机器人 / 具身智能

MotIF: Motion Instruction Fine-tuning

Minyoung Hwang, Joey Hejna, Dorsa Sadigh, Yonatan Bisk

机构 * Massachusetts Institute of Technology（麻省理工学院） ； Stanford University（斯坦福大学） ； Carnegie Mellon University（卡内基梅隆大学） 纠错

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

NEBULA: Do We Evaluate Vision-Language-Action Agents Correctly?

Jierui Peng, Yanyan Zhang, Yicheng Duan, Tuo Liang, Vipin Chaudhary, Yu Yin

机构 * Department of Computer & Data Sciences（计算机与数据科学系） ； Case Western Reserve University（凯斯西储大学） 纠错

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

Comments Homepage: https://vulab-ai.github.io/NEBULA-Alpha/

Humanoid Policy ~ Human Policy

Ri-Zhao Qiu, Shiqi Yang, Xuxin Cheng, Chaitanya Chawla, Jialong Li, Tairan He, Ge Yan, David J. Yoon, Ryan Hoque, Lars Paulsen, Ge Yang, Jian Zhang, Sha Yi, Guanya Shi, Xiaolong Wang

机构 * UC San Diego（加州大学圣地亚哥分校） ； CMU（卡内基梅隆大学） ； Apple（苹果公司） ； University of Washington（华盛顿大学） ； MIT（麻省理工学院） 纠错

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 and data: https://human-as-robot.github.io/

LatticeWorld: A Multimodal Large Language Model-Empowered Framework for Interactive Complex World Generation

Yinglin Duan, Zhengxia Zou, Tongwei Gu, Wei Jia, Zhan Zhao, Luyi Xu, Xinzhu Liu, Yenan Lin, Hao Jiang, Kang Chen, Shuang Qiu

机构 * NetEase, Inc.（网易公司） ； Beihang University（北京航空航天大学） ； Tsinghua University（清华大学） ； City University of Hong Kong（香港城市大学） ； Independent Researcher & Technical Artists（独立研究者及技术艺术家） 纠错

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

TrajEvo: Trajectory Prediction Heuristics Design via LLM-driven Evolution

Zhikai Zhao, Chuanbo Hua, Federico Berto, Kanghoon Lee, Zihan Ma, Jiachen Li, Jinkyoo Park

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

Comments arXiv admin note: substantial text overlap with arXiv:2505.04480

Online Human Action Detection during Escorting

Siddhartha Mondal, Avik Mitra, Chayan Sarkar

机构 * TCS Research（TCS研究院） ； Yale University（耶鲁大学） 纠错

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

Comments Accepted in IEEE RO-MAN '25

Adapting by Analogy: OOD Generalization of Visuomotor Policies via Functional Correspondence

Pranay Gupta, Henny Admoni, Andrea Bajcsy

机构 * The Robotics Institute, Carnegie Mellon University, United States（卡内基梅隆大学机器人研究所） 纠错

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

Comments 15 pages, 11 figures

Tactile MNIST: Benchmarking Active Tactile Perception

Tim Schneider, Guillaume Duret, Cristiana de Farias, Roberto Calandra, Liming Chen, Jan Peters

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

Improving Trajectory Stitching with Flow Models

Reece O'Mahoney, Wanming Yu, Ioannis Havoutis

机构 * Oxford Robotics Institute（牛津机器人研究所） ； University of Oxford（牛津大学） 纠错

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

ControlTac: Force- and Position-Controlled Tactile Data Augmentation with a Single Reference Image

Dongyu Luo, Kelin Yu, Amir-Hossein Shahidzadeh, Cornelia Fermüller, Yiannis Aloimonos, Ruohan Gao

机构 * University of Maryland, College Park（马里兰大学学院 Park） 纠错

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

Comments 22 pages, 11 figures, 7 tables

SynRES: Towards Referring Expression Segmentation in the Wild via Synthetic Data

Dong-Hee Kim, Hyunjee Song, Donghyun Kim

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

TrajLearn: Trajectory Prediction Learning using Deep Generative Models

Amirhossein Nadiri, Jing Li, Ali Faraji, Ghadeer Abuoda, Manos Papagelis

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

Comments Accepted at ACM Transactions on Spatial Algorithms and Systems

PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos

Hanxiao Jiang, Hao-Yu Hsu, Kaifeng Zhang, Hsin-Ni Yu, Shenlong Wang, Yunzhu Li

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

Comments Project Page: https://jianghanxiao.github.io/phystwin-web/

ECBench: Can Multi-modal Foundation Models Understand the Egocentric World? A Holistic Embodied Cognition Benchmark

Ronghao Dang, Yuqian Yuan, Wenqi Zhang, Yifei Xin, Boqiang Zhang, Long Li, Liuyi Wang, Qinyang Zeng, Xin Li, Lidong Bing

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

Zero-Shot Peg Insertion: Identifying Mating Holes and Estimating SE(2) Poses with Vision-Language Models

Masaru Yajima, Kei Ota, Asako Kanezaki, Rei Kawakami

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

Comments Under submission

A Novel Framework for Learning Stochastic Representations for Sequence Generation and Recognition

Jungsik Hwang, Ahmadreza Ahmadi

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

Comments 14 pages, 6 figures

Multi-modal Situated Reasoning in 3D Scenes

Xiongkun Linghu, Jiangyong Huang, Xuesong Niu, Xiaojian Ma, Baoxiong Jia, Siyuan Huang

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

Comments Accepted by NeurIPS 2024 Datasets and Benchmarks Track. Project page: https://msr3d.github.io/

How Generalizable Is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation

Joseph A. Vincent, Haruki Nishimura, Masha Itkina, Paarth Shah, Mac Schwager, Thomas Kollar

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

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

Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers

Lirui Wang, Xinlei Chen, Jialiang Zhao, Kaiming He

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

Comments See the project website (https://liruiw.github.io/hpt/) for code and videos

Journal ref Neurips 2024

RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blankets

Jikai Ye, Wanze Li, Shiraz Khan, Gregory S. Chirikjian

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

RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, Yuke Zhu

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

Comments RSS 2024

Follow Anything: Open-set detection, tracking, and following in real-time

Alaa Maalouf, Ninad Jadhav, Krishna Murthy Jatavallabhula, Makram Chahine, Daniel M. Vogt, Robert J. Wood, Antonio Torralba, Daniela Rus

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

Comments Project webpage: https://github.com/alaamaalouf/FollowAnything Explainer video: https://www.youtube.com/watch?v=6Mgt3EPytrw

Creative Robot Tool Use with Large Language Models

Mengdi Xu, Peide Huang, Wenhao Yu, Shiqi Liu, Xilun Zhang, Yaru Niu, Tingnan Zhang, Fei Xia, Jie Tan, Ding Zhao

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

Comments 19 pages, 14 figures, 2 tables

Generalizable Long-Horizon Manipulations with Large Language Models

Haoyu Zhou, Mingyu Ding, Weikun Peng, Masayoshi Tomizuka, Lin Shao, Chuang Gan

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

XSkill: Cross Embodiment Skill Discovery

Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song

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

Towards Generalist Robots: A Promising Paradigm via Generative Simulation

Zhou Xian, Theophile Gervet, Zhenjia Xu, Yi-Ling Qiao, Tsun-Hsuan Wang, Yian Wang

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

The ObjectFolder Benchmark: Multisensory Learning with Neural and Real Objects

Ruohan Gao, Yiming Dou, Hao Li, Tanmay Agarwal, Jeannette Bohg, Yunzhu Li, Li Fei-Fei, Jiajun Wu

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

Comments In CVPR 2023. Project page: https://objectfolder.stanford.edu/. ObjectFolder Real demo: https://www.objectfolder.org/swan_vis/. Gao, Dou, and Li contributed equally to this work

Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perception

Cheng-Chun Hsu, Zhenyu Jiang, Yuke Zhu

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 ICRA 2023. Code and additional results are available at https://ut-austin-rpl.github.io/HouseDitto/

Objaverse: A Universe of Annotated 3D Objects

Matt Deitke, Dustin Schwenk, Jordi Salvador, Luca Weihs, Oscar Michel, Eli VanderBilt, Ludwig Schmidt, Kiana Ehsani, Aniruddha Kembhavi, Ali Farhadi

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

Comments Website: objaverse.allenai.org

Phone2Proc: Bringing Robust Robots Into Our Chaotic World

Matt Deitke, Rose Hendrix, Luca Weihs, Ali Farhadi, Kiana Ehsani, Aniruddha Kembhavi

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 https://allenai.org/project/phone2proc