器人数据与评测 ：manipulation(title,abstract)

AI总结 本文提出一个基于预言机的基准测试，通过枚举所有可行报告并计算真实结果，评估大语言模型选民能否发现并执行策略投票，覆盖多种投票规则和提示条件。

Comments 19 pages