机器人 / 具身智能

How Good are Foundation Models in Step-by-Step Embodied Reasoning?

Dinura Dissanayake, Ahmed Heakl, Omkar Thawakar, Noor Ahsan, Ritesh Thawkar, Ketan More, Jean Lahoud, Rao Anwer, Hisham Cholakkal, Ivan Laptev, Fahad Shahbaz Khan, Salman Khan

机构 * Mohamed bin Zayed University of AI（穆罕默德·本·扎耶德人工智能大学） ； Linköping University（林雪平大学） ； Australian National University（澳大利亚国立大学） 纠错

专题命中 具身推理 ：embodied agent(abstract)；分类 cs.RO、cs.CV

Comments Project page: https://mbzuai-oryx.github.io/FoMER-Bench/

SmolRGPT: Efficient Spatial Reasoning for Warehouse Environments with 600M Parameters

Abdarahmane Traore, Éric Hervet, Andy Couturier

机构 * Embia, Computer Science Department, Faculty of Science, Université de Moncton（Embia计算机科学系，科学学院，蒙特龙大学） 纠错

专题命中 具身推理 ：robotics(abstract)；分类 cs.AI、cs.CV

Comments 9 pages, 3 figures, IEEE/CVF International Conference on Computer Vision Workshops (ICCVW)

Multimodal SAM-adapter for Semantic Segmentation

Iacopo Curti, Pierluigi Zama Ramirez, Alioscia Petrelli, Luigi Di Stefano

机构 * University of Bologna（博洛尼亚大学） ； SINA 纠错

专题命中 具身推理 ：robotics(abstract)；分类 cs.AI、cs.CV

Mind Meets Space: Rethinking Agentic Spatial Intelligence from a Neuroscience-inspired Perspective

Bui Duc Manh, Soumyaratna Debnath, Zetong Zhang, Shriram Damodaran, Arvind Kumar, Yueyi Zhang, Lu Mi, Erik Cambria, Lin Wang

机构 * School of EEE, Nanyang Technological University（南洋理工大学电子工程系） ； Department of Civil Engineering, Tsinghua University（清华大学土木工程系） ； Dr. B. R. Ambedkar National Institute of Technology, Jalandhar（B.R.阿姆贝卡尔国家理工学院，贾兰德赫） ； KTH Royal Institute of Technology（皇家理工学院） ； College of AI, Tsinghua University（清华大学人工智能学院） ； CCDS, Nanyang Technological University（南洋理工大学CCDS） 纠错

专题命中 具身推理 ：robotics(abstract)；分类 cs.AI、cs.CV

Comments 54 pages, journal

Semi-SMD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving

Yusen Xie, Zhengmin Huang, Shaojie Shen, Jun Ma

机构 * Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou)（机器人与自主系统方向，香港科学与技术大学（广州）） ； Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology（电子与计算机工程系，香港科学与技术大学） 纠错

专题命中 具身推理 ：world model(abstract)；分类 cs.RO、cs.CV

MIDAS: Multimodal Interactive Digital-humAn Synthesis via Real-time Autoregressive Video Generation

Ming Chen, Liyuan Cui, Wenyuan Zhang, Haoxian Zhang, Yan Zhou, Xiaohan Li, Songlin Tang, Jiwen Liu, Borui Liao, Hejia Chen, Xiaoqiang Liu, Pengfei Wan

机构 * Kling Team, Kuaishou Technology（快手科技 Kling 团队） ； Zhejiang University（浙江大学） ； Tsinghua University（清华大学） 纠错

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.CV

Comments Technical Report. Project Page: https://chenmingthu.github.io/milm/

Context-Aware Risk Estimation in Home Environments: A Probabilistic Framework for Service Robots

Sena Ishii, Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

机构 * Department of Robotics, Graduate School of Engineering, Tohoku University（机器人系、工程研究生院、东大） 纠错

专题命中 具身推理 ：robotic(abstract)；分类 cs.RO、cs.CV

Comments 8 pages, Accepted for IEEE RO-MAN 2025 Conference

Egocentric Instruction-oriented Affordance Prediction via Large Multimodal Model

Bokai Ji, Jie Gu, Xiaokang Ma, Chu Tang, Jingmin Chen, Guangxia Li

专题命中 具身推理 ：manipulation(abstract)；分类 cs.RO、cs.CV

CAPTURe: Evaluating Spatial Reasoning in Vision Language Models via Occluded Object Counting

Atin Pothiraj, Elias Stengel-Eskin, Jaemin Cho, Mohit Bansal

机构 * UNC Chapel Hill（北卡罗来纳大学教堂山分校） 纠错

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.CV

Comments ICCV 2025

Model-Based Soft Maximization of Suitable Metrics of Long-Term Human Power

Jobst Heitzig, Ram Potham

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.LG

Enhancing Spatial Reasoning through Visual and Textual Thinking

Xun Liang, Xin Guo, Zhongming Jin, Weihang Pan, Penghui Shang, Deng Cai, Binbin Lin, Jieping Ye

专题命中 具身推理 ：robotics(abstract)；分类 cs.AI、cs.CV

From Scan to Action: Leveraging Realistic Scans for Embodied Scene Understanding

Anna-Maria Halacheva, Jan-Nico Zaech, Sombit Dey, Luc Van Gool, Danda Pani Paudel

机构 * INSAIT 纠错

专题命中 具身推理 ：robotic(abstract)；分类 cs.RO、cs.CV

Comments Accepted at the OpenSUN3D Workshop, CVPR 2025. This workshop paper is not included in the official CVPR proceedings

Label-Efficient LiDAR Panoptic Segmentation

Ahmet Selim Çanakçı, Niclas Vödisch, Kürsat Petek, Wolfram Burgard, Abhinav Valada

机构 * Department of Computer Science, University of Freiburg（弗赖堡大学计算机科学系） ； Department of Eng., University of Technology Nuremberg（纽伦堡技术大学工程系） 纠错

专题命中 具身推理 ：robotic(abstract)；分类 cs.RO、cs.CV

Comments Accepted for the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Elements of World Knowledge (EWoK): A Cognition-Inspired Framework for Evaluating Basic World Knowledge in Language Models

Anna A. Ivanova, Aalok Sathe, Benjamin Lipkin, Unnathi Kumar, Setayesh Radkani, Thomas H. Clark, Carina Kauf, Jennifer Hu, R. T. Pramod, Gabriel Grand, Vivian Paulun, Maria Ryskina, Ekin Akyürek, Ethan Wilcox, Nafisa Rashid, Leshem Choshen, Roger Levy, Evelina Fedorenko, Joshua Tenenbaum, Jacob Andreas

机构 * Georgia Tech（佐治亚理工学院） ； Johns Hopkins University（约翰霍普金斯大学） ； UC Berkeley（加州大学伯克利分校） ； Brown University（布朗大学） ； Vector Institute（向量研究所） ； MIT-IBM Watson AI（MIT-IBM沃森人工智能实验室） ； MIT（麻省理工学院） ； Georgetown University（乔治城大学） 纠错

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.LG

Comments Accepted to Transactions of the ACL (TACL). Contains 25 pages (14 main), 6 figures. Visit http://ewok-core.github.io for data and code. Authors Anna Ivanova, Aalok Sathe, Benjamin Lipkin contributed equally

TransDreamerV3: Implanting Transformer In DreamerV3

Shruti Sadanand Dongare, Amun Kharel, Jonathan Samuel, Xiaona Zhou

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.LG

SceneAware: Scene-Constrained Pedestrian Trajectory Prediction with LLM-Guided Walkability

Juho Bai, Inwook Shim

专题命中 具身推理 ：robotics(abstract)；分类 cs.AI、cs.CV

AXIOM: Learning to Play Games in Minutes with Expanding Object-Centric Models

Conor Heins, Toon Van de Maele, Alexander Tschantz, Hampus Linander, Dimitrije Markovic, Tommaso Salvatori, Corrado Pezzato, Ozan Catal, Ran Wei, Magnus Koudahl, Marco Perin, Karl Friston, Tim Verbelen, Christopher Buckley

机构 * VERSES AI ； University of Sussex, Department of Informatics（苏塞克斯大学信息学院） ； Technische Universität Dresden, Faculty of Psychology（德累斯顿技术大学心理学系） ； University College London, Queen Square Institute of Neurology（伦敦大学学院 Queen Square 神经学研究所） 纠错

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.LG

Comments 10 pages main text, 4 figures, 2 tables; 25 pages supplementary material, 8 figures

VLM Can Be a Good Assistant: Enhancing Embodied Visual Tracking with Self-Improving Vision-Language Models

Kui Wu, Shuhang Xu, Hao Chen, Churan Wang, Zhoujun Li, Yizhou Wang, Fangwei Zhong

机构 * State Key Laboratory of Complex & Critical Software Environment, Beihang University（北京航空航天大学复杂与关键软件环境国家重点实验室） ； School of Artificial Intelligence, Beijing Normal University（北京师范大学人工智能学院） ； City University of Macau（澳门城市大学） ； Center on Frontiers of Computing Studies, School of Computer Science, Nat’l Eng. Research Center of Visual Technology, Peking University（北京大学计算机学院前沿计算研究中心、国家工程视觉技术研究中心） 纠错

专题命中 具身推理 ：robotic(abstract)；分类 cs.AI、cs.CV

Bridging the Dynamic Perception Gap: Training-Free Draft Chain-of-Thought for Dynamic Multimodal Spatial Reasoning

Siqu Ou, Hongcheng Liu, Pingjie Wang, Yusheng Liao, Chuan Xuan, Yanfeng Wang, Yu Wang

机构 * Shanghai Jiao Tong University（上海交通大学） ； Shanghai AI lab（上海人工智能实验室） 纠错

专题命中 具身推理 ：navigation(abstract)；分类 cs.AI、cs.CV

Comments 19 pages, 8 figures

PlaySlot: Learning Inverse Latent Dynamics for Controllable Object-Centric Video Prediction and Planning

Angel Villar-Corrales, Sven Behnke

机构 * Autonomous Intelligent Systems, Computer Science Institute VI – Intelligent Systems（智能系统） ； Robotics, Center for Robotics（机器人学） ； the Lamarr Institute for Machine Learning（拉马尔机器学习研究所） ； Artificial Intelligence, University of Bonn, Germany（人工智能，波恩大学，德国） 纠错

专题命中 具身推理 ：world model(abstract)；分类 cs.RO、cs.CV

Comments ICML 2025

MAGI-1: Autoregressive Video Generation at Scale

Sand. ai, Hansi Teng, Hongyu Jia, Lei Sun, Lingzhi Li, Maolin Li, Mingqiu Tang, Shuai Han, Tianning Zhang, W. Q. Zhang, Weifeng Luo, Xiaoyang Kang, Yuchen Sun, Yue Cao, Yunpeng Huang, Yutong Lin, Yuxin Fang, Zewei Tao, Zheng Zhang, Zhongshu Wang, Zixun Liu, Dai Shi, Guoli Su, Hanwen Sun, Hong Pan, Jie Wang, Jiexin Sheng, Min Cui, Min Hu, Ming Yan, Shucheng Yin, Siran Zhang, Tingting Liu, Xianping Yin, Xiaoyu Yang, Xin Song, Xuan Hu, Yankai Zhang, Yuqiao Li

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.CV

Real-Time Verification of Embodied Reasoning for Generative Skill Acquisition

Bo Yue, Shuqi Guo, Kaiyu Hu, Chujiao Wang, Benyou Wang, Kui Jia, Guiliang Liu

机构 * School of Data Science, The Chinese University of Hong Kong, Shenzhen（数据科学学院，香港中文大学（深圳）） 纠错

专题命中 具身推理 ：embodied agent(abstract)；分类 cs.RO、cs.AI

BEVWorld: A Multimodal World Simulator for Autonomous Driving via Scene-Level BEV Latents

Yumeng Zhang, Shi Gong, Kaixin Xiong, Xiaoqing Ye, Xiaofan Li, Xiao Tan, Fan Wang, Jizhou Huang, Hua Wu, Haifeng Wang

机构 * Baidu Inc.（百度公司） 纠错

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.CV

Comments 10 pages

Interpretable Affordance Detection on 3D Point Clouds with Probabilistic Prototypes

Maximilian Xiling Li, Korbinian Rudolf, Nils Blank, Rudolf Lioutikov

专题命中 具身推理 ：robotic(abstract)；分类 cs.RO、cs.CV

Can Large Language Models Play Text Games Well? Current State-of-the-Art and Open Questions

Chen Feng Tsai, Xiaochen Zhou, Sierra S. Liu, Jing Li, Mo Yu, Hongyuan Mei

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.LG

POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimality

Joey Wilson, Marcelino Almeida, Sachit Mahajan, Martin Labrie, Maani Ghaffari, Omid Ghasemalizadeh, Min Sun, Cheng-Hao Kuo, Arnab Sen

专题命中 具身推理 ：world model(abstract)；分类 cs.RO、cs.CV

TGP: Two-modal occupancy prediction with 3D Gaussian and sparse points for 3D Environment Awareness

Mu Chen, Wenyu Chen, Mingchuan Yang, Yuan Zhang, Tao Han, Xinchi Li, Yunlong Li, Huaici Zhao

专题命中 具身推理 ：robotics(abstract)；分类 cs.AI、cs.CV

Temporal Difference Flows

Jesse Farebrother, Matteo Pirotta, Andrea Tirinzoni, Rémi Munos, Alessandro Lazaric, Ahmed Touati

专题命中 具身推理 ：world model(abstract)；分类 cs.AI、cs.LG

A Representationalist, Functionalist and Naturalistic Conception of Intelligence as a Foundation for AGI

Rolf Pfister

专题命中 具身推理 ：world model(abstract)；分类 cs.RO、cs.AI

HBTP: Heuristic Behavior Tree Planning with Large Language Model Reasoning

Yishuai Cai, Xinglin Chen, Yunxin Mao, Minglong Li, Shaowu Yang, Wenjing Yang, Ji Wang

专题命中 具身推理 ：robotics(abstract)；分类 cs.RO、cs.AI