机器人 / 具身智能

SynHLMA:Synthesizing Hand Language Manipulation for Articulated Object with Discrete Human Object Interaction Representation

SynHLMA:基于离散人类物体交互表示的合成手语操纵

Wang zhi, Yuyan Liu, Liu Liu, Li Zhang, Ruixuan Lu, Dan Guo

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

AI总结 SynHLMA通过离散人类物体交互表示生成可变形物体的手语操纵序列，实现抓取生成、预测和插值任务。

MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulation

MoMaGen: 为多步双臂移动操作生成演示数据以满足软约束和硬约束

Chengshu Li, Mengdi Xu, Arpit Bahety, Hang Yin, Yunfan Jiang, Huang Huang, Josiah Wong, Sujay Garlanka, Cem Gokmen, Ruohan Zhang, Weiyu Liu, Jiajun Wu, Roberto Martín-Martín, Li Fei-Fei

机构 * Stanford University（斯坦福大学） ； The University of Texas at Austin（德克萨斯大学奥斯汀分校） ； Amazon（亚马逊公司） 纠错

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

AI总结 MoMaGen通过解决双臂移动操作中的可达性和可见性问题，生成多样化数据集以提升模仿学习策略的训练效果。

Comments Project website: momagen.github.io. The first four authors contribute equally. Accpeted to International Conference on Learning Representations (ICLR 2026)

Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations

智能眼镜中的灵巧性：基于真实世界人类示范的多指机器人操控

Irmak Guzey, Haozhi Qi, Julen Urain, Changhao Wang, Jessica Yin, Krishna Bodduluri, Mike Lambeta, Lerrel Pinto, Akshara Rai, Jitendra Malik, Tingfan Wu, Akash Sharma, Homanga Bharadhwaj

机构 * New York University（纽约大学） ； Meta 纠错

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

AI总结 本文提出AINA框架，通过智能眼镜采集真实世界人类示范数据，实现多指机器人操控策略的学习，无需依赖传统机器人数据。

Population-Coded Spiking Neural Networks for High-Dimensional Robotic Control

Kanishkha Jaisankar, Xiaoyang Jiang, Feifan Liao, Jeethu Sreenivas Amuthan

机构 * Center for Data Science（数据科学中心） 纠错

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

BLAZER: Bootstrapping LLM-based Manipulation Agents with Zero-Shot Data Generation

Rocktim Jyoti Das, Harsh Singh, Diana Turmakhan, Muhammad Abdullah Sohail, Mingfei Han, Preslav Nakov, Fabio Pizzati, Ivan Laptev

机构 * Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学） 纠错

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

Comments 11 pages, 8 figures

Towards Bio-Inspired Robotic Trajectory Planning via Self-Supervised RNN

Miroslav Cibula, Kristína Malinovská, Matthias Kerzel

机构 * Faculty of Mathematics, Physics and Informatics, Comenius University Bratislava（数学、物理与信息学系，科门尼乌斯大学布拉迪斯拉发分校） ； Department of Informatics, University of Hamburg（信息学系，汉堡大学） 纠错

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

Comments 12 pages, 4 figures, 2 tables. To be published in 2025 International Conference on Artificial Neural Networks (ICANN) proceedings. This research was funded by the Horizon Europe project TERAIS, GA no. 101079338, and in part by the Slovak Grant Agency for Science (VEGA), project 1/0373/23. The code can be found at https://doi.org/10.5281/zenodo.17127997

Journal ref In Artificial Neural Networks and Machine Learning. ICANN 2025 International Workshops and Special Sessions (pp. 149--160). Springer Nature Switzerland

VLMgineer: Vision Language Models as Robotic Toolsmiths

George Jiayuan Gao, Tianyu Li, Junyao Shi, Yihan Li, Zizhe Zhang, Nadia Figueroa, Dinesh Jayaraman

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

Comments Project Website: https://vlmgineer.github.io/release

Benchmarking Generalizable Bimanual Manipulation: RoboTwin Dual-Arm Collaboration Challenge at CVPR 2025 MEIS Workshop

Tianxing Chen, Kaixuan Wang, Zhaohui Yang, Yuhao Zhang, Zanxin Chen, Baijun Chen, Wanxi Dong, Ziyuan Liu, Dong Chen, Tianshuo Yang, Haibao Yu, Xiaokang Yang, Yusen Qin, Zhiqiang Xie, Yao Mu, Ping Luo, Tian Nian, Weiliang Deng, Yiheng Ge, Yibin Liu, Zixuan Li, Dehui Wang, Zhixuan Liang, Haohui Xie, Rijie Zeng, Yunfei Ge, Peiqing Cong, Guannan He, Zhaoming Han, Ruocheng Yin, Jingxiang Guo, Lunkai Lin, Tianling Xu, Hongzhe Bi, Xuewu Lin, Tianwei Lin, Shujie Luo, Keyu Li, Ziyan Zhao, Ke Fan, Heyang Xu, Bo Peng, Wenlong Gao, Dongjiang Li, Feng Jin, Hui Shen, Jinming Li, Chaowei Cui, Yu Chen, Yaxin Peng, Lingdong Zeng, Wenlong Dong, Tengfei Li, Weijie Ke, Jun Chen, Erdemt Bao, Tian Lan, Tenglong Liu, Jin Yang, Huiping Zhuang, Baozhi Jia, Shuai Zhang, Zhengfeng Zou, Fangheng Guan, Tianyi Jia, Ke Zhou, Hongjiu Zhang, Yating Han, Cheng Fang, Yixian Zou, Chongyang Xu, Qinglun Zhang, Shen Cheng, Xiaohe Wang, Ping Tan, Haoqiang Fan, Shuaicheng Liu, Jiaheng Chen, Chuxuan Huang, Chengliang Lin, Kaijun Luo, Boyu Yue, Yi Liu, Jinyu Chen, Zichang Tan, Liming Deng, Shuo Xu, Zijian Cai, Shilong Yin, Hao Wang, Hongshan Liu, Tianyang Li, Long Shi, Ran Xu, Huilin Xu, Zhengquan Zhang, Congsheng Xu, Jinchang Yang, Feng Xu

机构 * HKU MMLab（香港大学多模态实验室） ； SJTU（上海交通大学） ； D-Robotics（D机器人） ； AgileX Robotics（AgileX机器人） ； Huawei Germany（华为德国分公司） ； SZU（深圳大学） ； THU（清华大学） ； NJU（南京大学） ； VIVO ； Jingdong Technology Information Technology Co., Ltd.（京东科技信息技术有限公司） ； Horizon Robotics ； SUST（上海大学） ； USST（上海理工大学） ； SYSU（南方科技大学） ； UESTC（电子科技大学） ； SCU（四川大学） ； Dexmal ； SWJTU（西南交通大学） ； HKUST（香港理工大学） ； BJTU（北京交通大学） ； BUAA（北京航空航天大学） ； NEU（东北大学） ； SHU（上海大学） ； Sangfor Technologies Inc.（深信服技术有限公司） ； CAUC（中国科学院大学） ； HUST（华中科技大学） ； Reconova Technologies Co.（Reconova技术有限公司） 纠错

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

Comments Challenge Webpage: https://robotwin-benchmark.github.io/cvpr-2025-challenge/

GAMORA: A Gesture Articulated Meta Operative Robotic Arm for Hazardous Material Handling in Containment-Level Environments

Farha Abdul Wasay, Mohammed Abdul Rahman, Hania Ghouse

机构 * Department of Computer Science \& AI Muffakham Jah College of Engineering 纠错

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

HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation

Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, Raymond Yu, Caelan Reed Garrett, Fabio Ramos, Dieter Fox, Anqi Li, Abhishek Gupta, Ankit Goyal

机构 * NVIDIA ； University of Washington（华盛顿大学） ； University of Southern California（南加州大学） 纠错

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

Comments update related work and results on VQA benchmarks

AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AI

Haiqin Cui, Yifu Yuan, Yan Zheng, Jianye Hao

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

Comments The first two authors contributed equally. Website: https://aha-robot.github.io

SOLD: Slot Object-Centric Latent Dynamics Models for Relational Manipulation Learning from Pixels

Malte Mosbach, Jan Niklas Ewertz, Angel Villar-Corrales, Sven Behnke

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

Modality-Driven Design for Multi-Step Dexterous Manipulation: Insights from Neuroscience

Naoki Wake, Atsushi Kanehira, Daichi Saito, Jun Takamatsu, Kazuhiro Sasabuchi, Hideki Koike, Katsushi Ikeuchi

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

Comments 8 pages, 5 figures, 2 tables. Last updated on December 14th, 2024

HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, Youngwoon Lee, Pieter Abbeel

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

SCENEREPLICA: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes

Ninad Khargonkar, Sai Haneesh Allu, Yangxiao Lu, Jishnu Jaykumar P, Balakrishnan Prabhakaran, Yu Xiang

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

Comments Accepted to ICRA 2024. Project page is available at https://irvlutd.github.io/SceneReplica

HomeRobot: Open-Vocabulary Mobile Manipulation

Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin Wang, Mukul Khanna, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander William Clegg, John Turner, Zsolt Kira, Manolis Savva, Angel Chang, Devendra Singh Chaplot, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, Chris Paxton

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

Comments 37 pages, 22 figures, 8 tables

RoboSense At Edge: Detecting Slip, Crumple and Shape of the Object in Robotic Hand for Teleoprations

Sudev Kumar Padhi, Mohit Kumar, Debanka Giri, Subidh Ali

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

Learning Hierarchical Interactive Multi-Object Search for Mobile Manipulation

Fabian Schmalstieg, Daniel Honerkamp, Tim Welschehold, Abhinav Valada

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

Comments 11 pages, 6 figures, Accepted for publication in RA-L. Code and Models: http://himos.cs.uni-freiburg.de/

Language to Rewards for Robotic Skill Synthesis

Wenhao Yu, Nimrod Gileadi, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee, Montse Gonzalez Arenas, Hao-Tien Lewis Chiang, Tom Erez, Leonard Hasenclever, Jan Humplik, Brian Ichter, Ted Xiao, Peng Xu, Andy Zeng, Tingnan Zhang, Nicolas Heess, Dorsa Sadigh, Jie Tan, Yuval Tassa, Fei Xia

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

Comments https://language-to-reward.github.io/

FluidLab: A Differentiable Environment for Benchmarking Complex Fluid Manipulation

Zhou Xian, Bo Zhu, Zhenjia Xu, Hsiao-Yu Tung, Antonio Torralba, Katerina Fragkiadaki, Chuang Gan

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

Towards Confidence-guided Shape Completion for Robotic Applications

Andrea Rosasco, Stefano Berti, Fabrizio Bottarel, Michele Colledanchise, Lorenzo Natale

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

Journal ref IEEE International Conference on Humanoid Robots, 2022

Learning Visual Robotic Control Efficiently with Contrastive Pre-training and Data Augmentation

Albert Zhan, Ruihan Zhao, Lerrel Pinto, Pieter Abbeel, Michael Laskin

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

VisuoSpatial Foresight for Physical Sequential Fabric Manipulation

Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg

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

Comments Journal extension of prior work on VSF to appear in Autonomous Robots S.I. 207. arXiv admin note: text overlap with arXiv:2003.09044

REPLAB: A Reproducible Low-Cost Arm Benchmark Platform for Robotic Learning

Brian Yang, Jesse Zhang, Vitchyr Pong, Sergey Levine, Dinesh Jayaraman

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

Comments Extended version of paper accepted to ICRA 2019

Multi-Goal Reinforcement Learning: Challenging Robotics Environments and Request for Research

Matthias Plappert, Marcin Andrychowicz, Alex Ray, Bob McGrew, Bowen Baker, Glenn Powell, Jonas Schneider, Josh Tobin, Maciek Chociej, Peter Welinder, Vikash Kumar, Wojciech Zaremba

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

Representation Handoffs for OpenArm-Based Laboratory Mobile Manipulation

基于OpenArm的实验室移动操作的表示交接

Yang Shen, Chonghao Cheng, Ziyi Zhao, Jialuo Zhu, Zhenyi Yi, Qi Zhao, Jian Yang, Yuhui Shi, Chin-Teng Lin

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

AI总结 本研究提出基于OpenArm的实验室移动操作原型，通过表示交接整合多模块，可暴露部署阻碍并为具身系统整合提供调试接口。

Comments Robotics: Science and Systems (RSS) Workshop 2026

ABot-M0.5: Unified Mobility-and-Manipulation World Action Model

ABot-M0.5：统一移动与操作的世界动作模型

Ronghan Chen, Yandan Yang, Zuojin Tang, Dongjie Huo, Tong Lin, Haoning Wu, Haoyun Liu, Yuzhi Chen, Lulu Zheng, Botai Yuan, Tianlun Li, Mingxin Wang, Dekang Qi, Bin Hu, Wei Mei, Yuze Xuan, Haolong Yang, Yanqing Zhu, Mu Xu, Zhiheng Ma, Xinyuan Chang

机构 * AMAP CV Lab（AMAP CV实验室） 纠错

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

AI总结 针对移动操作任务中VLA策略缺乏世界建模、动作空间耦合及训练-推理不一致的问题，提出ABot-M0.5模型，通过三级对齐（时间粒度、动作空间、训练-测试一致性）实现细粒度控制，在长时域任务成功率和控制精度上达到最优。

Comments Code: https://github.com/amap-cvlab/ABot-Manipulation

FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulation

FAR-Dex: 少样本数据增强与自适应残差策略细化用于灵巧操作

Yushan Bai, Fulin Chen, Hongzheng Sun, Yuchuang Tong, En Li, Zhengtao Zhang

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

AI总结 FAR-Dex通过少样本数据增强和自适应残差策略细化，提升机械臂与手的协同精度，实现高成功率的灵巧操作任务。

Comments Accepted to IEEE International Conference on Robotics and Automation (ICRA) 2026

ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation

Enyu Zhao, Vedant Raval, Hejia Zhang, Jiageng Mao, Zeyu Shangguan, Stefanos Nikolaidis, Yue Wang, Daniel Seita

机构 * Department of Computer Science, University of Southern California（计算机科学系，南加州大学） 纠错

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

Comments Conference on Robot Learning (CoRL) 2025. 50 pages and 30 figures. v2 is the camera-ready and includes a few more new experiments compared to v1

Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools

Yang You, Bokui Shen, Congyue Deng, Haoran Geng, Songlin Wei, He Wang, Leonidas Guibas

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

Comments 8 pages. IEEE Robotics and Automation Letters (RA-L). Preprint Version. Accepted January, 2025