机器人 / 具身智能 - arXivDaily 专题

2509.07957 2025-09-10 cs.RO 86%

Graph-Fused Vision-Language-Action for Policy Reasoning in Multi-Arm Robotic Manipulation

Shunlei Li, Longsen Gao, Jiuwen Cao, Yingbai Hu

机构 * Machine Learning and I-health International Cooperation Base of Zhejiang Province, Artificial Intelligence Institute, Hangzhou Dianzi University, Zhejiang（浙江省机器学习与健康国际合作基地、人工智能学院、杭州电子大学）； Electrical and Computer Engineering Department, The University of New Mexico（新墨西哥大学电气与计算机工程系）； School of Computation, Information and Technology, Technical University of Munich（慕尼黑技术大学计算、信息与技术学院）

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

Comments This paper is submitted to IEEE IROS 2025 Workshop AIR4S

2410.10803 2025-09-10 cs.RO cs.CV cs.LG 85%

Generalizable Humanoid Manipulation with 3D Diffusion Policies

Yanjie Ze, Zixuan Chen, Wenhao Wang, Tianyi Chen, Xialin He, Ying Yuan, Xue Bin Peng, Jiajun Wu

机构 * Stanford University（斯坦福大学）； Simon Fraser University（西蒙 Fraser大学）； UPenn（宾夕法尼亚大学）； UIUC（伊利诺伊大学香槟分校）； CMU（卡内基梅隆大学）

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

Comments IROS 2025. Project website: https://humanoid-manipulation.github.io

2509.07445 2025-09-10 cs.RO cs.AI 84%

Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions

Harrison Field, Max Yang, Yijiong Lin, Efi Psomopoulou, David Barton, Nathan F. Lepora

机构 * School of Computer Science, University of Bristol, 2 Bristol Robotics Laboratory 3 School of Engineering Mathematics and Technology, University of Bristol（1 计算机科学学院，布里斯托尔大学 2 布里斯托尔机器人实验室 3 工程数学与技术学院，布里斯托尔大学）

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

Comments Accepted at CoRL 2025

2411.12520 2025-09-10 cs.RO cs.CV 81%

VMGNet: A Low Computational Complexity Robotic Grasping Network Based on VMamba with Multi-Scale Feature Fusion

Yuhao Jin, Qizhong Gao, Xiaohui Zhu, Yong Yue, Eng Gee Lim, Yuqing Chen, Prudence Wong, Yijie Chu

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

Comments This work is part of ongoing research, and we are further developing new techniques based on these results. To avoid premature disclosure of incomplete content, we request withdrawal of the current version and will resubmit once the study is more complete

2509.07916 2025-09-10 cs.RO 77%

Programmable Locking Cells (PLC) for Modular Robots with High Stiffness Tunability and Morphological Adaptability

Jianshu Zhou, Wei Chen, Junda Huang, Boyuan Liang, Yunhui Liu, Masayoshi Tomizuka

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

2402.02346 2025-09-10 cs.CV cs.LG 73%

Closed-Loop Unsupervised Representation Disentanglement with $β$-VAE Distillation and Diffusion Probabilistic Feedback

Xin Jin, Bohan Li, BAAO Xie, Wenyao Zhang, Jinming Liu, Ziqiang Li, Tao Yang, Wenjun Zeng

机构 * Ningbo Institute of Digital Twin, Eastern Institute of Technology（宁波数字孪生研究所、东部技术研究所）； Shanghai Jiao Tong University（上海交通大学）； Xi’an Jiaotong University（西安交通大学）

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

Comments ECCV 2024

2509.07978 2025-09-10 cs.CV 70%

One View, Many Worlds: Single-Image to 3D Object Meets Generative Domain Randomization for One-Shot 6D Pose Estimation

Zheng Geng, Nan Wang, Shaocong Xu, Chongjie Ye, Bohan Li, Zhaoxi Chen, Sida Peng, Hao Zhao

机构 * Beijing Academy of Artificial Intelligence, BAAI（北京人工智能研究院）； Zhejiang University（浙江大学）； Institute for AI Industry Research (AIR), Tsinghua University（清华大学人工智能产业研究院）； Nanyang Technological University（南洋理工大学）； FNii, The Chinese University of Hongkong, Shenzhen（Fnii，香港中文大学（深圳））； Shanghai Jiao Tong University（上海交通大学）； Eastern Institute of Technology, Ningbo（宁波工程技术学院）

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

Comments CoRL 2025 Oral, Project page: https://gzwsama.github.io/OnePoseviaGen.github.io/

2503.16013 2025-09-10 cs.RO cs.CV 62%

GraspCoT: Integrating Physical Property Reasoning for 6-DoF Grasping under Flexible Language Instructions

Xiaomeng Chu, Jiajun Deng, Guoliang You, Wei Liu, Xingchen Li, Jianmin Ji, Yanyong Zhang

机构 * University of Science and Technology of China（中国科学技术大学）； The University of Adelaide（阿德莱德大学）

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

Comments Accepted to ICCV 2025

2509.07472 2025-09-10 cs.CV 57%

ANYPORTAL: Zero-Shot Consistent Video Background Replacement

Wenshuo Gao, Xicheng Lan, Shuai Yang

机构 * Wangxuan Institute of Computer Technology, State Key Laboratory of Multimedia Information Processing, Peking University, Beijing, China（王轩计算机技术研究所，多媒体信息处理国家重点实验室，北京大学，北京）

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

Comments 8 pages, ICCV 2025, Website: https://gaowenshuo.github.io/AnyPortal/

2509.04444 2025-09-10 cs.CV 57%

One Flight Over the Gap: A Survey from Perspective to Panoramic Vision

Xin Lin, Xian Ge, Dizhe Zhang, Zhaoliang Wan, Xianshun Wang, Xiangtai Li, Wenjie Jiang, Bo Du, Dacheng Tao, Ming-Hsuan Yang, Lu Qi

专题命中机器人操作：robotics(abstract)；分类 cs.CV

Comments Project Page: https://insta360-research-team.github.io/Survey-of-Panorama/

2502.05916 2025-09-10 cs.RO cs.SY eess.SY 57%

Adaptive Grasping of Moving Objects in Dense Clutter via Global-to-Local Detection and Static-to-Dynamic Planning

Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada

机构 * Department of Systems Innovation, Graduate School of Engineering Science, Osaka University（系统创新系，工学研究科，大阪大学）

专题命中机器人操作：robotic(abstract)；分类 cs.RO

Comments Accepted by ICRA2025

2509.07699 2025-09-10 physics.optics 50%

Spectral localization of single-nanoparticle plasmons through photonic substrate engineering

Shihao Feng, Juan-Feng Zhu, Xinyi Fan, Jindong Ai, Wenjie Zhou, Guangxin Liu, Jing-Feng Liu, Renming Liu, Wei Li, Lijun Guo, Lin Wu