机器人 / 具身智能

Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models

Chenrui Tie, Shengxiang Sun, Jinxuan Zhu, Yiwei Liu, Jingxiang Guo, Yue Hu, Haonan Chen, Junting Chen, Ruihai Wu, Lin Shao

机构 * National University of Singapore（新加坡国立大学） ； University of Toronto（多伦多大学） ； Peking University（北京大学） ； Sichuan University（四川大学） ； Zhejiang University（浙江大学） 纠错

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

Journal ref Robotics: Science and Systems 2025

The Impact of VR and 2D Interfaces on Human Feedback in Preference-Based Robot Learning

Jorge de Heuvel, Daniel Marta, Simon Holk, Iolanda Leite, Maren Bennewitz

机构 * Humanoid Robots Lab, University of Bonn, Germany（波恩大学人形机器人实验室） ； Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Sweden（皇家理工学院机器人、感知与学习部门） ； Robotics Institute Germany（德国机器人研究所） ； The Lamarr Institute, Bonn, Germany（德国波恩拉玛尔研究所） ； Center for Robotics, University of Bonn, Germany（德国波恩机器人中心） 纠错

专题命中 机器人学习 ：robot learning(title,abstract)；navigation(abstract)；分类 cs.RO

BiFlex: A Passive Bimodal Stiffness Flexible Wrist for Manipulation in Unstructured Environments

Gu-Cheol Jeong, Stefano Dalla Gasperina, Ashish D. Deshpande, Lillian Chin, Roberto Martín-Martín

机构 * The University of Texas（德克萨斯大学） ； Meta Reality Labs Research（Meta现实实验室） 纠错

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

Comments 8 pages, 10 figures

Integrating Trustworthy Artificial Intelligence with Energy-Efficient Robotic Arms for Waste Sorting

Halima I. Kure, Jishna Retnakumari, Augustine O. Nwajana, Umar M. Ismail, Bilyaminu A. Romo, Ehigiator Egho-Promise

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

Comments 5 pages, 2 figures

GMatch: A Lightweight, Geometry-Constrained Keypoint Matcher for Zero-Shot 6DoF Pose Estimation in Robotic Grasp Tasks

Ming Yang, Haoran Li

机构 * The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China（多模态人工智能系统国家重点实验室，自动化研究所，中国科学院，北京） 纠错

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

Comments 6 pages + 1 page references + 1 page appendix; 6 figures; 3 tables

Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions

Daniel Morton, Marco Pavone

机构 * Departments of Mechanical Engineering and Aeronautics & Astronautics, Stanford University（机械工程系和航空与航天系，斯坦福大学） 纠错

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

Comments To be presented at 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

RoBCtrl: Attacking GNN-Based Social Bot Detectors via Reinforced Manipulation of Bots Control Interaction

Yingguang Yang, Xianghua Zeng, Qi Wu, Hao Peng, Yutong Xia, Hao Liu, Bin Chong, Philip S. Yu

机构 * University of Science and Technology of China（科学技术大学） ； Beihang University（北京航空航天大学） ； National University of Singapore（国立新加坡大学） ； Peking University（北京大学） ； University of Illinois Chicago（伊利诺伊大学香槟分校） ； Institute for Clarity in Documentation（文档清晰研究所） ； Inria Paris-Rocquencourt（巴黎-拉德克利夫研究所） ； Rajiv Gandhi University（拉贾·甘地大学） ； Tsinghua University（清华大学） ； Palmer Research Laboratories（帕尔默研究实验室） 纠错

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

Comments 27 pages, 10 figures

Controlling Deformable Objects with Non-negligible Dynamics: a Shape-Regulation Approach to End-Point Positioning

Sebastien Tiburzio, Tomás Coleman, Daniel Feliu-Talegon, Cosimo Della Santina

机构 * 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)（机器人与机电系统研究所，德国航空航天中心（DLR）） 纠错

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

Comments 15 pages, 18 figures. Accepted for publication as a Regular Paper in the IEEE Transactions on Robotics (T-RO)

Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping

Haokai Ding, Zhaohan Chen, Tao Yang, Wenzeng Zhang

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

Comments 6 pages, 9 figures, Accepted author manuscript for IEEE CASE 2025

Journal ref 2025 IEEE 21st International Conference on Automation Science and Engineering (CASE), Los Angeles, CA, USA, 2025, pp. 3441-3446

Development of a Linear Guide-Rail Testbed for Physically Emulating ISAM Operations

Robert Muldrow, Channing Ludden, Christopher Petersen

机构 * University of Florida（佛罗里达大学） 纠错

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

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

Discrete Differential Geometry for Simulating Nonlinear Behaviors of Flexible Systems: A Survey

Dezhong Tong, Andrew Choi, Jiaqi Wang, Weicheng Huang, Zexiong Chen, Jiahao Li, Xiaonan Huang, Mingchao Liu, Huajian Gao, K. Jimmy Hsia

专题命中 机器人操作 ：robotics(abstract)；manipulation(abstract)

Comments 26 pages, 8 figures

Intent-Driven LLM Ensemble Planning for Flexible Multi-Robot Disassembly: Demonstration on EV Batteries

Cansu Erdogan, Cesar Alan Contreras, Alireza Rastegarpanah, Manolis Chiou, Rustam Stolkin

机构 * 1Extreme Robotics Lab, School of Metallurgy \& Materials, University of Birmingham, Birmingham, UK ； 2Department of Applied Artificial Intelligence ； Robotics, School of Computer Science, Aston University, Birmingham, UK ； 3School of Electronic Engineering ； Computer Science, Queen Mary University of London, London, UK 纠错

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

Comments This work is funded by the project called "Research and Development of a Highly Automated and Safe Streamlined Process for Increasing Lithium-ion Battery Repurposing and Recycling" (REBELION) under Grant 101104241, and partially supported by the Ministry of National Education, Republic of Turkey. Submitted to Frontiers for Review

ConsistEdit: Highly Consistent and Precise Training-free Visual Editing

Zixin Yin, Ling-Hao Chen, Lionel Ni, Xili Dai

机构 * Hong Kong University of Science and Technology（香港科学与技术大学） ； Tsinghua University（清华大学） ； International Digital Economy Academy（国际数字经济学院） 纠错

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

Comments SIGGRAPH Asia 2025

GSPlane: Concise and Accurate Planar Reconstruction via Structured Representation

Ruitong Gan, Junran Peng, Yang Liu, Chuanchen Luo, Qing Li, Zhaoxiang Zhang

机构 * The Hong Kong Polytechnic University（香港理工大学） ； University of Science and Technology Beijing（北京科技大学） ； NLPR, MAIS, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） ； University of Chinese Academy of Sciences（中国科学院大学） ； Shandong University（山东大学） 纠错

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

Neural Network Reprogrammability: A Unified Theme on Model Reprogramming, Prompt Tuning, and Prompt Instruction

Zesheng Ye, Chengyi Cai, Ruijiang Dong, Jianzhong Qi, Lei Feng, Pin-Yu Chen, Feng Liu

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

A Novel Gripper with Semi-Peaucellier Linkage and Idle-Stroke Mechanism for Linear Pinching and Self-Adaptive Grasping

Haokai Ding, Wenzeng Zhang

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

Comments Accepted author manuscript (AAM) for IEEE/RSJ IROS 2025. 6 pages, 10 figures

A Real-Time BCI for Stroke Hand Rehabilitation Using Latent EEG Features from Healthy Subjects

F. M. Omar, A. M. Omar, K. H. Eyada, M. Rabie, M. A. Kamel, A. M. Azab

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

Comments Proceedings of the 7th Novel Intelligent and Leading Emerging Sciences Conference (NILES 2025)

Kinetostatics and Particle-Swarm Optimization of Vehicle-Mounted Underactuated Metamorphic Loading Manipulators

Nan Mao, Junpeng Chen, Guanglu Jia, Emmanouil Spyrakos-Papastavridis, Jian S. Dai

机构 * Institute for Robotics Research（机器人研究所） ； Centre for Robotics Research（机器人研究中心） ； Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research (A*STAR)（新加坡制造技术研究所，科技研究局（A*STAR）） 纠错

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

Comments 48 pages, 18 figures

MGE-LDM: Joint Latent Diffusion for Simultaneous Music Generation and Source Extraction

Yunkee Chae, Kyogu Lee

机构 * Music and Audio Research Group (MARG)（音乐与音频研究组） ； Interdisciplinary Program in Artificial Intelligence (IPAI)（人工智能跨学科项目） ； AIIS（人工智能研究所） ； Department of Intelligence and Information（智能与信息系） 纠错

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

Comments Accepted by NeurIPS 2025

ETA-IK: Execution-Time-Aware Inverse Kinematics for Dual-Arm Systems

Yucheng Tang, Xi Huang, Yongzhou Zhang, Tao Chen, Ilshat Mamaev, Björn Hein

机构 * Karlsruhe University of Applied Sciences（卡尔斯鲁厄应用科学大学） ； Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院） ； Proximity Robotics & Automation GmbH（近程机器人与自动化公司） 纠错

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

Shifted rectangular mesh architecture for programmable photonics

Jacek Gosciniak

专题命中 机器人操作 ：manipulation(abstract)

Comments 20 pages, 10 figures

Light switching based on half space invisible states

A. R. Bekirov, A. F. Uspenskiy, V. A. Sitnyansky, B. S. Lukyanchuk, A. A. Fedyanin

专题命中 机器人操作 ：manipulation(abstract)

On-chip processing of optical orbital angular momentum

Charles Chen

专题命中 机器人操作 ：manipulation(abstract)

DINO-CVA: A Multimodal Goal-Conditioned Vision-to-Action Model for Autonomous Catheter Navigation

Pedram Fekri, Majid Roshanfar, Samuel Barbeau, Seyedfarzad Famouri, Thomas Looi, Dale Podolsky, Mehrdad Zadeh, Javad Dargahi

机构 * Gina Cody School of Engineering and Computer Science, Concordia University（甘娜·柯迪工程与计算机科学学院，康科迪亚大学） ； The Wilfred and Joyce Posluns Centre for Image Guided Innovation & Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids)（威廉与乔伊斯·波斯卢斯影像引导创新与治疗干预中心（PCIGITI）（SickKids医院）） ； Electrical and Computer Engineering Department, Kettering University（电气与计算机工程系，凯特林大学） 纠错

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

ZeST: an LLM-based Zero-Shot Traversability Navigation for Unknown Environments

Shreya Gummadi, Mateus V. Gasparino, Gianluca Capezzuto, Marcelo Becker, Girish Chowdhary

机构 * Field Robotics Engineering and Science Hub (FRESH), Illinois Autonomous Farm, University of Illinois at Urbana-Champaign (UIUC), IL（伊利诺伊大学厄巴纳-香槟分校） ； Mobile Robotics Group, São Carlos School of Engineering, University of São Paulo (EESC-USP), São Carlos, SP, Brazil（圣保罗大学） 纠错

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

GeNIE: A Generalizable Navigation System for In-the-Wild Environments

Jiaming Wang, Diwen Liu, Jizhuo Chen, Jiaxuan Da, Nuowen Qian, Tram Minh Man, Harold Soh

机构 * Department of Computer Science, School of Computing, National University of Singapore（计算机科学系、计算学院、新加坡国立大学） 纠错

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

Comments Accepted to IEEE Robotics and Automation Letters (RAL), 2025. Jiaming Wang, Diwen Liu, and Jizhuo Chen contributed equally to this work

NavQ: Learning a Q-Model for Foresighted Vision-and-Language Navigation

Peiran Xu, Xicheng Gong, Yadong MU

机构 * Peking University（北京大学） 纠错

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

Comments ICCV 2025

Immersive Explainability: Visualizing Robot Navigation Decisions through XAI Semantic Scene Projections in Virtual Reality

Jorge de Heuvel, Sebastian Müller, Marlene Wessels, Aftab Akhtar, Christian Bauckhage, Maren Bennewitz

机构 * University of Bonn（波恩大学） ； Lamarr Institute for Machine Learning and Artificial Intelligence（拉马尔人工智能与机器学习研究所） ； Center for Robotics（机器人中心） ； University of Mainz（美因茨大学） ； Fraunhofer Institute for Intelligent Analysis and Information Systems IAIS（弗劳恩霍夫智能分析与信息系统研究所） 纠错

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

Demonstration-Enhanced Adaptable Multi-Objective Robot Navigation

Jorge de Heuvel, Tharun Sethuraman, Maren Bennewitz

机构 * Humanoid Robots Lab, University of Bonn, Germany（波恩大学人形机器人实验室） 纠错

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

Safe Multi-Agent Reinforcement Learning for Behavior-Based Cooperative Navigation

Murad Dawood, Sicong Pan, Nils Dengler, Siqi Zhou, Angela P. Schoellig, Maren Bennewitz

机构 * Humanoid Robots Lab, University of Bonn（波恩大学人形机器人实验室） 纠错

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