面向灵巧与具身机器人操作的发展与挑战：综述
The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey
- College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院）
机构由 AI 辅助整理，请以论文原文为准。
中文总结 AI 辅助
该综述总结机器人操作从机械编程到具身智能、从简单夹具到多指灵巧手的演变及挑战，重点介绍当前具身灵巧操作在数据采集与技能学习框架的进展，并讨论三大限制其发展的关键挑战。
中文摘要 AI 辅助
实现类人灵巧机器人操作仍是机器人学的核心目标和关键挑战。人工智能（AI）的发展推动了机器人操作的快速进步。本综述总结了机器人操作从机械编程到具身智能的演变，以及从简单夹具到多指灵巧手的转变，概述了关键特征和主要挑战。聚焦当前具身灵巧操作阶段，我们重点介绍两个关键领域的最新进展：灵巧操作数据采集（通过仿真、人类演示和遥操作）和技能学习框架（模仿与强化学习）。随后，基于现有数据采集范式和学习框架的概述，总结并讨论了限制灵巧机器人操作发展的三大关键挑战。
英文摘要
Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the evolution of robotic manipulation from mechanical programming to embodied intelligence, alongside the transition from simple grippers to multi-fingered dexterous hands, outlining key characteristics and main challenges. Focusing on the current stage of embodied dexterous manipulation, we highlight recent advances in two critical areas: dexterous manipulation data collection (via simulation, human demonstrations, and teleoperation) and skill-learning frameworks (imitation and reinforcement learning). Then, based on the overview of the existing data collection paradigm and learning framework, three key challenges restricting the development of dexterous robotic manipulation are summarized and discussed.
