机器人 / 具身智能 - arXivDaily 专题

2510.02526 2025-10-06 cs.RO 85%

U-LAG: Uncertainty-Aware, Lag-Adaptive Goal Retargeting for Robotic Manipulation

Anamika J H, Anujith Muraleedharan

机构 * Anamika J H（匿名ika J H）； Anujith Muraleedharan（阿努吉斯·穆拉莱德哈兰）

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

Comments 8 pages, 5 figures. Accepted to the IROS 2025 Workshop on Perception and Planning for Mobile Manipulation in Changing Environments

2503.11163 2025-10-06 cs.RO cs.CV 84%

A Benchmarking Study of Vision-based Robotic Grasping Algorithms

Bharath K Rameshbabu, Sumukh S Balakrishna, Brian Flynn, Vinarak Kapoor, Adam Norton, Holly Yanco, Berk Calli

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

Comments This work was intended as a replacement of arXiv:2307.11622. I will upload it as a replacement to arXiv:2307.11622 simultaneously

2503.07963 2025-10-06 cs.RO cs.AI cs.SY eess.SY 82%

Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations

Yuki Shirai, Arvind Raghunathan, Devesh K. Jha

机构 * Mitsubishi Electric Research Laboratories（三菱电机研究实验室）

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

Comments 2025 IEEE International Conference on Robotics and Automation (2025 ICRA)

2510.03022 2025-10-06 cs.RO 79%

HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton

Rui Zhong, Yizhe Sun, Junjie Wen, Jinming Li, Chuang Cheng, Wei Dai, Zhiwen Zeng, Huimin Lu, Yichen Zhu, Yi Xu

机构 * National University of Defense Technology（国防科技大学）； Midea Group（美的集团）

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

2510.03104 2025-10-06 cs.CV cs.RO 73%

Geometry Meets Vision: Revisiting Pretrained Semantics in Distilled Fields

Zhiting Mei, Ola Shorinwa, Anirudha Majumdar

机构 * Princeton University（普林斯顿大学）

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

2411.06542 2025-10-06 cs.RO cs.AI cs.SY eess.SY 73%

Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?

Yuki Shirai, Tong Zhao, H. J. Terry Suh, Huaijiang Zhu, Xinpei Ni, Jiuguang Wang, Max Simchowitz, Tao Pang

机构 * University of California, Los Angeles（加州大学洛杉矶分校）； RAI Institute (formerly Boston Dynamics AI Institute)（RAI研究院）； MIT CSAIL（麻省理工学院CSAIL）； New York University（纽约大学）； Georgia Tech（佐治亚理工学院）

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

Comments ICRA2025

2509.13074 2025-10-06 cs.RO 70%

Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five

Simon Fritsch, Liam Achenbach, Riccardo Bianco, Nicola Irmiger, Gawain Marti, Samuel Visca, Chenyu Yang, Davide Liconti, Barnabas Gavin Cangan, Robert Jomar Malate, Ronan J. Hinchet, Robert K. Katzschmann

机构 * Soft Robotics Lab, IRIS, D-MAVT, ETH Zurich（软机器人实验室、IRIS、D-MAVT、苏黎世联邦理工学院）

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

Comments The first five listed authors have equal contribution. This work has been accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

2510.02790 2025-10-06 cs.CV cs.AI cs.CL cs.MM 62%

MaskCD: Mitigating LVLM Hallucinations by Image Head Masked Contrastive Decoding

Jingyuan Deng, Yujiu Yang

机构 * Tsinghua Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院，清华大学）

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

Comments accepted to emnlp2025 findings

2506.00771 2025-10-06 cs.LG cs.AI 62%

Manipulating 3D Molecules in a Fixed-Dimensional E(3)-Equivariant Latent Space

Zitao Chen, Yinjun Jia, Zitong Tian, Wei-Ying Ma, Yanyan Lan

机构 * Institute for AI Industry Research (AIR), Tsinghua University（人工智能产业研究院（AIR），清华大学）； Department of Computer Science and Technology, Tsinghua University（计算机科学与技术系，清华大学）； Qiuzhen College, Tsinghua University（启真学院，清华大学）

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

Comments This version (v2) includes minor edits. The paper has been accepted to NeurIPS 2025. Code is available at: https://github.com/MuZhao2333/MolFLAE

2510.02594 2025-10-06 cs.RO 57%

SubSense: VR-Haptic and Motor Feedback for Immersive Control in Subsea Telerobotics

Ruo Chen, David Blow, Adnan Abdullah, Md Jahidul Islam

机构 * RoboPI Laboratory, Department of ECE, University of Florida（罗波实验室，电子与计算机工程系，佛罗里达大学）

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

Comments Presented at the OCEANS 2025 Great Lakes Conference

2510.02464 2025-10-06 cs.RO cs.HC 57%

ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality

Isaac Ngui, Courtney McBeth, André Santos, Grace He, Katherine J. Mimnaugh, James D. Motes, Luciano Soares, Marco Morales, Nancy M. Amato

机构 * Parasol Lab, Siebel School of Computing and Data Science, University of Illinois Urbana-Champaign（Parasol实验室，Siebel计算与数据科学学院，伊利诺伊大学厄巴纳-香槟分校）； Insper ； Department of Computer Science at Instituto Tecnológico Autónomo de México (ITAM)（墨西哥自主技术学院计算机科学系）

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

2510.02373 2025-10-06 cs.CR cs.AI 57%

A-MemGuard: A Proactive Defense Framework for LLM-Based Agent Memory

Qianshan Wei, Tengchao Yang, Yaochen Wang, Xinfeng Li, Lijun Li, Zhenfei Yin, Yi Zhan, Thorsten Holz, Zhiqiang Lin, XiaoFeng Wang

机构 * Nanyang Technological University（南洋理工大学）； University of Oxford（牛津大学）； Max Planck Institute（马克斯·普朗克研究所）； The Ohio State University（俄亥俄州立大学）

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

2505.08694 2025-10-06 eess.AS cs.AI 57%

A Survey of Deep Learning for Complex Speech Spectrograms

Yuying Xie, Zheng-Hua Tan

机构 * Department of Electronic Systems（电子系统系）

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

2510.03076 2025-10-06 q-bio.NC 50%

Selective disruption of reach-related saccade timing following a middle-cerebral artery stroke

Mahya Beheshti, Todd E Hudson, Rajvardhan Gadde, Glenn Alvarez Arias, Karis Huh, Robert L Sainburg, JR Rizzo