机器人 / 具身智能

$π_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Manuel Y. Galliker, Dibya Ghosh, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Devin LeBlanc, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Allen Z. Ren, Lucy Xiaoyang Shi, Laura Smith, Jost Tobias Springenberg, Kyle Stachowicz, James Tanner, Quan Vuong, Homer Walke, Anna Walling, Haohuan Wang, Lili Yu, Ury Zhilinsky

机构 * Physical Intelligence 纠错

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

DRAWER: Digital Reconstruction and Articulation With Environment Realism

Hongchi Xia, Entong Su, Marius Memmel, Arhan Jain, Raymond Yu, Numfor Mbiziwo-Tiapo, Ali Farhadi, Abhishek Gupta, Shenlong Wang, Wei-Chiu Ma

机构 * University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） ； University of Washington（华盛顿大学） ； Allen Institute for AI（人工智能研究院） ； Cornell University（康奈尔大学） 纠错

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

Comments Project page: https://drawer-art.github.io/

MARVIS: Motion & Geometry Aware Real and Virtual Image Segmentation

Jiayi Wu, Xiaomin Lin, Shahriar Negahdaripour, Cornelia Fermüller, Yiannis Aloimonos

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

IRef-VLA: A Benchmark for Interactive Referential Grounding with Imperfect Language in 3D Scenes

Haochen Zhang, Nader Zantout, Pujith Kachana, Ji Zhang, Wenshan Wang

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

Comments Accepted to ICRA 2025. Code available at https://github.com/HaochenZ11/IRef-VLA. arXiv admin note: text overlap with arXiv:2411.03540

Efficient Training of Generalizable Visuomotor Policies via Control-Aware Augmentation

Yinuo Zhao, Kun Wu, Tianjiao Yi, Zhiyuan Xu, Xiaozhu Ju, Zhengping Che, Chi Harold Liu, Jian Tang

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

Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

Jian Liu, Wei Sun, Hui Yang, Pengchao Deng, Chongpei Liu, Nicu Sebe, Hossein Rahmani, Ajmal Mian

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

Comments 17 pages, 13 figures

Journal ref IEEE Transactions on Pattern Analysis and Machine Intelligence, 2025

Fast LiDAR Data Generation with Rectified Flows

Kazuto Nakashima, Xiaowen Liu, Tomoya Miyawaki, Yumi Iwashita, Ryo Kurazume

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

Comments ICRA 2025

TRACE: A Self-Improving Framework for Robot Behavior Forecasting with Vision-Language Models

Gokul Puthumanaillam, Paulo Padrao, Jose Fuentes, Pranay Thangeda, William E. Schafer, Jae Hyuk Song, Karan Jagdale, Leonardo Bobadilla, Melkior Ornik

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

ColorDynamic: Generalizable, Scalable, Real-time, End-to-end Local Planner for Unstructured and Dynamic Environments

Jinghao Xin, Zhichao Liang, Zihuan Zhang, Peng Wang, Ning Li

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

Comments 18 pages

Learning to Double Guess: An Active Perception Approach for Estimating the Center of Mass of Arbitrary Objects

Shengmiao Jin, Yuchen Mo, Wenzhen Yuan

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

Comments Accepted to ICRA 25; 7 pages, 5 figures

HIPPo: Harnessing Image-to-3D Priors for Model-free Zero-shot 6D Pose Estimation

Yibo Liu, Zhaodong Jiang, Binbin Xu, Guile Wu, Yuan Ren, Tongtong Cao, Bingbing Liu, Rui Heng Yang, Amir Rasouli, Jinjun Shan

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

Temporal Representation Alignment: Successor Features Enable Emergent Compositionality in Robot Instruction Following

Vivek Myers, Bill Chunyuan Zheng, Anca Dragan, Kuan Fang, Sergey Levine

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

Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning

Patrick Yin, Tyler Westenbroek, Simran Bagaria, Kevin Huang, Ching-an Cheng, Andrey Kobolov, Abhishek Gupta

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

POLAR-Sim: Augmenting NASA's POLAR Dataset for Data-Driven Lunar Perception and Rover Simulation

Bo-Hsun Chen, Peter Negrut, Thomas Liang, Nevindu Batagoda, Harry Zhang, Dan Negrut

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

Comments 11 pages, 9 figures. This work has been submitted to the IEEE for possible publication

Sim-to-Real Transfer for Mobile Robots with Reinforcement Learning: from NVIDIA Isaac Sim to Gazebo and Real ROS 2 Robots

Sahar Salimpour, Jorge Peña-Queralta, Diego Paez-Granados, Jukka Heikkonen, Tomi Westerlund

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

GR-MG: Leveraging Partially Annotated Data via Multi-Modal Goal-Conditioned Policy

Peiyan Li, Hongtao Wu, Yan Huang, Chilam Cheang, Liang Wang, Tao Kong

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

Comments 8 pages, 5 figures, RA-L

SplatR : Experience Goal Visual Rearrangement with 3D Gaussian Splatting and Dense Feature Matching

Arjun P S, Andrew Melnik, Gora Chand Nandi

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

Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice

William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames

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

Comments Submitted to ICRA 2025

Free Energy Projective Simulation (FEPS): Active inference with interpretability

Joséphine Pazem, Marius Krumm, Alexander Q. Vining, Lukas J. Fiderer, Hans J. Briegel

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

Comments 26 pages (including 5 pages appendix), 6 figures

GSL-PCD: Improving Generalist-Specialist Learning with Point Cloud Feature-based Task Partitioning

Xiu Yuan

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

FactorSim: Generative Simulation via Factorized Representation

Fan-Yun Sun, S. I. Harini, Angela Yi, Yihan Zhou, Alex Zook, Jonathan Tremblay, Logan Cross, Jiajun Wu, Nick Haber

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

Comments neurips 2024, project website: https://cs.stanford.edu/~sunfanyun/factorsim/

EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning

Jingyun Yang, Zi-ang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg

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

Comments CoRL 2024. The first two authors contributed equally. Project page: https://equi-bot.github.io

One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation

Zhendong Wang, Zhaoshuo Li, Ajay Mandlekar, Zhenjia Xu, Jiaojiao Fan, Yashraj Narang, Linxi Fan, Yuke Zhu, Yogesh Balaji, Mingyuan Zhou, Ming-Yu Liu, Yu Zeng

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

Physical Simulation for Multi-agent Multi-machine Tending

Abdalwhab Abdalwhab, Giovanni Beltrame, David St-Onge

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

Comments 3 pages, one figure, an extended abstract presented at the 7th edition of the Montreal AI symposium (MAIS) 2024

Prompt a Robot to Walk with Large Language Models

Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath

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

Comments Conference on Decision and Control (CDC), 2024

Grounded Curriculum Learning

Linji Wang, Zifan Xu, Peter Stone, Xuesu Xiao

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

Comments 8 pages, 4 figures

Generalizing monocular colonoscopy image depth estimation by uncertainty-based global and local fusion network

Sijia Du, Chengfeng Zhou, Suncheng Xiang, Jianwei Xu, Dahong Qian

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

DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots

Maria Bauza, Jose Enrique Chen, Valentin Dalibard, Nimrod Gileadi, Roland Hafner, Murilo F. Martins, Joss Moore, Rugile Pevceviciute, Antoine Laurens, Dushyant Rao, Martina Zambelli, Martin Riedmiller, Jon Scholz, Konstantinos Bousmalis, Francesco Nori, Nicolas Heess

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

Comments 15 pages total with 7 pages of appendix. 9 Figures, 4 in the main text and 5 in the appendix

ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching

Niklas Funk, Julen Urain, Joao Carvalho, Vignesh Prasad, Georgia Chalvatzaki, Jan Peters

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

Boosting Generalizability towards Zero-Shot Cross-Dataset Single-Image Indoor Depth by Meta-Initialization

Cho-Ying Wu, Yiqi Zhong, Junying Wang, Ulrich Neumann

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

Comments IROS 2024. The version supersedes 2305.07269. arXiv admin note: text overlap with arXiv:2305.07269