机器人 / 具身智能

Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous In-Hand Manipulation

Sunyu Wang, Arjun S. Lakshmipathy, Jean Oh, Nancy S. Pollard

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

Remote Manipulation of Multiple Objects with Airflow Field Using Model-Based Learning Control

Artur Kopitca, Shahriar Haeri, Quan Zhou

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

Comments 8 pages, 7 figures

Journal ref IEEE/ASME Transactions on Mechatronics Volume: 30, Issue: 4, Aug. 2025

Software for the SpaceDREAM Robotic Arm

Maximilian Mühlbauer, Maxime Chalon, Maximilian Ulmer, Alin Albu-Schäffer

机构 * Technical University of Munich (TUM)（慕尼黑技术大学） ； German Aerospace Center (DLR)（德国航空航天中心） 纠错

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

Journal ref 2025 IEEE Aerospace Conference

A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics

Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi, Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala, Vittorio Pastore, Sujith Vijayan, Kaveh Akbari Hamed

机构 * Department of Mechanical Engineering, Virginia Tech（弗吉尼亚理工大学机械工程系） ； California Institute of Technology（加州理工学院） ； School of Neuroscience, Virginia Tech（弗吉尼亚理工大学神经科学学院） 纠错

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

Ag2x2: Robust Agent-Agnostic Visual Representations for Zero-Shot Bimanual Manipulation

Ziyin Xiong, Yinghan Chen, Puhao Li, Yixin Zhu, Tengyu Liu, Siyuan Huang

机构 * National Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI)（国家关键人工智能实验室，北京通用人工智能研究院（BIGAI）） ； School of Psychological and Cognitive Sciences, Peking University（北京大学心理与认知科学学院） ； Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院） ； Beijing Key Laboratory of Behavior and Mental Health, Peking University（北京行为与心理健康重点实验室，北京大学） ； Yuanpei College, Peking University（北京大学元培学院） ； Department of Computer Science and Technology, University of Cambridge（剑桥大学计算机科学与技术系） ； Embodied Intelligence Lab, PKU-Wuhan Institute for Artificial Intelligence（具身智能实验室，北京大学-武汉人工智能研究院） 纠错

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

Comments Accepted to IROS 2025, oral presentation. Project page link: https://ziyin-xiong.github.io/ag2x2.github.io/

RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation

Mattia Risiglione, Abdelrahman Abdalla, Victor Barasuol, Kim Tien Ly, Ioannis Havoutis, Claudio Semini

机构 * Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT)（动态腿系统实验室，意大利技术研究院） ； Oxford Robotics Institute, University of Oxford（牛津大学机器人研究所） 纠错

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

PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy

Alison Bartsch, Arvind Car, Amir Barati Farimani

机构 * Department of Mechanical Engineering at Carnegie Mellon University（卡内基梅隆大学机械工程系） 纠错

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

Language-Conditioned Open-Vocabulary Mobile Manipulation with Pretrained Models

Shen Tan, Dong Zhou, Xiangyu Shao, Junqiao Wang, Guanghui Sun

机构 * 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)；robotic(abstract)；分类 cs.RO

Comments IJCAI 2025

Heterogeneous object manipulation on nonlinear soft surface through linear controller

Pratik Ingle, Kasper Støy, Andres Faiña

机构 * IT University（IT大学） 纠错

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

Comments 8 pages, 3 figures

Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller

Zhihai Bi, Kai Chen, Chunxin Zheng, Yulin Li, Haoang Li, Jun Ma

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） 纠错

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

Safe Robotic Capsule Cleaning with Integrated Transpupillary and Intraocular Optical Coherence Tomography

Yu-Ting Lai, Yasamin Foroutani, Aya Barzelay, Tsu-Chin Tsao

机构 * Department of Mechanical and Aerospace Engineering, University of California, Los Angeles（机械与航空航天工程系，加州大学洛杉矶分校） 纠错

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

Comments 12 pages, 27 figures

DEMONSTRATE: Zero-shot Language to Robotic Control via Multi-task Demonstration Learning

Rahel Rickenbach, Bruce Lee, René Zurbrügg, Carmen Amo Alonso, Melanie N. Zeilinger

机构 * ETH Zurich（苏黎世联邦理工学院） ； University of Pennsylvania（宾夕法尼亚大学） ； Stanford University（斯坦福大学） 纠错

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

Wearable Roller Rings to Augment In-Hand Manipulation through Active Surfaces

Hayden Webb, Podshara Chanrungmaneekul, Shenli Yuan, Kaiyu Hang

机构 * Department of Computer Science, Rice University（计算机科学系，莱斯大学） 纠错

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

Diffusion-Based Imaginative Coordination for Bimanual Manipulation

Huilin Xu, Jian Ding, Jiakun Xu, Ruixiang Wang, Jun Chen, Jinjie Mai, Yanwei Fu, Bernard Ghanem, Feng Xu, Mohamed Elhoseiny

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

Comments 15 pages, including 10 figures and 16 tables. Accepted at ICCV 2025

Versatile and Generalizable Manipulation via Goal-Conditioned Reinforcement Learning with Grounded Object Detection

Huiyi Wang, Fahim Shahriar, Alireza Azimi, Gautham Vasan, Rupam Mahmood, Colin Bellinger

机构 * Digital Technologies, National Research Council of Canada（加拿大国家研究理事会数字技术部门） ； University of Alberta（阿尔伯塔大学） ； Amii Edmonton, Canada（埃德蒙顿阿米人工智能研究所） 纠错

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

Comments 8 pages, 4 figures, 3 tables

Hierarchical Reinforcement Learning for Articulated Tool Manipulation with Multifingered Hand

Wei Xu, Yanchao Zhao, Weichao Guo, Xinjun Sheng

机构 * State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University（机械系统与振动国家重点实验室，机械工程学院，上海交通大学） ； Shanghai Key Laboratory of Intelligent Robotics, Meta Robotics Institute, Shanghai Jiao Tong University（智能机器人上海重点实验室，元机器人研究院，上海交通大学） 纠错

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

Comments Accepted by 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025). copyright 2025 IEEE. Final version to appear in IEEE Xplore

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation

TRI LBM Team, Jose Barreiros, Andrew Beaulieu, Aditya Bhat, Rick Cory, Eric Cousineau, Hongkai Dai, Ching-Hsin Fang, Kunimatsu Hashimoto, Muhammad Zubair Irshad, Masha Itkina, Naveen Kuppuswamy, Kuan-Hui Lee, Katherine Liu, Dale McConachie, Ian McMahon, Haruki Nishimura, Calder Phillips-Grafflin, Charles Richter, Paarth Shah, Krishnan Srinivasan, Blake Wulfe, Chen Xu, Mengchao Zhang, Alex Alspach, Maya Angeles, Kushal Arora, Vitor Campagnolo Guizilini, Alejandro Castro, Dian Chen, Ting-Sheng Chu, Sam Creasey, Sean Curtis, Richard Denitto, Emma Dixon, Eric Dusel, Matthew Ferreira, Aimee Goncalves, Grant Gould, Damrong Guoy, Swati Gupta, Xuchen Han, Kyle Hatch, Brendan Hathaway, Allison Henry, Hillel Hochsztein, Phoebe Horgan, Shun Iwase, Donovon Jackson, Siddharth Karamcheti, Sedrick Keh, Joseph Masterjohn, Jean Mercat, Patrick Miller, Paul Mitiguy, Tony Nguyen, Jeremy Nimmer, Yuki Noguchi, Reko Ong, Aykut Onol, Owen Pfannenstiehl, Richard Poyner, Leticia Priebe Mendes Rocha, Gordon Richardson, Christopher Rodriguez, Derick Seale, Michael Sherman, Mariah Smith-Jones, David Tago, Pavel Tokmakov, Matthew Tran, Basile Van Hoorick, Igor Vasiljevic, Sergey Zakharov, Mark Zolotas, Rares Ambrus, Kerri Fetzer-Borelli, Benjamin Burchfiel, Hadas Kress-Gazit, Siyuan Feng, Stacie Ford, Russ Tedrake

机构 * TRI LBM Team（TRI LBM团队） 纠错

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

Learning thin deformable object manipulation with a multi-sensory integrated soft hand

Chao Zhao, Chunli Jiang, Lifan Luo, Shuai Yuan, Qifeng Chen, Hongyu Yu

机构 * School of Artificial Intelligence, Jilin University（吉林大学人工智能学院） ； Hong Kong University of Science and Technology（香港理工大学） 纠错

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

Comments Accepted by T-RO, 20 pages

VLM-TDP: VLM-guided Trajectory-conditioned Diffusion Policy for Robust Long-Horizon Manipulation

Kefeng Huang, Tingguang Li, Yuzhen Liu, Zhe Zhang, Jiankun Wang, Lei Han

机构 * Tencent Robotics X（腾讯机器人实验室） ； Southern University of Science and Technology（南方科技大学） 纠错

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

ArtGS:3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects

Qiaojun Yu, Xibin Yuan, Yu jiang, Junting Chen, Dongzhe Zheng, Ce Hao, Yang You, Yixing Chen, Yao Mu, Liu Liu, Cewu Lu

机构 * Shanghai Jiao Tong University（上海交通大学） ； Shanghai AI Laboratory（上海人工智能实验室） ； National University of Singapore（国立新加坡大学） ； Princeton University（普林斯顿大学） ； Stanford University（斯坦福大学） ； Hefei University of Technology（合肥工业大学） 纠错

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

Comments Accepted by IROS 2025

TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types

Yuhao Lin, Yi-Lin Wei, Haoran Liao, Mu Lin, Chengyi Xing, Hao Li, Dandan Zhang, Mark Cutkosky, Wei-Shi Zheng

机构 * School of Computer Science and Engineering, Sun Yat-sen University, China（中山大学计算机科学与工程学院） ； Stanford University, USA（斯坦福大学） ； Imperial College London, UK（伦敦帝国理工学院） 纠错

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

Comments Project Page: https://isee-laboratory.github.io/TypeTele

DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing

Yasunori Toshimitsu, Kento Kawaharazuka, Akihiro Miki, Kei Okada, Masayuki Inaba

机构 * Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo（机械信息学系，信息科学与技术研究生院，东京大学） 纠错

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

Comments 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Journal ref 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 2219-2226

RoboEnvision: A Long-Horizon Video Generation Model for Multi-Task Robot Manipulation

Liudi Yang, Yang Bai, George Eskandar, Fengyi Shen, Mohammad Altillawi, Dong Chen, Soumajit Majumder, Ziyuan Liu, Gitta Kutyniok, Abhinav Valada

机构 * Department of Computer Science, University of Freiburg（弗赖堡大学计算机科学系） ； Ludwig Maximilian University of Munich（慕尼黑路德维希-马克西米利安大学） ； Technical University of Munich（慕尼黑技术大学） ； Huawei Munich Research Center（华为慕尼黑研究中心） 纠错

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

Comments 8 pages, 6 figures

Robotic Perception with a Large Tactile-Vision-Language Model for Physical Property Inference

Zexiang Guo, Hengxiang Chen, Xinheng Mai, Qiusang Qiu, Gan Ma, Zhanat Kappassov, Qiang Li, Nutan Chen

机构 * College of Big Data and Internet, Shenzhen Technology University, China（大数据与互联网学院，深圳科技大学，中国） ； Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, China（中德智能制造学院，深圳科技大学，中国） ； Robotics Department, Institute of Smart Systems and Artificial Intelligence (ISSAI), Nazarbayev University, Kazakhstan（机器人系，智能系统与人工智能研究所（ISSAI），纳扎尔巴耶夫大学，哈萨克斯坦） ； Foundation Robotics Labs, Germany（基础机器人实验室，德国） 纠错

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

Comments This paper has been accepted by the 2025 International Conference on Climbing and Walking Robots (CLAWAR). These authors contributed equally to this work: Zexiang Guo, Hengxiang Chen, Xinheng Mai

The MOTIF Hand: A Robotic Hand for Multimodal Observations with Thermal, Inertial, and Force Sensors

Hanyang Zhou, Haozhe Lou, Wenhao Liu, Enyu Zhao, Yue Wang, Daniel Seita

机构 * Department of Computer Science, Viterbi School of Engineering University of Southern California（计算机科学系，维特比工程学院，南加州大学） 纠错

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

Context manipulation attacks : Web agents are susceptible to corrupted memory

Atharv Singh Patlan, Ashwin Hebbar, Pramod Viswanath, Prateek Mittal

机构 * princeton（普林斯顿大学） 纠错

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

Comments 10 pages, 6 figures

Mass-Adaptive Admittance Control for Robotic Manipulators

Hossein Gholampour, Jonathon E. Slightam, Logan E. Beaver

机构 * Unmanned Systems \& Autonomy R\&D, Sandia National Laboratories footnoteinfo , Albuquerque, NM 87123, USA (e-mail: ). 纠错

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

Comments 6 pages, 7 figures

TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation

Won Kyung Do, Matthew Strong, Aiden Swann, Boshu Lei, Monroe Kennedy

机构 * Department of Mechanical Engineering（机械工程系） ； Department of Computer Science（计算机科学系） ； School of Engineering and Applied Science（工程与应用科学学院） 纠错

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

Fast-in-Slow: A Dual-System Foundation Model Unifying Fast Manipulation within Slow Reasoning

Hao Chen, Jiaming Liu, Chenyang Gu, Zhuoyang Liu, Renrui Zhang, Xiaoqi Li, Xiao He, Yandong Guo, Chi-Wing Fu, Shanghang Zhang, Pheng-Ann Heng

机构 * The Chinese University of Hong Kong（香港中文大学） ； State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University（北京大学计算机科学学院多媒体信息处理国家重点实验室） ； AI 2 Robotics（人工智能与机器人） ； Beijing Academy of Artificial Intelligence (BAAI)（北京人工智能研究院） 纠错

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

USPilot: An Embodied Robotic Assistant Ultrasound System with Large Language Model Enhanced Graph Planner

Mingcong Chen, Siqi Fan, Guanglin Cao, Yun-hui Liu, Hongbin Liu

机构 * Department of Biomedical Engineering, City University of Hong Kong（城市大学生物医学工程系） ； Department of Mechanical and Automation Engineering, Chinese University of Hong Kong（香港中文大学机械与自动化工程系） ； Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences（中国科学院香港科学与创新研究院人工智能与机器人中心） ； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） ； Department of Surgical and Interventional Engineering, King’s College London（伦敦国王学院外科与介入工程系） 纠错

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