机器人 / 具身智能

The Irrational Machine: Neurosis and the Limits of Algorithmic Safety

Daniel Howard

机构 * Howard Science Limited, Malvern, UK（霍华德科学有限公司，英国马尔文） ； QinetiQ Fellow, UK（QinetiQ Fellow，英国） ； Member of Senior Common Room, Pembroke College, University of Oxford（奥克斯福德大学彭伯里学院高级共同房间成员） 纠错

专题命中 具身导航 ：embodied AI(abstract)；navigation(abstract)；分类 cs.RO、cs.AI

Comments 41 pages, 17 figures, 5 tables

SuperEx: Enhancing Indoor Mapping and Exploration using Non-Line-of-Sight Perception

Kush Garg, Akshat Dave

机构 * Department of Applied Mathematics, Delhi Technological University（应用数学系，德里技术大学） ； Stony Brook University（石溪大学） 纠错

专题命中 具身导航 ：navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments 8 pages, 9 Figures , Project webpage: https://super-ex.github.io/

Robot Soccer Kit: Omniwheel Tracked Soccer Robots for Education

Gregoire Passault, Clement Gaspard, Olivier Ly

机构 * LaBRI - DART - Rhoban University of Bordeaux（LaBRI - DART - Rhoban 大学） 纠错

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

Journal ref 2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Apr 2022, Santa Maria da Feira, France. pp.34-39

sqrtVINS: Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking

Yuxiang Peng, Chuchu Chen, Kejian Wu, Guoquan Huang

机构 * IEEE Transactions on Robotics (T-RO)（IEEE机器人学汇刊） 纠错

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

Rise of the Robochemist

Jihong Zhu, Kefeng Huang, Jonathon Pipe, Chris Horbaczewsky, Andy Tyrrell, Ian J. S. Fairlamb

机构 * School of Physics, Engineering and Technology, University of York（物理、工程与技术学院，约克大学） ； Department of Chemistry, University of York（化学学院，约克大学） 纠错

专题命中 具身导航 ：robotics(abstract)；robotic(abstract)；分类 cs.RO

Comments This article was originally published in the IEEE Systems, Man, and Cybernetics Society eNewsletter, September 2025 issue: https://www.ieeesmc.org/wp-content/uploads/2024/10/FeatureArticle_Sept25.pdf

Journal ref https://www.ieeesmc.org/wp-content/uploads/2024/10/FeatureArticle_Sept25.pdf

Autonomous Constellation Fault Monitoring with Inter-satellite Links: A Rigidity-Based Approach

Keidai Iiyama, Daniel Neamati, Grace Gao

机构 * Stanford University（斯坦福大学） 纠错

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

Comments Submitted to ION GNSS+ 2024 Conference

Journal ref Proceedings of the 37th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2024)

KG-MAS: Knowledge Graph-Enhanced Multi-Agent Infrastructure for coupling physical and digital robotic environments

Walid Abdela

机构 * Walid Abdela（独立研究者） 纠错

专题命中 具身推理 ：robotic(title,abstract)；world model(abstract)；分类 cs.RO、cs.AI

TriVLA: A Triple-System-Based Unified Vision-Language-Action Model with Episodic World Modeling for General Robot Control

Zhenyang Liu, Yongchong Gu, Sixiao Zheng, Yanwei Fu, Xiangyang Xue, Yu-Gang Jiang

机构 * Fudan University（复旦大学） ； Shanghai Innovation Institute（上海创新研究院） 纠错

专题命中 具身推理 ：world model(title,abstract)；manipulation(abstract)；分类 cs.RO

Dyna-Think: Synergizing Reasoning, Acting, and World Model Simulation in AI Agents

Xiao Yu, Baolin Peng, Ruize Xu, Michel Galley, Hao Cheng, Suman Nath, Jianfeng Gao, Zhou Yu

机构 * Columbia University（哥伦比亚大学） ； Microsoft Research（微软研究院） 纠错

专题命中 具身推理 ：world model(title,abstract)；分类 cs.AI、cs.LG

Active Confusion Expression in Large Language Models: Leveraging World Models toward Better Social Reasoning

Jialu Du, Guiyang Hou, Yihui Fu, Chen Wu, Wenqi Zhang, Yongliang Shen, Weiming Lu

机构 * Zhejiang University（浙江大学） ； Northwest University（西北大学） 纠错

专题命中 具身推理 ：world model(title,abstract)；分类 cs.AI

Comments 15 pages, 10 figures

PhySIC: Physically Plausible 3D Human-Scene Interaction and Contact from a Single Image

Pradyumna Yalandur Muralidhar, Yuxuan Xue, Xianghui Xie, Margaret Kostyrko, Gerard Pons-Moll

机构 * University of Tübingen, Zuse School ELIZA（图宾根大学Zuse学校ELIZA） ； University of Tübingen, Tübingen AI Center（图宾根大学图宾根人工智能中心） ； University of Tübingen, Tübingen AI Center, MPI for Informatics, SIC（图宾根大学图宾根人工智能中心、马克斯·普朗克信息研究所、SIC） 纠错

专题命中 具身推理 ：robotics(abstract)；分类 cs.CV

Comments Accepted to ACM SIGGraphAsia 2025. Project website: https://yuxuan-xue.com/physic

X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model

Jinliang Zheng, Jianxiong Li, Zhihao Wang, Dongxiu Liu, Xirui Kang, Yuchun Feng, Yinan Zheng, Jiayin Zou, Yilun Chen, Jia Zeng, Ya-Qin Zhang, Jiangmiao Pang, Jingjing Liu, Tai Wang, Xianyuan Zhan

机构 * Institute for AI Industry Research (AIR) Tsinghua University（人工智能产业研究院（AIR）清华大学） ； Shanghai AI Lab（上海人工智能实验室） ； Peking University（北京大学） 纠错

专题命中 机器人基础模型 ：robot learning(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments preprint, technical report, 33 pages

Trust Region Reward Optimization and Proximal Inverse Reward Optimization Algorithm

Yang Chen, Menglin Zou, Jiaqi Zhang, Yitan Zhang, Junyi Yang, Gael Gendron, Libo Zhang, Jiamou Liu, Michael J. Witbrock

机构 * Shanghai Artificial Intelligence Laboratory（上海人工智能实验室） ； University of Auckland（奥克兰大学） ； Chongqing University（重庆大学） 纠错

专题命中 模仿学习与强化学习 ：robotics(abstract)；分类 cs.AI、cs.LG

Comments Accepted to NeurIPS 2025. Title used at submission and review: PIRO: Toward Stable Reward Learning for Inverse RL via Monotonic Policy Divergence Reduction

Context-Aware Model-Based Reinforcement Learning for Autonomous Racing

Emran Yasser Moustafa, Ivana Dusparic

机构 * School of Computer Science and Statistics, Trinity College Dublin（计算机科学与统计学系，特里尼蒂学院都柏林） 纠错

专题命中 模仿学习与强化学习 ：robotic(abstract)；分类 cs.RO、cs.LG

Comments Accepted to IEEE ICAR 2025

Data-driven simulator of multi-animal behavior with unknown dynamics via offline and online reinforcement learning

Keisuke Fujii, Kazushi Tsutsui, Yu Teshima, Makoto Itoh, Naoya Takeishi, Nozomi Nishiumi, Ryoya Tanaka, Shunsuke Shigaki, Yoshinobu Kawahara

机构 * Graduate School of Informatics, Nagoya University, Japan（名古屋大学信息学研究科） ； RIKEN Center for Advanced Intelligence Project, Japan（RIKEN高级智能项目研究中心） ； Graduate School of Arts and Sciences, The University of Tokyo, Japan（东京大学文学系研究科） ； Project team for SIP, Japan（SIP项目团队） ； Japan Agency for Marine-Earth Science and Technology, Japan（日本海洋地球科学技术机构） ； Faculty of Education, Shitennoji University, Japan（世田谷大学教育学部） ； Graduate School of Engineering, The University of Tokyo, Japan（东京大学工学研究科） ； Graduate School of Science and Technology, Niigata University, Japan（新潟大学科学技术研究科） ； Graduate School of Science, Nagoya University, Japan（名古屋大学理学研究科） ； Principles of Informatics Research Division, National Institute of Informatics, Japan（信息学原理研究部门，日本信息处理技术研究所） ； Graduate School of Information Science, The University of Osaka, Japan（大阪大学信息科学研究科） 纠错

专题命中 模仿学习与强化学习 ：robotics(abstract)；分类 cs.AI、cs.LG

Comments 21 pages, 7 figures

Fine-tuning Behavioral Cloning Policies with Preference-Based Reinforcement Learning

Maël Macuglia, Paul Friedrich, Giorgia Ramponi

机构 * Department of Informatics, University of Zurich（苏黎世大学信息学院） ； ETH AI Center（ETH人工智能中心） 纠错

专题命中 模仿学习与强化学习 ：robotics(abstract)；分类 cs.AI、cs.LG

Comments 85 pages (11 + references and appendix), 9 figures. v2: added acknowledgements

FOSSIL: Harnessing Feedback on Suboptimal Samples for Data-Efficient Generalisation with Imitation Learning for Embodied Vision-and-Language Tasks

Sabrina McCallum, Amit Parekh, Alessandro Suglia

机构 * University of Edinburgh（爱丁堡大学） ； Heriot-Watt University（赫瑞思-瓦特大学） 纠错

专题命中 模仿学习与强化学习 ：embodied AI(abstract)；分类 cs.AI

Comments EMNLP 2025 Findings

Game-Theoretic Risk-Shaped Reinforcement Learning for Safe Autonomous Driving

Dong Hu, Fenqing Hu, Lidong Yang, Chao Huang

机构 * Department of Industrial and Systems Engineering, the Hong Kong Polytechnic University（工业与系统工程系，香港理工大学） 纠错

专题命中 模仿学习与强化学习 ：world model(abstract)；分类 cs.RO

A Modular AIoT Framework for Low-Latency Real-Time Robotic Teleoperation in Smart Cities

Shih-Chieh Sun, Yun-Cheng Tsai

机构 * Department of Technology Application and Human Resource Development（技术应用与人力资源发展系） ； National Taiwan Normal University（台湾师范大学） 纠错

专题命中 人机交互与遥操作 ：robotic(title,abstract)；manipulation(abstract)；分类 cs.RO

Design and Koopman Model Predictive Control of A Soft Exoskeleton Based on Origami-Inspired Pneumatic Actuator for Knee Rehabilitation

Junxiang Wang, Han Zhang, Zehao Wang, Huaiyuan Chen, Pu Wang, Weidong Chen

专题命中 人机交互与遥操作 ：robotic(abstract)；分类 cs.RO

High-Fidelity Simulated Data Generation for Real-World Zero-Shot Robotic Manipulation Learning with Gaussian Splatting

Haoyu Zhao, Cheng Zeng, Linghao Zhuang, Yaxi Zhao, Shengke Xue, Hao Wang, Xingyue Zhao, Zhongyu Li, Kehan Li, Siteng Huang, Mingxiu Chen, Xin Li, Deli Zhao, Hua Zou

机构 * Wuhan University（武汉大学） ； DAMO Academy, Alibaba Group（达摩院，阿里巴巴集团） ； Hupan Lab（虎扑实验室） ； The Chinese University of Hong Kong（香港中文大学） ； Tsinghua University（清华大学） ； Huazhong University of Science and Technology（华中科技大学） ； Zhejiang University（浙江大学） 纠错

专题命中 机器人数据与评测 ：manipulation(title,abstract)；robotic(title,abstract)；分类 cs.RO

Comments 13 pages, 6 figures

Robot Learning with Super-Linear Scaling

Marcel Torne, Arhan Jain, Jiayi Yuan, Vidaaranya Macha, Lars Ankile, Anthony Simeonov, Pulkit Agrawal, Abhishek Gupta

机构 * Massachusets Institute of Technology（麻省理工学院） ； University of Washington（华盛顿大学） ； Stanford University（斯坦福大学） 纠错

专题命中 机器人数据与评测 ：robot learning(title,abstract)；分类 cs.RO、cs.AI、cs.LG

MLLM-Fabric: Multimodal Large Language Model-Driven Robotic Framework for Fabric Sorting and Selection

Liman Wang, Hanyang Zhong, Tianyuan Wang, Shan Luo, Jihong Zhu

机构 * School of Physics, Engineering and Technology, University of York（物理、工程与技术学院，约克大学） ； Department of Engineering, King’s College London（工程学院，伦敦国王学院） 纠错

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Accepted to IEEE Robotics and Automation Letters (RAL)

Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single View

Jinyu Zhang, Haitao Lin, Jiashu Hou, Xiangyang Xue, Yanwei Fu

机构 * Fudan University（复旦大学） ； Shanghai Innovation Institute（上海创新研究院） 纠错

专题命中 机器人数据与评测 ：robotics(abstract)；embodied AI(abstract)；manipulation(abstract)；robotic(abstract)

DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation

Yuhui Fu, Feiyang Xie, Chaoyi Xu, Jing Xiong, Haoqi Yuan, Zongqing Lu

机构 * Peking University（北京大学） ； BeingBeyond 纠错

专题命中 机器人数据与评测 ：manipulation(title,abstract)；分类 cs.RO、cs.LG

Enhancing Diffusion Policy with Classifier-Free Guidance for Temporal Robotic Tasks

Yuang Lu, Song Wang, Xiao Han, Xuri Zhang, Yucong Wu, Zhicheng He

专题命中 机器人数据与评测 ：robotic(title,abstract)；分类 cs.RO

Comments 7 pages, 7 figures

DualTHOR: A Dual-Arm Humanoid Simulation Platform for Contingency-Aware Planning

Boyu Li, Siyuan He, Hang Xu, Haoqi Yuan, Yu Zang, Liwei Hu, Junpeng Yue, Zhenxiong Jiang, Pengbo Hu, Börje F. Karlsson, Yehui Tang, Zongqing Lu

专题命中 机器人数据与评测 ：embodied AI(abstract)；embodied agent(abstract)；分类 cs.RO

Comments The experiments in the paper need to be further supplemented, and more methods should be considered for expansion

SpectralCA: Bi-Directional Cross-Attention for Next-Generation UAV Hyperspectral Vision

D. V. Brovko

专题命中 机器人数据与评测 ：navigation(abstract,comments)；分类 cs.AI、cs.CV

Comments The work consists of three chapters, includes 12 figures, 4 tables, 31 references, and 1 appendix. A version of this work has been accepted for presentation at the 2025 IEEE 8th International Conference on Methods and Systems of Navigation and Motion Control

BEVCALIB: LiDAR-Camera Calibration via Geometry-Guided Bird's-Eye View Representations

Weiduo Yuan, Jerry Li, Justin Yue, Divyank Shah, Konstantinos Karydis, Hang Qiu

机构 * University of Southern California（南加州大学） ； University of California, Riverside（加州大学河滨分校） 纠错

专题命中 机器人数据与评测 ：robotic(abstract)；分类 cs.RO、cs.CV；robot learning(journal_ref)

Journal ref 9th Conference on Robot Learning (CoRL 2025), Seoul, Korea

SCOOP'D: Learning Mixed-Liquid-Solid Scooping via Sim2Real Generative Policy

Kuanning Wang, Yongchong Gu, Yuqian Fu, Zeyu Shangguan, Sicheng He, Xiangyang Xue, Yanwei Fu, Daniel Seita

机构 * Fudan University（复旦大学） ； University of Southern California（南加州大学） 纠错

专题命中 机器人数据与评测 ：robotic(abstract)；分类 cs.RO、cs.CV

Comments Project page is at https://scoopdiff.github.io/