机器人 / 具身智能

Robotic Fabric Flattening with Wrinkle Direction Detection

Yulei Qiu, Jihong Zhu, Cosimo Della Santina, Michael Gienger, Jens Kober

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

Comments Accepted by the 18th International Symposium on Experimental Robotics (ISER 2023)

Fine-Tuning Generative Models as an Inference Method for Robotic Tasks

Orr Krupnik, Elisei Shafer, Tom Jurgenson, Aviv Tamar

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

Comments 7th Conference on Robot Learning, 2023. Project website at https://www.orrkrup.com/mace

Multi-Phase Multi-Objective Dexterous Manipulation with Adaptive Hierarchical Curriculum

Lingfeng Tao, Jiucai Zhang, Xiaoli Zhang

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

Comments Accepted by the Journal of Intelligent & Robotic Systems

Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps

Sudeep Dasari, Abhinav Gupta, Vikash Kumar

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

Comments An abridged version of this paper was presented in IEEE International Conference on Robotics and Automation (ICRA) 2023

Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulation

Myung-Hwan Jeon, Jeongyun Kim, Jee-Hwan Ryu, Ayoung Kim

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

Comments IEEE Robotics and Automation Letters

Partially Observable Markov Decision Processes in Robotics: A Survey

Mikko Lauri, David Hsu, Joni Pajarinen

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

Comments 20 pages, 10 figures. Author version of paper. Accepted for publication in IEEE Transactions on Robotics

Self-Supervised Drivable Area and Road Anomaly Segmentation using RGB-D Data for Robotic Wheelchairs

Hengli Wang, Yuxiang Sun, Ming Liu

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

Comments Published in IEEE Robotics and Automation Letters (RA-L); 8 pages, 8 figures and 3 tables

Attribute-Based Robotic Grasping with One-Grasp Adaptation

Yang Yang, Yuanhao Liu, Hengyue Liang, Xibai Lou, Changhyun Choi

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

Comments Accepted to the IEEE International Conference on Robotics and Automation (ICRA 2021). Project page: https://sites.google.com/umn.edu/attributes-grasping

SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation

Xingyu Lin, Yufei Wang, Jake Olkin, David Held

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

Comments Conference on Robot Learning, 2020

Self-Supervised Damage-Avoiding Manipulation Strategy Optimization via Mental Simulation

Tobias Doernbach

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

Journal ref Intelligent Service Robotics, August 2019

Towards Robotic Eye Surgery: Marker-free, Online Hand-eye Calibration using Optical Coherence Tomography Images

Mingchuan Zhou, Mahdi Hamad, Jakob Weiss, Abouzar Eslami, Kai Huang, Mathias Maier, Chris P. Lohmann, Nassir Navab, Alois Knoll, M. Ali Nasseri

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

Comments *The first two authors contributed equally to this paper. Accepted by IEEE Robotics and Automation Letters (RA-L), 2018

NativeMEM: Native Memory Compression for Long-Horizon Robotic Manipulation

NativeMEM：用于长期机器人操作的原生内存压缩

Ziye Wang, Modi Shi, Chaojun Ni, Jiazhi Yang, Mengdi Li, Zhizhong Su, Tianwei Lin, Hongyang Li

机构 * The University of Hong Kong（香港大学） ； Beihang University（北京航空航天大学） ； Peking University（北京大学） ； The Chinese University of Hong Kong（香港中文大学） ； Horizon Robotics（地平线机器人） 纠错

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

AI总结 研究如何让预训练VLA模型高频更新时保留长期视觉历史且高效。提出NativeMEM策略，用原生内存压缩编码，通过开发分词器对齐内存令牌与策略，该方法在模拟和真实机器人实验中效果好，数据效率高。

Dive into the Scene: Breaking the Perceptual Bottleneck in Vision-Language Decision Making via Focus Plan Generation

深入场景：通过焦点计划生成打破视觉-语言决策中的感知瓶颈

Boyuan Xiao, Bohong Chen, Yumeng Li, Ji Feng, Yao-Xiang Ding, Kun Zhou

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

专题命中 机器人操作 ：embodied AI(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

AI总结 提出SceneDiver方法，通过从粗到细的焦点计划生成，逐步构建场景图并分解任务，减少视觉幻觉，提升视觉-语言模型和视觉-语言-动作模型在具身决策任务中的表现。

Comments Accepted at ICML 2026

SceneFoundry: Generating Interactive Infinite 3D Worlds

SceneFoundry: 生成交互式无限3D世界

ChunTeng Chen, YiChen Hsu, YiWen Liu, WeiFang Sun, TsaiChing Ni, ChunYi Lee, Min Sun, YuanFu Yang

机构 * National Yang Ming Chiao Tung University（国家阳明交通大学） ； National Tsing Hua University（国立清华大学） ； NVIDIA AI Technology Center（NVIDIA AI技术中心） ； National Taiwan University（国立台湾大学） 纠错

专题命中 机器人操作 ：embodied AI(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

AI总结 SceneFoundry通过语言引导的扩散框架生成功能性强的3D环境，用于机器人训练和具身智能研究。

Comments 15 pages

Differentiable Skill Optimisation for Powder Manipulation in Laboratory Automation

实验室自动化中粉末操作的可微技能优化

Minglun Wei, Xintong Yang, Yu-Kun Lai, Ze Ji

机构 * Cardiff University（卡地夫大学） 纠错

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

AI总结 本研究提出了一种基于可微物理模拟和课程学习的粉末运输轨迹优化方法，提升实验室自动化中粉末操作的精度和稳定性。

Comments Accepted by IROS 2025 Workshop on Embodied AI and Robotics for Future Scientific Discovery

Hybrid Consistency Policy: Decoupling Multi-Modal Diversity and Real-Time Efficiency in Robotic Manipulation

Qianyou Zhao, Yuliang Shen, Xuanran Zhai, Ce Hao, Duidi Wu, Jin Qi, Jie Hu, Qiaojun Yu

机构 * Shanghai Jiao Tong University（上海交通大学） ； National University of Singapore（国立新加坡大学） ； Shanghai AI Lab（上海人工智能实验室） 纠错

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

GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion

Shulong Jiang, Shiqi Zhao, Yuxuan Fan, Peng Yin

机构 * City University of Hong Kong（香港城市大学） ； The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） 纠错

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

CPG-Based Manipulation with Multi-Module Origami Robot Surface

Yuhao Jiang, Serge El Asmar, Ziqiao Wang, Serhat Demirtas, Jamie Paik

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

Comments This manuscript is under revision for possible publication in the IEEE Robotics and Automation Letters (RA-L). Copyright may be transferred to IEEE if the manuscript is accepted for publication, without further notice. Supplementary video: https://youtu.be/AEmWFmHhPOA. Code available: https://doi.org/10.5281/zenodo.14726303

Journal ref IEEE Robotics and Automation Letters (Volume: 10, Issue: 5, May 2025)

Magma: A Foundation Model for Multimodal AI Agents

Jianwei Yang, Reuben Tan, Qianhui Wu, Ruijie Zheng, Baolin Peng, Yongyuan Liang, Yu Gu, Mu Cai, Seonghyeon Ye, Joel Jang, Yuquan Deng, Lars Liden, Jianfeng Gao

专题命中 机器人操作 ：robotics(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

Comments 29 pages, 16 figures, technical report from MSR

Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation

Minjie Zhu, Yichen Zhu, Jinming Li, Junjie Wen, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, Yaxin Peng, Feifei Feng, Jian Tang

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

Learning State Conditioned Linear Mappings for Low-Dimensional Control of Robotic Manipulators

Michael Przystupa, Kerrick Johnstonbaugh, Zichen Zhang, Laura Petrich, Masood Dehghan, Faezeh Haghverd, Martin Jagersand

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

Comments 7 Pages, 8 Figures, Presented at the 2023 IEEE International Conference on Robotics and Automation (ICRA)

Journal ref IEEE International Conference on Robotics and Automation (ICRA), 2023, pp. 857-863

Pre-trained Text-to-Image Diffusion Models Are Versatile Representation Learners for Control

Gunshi Gupta, Karmesh Yadav, Yarin Gal, Dhruv Batra, Zsolt Kira, Cong Lu, Tim G. J. Rudner

专题命中 机器人操作 ：embodied AI(abstract)；embodied agent(abstract)；manipulation(abstract)；navigation(abstract)

A Survey of Robotic Harvesting Systems and Enabling Technologies

Leonidas Droukas, Zoe Doulgeri, Nikolaos L. Tsakiridis, Dimitra Triantafyllou, Ioannis Kleitsiotis, Ioannis Mariolis, Dimitrios Giakoumis, Dimitrios Tzovaras, Dimitrios Kateris, Dionysis Bochtis

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

Comments 55 pages, 4 figures. Accepted for publication in Journal of Intelligent & Robotic Systems

Journal ref Journal of Intelligent & Robotic Systems volume 107, Article number: 21 (2023)

ModMag: A Modular Magnetic Micro-Robotic Manipulation Device

Max Sokolich, Max Sokolich, David Rivas, Markos Duey, Daniel Borsykowsky, Sambeeta Das

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

Visibility Maximization Controller for Robotic Manipulation

Kerry He, Rhys Newbury, Tin Tran, Jesse Haviland, Ben Burgess-Limerick, Dana Kulić, Peter Corke, Akansel Cosgun

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

Comments 8 pages, 6 figures, 7 tables, submitted to RA-L and IROS 2022

Elly: A Real-Time Failure Recovery and Data Collection System for Robotic Manipulation

Elena Galbally, Adrian Piedra, Cynthia Brosque, Oussama Khatib

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

Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower

Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas Funkhouser

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

Comments Accepted to IEEE Robotics and Automation Letters (RA-L), 2022 and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Project page: https://learning-dynamic-manipulation.cs.princeton.edu

Greedy Clustering-Based Algorithm for Improving Multi-point Robotic Manipulation Sequencing

Gavin Strunk

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

Combining Coarse and Fine Physics for Manipulation using Parallel-in-Time Integration

Wisdom C. Agboh, Daniel Ruprecht, Mehmet R. Dogar

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

Comments International Symposium on Robotics Research (ISRR), 2019

Journal ref In: Asfour T., Yoshida E., Park J., Christensen H., Khatib O. (eds) Robotics Research. ISRR 2019. Springer Proceedings in Advanced Robotics, vol 20. Springer, Cham

Surprisingly Robust In-Hand Manipulation: An Empirical Study

Aditya Bhatt, Adrian Sieler, Steffen Puhlmann, Oliver Brock

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

Comments Published in Robotics: Science and Systems 2021. Proceedings at http://www.roboticsproceedings.org/rss17/p089.html Spotlight talk at https://youtu.be/2vwdP4WjGoQ Complete video playlist at https://www.youtube.com/playlist?list=PLb-CNILz7vmt6Ae_yD9i15TrCw0S8bKCn

Journal ref Proceedings of Robotics: Science and Systems, 2021