世界模型 - arXivDaily 专题

2607.27138 2026-07-30 cs.RO cs.AI cs.CV 新提交 60%

DLAM: Distributional Latent Actions with Temporal Constraints

DLAM：带时间约束的分布隐式动作模型

Zuojin Tang, Feifan Luo, Haoyun Liu, Botai Yuan, Dekang Qi, Ronghan Chen, Yandan Yang, Tong Lin, Xinyuan Chang, Mu Xu, Bin Liu, De Ma, Zhiheng Ma

专题命中具身与机器人：latent dynamics(abstract)；分类 cs.AI、cs.CV、cs.RO

AI总结该研究针对VLA模型数据稀缺问题，提出带时间约束的分布隐式动作模型DLAM，通过特定约束优化隐式动力学，提升了视频重建效果及机器人操作任务的策略性能。

2606.14188 2026-06-15 cs.RO cs.AI cs.LG cs.SY eess.SY math.OC 新提交 60%

Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation

无皱鲁棒性：并行仿真与鲁棒MPC实现可认证的变形体操作

Wei-Chen Li, Jeffrey Fang, Sasanka Polisetti, Yuexi Song, Glen Chou

机构 * Georgia Institute of Technology（佐治亚理工学院）

专题命中具身与机器人：model-based RL(abstract)；分类 cs.AI、cs.LG、cs.RO

AI总结提出CORD-SLS实时控制方法，通过GPU并行可微仿真与接触平滑实现高效梯度规划，结合鲁棒模型预测控制与共形预测校准，在绳索和布料操作中达到毫秒级规划与高安全性。

2511.18322 2026-06-12 cs.RO cs.CV cs.LG 版本更新 60%

Learning Visually Interpretable Oscillator Networks for Soft Continuum Robots from Video

从视频中学习软体连续体机器人的视觉可解释振荡器网络

Henrik Krauss, Johann Licher, Naoya Takeishi, Annika Raatz, Takehisa Yairi

机构 * Department of Advanced Interdisciplinary Studies, The University of Tokyo（东京大学先进跨学科研究系）； Institute of Assembly Technology and Robotics, Leibniz University Hannover（莱比锡大学汉诺威装配技术与机器人研究所）； Research Center for Advanced Science and Technology, The University of Tokyo（东京大学先进科学研究中心）

专题命中具身与机器人：latent dynamics(abstract)；分类 cs.LG、cs.CV、cs.RO

AI总结提出注意力广播解码器（ABCD）和视觉振荡器网络（VONs），实现从视频中学习软体连续体机器人动力学的视觉和机械可解释性，多步预测误差降低5.8倍。

Comments Code available at: https://github.com/UThenrik/visual_oscillators_for_SCR Dataset available at: https://zenodo.org/records/17812071 Video available at: https://youtu.be/i80H8erVISM

1803.10371 2026-06-04 cs.RO cs.LG cs.SY eess.SY 60%

Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system

基于非操控操作的强化学习：从仿真到物理系统的迁移

Kendall Lowrey, Svetoslav Kolev, Jeremy Dao, Aravind Rajeswaran, Emanuel Todorov

机构 * University of Washington（华盛顿大学）； Roboti LLC（Roboti公司）

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.LG、cs.RO；simulation model(abstract)

AI总结本文提出了一种基于仿真的强化学习方法，用于非操控操作任务，通过在仿真环境中训练策略，成功迁移到物理系统中，且在模型集合训练下提升了策略的鲁棒性。

Comments Accepted at IEEE SIMPAR 2018. Project page: https://sites.google.com/view/phantomsim2real

2605.06487 2026-05-08 cs.CV cs.AI 60%

3D MRI Image Pretraining via Controllable 2D Slice Navigation Task

通过可控的2D切片导航任务进行3D MRI图像预训练

Yu Wang, Qingchao Chen

机构 * Beijing University of Posts and Telecommunications（北京邮电大学）； Peking University（北京大学）

专题命中具身与机器人：latent dynamics(abstract)；分类 cs.AI、cs.CV；dynamics model(abstract)

AI总结本文提出通过可控2D切片导航任务预训练3D MRI图像，利用动作轨迹控制生成视频动作序列，提升解剖和空间表示学习能力。

Comments 9 pages, 5 figures

2303.05653 2025-08-11 cs.RO cs.CV 60%

Direct Robot Configuration Space Construction using Convolutional Encoder-Decoders

Christopher Benka, Judah Goldfeder, Carl Gross, Riya Gupta, Hod Lipson

机构 * Columbia University Department of Computer Science（哥伦比亚大学计算机科学系）； Columbia University Data Science Institute（哥伦比亚大学数据科学研究院）

专题命中具身与机器人：world model(comments)；world models(comments)；分类 cs.CV、cs.RO；world model(comments)

Comments 8 pages, 7 figures, 4 tables; Appeared at the ICML 2025 Workshop on Building Physically Plausible World Models

2412.12024 2024-12-17 cs.LG cs.AI cs.RO 60%

Learning to Navigate in Mazes with Novel Layouts using Abstract Top-down Maps

Linfeng Zhao, Lawson L. S. Wong

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments Published at Reinforcement Learning Conference (RLC) 2024. Website: http://lfzhao.com/map-nav/

Journal ref Journal-ref: Reinforcement Learning Journal, Volume 5, 2024, Pages 2359-2372

2409.01652 2024-11-13 cs.RO cs.AI cs.CV 60%

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, Li Fei-Fei

专题命中具身与机器人：environment model(abstract)；分类 cs.AI、cs.CV、cs.RO

2407.20164 2024-07-30 cs.RO cs.AI cs.LG 60%

Language-Conditioned Offline RL for Multi-Robot Navigation

Steven Morad, Ajay Shankar, Jan Blumenkamp, Amanda Prorok

专题命中具身与机器人：environment model(abstract)；分类 cs.AI、cs.LG、cs.RO

2407.07889 2024-07-11 cs.RO cs.CV cs.LG 60%

AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation

Kaifeng Zhang, Baoyu Li, Kris Hauser, Yunzhu Li

专题命中具身与机器人：分类 cs.LG、cs.CV、cs.RO；dynamics model(abstract)；predictive model(abstract)；predictive models(abstract)

Comments Project page: https://robopil.github.io/adaptigraph/

2401.03306 2024-01-09 cs.LG cs.AI cs.RO 60%

MOTO: Offline Pre-training to Online Fine-tuning for Model-based Robot Learning

Rafael Rafailov, Kyle Hatch, Victor Kolev, John D. Martin, Mariano Phielipp, Chelsea Finn

专题命中具身与机器人：model-based RL(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments This is an updated version of a manuscript that originally appeared at CoRL 2023. The project website is here https://sites.google.com/view/mo2o

Journal ref Proceedings of The 7th Conference on Robot Learning, PMLR 229:3654-3671, 2023

2207.12062 2023-10-24 cs.LG cs.RO 60%

Adaptive Asynchronous Control Using Meta-learned Neural Ordinary Differential Equations

Achkan Salehi, Steffen Rühl, Stephane Doncieux

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.LG、cs.RO；dynamics model(abstract)

Comments 16 double column pages, 14 figures, 3 tables

Journal ref IEEE Transactions on Robotics; Print ISSN: 1552-3098; Online ISSN: 1941-0468

2309.08728 2023-09-19 cs.RO cs.AI 60%

SculptBot: Pre-Trained Models for 3D Deformable Object Manipulation

Alison Bartsch, Charlotte Avra, Amir Barati Farimani

专题命中具身与机器人：latent dynamics(abstract)；分类 cs.AI、cs.RO；dynamics model(abstract)

2305.02058 2023-05-04 cs.AI cs.HC cs.MA cs.RO 60%

Human Machine Co-adaption Interface via Cooperation Markov Decision Process System

Kairui Guo, Adrian Cheng, Yaqi Li, Jun Li, Rob Duffield, Steven W. Su

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.AI、cs.RO、cs.MA

Comments 11 pages; 4 figures

2210.03113 2023-02-06 cs.RO cs.AI cs.LG 60%

IR-MCL: Implicit Representation-Based Online Global Localization

Haofei Kuang, Xieyuanli Chen, Tiziano Guadagnino, Nicky Zimmerman, Jens Behley, Cyrill Stachniss

专题命中具身与机器人：environment model(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments 8 pages, 5 figures. Accepted to IEEE Robotics and Automation Letters

2210.10865 2022-10-21 cs.RO cs.AI cs.LG cs.SY eess.SY 60%

Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization

Thomas Lew, Sumeet Singh, Mario Prats, Jeffrey Bingham, Jonathan Weisz, Benjie Holson, Xiaohan Zhang, Vikas Sindhwani, Yao Lu, Fei Xia, Peng Xu, Tingnan Zhang, Jie Tan, Montserrat Gonzalez

专题命中具身与机器人：latent dynamics(abstract)；分类 cs.AI、cs.LG、cs.RO

2103.13842 2021-11-01 cs.RO cs.LG 60%

Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning

Andrew S. Morgan, Daljeet Nandha, Georgia Chalvatzaki, Carlo D'Eramo, Aaron M. Dollar, Jan Peters

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.LG、cs.RO；dynamics model(abstract)

Comments IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021

Journal ref 2021 IEEE International Conference on Robotics and Automation (ICRA)

2003.04663 2021-01-08 cs.RO cs.AI cs.LG 60%

Fast Online Adaptation in Robotics through Meta-Learning Embeddings of Simulated Priors

Rituraj Kaushik, Timothée Anne, Jean-Baptiste Mouret

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | Video: http://tiny.cc/famle_video

2011.04999 2020-11-11 cs.RO cs.AI cs.LG 60%

Untangling Dense Knots by Learning Task-Relevant Keypoints

Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg

专题命中具身与机器人：environment model(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments Conference on Robot Learning (CoRL) 2020 Oral. First two authors contributed equally

Journal ref 4th Conference on Robot Learning (CoRL 2020)

1912.04443 2020-06-23 cs.RO cs.CV cs.LG 60%

AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos

Laura Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, Sergey Levine

专题命中具身与机器人：model-based RL(abstract)；分类 cs.LG、cs.CV、cs.RO

Comments Robotics: Science and Systems (RSS) 2020 camera ready submission. Project website: https://sites.google.com/view/rss20avid

1907.03423 2020-05-19 cs.LG cs.AI cs.RO 60%

On-Policy Robot Imitation Learning from a Converging Supervisor

Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Felix Li, Arsh Zahed, Joseph E. Gonzalez, Ken Goldberg

专题命中具身与机器人：model-based RL(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments Conference on Robot Learning (CoRL) 2019 Oral. First two authors contributed equally

Journal ref 3rd Conference on Robot Learning (CoRL 2019)

1904.05538 2019-04-12 cs.RO cs.AI cs.LG 60%

Improvisation through Physical Understanding: Using Novel Objects as Tools with Visual Foresight

Annie Xie, Frederik Ebert, Sergey Levine, Chelsea Finn

专题命中具身与机器人：model-based RL(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments Videos available at https://sites.google.com/view/gvf-tool

1903.09243 2019-03-25 cs.RO cs.AI cs.CL cs.LG 60%

Inferring Compact Representations for Efficient Natural Language Understanding of Robot Instructions

Siddharth Patki, Andrea F. Daniele, Matthew R. Walter, Thomas M. Howard

专题命中具身与机器人：environment model(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments Accepted to ICRA 2019

1812.00568 2018-12-04 cs.RO cs.AI cs.CV cs.LG 60%

Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Control

Frederik Ebert, Chelsea Finn, Sudeep Dasari, Annie Xie, Alex Lee, Sergey Levine

专题命中具身与机器人：分类 cs.AI、cs.LG、cs.CV；predictive model(abstract)；predictive models(abstract)

1710.08893 2018-06-14 cs.RO cs.AI cs.LG 60%

Fast Model Identification via Physics Engines for Data-Efficient Policy Search

Shaojun Zhu, Andrew Kimmel, Kostas E. Bekris, Abdeslam Boularias

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments IJCAI 18

1705.05172 2017-11-30 cs.LG cs.AI cs.HC cs.RO stat.ML 60%

Emotion in Reinforcement Learning Agents and Robots: A Survey

Thomas M. Moerland, Joost Broekens, Catholijn M. Jonker

专题命中具身与机器人：model-based RL(abstract)；分类 cs.AI、cs.LG、cs.RO

Comments To be published in Machine Learning Journal

Journal ref Machine Learning 2017

1509.06841 2016-08-12 cs.LG cs.RO 60%

One-Shot Learning of Manipulation Skills with Online Dynamics Adaptation and Neural Network Priors

Justin Fu, Sergey Levine, Pieter Abbeel

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.LG、cs.RO；dynamics model(abstract)

2503.11999 2025-09-03 cs.RO cs.CV cs.SY eess.SY 58%

Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation

Tongxuan Tian, Haoyang Li, Bo Ai, Xiaodi Yuan, Zhiao Huang, Hao Su

机构 * University of California San Diego（加州大学圣地亚哥分校）； Hillbot Inc（Hillbot公司）

专题命中具身与机器人：dynamics model(title,abstract)；分类 cs.CV、cs.RO

Comments CoRL 2025. Project website: https://uniclothdiff.github.io/

2503.23271 2025-04-01 cs.RO cs.AI 58%

Learning Coordinated Bimanual Manipulation Policies using State Diffusion and Inverse Dynamics Models

Haonan Chen, Jiaming Xu, Lily Sheng, Tianchen Ji, Shuijing Liu, Yunzhu Li, Katherine Driggs-Campbell

专题命中具身与机器人：dynamics model(title,abstract)；分类 cs.AI、cs.RO

Comments Project Page: https://haonan16.github.io/coord_bimanual_page/. 12 pages, 12 figures, Accepted at ICRA 2025

2307.09206 2024-10-08 cs.RO cs.LG 58%

Context-Conditional Navigation with a Learning-Based Terrain- and Robot-Aware Dynamics Model

Suresh Guttikonda, Jan Achterhold, Haolong Li, Joschka Boedecker, Joerg Stueckler

专题命中具身与机器人：dynamics model(title,abstract)；分类 cs.LG、cs.RO

1. 具身与机器人 504 篇

DLAM: Distributional Latent Actions with Temporal Constraints

Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation

Learning Visually Interpretable Oscillator Networks for Soft Continuum Robots from Video

Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system

3D MRI Image Pretraining via Controllable 2D Slice Navigation Task

Direct Robot Configuration Space Construction using Convolutional Encoder-Decoders

Learning to Navigate in Mazes with Novel Layouts using Abstract Top-down Maps

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Language-Conditioned Offline RL for Multi-Robot Navigation

AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation

MOTO: Offline Pre-training to Online Fine-tuning for Model-based Robot Learning

Adaptive Asynchronous Control Using Meta-learned Neural Ordinary Differential Equations

SculptBot: Pre-Trained Models for 3D Deformable Object Manipulation

Human Machine Co-adaption Interface via Cooperation Markov Decision Process System

IR-MCL: Implicit Representation-Based Online Global Localization

Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization

Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning

Fast Online Adaptation in Robotics through Meta-Learning Embeddings of Simulated Priors

Untangling Dense Knots by Learning Task-Relevant Keypoints

AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos

On-Policy Robot Imitation Learning from a Converging Supervisor

Improvisation through Physical Understanding: Using Novel Objects as Tools with Visual Foresight

Inferring Compact Representations for Efficient Natural Language Understanding of Robot Instructions

Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Control

Fast Model Identification via Physics Engines for Data-Efficient Policy Search

Emotion in Reinforcement Learning Agents and Robots: A Survey

One-Shot Learning of Manipulation Skills with Online Dynamics Adaptation and Neural Network Priors

Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation

Learning Coordinated Bimanual Manipulation Policies using State Diffusion and Inverse Dynamics Models

Context-Conditional Navigation with a Learning-Based Terrain- and Robot-Aware Dynamics Model