机器人 / 具身智能

ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation

Wenhai Liu, Junbo Wang, Yiming Wang, Weiming Wang, Cewu Lu

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

Comments 8 pages, 7 figures, accepted by 2025 IEEE International Conference on Robotics and Automation (ICRA 2025), the first three authors contribute equally, project website at https://forcemimic.github.io

Comparison of Motion Encoding Frameworks on Human Manipulation Actions

Lennart Jahn, Florentin Wörgötter, Tomas Kulvicius

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

Journal ref Robotics and Autonomous Systems, 2024

VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation

I-Chun Arthur Liu, Sicheng He, Daniel Seita, Gaurav Sukhatme

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

Comments Accepted to the Conference on Robot Learning (CoRL) 2024

Sim-To-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgery

Paul Maria Scheikl, Eleonora Tagliabue, Balázs Gyenes, Martin Wagner, Diego Dall'Alba, Paolo Fiorini, Franziska Mathis-Ullrich

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

Journal ref IEEE Robotics and Automation Letters 8 (2023) 560-567

Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation

William Shen, Ge Yang, Alan Yu, Jansen Wong, Leslie Pack Kaelbling, Phillip Isola

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

Comments Project website at https://f3rm.csail.mit.edu, Accepted at the 7th Annual Conference on Robot Learning (CoRL), 2023 in Atlanta, US

A Modular Bio-inspired Robotic Hand with High Sensitivity

Chao Liu, Andrea Moncada, Hanna Matusik, Deniz Irem Erus, Daniela Rus

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

Comments 7 pages, 13 figures, IEEE RoboSoft 2023

Journal ref 2023 IEEE International Conference on Soft Robotics (RoboSoft), Singapore, Singapore, 2023, pp. 1-7

Borinot: an agile torque-controlled robot for hybrid flying and contact loco-manipulation (workshop version)

Josep Marti-Saumell, Joan Sola, Angel Santamaria-Navarro, Hugo Duarte

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

Comments 2 pages + references. Workshop on agile robotics, ICRA 2023. v2: add ref to the full text in the web abstract. This is a very short version of the full work available here arXiv:2307.14686

MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control

Mattia Leonori, Juan M. Gandarias, Arash Ajoudani

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

Comments 8 pages, 7 figures, submitted to IEEE Robotics and Automation Letters and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). Video: https://youtu.be/IX6fn8ODSt8

Design and Motion Planning for a Reconfigurable Robotic Base

Johannes Pankert, Giorgio Valsecchi, Davide Baret, Jon Zehnder, Lukasz L. Pietrasik, Marko Bjelonic, Marco Hutter

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

Comments 8 pages, accepted for RA-L and IROS 2022

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9012-9019, Oct. 2022

Synthesizing Adversarial Visual Scenarios for Model-Based Robotic Control

Shubhankar Agarwal, Sandeep P. Chinchali

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

Comments Conference on Robot Learning, 2022

R3M: A Universal Visual Representation for Robot Manipulation

Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, Abhinav Gupta

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

Comments Conference on Robot Learning (CoRL) 2022

Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube

Aravind Sivakumar, Kenneth Shaw, Deepak Pathak

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

Comments RSS 2022 final version. Website and demos at https://robotic-telekinesis.github.io/

Household Cloth Object Set: Fostering Benchmarking in Deformable Object Manipulation

Irene Garcia-Camacho, Júlia Borràs, Berk Calli, Adam Norton, Guillem Alenyà

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

Comments Submitted

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 5866-5873, July 2022

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation

Niklas Funk, Charles Schaff, Rishabh Madan, Takuma Yoneda, Julen Urain De Jesus, Joe Watson, Ethan K. Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S. Srinivasa, Tapomayukh Bhattacharjee, Matthew R. Walter, Jan Peters

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

Journal ref IEEE Robotics and Automation Letters 7 (2022) 478-485

Cartman: The low-cost Cartesian Manipulator that won the Amazon Robotics Challenge

D. Morrison, A. W. Tow, M. McTaggart, R. Smith, N. Kelly-Boxall, S. Wade-McCue, J. Erskine, R. Grinover, A. Gurman, T. Hunn, D. Lee, A. Milan, T. Pham, G. Rallos, A. Razjigaev, T. Rowntree, K. Vijay, Z. Zhuang, C. Lehnert, I. Reid, P. Corke, J. Leitner

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

Comments To appear at the IEEE International Conference on Robotics and Automation (ICRA) 2018. 8 pages

MSG: Multi-Stream Generative Policies for Sample-Efficient Robotic Manipulation

MSG：多流生成策略用于样本高效的机器人操作

Jan Ole von Hartz, Lukas Schweizer, Joschka Boedecker, Abhinav Valada

机构 * University of Freiburg（弗莱堡大学） 纠错

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

AI总结 本文提出MSG多流生成策略，通过结合多个对象中心策略提升泛化能力和样本效率，实现在五次演示下学习高质量生成策略，性能提升89%。

Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation

Martin Huber, John Bason Mitchell, Ross Henry, Sébastien Ourselin, Tom Vercauteren, Christos Bergeles

专题命中 机器人操作 ：robotic(title,abstract)；manipulation(title)

Comments Accepted as conference paper at ISMR 2021

S3K: Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistency

Mel Vecerik, Jean-Baptiste Regli, Oleg Sushkov, David Barker, Rugile Pevceviciute, Thomas Rothörl, Christopher Schuster, Raia Hadsell, Lourdes Agapito, Jonathan Scholz

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

Comments 11 pages, supplementary material available at: https://sites.google.com/view/2020-s3k/home

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, Sergey Levine

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

Comments Accepted for presentation at Robotics: Science and Systems (RSS) 2018. Project page: https://sites.google.com/view/deeprl-dexterous-manipulation

Fine Robotic Manipulation without Force/Torque Sensor

Shilin Shan, Quang-Cuong Pham

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

Comments Accepted to Robotics and Automation Letters (RA-L), 8 pages

LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories

LabDex：面向实验室灵巧操作的分层基准

Zhipeng Tang, Sihang Chen, Sha Zhang, Peihao Yang, Yan Liu, Wentao Zhao, Xinrui Liu, Rui Huang, Wensheng Du, Yuting Huang, Jiajun Deng, Lidian Wang, Yuan Zhang, Yanyong Zhang

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

AI总结 LabDex是面向化学实验室灵巧操作的分层基准，整合真实与仿真平台，覆盖原子技能、组合任务及长周期实验，可用于机器人学习方法的跨层级评估，为自主实验室机器人研发提供支撑。

Comments 13 pages, 3 figures

Mask2Real-WM: Segmentation Masks as a Sim-to-Real Bridge for Controllable Dexterous World Models

Mask2Real-WM：作为可控灵巧世界模型的模拟到现实桥梁的分割掩码

Riccardo O. Feingold, Davide Liconti, Chenyu Yang, Robert K. Katzschmann

机构 * Soft Robotic Lab, Department of Mechanical and Process Engineering ETH Zurich, Switzerland（苏黎世联邦理工学院机械与过程工程系软机器人实验室） 纠错

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

AI总结 提出Mask2Real-WM，一种用于灵巧操纵的两阶段动作条件世界模型，将像素预测解耦为动力学和渲染模型，利用分割空间较小的模拟到现实差距，通过合成数据预训练和真实演示微调实现各自由度动作可控。

Comments 23 pages, 24 figures, 4 tables. Preprint. Project page: this https URL (https://srl-ethz.github.io/Mask2Real-WM/)

Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey

面向机器人操作的统一理解：一项综合调查

Shuanghao Bai, Wenxuan Song, Jiayi Chen, Yuheng Ji, Zhide Zhong, Jin Yang, Han Zhao, Wanqi Zhou, Wei Zhao, Zhe Li, Pengxiang Ding, Cheng Chi, Haoang Li, Chang Xu, Xiaolong Zheng, Donglin Wang, Shanghang Zhang, Badong Chen

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

AI总结 本调查针对机器人操作这一具身智能核心挑战，提出方法的统一分类与瓶颈分类，为机器人操作研究提供了全面的路线图与结构化参考。

Multi-modal Interactive Control of Robotic Arm based on Offline Large Language Models

基于离线大语言模型的机械臂多模态交互控制

Hanxiao Chen

机构 * University of Tokyo（东京大学） 纠错

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

AI总结 该研究提出“Socratic Models-ChatGLM”算法，基于离线开源大语言模型与PyBullet平台实现机械臂多模态交互控制，可降低成本并解决复杂多步骤机械操作任务。

Comments This research work has been accepted for poster presentation at ICRA 2026 MEI (Multimodal Embodied Interaction in Robots) Workshop. (Here is the workshop-version short paper.)

Journal ref https://ieeexplore.ieee.org/abstract/document/11371765; 2025

Acoustic-driven millimetric helical robot: ultrasonic synergistic manipulation in confined fluidic environment

声驱动毫米级螺旋机器人：受限流体环境中的超声协同操控

Hanlin Wang, Xin Wang, Xinwei Wei, Jiaxu Liu, Le Wang, Shengze Cai, Chao Xu

机构 * Zhejiang University（浙江大学） ； Huzhou Institute of Zhejiang University（浙江大学湖州研究院） ； Huzhou Normal University（湖州师范学院） ； Huzhou Vocational and Technical College（湖州职业技术学院） 纠错

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

AI总结 该研究提出协调多声场方法，利用声辐射力与声流协同实现毫米级螺旋机器人在受限流体环境的可控运动，提升了操控性，为相关生物医学应用提供支撑。

Robotic Nanoparticle Synthesis via Solution-based Processes

基于溶液过程的机器人纳米粒子合成

Dasharadhan Mahalingam, Michael Gallagher, Nilanjan Chakraborty, Stanislaus S. Wong

机构 * Department of Mechanical Engineering, Stony Brook University（石溪大学机械工程系） ； Department of Chemistry, Stony Brook University（石溪大学化学系） 纠错

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

AI总结 本文提出一种基于螺旋几何的操控规划框架，用于实现基于溶液的合成自动化，通过金和磁铁矿纳米粒子的制备进行演示。该框架通过编程演示提取约束，实现化学家无需机器人知识即可重新编程系统。

EmbodiedVAE: Disentangled Video VAE for Efficient and Controllable Embodied Manipulation

EmbodiedVAE：用于高效可控具身操作的解耦视频变分自编码器

Jiayi Luo, Hanxin Zhu, Chen Gao, Jiankun Wang, Cong Wang, Tianyu He, Jianxin Li, Zhibo Chen

机构 * Beihang University（北京航空航天大学） ； Zhongguancun Academy（中关村学院） ； University of Science and Technology of China（中国科学技术大学） ； National University of Singapore（新加坡国立大学） ； CASIA, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所（CASIA）） ； Microsoft Research Asia（微软亚洲研究院） 纠错

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

AI总结 针对现有潜在扩散模型适配具身操作场景的缺陷，提出EmbodiedVAE视频变分自编码器，通过双编码器架构与最优传输一致性模块实现更优重建质量、压缩率及精确动作控制。

Comments ECCV 2026

TWINS: A Tactile Wearable Isomorphic Arm Networked System for Contact-Rich Manipulation Learning

TWINS：用于接触丰富操作学习的触觉可穿戴同构臂联网系统

Takahide Kitamura, Masaki Murooka, Natsuki Yamanobe, Yukiyasu Domae

机构 * National Institute of Advanced Industrial Science and Technology (AIST)（独立行政法人产业技术综合研究所（AIST）） 纠错

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

AI总结 本文提出TWINS触觉可穿戴同构臂联网系统，用于解决现有机器人难以完成身体表面接触操作的问题，通过采集演示数据训练模仿学习策略，实现了身体表面触觉引导的接触丰富操作。

Practice Makes Policies: Bootstrapping and Consolidating Robotic Capabilities from Zero Human Demonstrations

熟能生巧：从零人类演示中引导与整合机器人能力

Jialiang Li, Yuhan Wang, Haojun Li, Gaojing Zhang, Yangtian Ye, Qipeng Liu, Haotian Liang, Wenzhao Lian

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

AI总结 本研究提出HERO自改进层级具身智能体，通过整合启发式推理等技术，实现机器人从零人类演示自主演进操作能力，减少数据收集人工干预并提升多样化任务操作稳健性。

Industrial Dexterity Benchmark: A Hardware-Software Benchmarking Platform for Industrial Dexterous Manipulation

工业灵巧性基准测试：一个用于工业灵巧操作的硬件-软件基准测试平台

Honglu He, Jacob Laufer, Zhiwu Zheng, David Elkan-gonzalez, Raman Goyal, Xinyi Li, Su Lu, Mishek Musa, Berke Saat, Nicolas Tan, Colm Prendergast

机构 * Analog Devices, Inc.（亚德诺半导体技术有限公司） 纠错

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

AI总结 针对工业灵巧操作瓶颈，提出从经典流程到端到端多模态模仿学习框架的转变，介绍了IDB板、DAG-ROS框架和AG-iDP3策略框架，通过数据中心电缆操作实验表明新策略在多方面优于传统方法，推动向可扩展机器人自动化发展。