机器人 / 具身智能 - arXivDaily 专题

2507.23203 2025-08-01 cs.RO 79%

Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways

Chenghao Wang, Eric Sihite, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda, Adarsh Salagame, Alireza Ramezani, Morteza Gharib

机构 * Department of Electrical and Computer Engineering, Northeastern University（电子与计算机工程系，东北大学）； Department of Aerospace Engineering, California Institute of Technology（航空航天工程系，加州理工学院）

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

2507.23734 2025-08-01 cs.CV cs.RO 73%

RAGNet: Large-scale Reasoning-based Affordance Segmentation Benchmark towards General Grasping

Dongming Wu, Yanping Fu, Saike Huang, Yingfei Liu, Fan Jia, Nian Liu, Feng Dai, Tiancai Wang, Rao Muhammad Anwer, Fahad Shahbaz Khan, Jianbing Shen

机构 * The Chinese University of Hong Kong（香港中文大学）； Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）； Dexmal ； Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）； SKL-IOTSC, CIS, University of Macau（澳门科学馆-物联网与智能系统研究中心，澳门大学）

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

Comments Accepted by ICCV 2025. The code is at https://github.com/wudongming97/AffordanceNet

2404.13458 2025-08-01 cs.RO 72%

Generalizable Motion Policies through Keypoint Parameterization and Transportation Maps

Giovanni Franzese, Ravi Prakash, Cosimo Della Santina, Jens Kober

机构 * Cognitive Robotics, Delft University of Technology（德鲁特理工大学认知机器人实验室）； Cyber Physical Systems, Indian Institute of Science Bangalore（印度科学研究院班加罗尔计算机物理系统）

专题命中机器人操作：manipulation(abstract)；robot policy(abstract)；分类 cs.RO；robotics(comments)

Comments This article was accepted at IEEE Transactions on Robotics (T-RO)

2507.14820 2025-08-01 cs.RO 70%

KGN-Pro: Keypoint-Based Grasp Prediction through Probabilistic 2D-3D Correspondence Learning

Bingran Chen, Baorun Li, Jian Yang, Yong Liu, Guangyao Zhai

机构 * Zhejiang University（浙江大学）； Technical University of Munich（慕尼黑技术大学）； Munich Center for Machine Learning（慕尼黑机器学习中心）； The State Key Laboratory of Industrial Control Technology（工业控制技术国家重点实验室）； China Research and Development Academy of Machinery Equipment（中国机械装备研究开发院）

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

2406.15304 2025-08-01 cs.RO 70%

Learning Object Compliance via Young's Modulus from Single Grasps using Camera-Based Tactile Sensors

Michael Burgess, Jialiang Zhao, Laurence Willemet

机构 * Massachusetts Institute of Technology (MIT)（麻省理工学院）

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

2409.17092 2025-08-01 cs.LG cs.AI cs.DM 62%

Accumulator-Aware Post-Training Quantization for Large Language Models

Ian Colbert, Giuseppe Franco, Fabian Grob, Jinjie Zhang, Rayan Saab

机构 * AMD（AMD公司）； TUM（慕尼黑工业大学）； GSK（葛兰素史克）； University of California San Diego（加州大学圣地亚哥分校）

专题命中机器人操作：manipulation(abstract)；分类 cs.AI、cs.LG

2507.23045 2025-08-01 cs.RO 61%

A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration

Emmett Wise, Pushyami Kaveti, Qilong Chen, Wenhao Wang, Hanumant Singh, Jonathan Kelly, David M. Rosen, Matthew Giamou

机构 * 1 Space \& Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada 2 Institute for Experiential Robotics, Northeastern University, Boston, MA, USA 3 Autonomous Robotics ； Convex Optimization Laboratory, McMaster University, Hamilton, ON, Canada

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

Comments 25 pages, 10 figures, submitted to the International Journal of Robotics Research

2507.23129 2025-08-01 eess.IV cs.CV physics.med-ph 57%

MRpro - open PyTorch-based MR reconstruction and processing package

Felix Frederik Zimmermann, Patrick Schuenke, Christoph S. Aigner, Bill A. Bernhardt, Mara Guastini, Johannes Hammacher, Noah Jaitner, Andreas Kofler, Leonid Lunin, Stefan Martin, Catarina Redshaw Kranich, Jakob Schattenfroh, David Schote, Yanglei Wu, Christoph Kolbitsch

机构 * Department of Radiology（放射科）； Charité -- Universitätsmedizin Berlin（柏林夏里特大学医学院）； Max Planck Research Group MR Physics（人类发展马克斯·普朗克研究所磁共振物理研究组）； Max Planck Institute for Human Development（人类发展马克斯·普朗克研究所）

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

Comments Submitted to Magnetic Resonance in Medicine

2507.23002 2025-08-01 cs.GR cs.CR cs.CV 57%

Noise-Coded Illumination for Forensic and Photometric Video Analysis

Peter F. Michael, Zekun Hao, Serge Belongie, Abe Davis

机构 * Cornell University（康奈尔大学）； University of Copenhagen（哥本哈根大学）

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

Comments ACM Transactions on Graphics (2025), presented at SIGGRAPH 2025

Journal ref ACM Trans. Graph. 44, 5, Article 165 (October 2025), 16 pages

2505.09771 2025-08-01 cs.RO 57%

Grasp EveryThing (GET): 1-DoF, 3-Fingered Gripper with Tactile Sensing for Robust Grasping

Michael Burgess, Edward H. Adelson

机构 * Massachusetts Institute of Technology（麻省理工学院）

专题命中机器人操作：robotic(abstract)；分类 cs.RO

2503.12725 2025-08-01 cs.RO 57%

Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions

Soofiyan Atar, Xiao Liang, Calvin Joyce, Florian Richter, Wood Ricardo, Charles Goldberg, Preetham Suresh, Michael Yip

机构 * Electrical and Computer Engineering Department, University of California San Diego（加州大学圣迭戈分校电子与计算机工程系）； University of California San Diego（加州大学圣迭戈分校）

专题命中机器人操作：robotic(abstract)；分类 cs.RO

Comments 8 pages

2503.03449 2025-08-01 cs.RO 57%

Tiny LiDARs for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments

Giammarco Caroleo, Alessandro Albini, Daniele De Martini, Timothy D. Barfoot, Perla Maiolino

机构 * Oxford Robotics Institute, University of Oxford, UK（牛津大学机器人研究所）； University of Toronto Robotics Institute（多伦多大学机器人研究所）

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

Comments 7 pages, 6 figures, 3 tables, IEEE/RSJ International Conference on Intelligent Robots and Systems 2025 accepted paper

2507.23582 2025-08-01 quant-ph 50%