机器人 / 具身智能

Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation

Erik Helmut, Niklas Funk, Tim Schneider, Cristiana de Farias, Jan Peters

机构 * Department of Computer Science, Technical University of Darmstadt（德累斯顿技术大学计算机科学系） ； German Research Center for AI (DFKI)（德国人工智能研究中心） ； Centre for Cognitive Science, Technical University of Darmstadt（德累斯顿技术大学认知科学中心） ； Hessian Center for Artificial Intelligence (Hessian.AI), Darmstadt（黑森人工智能中心（Hessian.AI）） ； Robotics Institute Germany (RIG)（德国机器人研究所） 纠错

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

Actron3D: Learning Actionable Neural Functions from Videos for Transferable Robotic Manipulation

Anran Zhang, Hanzhi Chen, Yannick Burkhardt, Yao Zhong, Johannes Betz, Helen Oleynikova, Stefan Leutenegger

机构 * ETH Zurich（苏黎世联邦理工学院） ； Technical University of Munich（慕尼黑技术大学） 纠错

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

Comments 8 pages, 5 figures

EmbodiedCoder: Parameterized Embodied Mobile Manipulation via Modern Coding Model

Zefu Lin, Rongxu Cui, Chen Hanning, Xiangyu Wang, Junjia Xu, Xiaojuan Jin, Chen Wenbo, Hui Zhou, Lue Fan, Wenling Li, Zhaoxiang Zhang

机构 * University of Chinese Academy of Sciences (UCAS)（中国科学院大学） ； Institute of Automation, Chinese Academy of Sciences (CASIA)（中国科学院自动化研究所） ； New Laboratory of Pattern Recognition (NLPR)（模式识别新实验室） ； State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS)（多模态人工智能系统国家重点实验室） ； Beihang University（北航） ； Chinese University of Hong Kong（香港大学） 纠错

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

Comments Demo Page: https://embodiedcoder.github.io/EmbodiedCoder/

GARField: Addressing the visual Sim-to-Real gap in garment manipulation with mesh-attached radiance fields

Donatien Delehelle, Darwin G. Caldwell, Fei Chen

机构 * University of Genova（热那亚大学） ； Istituto Italiano di Tecnologia（意大利理工学院） ； Department of Mechanical and Automation Engineering, T- Stone Robotics Institute, The Chinese University of Hong Kong（机械与自动化工程系，T- Stone机器人研究所，香港中文大学） 纠错

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

Comments Project site: https://ddonatien.github.io/garfield-website/

Trace Anything: Representing Any Video in 4D via Trajectory Fields

Xinhang Liu, Yuxi Xiao, Donny Y. Chen, Jiashi Feng, Yu-Wing Tai, Chi-Keung Tang, Bingyi Kang

机构 * Zhejiang University（浙江大学） ； Dartmouth College（达特茅斯学院） 纠错

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

Local-Global Context-Aware and Structure-Preserving Image Super-Resolution

Sanchar Palit, Subhasis Chaudhuri, Biplab Banerjee

机构 * Indian Institute of Technology Bombay（印度班加罗尔理工学院） 纠错

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

Comments 10 pages, 11 figures

A Novel Robot Hand with Hoeckens Linkages and Soft Phalanges for Scooping and Self-Adaptive Grasping in Environmental Constraints

Wentao Guo, Yizhou Wang, Wenzeng Zhang

机构 * Computer Science and Technology, Beijing Institute of Technology, China（计算机科学与技术，北京理工大学，中国） ； Southern University of Science and Technology, Shenzhen, China（南方科技大学，深圳，中国） ； Dept. of Mechanical Engineering, Tsinghua University, Beijing, China（机械工程系，清华大学，北京，中国） 纠错

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

Comments Accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025, Hangzhou. This version includes updated contact information

Who Speaks for the Trigger? Dynamic Expert Routing in Backdoored Mixture-of-Experts Transformers

Xin Zhao, Xiaojun Chen, Bingshan Liu, Haoyu Gao, Zhendong Zhao, Yilong Chen

专题命中 机器人操作 ：manipulation(abstract)

Examining the Interface Design of Tidyverse

Emi Tanaka

专题命中 机器人操作 ：manipulation(abstract)

Robust Statistics vs. Machine Learning vs. Bayesian Inference: Insights into Handling Faulty GNSS Measurements in Field Robotics

Haoming Zhang

机构 * Institute of Automatic Control, RWTH Aachen University（鲁尔大学自动控制研究所） ； Learning Systems and Robotics Lab, Technical University of Munich（慕尼黑技术大学学习系统与机器人实验室） ； Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所） 纠错

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

Comments Accepted to the 2nd Workshop on Safety of Intelligent and Autonomous Vehicles: Formal Methods vs. Machine Learning approaches for reliable navigation (SIAV-FM2L) at IEEE IROS2025

Inland-LOAM: Voxel-Based Structural Semantic LiDAR Odometry and Mapping for Inland Waterway Navigation

Zhongbi Luo, Yunjia Wang, Jan Swevers, Peter Slaets, Herman Bruyninckx

机构 * Division of Robotics, Automation and Mechatronics in the Department of Mechanical Engineering, KU Leuven（机械工程系机器人、自动化与机电系，KU莱顿大学） ； Division of Declarative Languages and Artificial Intelligence (DTAI) in the Department of Computer Science, KU Leuven（计算机科学系声明语言与人工智能系（DTAI），KU莱顿大学） 纠错

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

Multimodal Fusion and Vision-Language Models: A Survey for Robot Vision

Xiaofeng Han, Shunpeng Chen, Zenghuang Fu, Zhe Feng, Lue Fan, Dong An, Changwei Wang, Li Guo, Weiliang Meng, Xiaopeng Zhang, Rongtao Xu, Shibiao Xu

机构 * aThe State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, China [1ex] bSchool of Artificial Intelligence, University of Chinese Academy of Sciences, China [1ex] cSchool of Artificial Intelligence, Beijing University of Posts ； Telecommunications, China [1ex] dKey Laboratory of Computing Power Network ； Shandong Computer Science Center, Qilu University of Technology (Shandong Academy of Sciences), China [1ex] e Shandong Provincial Key Laboratory of Computing Power Internet ； Service Computing, Shandong Fundamental Research Center for Computer Science, China 纠错

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

Comments 27 pages, 11 figures. Accepted to Information Fusion. Final journal version: volume 126 (Part B), February 2026

Journal ref Information Fusion, 126 (Part B), February 2026, 103652

Digital Twin-based Out-of-Distribution Detection in Autonomous Vessels

Erblin Isaku, Hassan Sartaj, Shaukat Ali

机构 * Simula Research Laboratory（Simula研究实验室） ； University of Oslo（奥斯陆大学） 纠错

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

Comments 34 pages, 12 figures, 11 tables

Hierarchical Discrete Lattice Assembly: An Approach for the Digital Fabrication of Scalable Macroscale Structures

Miana Smith, Paul Arthur Richard, Alexander Htet Kyaw, Neil Gershenfeld

机构 * Center for Bits and Atoms（比特与原子中心） ； Massachusetts Institute of Technology（麻省理工学院） ； School of Architecture and Planning（建筑与规划学院） 纠错

专题命中 具身导航 ：robotic(abstract)；分类 cs.RO

Comments In ACM Symposium on Computational Fabrication (SCF '25), November 20-21, 2025, Cambridge, MA, USA. ACM, New York, NY, USA, 15 pages

DAMM-LOAM: Degeneracy Aware Multi-Metric LiDAR Odometry and Mapping

Nishant Chandna, Akshat Kaushal

机构 * Unmanned Aerial Systems-Delhi Technological University（无人驾驶航空系统-德里技术大学） 纠错

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

Comments Accepted at IROS Active Perception Workshop

Comparison of Forced and Unforced Rendezvous, Proximity Operations, and Docking Under Model Mismatch

Robert Muldrow, Channing Ludden, Christopher Petersen

机构 * University of Florida（佛罗里达大学） 纠错

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

Comments 12 pages, 4 figures, AAS/AIAA Space Flight Mechanics

Hybrid Terrain-Aware Path Planning: Integrating VD-RRT* Exploration and VD-D* Lite Repair

Akshay Naik, William R. Norris, Dustin Nottage, Ahmet Soylemezoglu

机构 * The Grainger College of Engineering, Electrical and Computer Engineering Department, University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校格拉inger工程学院） ； The Grainger College of Engineering, Industrial and Enterprise Systems Engineering Department, University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校格拉inger工程学院） 纠错

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

More than A Point: Capturing Uncertainty with Adaptive Affordance Heatmaps for Spatial Grounding in Robotic Tasks

Xinyu Shao, Yanzhe Tang, Pengwei Xie, Kaiwen Zhou, Yuzheng Zhuang, Xingyue Quan, Jianye Hao, Long Zeng, Xiu Li

机构 * Shenzhen International Graduate School, Tsinghua University, China（清华大学深圳国际研究生院） ； Noah’s Ark Lab, Huawei, China（华为诺亚实验室） 纠错

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

Comments More details and videos can be found at https://robo-map.github.io

VLA-0: Building State-of-the-Art VLAs with Zero Modification

Ankit Goyal, Hugo Hadfield, Xuning Yang, Valts Blukis, Fabio Ramos

机构 * NVIDIA 纠错

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

InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy

Xinyi Chen, Yilun Chen, Yanwei Fu, Ning Gao, Jiaya Jia, Weiyang Jin, Hao Li, Yao Mu, Jiangmiao Pang, Yu Qiao, Yang Tian, Bin Wang, Bolun Wang, Fangjing Wang, Hanqing Wang, Tai Wang, Ziqin Wang, Xueyuan Wei, Chao Wu, Shuai Yang, Jinhui Ye, Junqiu Yu, Jia Zeng, Jingjing Zhang, Jinyu Zhang, Shi Zhang, Feng Zheng, Bowen Zhou, Yangkun Zhu

机构 * Intern Robotics Shanghai AI Laboratory（Intern Robotics上海AI实验室） 纠错

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

Comments Technical report

MTIL: Encoding Full History with Mamba for Temporal Imitation Learning

Yulin Zhou, Yuankai Lin, Fanzhe Peng, Jiahui Chen, Kaiji Huang, Hua Yang, Zhouping Yin

机构 * School of Mechanical Science and Engineering, Huazhong University of Science and Technology（机械科学与工程学院，华中科技大学） 纠错

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

Comments Published in IEEE Robotics and Automation Letters (RA-L), 2025. 8 pages, 5 figures

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 11, pp. 11761-11767, Nov. 2025

PhysMaster: Mastering Physical Representation for Video Generation via Reinforcement Learning

Sihui Ji, Xi Chen, Xin Tao, Pengfei Wan, Hengshuang Zhao

机构 * The University of Hong Kong（香港大学） ； Kling Team, Kuaishou Technology（快手科技 Kling 团队） 纠错

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

Comments Project Page: https://sihuiji.github.io/PhysMaster-Page/

Development of an Intuitive GUI for Non-Expert Teleoperation of Humanoid Robots

Austin Barret, Meng Cheng Lau

机构 * School of Engineering and Computer Science（工程与计算机科学学院） 纠错

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

Comments 9 Figure. Presented at FIRA Summit 2025, Daegu, S. Korea

Behavior Trees and State Machines in Robotics Applications

Razan Ghzouli, Thorsten Berger, Einar Broch Johnsen, Andrzej Wasowski, Swaib Dragule

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

Comments Published at IEEE TSE as a journal extension of a preceding SLE paper (available as arXiv:2010.06256). arXiv admin note: text overlap with arXiv:2010.06256

Journal ref IEEE Transactions on Software Engineering 49.9 (2023) 4243-4267

RoboHiMan: A Hierarchical Evaluation Paradigm for Compositional Generalization in Long-Horizon Manipulation

Yangtao Chen, Zixuan Chen, Nga Teng Chan, Junting Chen, Junhui Yin, Jieqi Shi, Yang Gao, Yong-Lu Li, Jing Huo

机构 * Nanjing University（南京大学） ； The Hong Kong University of Science and Technology（香港科技大学） ； National University of Singapore（新加坡国立大学） ； Shanghai Jiaotong University（上海交通大学） ； Shanghai Innovation Institute（上海创新研究院） 纠错

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

Comments Under review. These first two authors contributed equally to this work

Model-agnostic Adversarial Attack and Defense for Vision-Language-Action Models

Haochuan Xu, Yun Sing Koh, Shuhuai Huang, Zirun Zhou, Di Wang, Jun Sakuma, Jingfeng Zhang

机构 * The University of Auckland（奥克兰大学） ； King Abdullah University of Science and Technology（国王 Abdullah 科学与技术大学） ； Tokyo University of Science（东京科学大学） ； RIKEN Center for Advanced Intelligence Project（理化学研究所先进智能项目中心） 纠错

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

HUMOTO: A 4D Dataset of Mocap Human Object Interactions

Jiaxin Lu, Chun-Hao Paul Huang, Uttaran Bhattacharya, Qixing Huang, Yi Zhou

机构 * University of Texas at Austin（德克萨斯大学奥斯汀分校） ； Adobe Research（Adobe研究院） 纠错

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

Comments ICCV 2025, 19 pages, 15 figures

Through the Lens of Doubt: Robust and Efficient Uncertainty Estimation for Visual Place Recognition

Emily Miller, Michael Milford, Muhammad Burhan Hafez, SD Ramchurn, Shoaib Ehsan

机构 * School of Electronics and Computer Science, University of Southampton（索姆塞特大学电子与计算机科学学院） ； School of Electronics and Computer Science, Queensland University of Technology（昆士兰科技大学电子与计算机科学学院） ； School of Computer Science and Electronic Engineering, University of Essex（埃塞克斯大学计算机科学与电子工程学院） 纠错

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

Neural Sum-of-Squares: Certifying the Nonnegativity of Polynomials with Transformers

Nico Pelleriti, Christoph Spiegel, Shiwei Liu, David Martínez-Rubio, Max Zimmer, Sebastian Pokutta

专题命中 机器人数据与评测 ：robotics(abstract)；分类 cs.AI、cs.LG

A Modular Object Detection System for Humanoid Robots Using YOLO

Nicolas Pottier, Meng Cheng Lau

机构 * School of Engineering and Computer Science（工程与计算机科学学院） 纠错

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

Comments 7 Figures, 5 tables. This article was presented at FIRA Summit 2025. It will be updated for journal submission