机器人 / 具身智能

2410.02995 2025-09-16 cs.RO cs.AI 84%

Task-agnostic Lifelong Robot Learning with Retrieval-based Weighted Local Adaptation

Pengzhi Yang, Xinyu Wang, Ruipeng Zhang, Cong Wang, Frans A. Oliehoek, Jens Kober

机构 * College of Design and Engineering National University of Singapore（设计与工程学院新加坡国立大学）； Jacobs School of Engineering University of California San Diego（工程学院加州大学圣地亚哥分校）； Massachusetts General Hospital Harvard University（麻省总医院哈佛大学）； Faculty of Electrical Engineering, Mathematics and Computer Science Delft University of Technology（电子工程、数学和计算机科学学院代尔夫特技术大学）； Faculty of Mechanical Engineering Delft University of Technology（机械工程学院代尔夫特技术大学）

专题命中机器人学习：robot learning(title)；robotics(abstract)；manipulation(abstract)；分类 cs.RO、cs.AI

2504.04612 2025-09-16 cs.RO cs.AI cs.LG 67%

Tool-as-Interface: Learning Robot Policies from Observing Human Tool Use

Haonan Chen, Cheng Zhu, Shuijing Liu, Yunzhu Li, Katherine Driggs-Campbell

机构 * University of Illinois, Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）； UT Austin（德克萨斯大学奥斯汀分校）； Columbia University（哥伦比亚大学）

专题命中机器人学习：robot learning(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments Accepted to CoRL 2025. Project page: https://tool-as-interface.github.io. 17 pages, 14 figures

2408.10123 2025-09-16 cs.RO cs.CV 90%

Learning Precise Affordances from Egocentric Videos for Robotic Manipulation

Gen Li, Nikolaos Tsagkas, Jifei Song, Ruaridh Mon-Williams, Sethu Vijayakumar, Kun Shao, Laura Sevilla-Lara

机构 * University of Edinburgh（爱丁堡大学）； Huawei Noah’s Ark Lab（华为诺亚实验室）

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

Comments ICCV 2025

2509.11865 2025-09-16 cs.RO cs.AI 84%

Tenma: Robust Cross-Embodiment Robot Manipulation with Diffusion Transformer

Travis Davies, Yiqi Huang, Yunxin Liu, Xiang Chen, Huxian Liu, Luhui Hu

机构 * ZhiCheng AI（智成人工智能）； Tsinghua University（清华大学）； Peking University（北京大学）

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

Comments 8 pages, 4 figures

2505.13253 2025-09-16 cs.RO cs.AI 84%

Composing Dextrous Grasping and In-hand Manipulation via Scoring with a Reinforcement Learning Critic

Lennart Röstel, Dominik Winkelbauer, Johannes Pitz, Leon Sievers, Berthold Bäuml

机构 * Learning AI for Dextrous Robots Lab, Technical University of Munich（灵巧机器人学习AI实验室，慕尼黑技术大学）； DLR Institute of Robotics & Mechatronics（德意志航天中心机器人与机电研究所）

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

2403.13147 2025-09-16 cs.RO 83%

Meta-Learning for Fast Adaptation in Intent Inferral on a Robotic Hand Orthosis for Stroke

Pedro Leandro La Rotta, Jingxi Xu, Ava Chen, Lauren Winterbottom, Wenxi Chen, Dawn Nilsen, Joel Stein, Matei Ciocarlie

机构 * Department of Mechanical Engineering, Columbia University in the City of New York（机械工程系，哥伦比亚大学（纽约市））； Department of Computer Science, Columbia University in the City of New York（计算机科学系，哥伦比亚大学（纽约市））； Department of Rehabilitation and Regenerative Medicine, Columbia University Irving Medical Center（康复与再生医学系，哥伦比亚大学伊万斯医学中心）

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

Comments Published at IROS 2024

2509.11878 2025-09-16 cs.CV 79%

Do It Yourself (DIY): Modifying Images for Poems in a Zero-Shot Setting Using Weighted Prompt Manipulation

Sofia Jamil, Kotla Sai Charan, Sriparna Saha, Koustava Goswami, K J Joseph

机构 * Department of Computer Science & Engineering, Indian Institute of Technology Patna（计算机科学与工程系，印度理工学院帕纳布分校）； Adobe Research（Adobe研究）

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

2509.11213 2025-09-16 cs.CV 79%

Beyond Sliders: Mastering the Art of Diffusion-based Image Manipulation

Yufei Tang, Daiheng Gao, Pingyu Wu, Wenbo Zhou, Bang Zhang, Weiming Zhang

机构 * FUYAO University Of Science And Technology（福尧大学科学技术学院）； University of Science and Technology of China（中国科学技术大学）； Anhui Province Key Laboratory of Digital Security（安徽省数字安全重点实验室）； Alibaba TongYi Lab（阿里巴巴通义实验室）

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

Comments 6 pages, 6 figures

2505.12748 2025-09-16 cs.RO cs.AI cs.CV 75%

TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation

Hangyu Li, Qin Zhao, Haoran Xu, Xinyu Jiang, Qingwei Ben, Feiyu Jia, Haoyu Zhao, Liang Xu, Jia Zeng, Hanqing Wang, Bo Dai, Junting Dong, Jiangmiao Pang

机构 * Shanghai AI Laboratory（上海人工智能实验室）； Zhejiang University（浙江大学）； The Chinese University of Hong Kong（香港中文大学）； The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））； The University of Hong Kong（香港大学）； Feeling AI（FeelAI）； Tsinghua Shenzhen International Graduate School（清华大学深圳国际研究生院）

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

Comments Project page:https://gorgeous2002.github.io/TeleOpBench/, Codes:https://github.com/cyjdlhy/TeleOpBench

2509.12008 2025-09-16 cs.RO 70%

Gesture-Based Robot Control Integrating Mm-wave Radar and Behavior Trees

Yuqing Song, Cesare Tonola, Stefano Savazzi, Sanaz Kianoush, Nicola Pedrocchi, Stephan Sigg

机构 * Aalto University（阿alto大学）； National Research Council of Italy（意大利国家研究理事会）

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

2509.11621 2025-09-16 cs.RO 70%

Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarios

Xiangtong Yao, Yirui Zhou, Yuan Meng, Yanwen Liu, Liangyu Dong, Zitao Zhang, Zhenshan Bing, Kai Huang, Fuchun Sun, Alois Knoll

机构 * Technical University of Munich（慕尼黑技术大学）； Nanjing University（南京大学）； Sun Yat-sen University（中山大学）； Tsinghua University（清华大学）

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

Comments 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

2505.13441 2025-09-16 cs.RO 70%

GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation

Abhay Deshpande, Yuquan Deng, Arijit Ray, Jordi Salvador, Winson Han, Jiafei Duan, Kuo-Hao Zeng, Yuke Zhu, Ranjay Krishna, Rose Hendrix

机构 * Allen Institute for AI（Allen人工智能研究所）； Boston University（波士顿大学）； University of Washington（华盛顿大学）； University of Texas at Austin（德克萨斯大学奥斯汀分校）

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

2407.03311 2025-09-16 cs.RO cs.AI cs.LG 69%

Efficient Imitation Without Demonstrations via Value-Penalized Auxiliary Control from Examples

Trevor Ablett, Bryan Chan, Jayce Haoran Wang, Jonathan Kelly

机构 * Space & Terrestrial Autonomous Robotic Systems (STARS) Laboratory at the University of Toronto Institute for Aerospace Studies (UTIAS)（多伦多大学航空航天研究所（UTIAS）空间与地面自主机器人系统（STARS）实验室）； Department of Computing Science at the University of Alberta（阿尔伯塔大学计算机科学系）

专题命中机器人操作：robotic(abstract)；分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'25), Atlanta, USA, May 19-23, 2025

2408.14435 2025-09-16 cs.CV cs.AI cs.CY cs.LG 67%

Social Perception of Faces in a Vision-Language Model

Carina I. Hausladen, Manuel Knott, Colin F. Camerer, Pietro Perona

机构 * California Institute of Technology（加州理工学院）； ETH Zurich（苏黎世联邦理工学院）； Computational Social Science（计算社会科学）； Swiss Data Science Center（瑞士数据科学中心）； Empa（瑞士联邦材料科学与技术研究院）

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

Journal ref Published in the Proceedings of the 2025 ACM Conference on Fairness, Accountability, and Transparency (FAccT 2025)

2501.15214 2025-09-16 cs.RO cs.LG 62%

Think Small, Plan Smart: Minimalist Symbolic Abstraction and Heuristic Subspace Search for LLM-Guided Task Planning

Junfeng Tang, Yuping Yan, Zihan Ye, Zhenshou, Song, Zeqi Zheng, Yaochu Jin

机构 * Zhejiang University（浙江大学）； Westlake University（西湖大学）； UCAS-Terminus AI Lab（UCAS-terminus人工智能实验室）； Victoria University of Wellington（威灵顿维多利亚大学）

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

2410.14827 2025-09-16 cs.CR cs.AI cs.CL cs.LG 62%

Enhancing Prompt Injection Attacks to LLMs via Poisoning Alignment

Zedian Shao, Hongbin Liu, Jaden Mu, Neil Zhenqiang Gong

机构 * Georgia Institute of Technology（佐治亚理工学院）； Duke University（杜克大学）； Carnegie Mellon University（卡内基梅隆大学）

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

1607.02757 2025-09-16 cs.RO 61%

Memory Unscented Particle Filter for 6-DOF Tactile Localization

Giulia Vezzani, Ugo Pattacini, Giorgio Battistelli, Luigi Chisci, Lorenzo Natale

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

Journal ref IEEE Transactions on Robotics, Volume 33, Issue 5, October 2017

2509.11930 2025-09-16 cs.RO cs.SY eess.SY 57%

VH-Diffuser: Variable Horizon Diffusion Planner for Time-Aware Goal-Conditioned Trajectory Planning

Ruijia Liu, Ancheng Hou, Shaoyuan Li, Xiang Yin

机构 * Department of Automation, Shanghai Jiao Tong University（自动化系，上海交通大学）

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

2509.11766 2025-09-16 cs.RO 57%

Igniting VLMs toward the Embodied Space

Andy Zhai, Brae Liu, Bruno Fang, Chalse Cai, Ellie Ma, Ethan Yin, Hao Wang, Hugo Zhou, James Wang, Lights Shi, Lucy Liang, Make Wang, Qian Wang, Roy Gan, Ryan Yu, Shalfun Li, Starrick Liu, Sylas Chen, Vincent Chen, Zach Xu

机构 * X SQUARE ROBOT

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

2509.11507 2025-09-16 cs.AI 57%

MedicalOS: An LLM Agent based Operating System for Digital Healthcare

Jared Zhu, Junde Wu

机构 * University of Oxford（牛津大学）

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

2509.11716 2025-09-16 cond-mat.mtrl-sci cond-mat.str-el 50%

Controlled growth of polar altermagnets via chemical vapor transport

Hiraka Haruhiro, Raktim Datta, Poonam Yadav, Anzar Ali, Suheon Lee, Matthias J. Gutmann, Duhee Yoon, Dirk Wulferding, Xianghan Xu, Moon-Ho Jo, Sang-Wook Cheong, Sungkyun Choi