机器人 / 具身智能

FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens

Yiming Zhong, Yumeng Liu, Chuyang Xiao, Zemin Yang, Youzhuo Wang, Yufei Zhu, Ye Shi, Yujing Sun, Xinge Zhu, Yuexin Ma

机构 * ShanghaiTech University（上海科技大学） ； The University of Hong Kong（香港大学） ； Digital Trust Centre, Nanyang Technological University（南洋理工大学数字信任中心） ； The Chinese University of Hong Kong（香港中文大学） 纠错

专题命中 机器人学习 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Comments: Published at Neural Information Processing Systems (NeurIPS) 2025. Project page and code: https://freq-policy.github.io/

Everything-Grasping (EG) Gripper: A Universal Gripper with Synergistic Suction-Grasping Capabilities for Cross-Scale and Cross-State Manipulation

Jianshu Zhou, Jing Shu, Tianle Pan, Puchen Zhu, Jiajun An, Huayu Zhang, Junda Huang, Upinder Kaur, Xin Ma, Masayoshi Tomizuka

机构 * Department of Mechanical Engineering, University of California, Berkeley（加州大学伯克利分校机械工程系） ； Department of Biomedical Engineering, The Chinese University of Hong Kong（香港中文大学生物医学工程系） ； Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系） ； Multi-scale Medical Robotics Center, Hong Kong, China（香港医学机器人多尺度中心） ； Department of Agricultural and Biological Engineering, Purdue University（普渡大学农业与生物工程系） 纠错

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

Comments 19 pages, 10 figures, journal

Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation

Congcong Wen, Geeta Chandra Raju Bethala, Yu Hao, Niraj Pudasaini, Hao Huang, Shuaihang Yuan, Baoru Huang, Anh Nguyen, Mengyu Wang, Anthony Tzes, Yi Fang

机构 * Embodied AI and Robotics (AIR) Lab, New York University, New York, USA and NYUAD Center for Artificial Intelligence and Robotics, New York University Abu Dhabi, Abu Dhabi, UAE（纽约大学Embodied AI和机器人实验室及纽约大学阿布扎赫尔人工智能与机器人中心） ； Harvard AI and Robotics Lab, Harvard University, Boston, USA（哈佛大学人工智能与机器人实验室） ； Department of Computer Science, University College London, London, UK（伦敦大学学院计算机科学系） ； Department of Computer Science, University of Liverpool, UK（利物浦大学计算机科学系） ； NYUAD Center for Artificial Intelligence and Robotics, New York University Abu Dhabi, Abu Dhabi, UAE（纽约大学阿布扎赫尔人工智能与机器人中心） 纠错

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

Comments website link: https://humanoid-coa.github.io/

A Benchmarking Study of Vision-Based Robotic Grasping Algorithms: A Comparative Analysis

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

机构 * Robotics Engineering Department, Worcester Polytechnic Institute（沃斯特理工学院机器人工程系） ； New England Robotics Validation and Experimentation (NERVE) Center, University of Massachusetts Lowell（马萨诸塞大学洛厄尔分校新英格兰机器人验证与实验中心） 纠错

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

Comments Accepted in IEEE Robotics and Automation Magazine 2025. Previously this version with slight modifications appeared as arXiv:2503.11163, which was submitted as a new work by accident. We have requested for removal of arXiv:2503.11163 from the other account, while simultaneously submitting this version as a revision to arXiv:2307.11622. We are stressing that this submission is intentional

MobRT: A Digital Twin-Based Framework for Scalable Learning in Mobile Manipulation

Yilin Mei, Peng Qiu, Wei Zhang, WenChao Zhang, Wenjie Song

机构 * Beijing Institute of Technology（北京理工大学） 纠错

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

Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation

Peiyuan Zhi, Peiyang Li, Jianqin Yin, Baoxiong Jia, Siyuan Huang

机构 * State Key Laboratory of General Artificial Intelligence, BIGAI（一般人工智能国家重点实验室，BIGAI） ； Joint Laboratory of Embodied AI and Humanoid Robots, BIGAI & UniTree Robotics（具身人工智能与仿人机器人联合实验室，BIGAI与UniTree机器人） ； Beijing University of Posts and Telecommunications（北京邮电大学） 纠错

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

Comments website: https://unified-force.github.io/

ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation

Haochen Shi, Weizhuo Wang, Shuran Song, C. Karen Liu

机构 * Stanford University（斯坦福大学） 纠错

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

Comments Project website: https://toddlerbot.github.io/

VBM-NET: Visual Base Pose Learning for Mobile Manipulation using Equivariant TransporterNet and GNNs

Lakshadeep Naik, Adam Fischer, Daniel Duberg, Danica Kragic

机构 * KTH Royal Institute of Technology（皇家理工学院） 纠错

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

Viewpoint-Agnostic Manipulation Policies with Strategic Vantage Selection

Sreevishakh Vasudevan, Som Sagar, Ransalu Senanayake

机构 * Laboratory for Learning Evaluation and Naturalization of Systems (LENS Lab)（学习评估与系统自然化实验室） ； Arizona State University (ASU)（亚利桑那州立大学） 纠错

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

Designing Coherent Optical Environment for Dynamic Optical Manipulation with a Simple Control Beam

Xiaoshu Zhao, Xu Yuan, Hongxia Zheng, Huajin Chen, Zhifang Lin

专题命中 机器人操作 ：manipulation(title,abstract)

BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand

Zhengyang Kris Weng

机构 * Center for Robotics and Biosystems, Northwestern University（机器人与生物系统中心，西北大学） 纠错

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

Comments ICRA 2025 Dexterity Workshop, Spotlight Presentation

ShapeICP: Iterative Category-level Object Pose and Shape Estimation from Depth

Yihao Zhang, Harpreet S. Sawhney, John J. Leonard

机构 * Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology（计算机科学与人工智能实验室，麻省理工学院） 纠错

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

Adversarial training with restricted data manipulation

David Benfield, Stefano Coniglio, Phan Tu Vuong, Alain Zemkoho

机构 * School of Mathematical Sciences University of Southampton（南安普顿大学数学科学学院） ； Department of Economic Sciences University of Bergamo（伯尔戈米大学经济科学学院） 纠错

专题命中 机器人操作 ：manipulation(title)；分类 cs.LG

Comments 21 page, 5 figures

A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects

Zixi Chen, Di Wu, Qinghua Guan, David Hardman, Federico Renda, Josie Hughes, Thomas George Thuruthel, Cosimo Della Santina, Barbara Mazzolai, Huichan Zhao, Cesare Stefanini

机构 * The BioRobotics Institute and the Department of Excellence in Robotics and AI（生物机器人研究所和机器人与人工智能卓越部门） ； Mærsk Mc-Kinney Møller Instituttet, University of Southern Denmark（马士基麦金尼莫勒研究所，南方丹麦大学） ； CREATE Lab, EPFL（EPFL创造实验室） ； Bio-Inspired Robotics Lab, University of Cambridge（生物启发机器人实验室，剑桥大学） ； The Khalifa University Center for Autonomous Robotic Systems, Khalifa University（卡利法大学自主机器人系统中心，卡利法大学） ； Department of Computer Science, University College London（计算机科学系，伦敦大学学院） ； Department of Cognitive Robotics, Delft University of Technology（认知机器人系，代尔夫特理工大学） ； Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（机器人与机电研究所，德国航天中心（DLR）） ； Bioinspired Soft Robotics, Istituto Italiano di Tecnologia（生物启发软机器人，意大利技术研究院） ； Department of Mechanical Engineering and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Tsinghua University（机械工程系和北京精密/超精密制造装备与控制重点实验室，清华大学） 纠错

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

Comments 12 pages, 4 figures, accepted by IEEE Robotics & Automation Magazine

LERa: Replanning with Visual Feedback in Instruction Following

Svyatoslav Pchelintsev, Maxim Patratskiy, Anatoly Onishchenko, Alexandr Korchemnyi, Aleksandr Medvedev, Uliana Vinogradova, Ilya Galuzinsky, Aleksey Postnikov, Alexey K. Kovalev, Aleksandr I. Panov

机构 * MIPT（莫斯科国立交通大学） ； Sberbank of Russia, Robotics Center（俄罗斯储蓄银行机器人中心） ； AIRI 纠错

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

Comments Accepted to IROS 2025

Training-free Task-oriented Grasp Generation

Jiaming Wang, Diwen Liu, Jizhuo Chen, Harold Soh

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

Comments Jiaming Wang, Diwen Liu, and Jizhuo Chen contributed equally

SAEdit: Token-level control for continuous image editing via Sparse AutoEncoder

Ronen Kamenetsky, Sara Dorfman, Daniel Garibi, Roni Paiss, Or Patashnik, Daniel Cohen-Or

机构 * Tel Aviv University（特拉维夫大学） ； Google DeepMind（谷歌DeepMind） 纠错

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

Comments Project page at: https://ronen94.github.io/SAEdit/

Large Language Model Hacking: Quantifying the Hidden Risks of Using LLMs for Text Annotation

Joachim Baumann, Paul Röttger, Aleksandra Urman, Albert Wendsjö, Flor Miriam Plaza-del-Arco, Johannes B. Gruber, Dirk Hovy

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

Prompt-to-Prompt: Text-Based Image Editing Via Cross-Attention Mechanisms -- The Research of Hyperparameters and Novel Mechanisms to Enhance Existing Frameworks

Linn Bieske, Carla Lorente

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

From Real World to Logic and Back: Learning Generalizable Relational Concepts For Long Horizon Robot Planning

Naman Shah, Jayesh Nagpal, Siddharth Srivastava

专题命中 机器人操作 ：world model(abstract)；分类 cs.RO、cs.AI

Velocity-Form Data-Enabled Predictive Control of Soft Robots under Unknown External Payloads

Huanqing Wang, Kaixiang Zhang, Kyungjoon Lee, Yu Mei, Vaibhav Srivastava, Jun Sheng, Ziyou Song, Zhaojian Li

机构 * Department of Mechanical Engineering, Michigan State University（机械工程系，密歇根州立大学） ； Department of Mechanical Engineering, University of California Riverside（机械工程系，加州大学河滨分校） ； Department of Electrical and Computer Engineering, Michigan State University（电气与计算机工程系，密歇根州立大学） ； Department of Electrical and Computer Engineering, University of Michigan（电气与计算机工程系，密歇根大学） 纠错

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

Geometrically Exact Hard Magneto-Elastic Cosserat Shells: Static Formulation for Shape Morphing

Mohammadjavad Javadi, Robin Chhabra

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

Explainable but Vulnerable: Adversarial Attacks on XAI Explanation in Cybersecurity Applications

Maraz Mia, Mir Mehedi A. Pritom

机构 * Department of Computer Science（计算机科学系） ； Tennessee Tech University（田纳西科技大学） 纠错

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

Comments 10 pages, 9 figures, 4 tables

Journal ref The 7th IEEE International Conference on Trust, Privacy, and Security in Intelligent Systems, and Applications (IEEE-TPS 2025)

Atomtronic routing of dipolar bosons in a four-well star potential

Karin Wittmann W., Leandro H. Ymai, Genessi Sá Neto, Angela Foerster

专题命中 机器人操作 ：manipulation(abstract)

Comments 12 pages, 9 figures

Volume-Based Lower Bounds to the Capacity of the Gaussian Channel Under Pointwise Additive Input Constraints

Neri Merhav, Shlomo Shamai

专题命中 机器人操作 ：manipulation(abstract)

Comments 37 pages, 4 figures, submitted for publication

Orbitronics in Two-dimensional Materials

Tarik P. Cysne, Luis M. Canonico, Marcio Costa, R. B. Muniz, Tatiana G. Rappoport

专题命中 机器人操作 ：manipulation(abstract)

Comments 19 pages, 4 figures, 1 table

Journal ref npj Spintronics 3, 39 (2025)

Adversarial Attacks and Robust Defenses in Speaker Embedding based Zero-Shot Text-to-Speech System

Ze Li, Yao Shi, Yunfei Xu, Ming Li

专题命中 机器人操作 ：manipulation(abstract)

A Generalized Second-Order Positivity-Preserving Numerical Method for Non-Autonomous Dynamical Systems with Applications

Manh Tuan Hoang, Matthias Ehrhardt

专题命中 机器人操作 ：world model(abstract)

Comments 6 Tables, 3 Figures

Time-Optimized Safe Navigation in Unstructured Environments through Learning Based Depth Completion

Jeffrey Mao, Raghuram Cauligi Srinivas, Steven Nogar, Giuseppe Loianno

机构 * New York University（纽约大学） ； US DEVCOM Army Research Lab（美国国防部高级研究计划局陆军实验室） ； University of California, Berkeley（加州大学伯克利分校） 纠错

专题命中 具身导航 ：navigation(title,abstract)；分类 cs.RO

Robust Cislunar Navigation via LFT-Based $\mathcal{H}_\infty$ Filtering with Bearing-Only Measurements

Raktim Bhattacharya

专题命中 具身导航 ：navigation(title,abstract)