机器人 / 具身智能

Can We Trust Embodied Agents? Exploring Backdoor Attacks against Embodied LLM-based Decision-Making Systems

Ruochen Jiao, Shaoyuan Xie, Justin Yue, Takami Sato, Lixu Wang, Yixuan Wang, Qi Alfred Chen, Qi Zhu

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

Comments Accepted paper at ICLR 2025, 31 pages, including main paper, references, and appendix

SPARK Hand: Scooping-Pinching Adaptive Robotic Hand with Kempe Mechanism for Vertical Passive Grasp in Environmental Constraints

Jiaqi Yin, Tianyi Bi, Wenzeng Zhang

机构 * School of Future Technology, Harbin Institute of Technology（哈尔滨工业大学未来技术学院） ； Laboratory of Robotics, X-Institute（X研究所机器人实验室） ； Shude College, Southern University of Science and Technology（南方科技大学舍德学院） ； Department of Mechanical Engineering, Tsinghua University（清华大学机械工程系） 纠错

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

RoTipBot: Robotic Handling of Thin and Flexible Objects using Rotatable Tactile Sensors

Jiaqi Jiang, Xuyang Zhang, Daniel Fernandes Gomes, Thanh-Toan Do, Shan Luo

机构 * School of Aerospace Engineering, Beijing Institute of Technology（北京理工大学航天工程学院） ； Department of Engineering, King’s College London（伦敦国王学院工程系） ； Department of Data Science and AI, Monash University（墨尔本大学数据科学与人工智能系） 纠错

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

Comments 18 pages, 19 figures. Accepted by T-RO

STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation

Yifan Duan, Heng Li, Yilong Wu, Wenhao Yu, Xinran Zhang, Yedong Shen, Jianmin Ji, Yanyong Zhang

机构 * University of Science and Technology of China（中国科学技术大学） 纠错

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

Comments 10 pages, 8 figures, accepted by RSS 2025

Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?

Huaijiang Zhu, Tong Zhao, Xinpei Ni, Jiuguang Wang, Kuan Fang, Ludovic Righetti, Tao Pang

机构 * New York University（纽约大学） ； Boston Dynamics AI Institute（波士顿动力AI研究院） ； Georgia Institute of Technology（佐治亚理工学院） ； Cornell University（康奈尔大学） ； Artificial and Natural Intelligence Toulouse Institute（图卢兹人工智能与自然智能研究所） 纠错

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

Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning

Zhaoyuan Gu, Junheng Li, Wenlan Shen, Wenhao Yu, Zhaoming Xie, Stephen McCrory, Xianyi Cheng, Abdulaziz Shamsah, Robert Griffin, C. Karen Liu, Abderrahmane Kheddar, Xue Bin Peng, Yuke Zhu, Guanya Shi, Quan Nguyen, Gordon Cheng, Huijun Gao, Ye Zhao

机构 * Georgia Institute of Technology（佐治亚理工学院） ； The University of Southern California（南加州大学） ； Technische Universität München（慕尼黑技术大学） ； Google DeepMind（谷歌DeepMind） ； The AI Institute（人工智能研究所） ； The Institute for Human and Machine Cognition（人机认知研究所） ； Duke University（杜克大学） ； Kuwait University（科威特大学） ； Stanford University（斯坦福大学） ； CNRS-University of Montpellier（国家科学研究中心-蒙彼利埃大学） ； LIRMM CNRS-AIST Joint Robotics Laboratory（联合机器人实验室） ； Simon Fraser University（西蒙弗雷泽大学） ； The University of Texas at Austin（德克萨斯大学奥斯汀分校） ； NVIDIA（英伟达） ； Carnegie Mellon University（卡内基梅隆大学） ； Harbin Institute of Technology（哈尔滨工业大学） 纠错

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

Motion Before Action: Diffusing Object Motion as Manipulation Condition

Yue Su, Xinyu Zhan, Hongjie Fang, Yong-Lu Li, Cewu Lu, Lixin Yang

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

CATCH-FORM-3D: Compliance-Aware Tactile Control and Hybrid Deformation Regulation for 3D Viscoelastic Object Manipulation

Hongjun Ma, Weichang Li

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

Comments 8 pages, 8 figures, 2 tables

TOCALib: Optimal control library with interpolation for bimanual manipulation and obstacles avoidance

Yulia Danik, Dmitry Makarov, Aleksandra Arkhipova, Sergei Davidenko, Aleksandr Panov

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

Comments 10 pages, 14 figures, 3 tables, 2 algorithms, 1 appendix

Experimental Evaluation of Precise Placement of the Hollow Object with Asymmetric Pivot Manipulation

Jinseong Park, Jeong-Jung Kim, Doo-Yeol Koh

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

Ultrasound-Guided Robotic Blood Drawing and In Vivo Studies on Submillimetre Vessels of Rats

Shuaiqi Jing, Tianliang Yao, Ke Zhang, Di Wu, Qiulin Wang, Zixi Chen, Ke Chen, Peng Qi

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

Comments 6 pages, 4 figures. This paper has been accepted by IEEE ICRA 2025

Vision-Language Model Predictive Control for Manipulation Planning and Trajectory Generation

Jiaming Chen, Wentao Zhao, Ziyu Meng, Donghui Mao, Ran Song, Wei Pan, Wei Zhang

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

Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups

Nicholas Pfaff, Evelyn Fu, Jeremy Binagia, Phillip Isola, Russ Tedrake

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

Comments Website: https://scalable-real2sim.github.io/

AlphaSpace: Enabling Robotic Actions through Semantic Tokenization and Symbolic Reasoning

Alan Dao, Dinh Bach Vu, Bui Quang Huy

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

A Study of Perceived Safety for Soft Robotics in Caregiving Tasks

Cosima du Pasquier, Jennifer Grannen, Chuer Pan, Serin L. Huber, Aliyah Smith, Monroe Kennedy, Shuran Song, Dorsa Sadigh, Allison M. Okamura

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

Gemini Robotics: Bringing AI into the Physical World

Gemini Robotics Team, Saminda Abeyruwan, Joshua Ainslie, Jean-Baptiste Alayrac, Montserrat Gonzalez Arenas, Travis Armstrong, Ashwin Balakrishna, Robert Baruch, Maria Bauza, Michiel Blokzijl, Steven Bohez, Konstantinos Bousmalis, Anthony Brohan, Thomas Buschmann, Arunkumar Byravan, Serkan Cabi, Ken Caluwaerts, Federico Casarini, Oscar Chang, Jose Enrique Chen, Xi Chen, Hao-Tien Lewis Chiang, Krzysztof Choromanski, David D'Ambrosio, Sudeep Dasari, Todor Davchev, Coline Devin, Norman Di Palo, Tianli Ding, Adil Dostmohamed, Danny Driess, Yilun Du, Debidatta Dwibedi, Michael Elabd, Claudio Fantacci, Cody Fong, Erik Frey, Chuyuan Fu, Marissa Giustina, Keerthana Gopalakrishnan, Laura Graesser, Leonard Hasenclever, Nicolas Heess, Brandon Hernaez, Alexander Herzog, R. Alex Hofer, Jan Humplik, Atil Iscen, Mithun George Jacob, Deepali Jain, Ryan Julian, Dmitry Kalashnikov, M. Emre Karagozler, Stefani Karp, Chase Kew, Jerad Kirkland, Sean Kirmani, Yuheng Kuang, Thomas Lampe, Antoine Laurens, Isabel Leal, Alex X. Lee, Tsang-Wei Edward Lee, Jacky Liang, Yixin Lin, Sharath Maddineni, Anirudha Majumdar, Assaf Hurwitz Michaely, Robert Moreno, Michael Neunert, Francesco Nori, Carolina Parada, Emilio Parisotto, Peter Pastor, Acorn Pooley, Kanishka Rao, Krista Reymann, Dorsa Sadigh, Stefano Saliceti, Pannag Sanketi, Pierre Sermanet, Dhruv Shah, Mohit Sharma, Kathryn Shea, Charles Shu, Vikas Sindhwani, Sumeet Singh, Radu Soricut, Jost Tobias Springenberg, Rachel Sterneck, Razvan Surdulescu, Jie Tan, Jonathan Tompson, Vincent Vanhoucke, Jake Varley, Grace Vesom, Giulia Vezzani, Oriol Vinyals, Ayzaan Wahid, Stefan Welker, Paul Wohlhart, Fei Xia, Ted Xiao, Annie Xie, Jinyu Xie, Peng Xu, Sichun Xu, Ying Xu, Zhuo Xu, Yuxiang Yang, Rui Yao, Sergey Yaroshenko, Wenhao Yu, Wentao Yuan, Jingwei Zhang, Tingnan Zhang, Allan Zhou, Yuxiang Zhou

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

A Self-Correcting Vision-Language-Action Model for Fast and Slow System Manipulation

Chenxuan Li, Jiaming Liu, Guanqun Wang, Xiaoqi Li, Sixiang Chen, Liang Heng, Chuyan Xiong, Jiaxin Ge, Renrui Zhang, Kaichen Zhou, Shanghang Zhang

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

Force Aware Branch Manipulation To Assist Agricultural Tasks

Madhav Rijal, Rashik Shrestha, Trevor Smith, Yu Gu

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

RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids and Granular Media with Capacitive Sensing

Yexin Hu, Alexandra Gillespie, Akhil Padmanabha, Kavya Puthuveetil, Wesley Lewis, Karan Khokar, Zackory Erickson

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

A Physically Consistent Stiffness Formulation for Contact-Rich Manipulation

Johannes Lachner, Moses C. Nah, Neville Hogan

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

RoboReflect: A Robotic Reflective Reasoning Framework for Grasping Ambiguous-Condition Objects

Zhen Luo, Yixuan Yang, Yanfu Zhang, Feng Zheng

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

Divide et Impera: Decoding Impedance Strategies for Robotic Peg-in-Hole Assembly

Johannes Lachner, Federico Tessari, A. Michael West, Moses C. Nah, Neville Hogan

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

Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects

Justin Yu, Kush Hari, Karim El-Refai, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg

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

Comments Accepted to ICRA 2025

Gaussian Splatting Visual MPC for Granular Media Manipulation

Wei-Cheng Tseng, Ellina Zhang, Krishna Murthy Jatavallabhula, Florian Shkurti

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

Comments project website https://weichengtseng.github.io/gs-granular-mani/

Task-Driven Manipulation with Reconfigurable Parallel Robots

Daniel Morton, Mark Cutkosky, Marco Pavone

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

Journal ref IEEE/RSJ International Conference on Intelligent Robots (IROS), Abu Dhabi, 2024

TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation

Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Sami Haddadin, Alois Knoll

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

Comments 7 pages. Accepted to ICRA 2025

DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning

Zhenyu Jiang, Yuqi Xie, Kevin Lin, Zhenjia Xu, Weikang Wan, Ajay Mandlekar, Linxi Fan, Yuke Zhu

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

Comments ICRA 2025. Project website: https://dexmimicgen.github.io/

Geometric Impedance Control on SE(3) for Robotic Manipulators

Joohwan Seo, Nikhil Potu Surya Prakash, Alexander Rose, Jongeun Choi, Roberto Horowitz

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

Comments Presented at IFAC World Congress 2023, Yokohama, Japan

Planning and Reasoning with 3D Deformable Objects for Hierarchical Text-to-3D Robotic Shaping

Alison Bartsch, Amir Barati Farimani

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

CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization

Yifei Dong, Shaohang Han, Xianyi Cheng, Werner Friedl, Rafael I. Cabral Muchacho, Máximo A. Roa, Jana Tumova, Florian T. Pokorny

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