机器人 / 具身智能 - arXivDaily 专题

2505.11818 2025-05-20 cs.RO 77%

Master Rules from Chaos: Learning to Reason, Plan, and Interact from Chaos for Tangram Assembly

Chao Zhao, Chunli Jiang, Lifan Luo, Guanlan Zhang, Hongyu Yu, Michael Yu Wang, Qifeng Chen

机构 * Hong Kong University of Science and Technology（香港科技大学）

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

Comments 7 pages, accepted by ICRA 2025

2505.09990 2025-05-20 cs.CV 77%

PointArena: Probing Multimodal Grounding Through Language-Guided Pointing

Long Cheng, Jiafei Duan, Yi Ru Wang, Haoquan Fang, Boyang Li, Yushan Huang, Elvis Wang, Ainaz Eftekhar, Jason Lee, Wentao Yuan, Rose Hendrix, Noah A. Smith, Fei Xia, Dieter Fox, Ranjay Krishna

机构 * University of Washington（华盛顿大学）； Allen Institute for Artificial Intelligence（人工智能 Allen 机构）； Anderson Collegiate Vocational Institute（安德森职业学院）

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

Comments 10 Pages, Dataset and code:https://pointarena.github.io/

2503.19913 2025-03-26 cs.CV 77%

PartRM: Modeling Part-Level Dynamics with Large Cross-State Reconstruction Model

Mingju Gao, Yike Pan, Huan-ang Gao, Zongzheng Zhang, Wenyi Li, Hao Dong, Hao Tang, Li Yi, Hao Zhao

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

Comments Accepted to CVPR 2025. Project Page: https://partrm.c7w.tech/

2406.05132 2025-03-24 cs.CV cs.AI cs.CL cs.LG cs.RO 77%

3D-GRAND: A Million-Scale Dataset for 3D-LLMs with Better Grounding and Less Hallucination

Jianing Yang, Xuweiyi Chen, Nikhil Madaan, Madhavan Iyengar, Shengyi Qian, David F. Fouhey, Joyce Chai

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

Comments CVPR 2025. Project website: https://3d-grand.github.io

2409.18896 2025-03-18 cs.CV 77%

S2O: Static to Openable Enhancement for Articulated 3D Objects

Denys Iliash, Hanxiao Jiang, Yiming Zhang, Manolis Savva, Angel X. Chang

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

2502.12481 2025-02-19 cs.CV cs.AI cs.LG cs.RO 77%

Predicate Hierarchies Improve Few-Shot State Classification

Emily Jin, Joy Hsu, Jiajun Wu

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

Comments ICLR 2025. First two authors contributed equally. Project page: https://emilyzjin.github.io/projects/phier.html

2502.08902 2025-02-14 cs.CV 77%

CoL3D: Collaborative Learning of Single-view Depth and Camera Intrinsics for Metric 3D Shape Recovery

Chenghao Zhang, Lubin Fan, Shen Cao, Bojian Wu, Jieping Ye

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

Comments Accepted at ICRA 2025

2501.16411 2025-01-30 cs.CV cs.AI cs.CL cs.LG cs.RO 77%

PhysBench: Benchmarking and Enhancing Vision-Language Models for Physical World Understanding

Wei Chow, Jiageng Mao, Boyi Li, Daniel Seita, Vitor Guizilini, Yue Wang

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

Comments ICLR 2025. Project page: https://physbench.github.io/ Dataset: https://huggingface.co/datasets/USC-GVL/PhysBench

2412.06784 2024-12-10 cs.RO cs.AI cs.CV cs.LG 77%

P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policies

Mara Levy, Siddhant Haldar, Lerrel Pinto, Abhinav Shirivastava

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

2412.05789 2024-12-10 cs.RO 77%

InfiniteWorld: A Unified Scalable Simulation Framework for General Visual-Language Robot Interaction

Pengzhen Ren, Min Li, Zhen Luo, Xinshuai Song, Ziwei Chen, Weijia Liufu, Yixuan Yang, Hao Zheng, Rongtao Xu, Zitong Huang, Tongsheng Ding, Luyang Xie, Kaidong Zhang, Changfei Fu, Yang Liu, Liang Lin, Feng Zheng, Xiaodan Liang

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

Comments 8 pages, 5 figures

2411.10164 2024-11-18 cs.RO 77%

Evaluating Text-to-Image Diffusion Models for Texturing Synthetic Data

Thomas Lips, Francis wyffels

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

Comments Submitted to RA-L

2302.03385 2024-10-30 cs.RO 77%

NeuronsGym: A Hybrid Framework and Benchmark for Robot Tasks with Sim2Real Policy Learning

Haoran Li, Shasha Liu, Mingjun Ma, Guangzheng Hu, Yaran Chen, Dongbin Zhao

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

Comments 16 pages, 10 figures

2410.20018 2024-10-29 cs.RO cs.AI cs.CV cs.LG 77%

GHIL-Glue: Hierarchical Control with Filtered Subgoal Images

Kyle B. Hatch, Ashwin Balakrishna, Oier Mees, Suraj Nair, Seohong Park, Blake Wulfe, Masha Itkina, Benjamin Eysenbach, Sergey Levine, Thomas Kollar, Benjamin Burchfiel

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

Comments Code, model checkpoints and videos can be found at https://ghil-glue.github.io

2312.08782 2024-10-02 cs.RO cs.AI cs.CV cs.LG 77%

Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

Yafei Hu, Quanting Xie, Vidhi Jain, Jonathan Francis, Jay Patrikar, Nikhil Keetha, Seungchan Kim, Yaqi Xie, Tianyi Zhang, Hao-Shu Fang, Shibo Zhao, Shayegan Omidshafiei, Dong-Ki Kim, Ali-akbar Agha-mohammadi, Katia Sycara, Matthew Johnson-Roberson, Dhruv Batra, Xiaolong Wang, Sebastian Scherer, Chen Wang, Zsolt Kira, Fei Xia, Yonatan Bisk

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

2310.06114 2024-09-27 cs.AI 77%

Learning Interactive Real-World Simulators

Sherry Yang, Yilun Du, Kamyar Ghasemipour, Jonathan Tompson, Leslie Kaelbling, Dale Schuurmans, Pieter Abbeel

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

Comments https://universal-simulator.github.io

2310.02219 2024-07-16 cs.RO cs.AI cs.CV cs.LG 77%

What do we learn from a large-scale study of pre-trained visual representations in sim and real environments?

Sneha Silwal, Karmesh Yadav, Tingfan Wu, Jay Vakil, Arjun Majumdar, Sergio Arnaud, Claire Chen, Vincent-Pierre Berges, Dhruv Batra, Aravind Rajeswaran, Mrinal Kalakrishnan, Franziska Meier, Oleksandr Maksymets

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

Comments Project website https://pvrs-sim2real.github.io/

2405.14868 2024-07-08 cs.CV cs.AI cs.LG cs.RO 77%

Generative Camera Dolly: Extreme Monocular Dynamic Novel View Synthesis

Basile Van Hoorick, Rundi Wu, Ege Ozguroglu, Kyle Sargent, Ruoshi Liu, Pavel Tokmakov, Achal Dave, Changxi Zheng, Carl Vondrick

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

Comments Accepted to ECCV 2024. Project webpage is available at: https://gcd.cs.columbia.edu/

2406.07549 2024-06-14 cs.RO 77%

A3VLM: Actionable Articulation-Aware Vision Language Model

Siyuan Huang, Haonan Chang, Yuhan Liu, Yimeng Zhu, Hao Dong, Peng Gao, Abdeslam Boularias, Hongsheng Li

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

2402.01181 2024-02-05 cs.RO cs.GR 77%

Efficient Physically-based Simulation of Soft Bodies in Embodied Environment for Surgical Robot

Zhenya Yang, Yonghao Long, Kai Chen, Wang Wei, Qi Dou

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

Comments 8 pages

2302.12915 2023-11-01 cs.RO 77%

Semantic Mechanical Search with Large Vision and Language Models

Satvik Sharma, Huang Huang, Kaushik Shivakumar, Lawrence Yunliang Chen, Ryan Hoque, Brian Ichter, Ken Goldberg

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

2306.01295 2023-06-05 cs.AI cs.CV cs.LG cs.RO 77%

Egocentric Planning for Scalable Embodied Task Achievement

Xiaotian Liu, Hector Palacios, Christian Muise

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

2303.09555 2023-03-17 cs.RO cs.AI cs.CV cs.GR cs.LG 77%

SoftZoo: A Soft Robot Co-design Benchmark For Locomotion In Diverse Environments

Tsun-Hsuan Wang, Pingchuan Ma, Andrew Everett Spielberg, Zhou Xian, Hao Zhang, Joshua B. Tenenbaum, Daniela Rus, Chuang Gan

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

Comments ICLR 2023. Project page: https://sites.google.com/view/softzoo-iclr-2023

2303.08778 2023-03-16 cs.RO cs.AI cs.CV cs.LG cs.NE 77%

Fully neuromorphic vision and control for autonomous drone flight

Federico Paredes-Vallés, Jesse Hagenaars, Julien Dupeyroux, Stein Stroobants, Yingfu Xu, Guido de Croon

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

2106.11962 2023-01-20 cs.RO 77%

Analysis of Executional and Procedural Errors in Dry-lab Robotic Surgery Experiments

Kay Hutchinson, Zongyu Li, Leigh A. Cantrell, Noah S. Schenkman, Homa Alemzadeh

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

Comments 18 pages, 14 figures, 6 tables. Submitted to The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS). Code and supplementary video files are available at https://github.com/UVA-DSA/ExecProc_Error_Analysis

Journal ref The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), 2022, Volume 18, Issue 3, e2375

2112.15075 2022-01-03 cs.CV cs.AI cs.GR cs.LG cs.RO 77%

Pose Estimation of Specific Rigid Objects

Tomas Hodan

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

Comments Tomas Hodan's PhD thesis defended on July 7, 2021. Supervisor: Prof. Jiri Matas. Reviewers: Prof. Vincent Lepetit, Prof. Markus Vincze, Dr. Slobodan Ilic. A recording of the defense: https://youtu.be/WAQmubEXCRM

2010.03768 2021-03-16 cs.CL cs.AI cs.CV cs.LG cs.RO 77%

ALFWorld: Aligning Text and Embodied Environments for Interactive Learning

Mohit Shridhar, Xingdi Yuan, Marc-Alexandre Côté, Yonatan Bisk, Adam Trischler, Matthew Hausknecht

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

Comments ICLR 2021; Data, code, and videos are available at alfworld.github.io

1806.06888 2019-02-22 cs.CV 77%

Learning Object Localization and 6D Pose Estimation from Simulation and Weakly Labeled Real Images

Jean-Philippe Mercier, Chaitanya Mitash, Philippe Giguère, Abdeslam Boularias

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

1710.06270 2017-10-19 cs.CV 77%

Procedural Modeling and Physically Based Rendering for Synthetic Data Generation in Automotive Applications

Apostolia Tsirikoglou, Joel Kronander, Magnus Wrenninge, Jonas Unger

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

Comments The project web page at http://vcl.itn.liu.se/publications/2017/TKWU17/ contains a version of the paper with high-resolution images as well as additional material

1511.07111 2017-05-29 cs.CV 77%

Adapting Deep Visuomotor Representations with Weak Pairwise Constraints

Eric Tzeng, Coline Devin, Judy Hoffman, Chelsea Finn, Pieter Abbeel, Sergey Levine, Kate Saenko, Trevor Darrell

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

1604.04038 2016-08-05 cs.RO 77%

More than a Million Ways to Be Pushed: A High-Fidelity Experimental Dataset of Planar Pushing

Kuan-Ting Yu, Maria Bauza, Nima Fazeli, Alberto Rodriguez

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

Comments 8 pages, 10 figures

Journal ref IROS 2016

1. 机器人数据与评测 8657 篇

Master Rules from Chaos: Learning to Reason, Plan, and Interact from Chaos for Tangram Assembly

PointArena: Probing Multimodal Grounding Through Language-Guided Pointing

PartRM: Modeling Part-Level Dynamics with Large Cross-State Reconstruction Model

3D-GRAND: A Million-Scale Dataset for 3D-LLMs with Better Grounding and Less Hallucination

S2O: Static to Openable Enhancement for Articulated 3D Objects

Predicate Hierarchies Improve Few-Shot State Classification

CoL3D: Collaborative Learning of Single-view Depth and Camera Intrinsics for Metric 3D Shape Recovery

PhysBench: Benchmarking and Enhancing Vision-Language Models for Physical World Understanding

P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policies

InfiniteWorld: A Unified Scalable Simulation Framework for General Visual-Language Robot Interaction

Evaluating Text-to-Image Diffusion Models for Texturing Synthetic Data

NeuronsGym: A Hybrid Framework and Benchmark for Robot Tasks with Sim2Real Policy Learning

GHIL-Glue: Hierarchical Control with Filtered Subgoal Images

Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

Learning Interactive Real-World Simulators

What do we learn from a large-scale study of pre-trained visual representations in sim and real environments?

Generative Camera Dolly: Extreme Monocular Dynamic Novel View Synthesis

A3VLM: Actionable Articulation-Aware Vision Language Model

Efficient Physically-based Simulation of Soft Bodies in Embodied Environment for Surgical Robot

Semantic Mechanical Search with Large Vision and Language Models

Egocentric Planning for Scalable Embodied Task Achievement

SoftZoo: A Soft Robot Co-design Benchmark For Locomotion In Diverse Environments

Fully neuromorphic vision and control for autonomous drone flight

Analysis of Executional and Procedural Errors in Dry-lab Robotic Surgery Experiments

Pose Estimation of Specific Rigid Objects

ALFWorld: Aligning Text and Embodied Environments for Interactive Learning

Learning Object Localization and 6D Pose Estimation from Simulation and Weakly Labeled Real Images

Procedural Modeling and Physically Based Rendering for Synthetic Data Generation in Automotive Applications

Adapting Deep Visuomotor Representations with Weak Pairwise Constraints

More than a Million Ways to Be Pushed: A High-Fidelity Experimental Dataset of Planar Pushing