机器人 / 具身智能

2504.14305 2025-10-28 cs.RO 57%

Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning

Jiyuan Shi, Xinzhe Liu, Dewei Wang, Ouyang Lu, Sören Schwertfeger, Chi Zhang, Fuchun Sun, Chenjia Bai, Xuelong Li

机构 * Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究院（TeleAI），中国电信）； ShanghaiTech University（上海科技大学）； University of Science and Technology of China（中国科学技术大学）； Northwestern Polytechnical University（西北工业大学）； Tsinghua University（清华大学）

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

Comments NeurIPS 2025. Code: https://github.com/TeleHuman/ALMI-Open, Dataset: https://huggingface.co/datasets/TeleEmbodied/ALMI-X

2506.05020 2025-10-28 cs.RO cs.AI 92%

Hierarchical Language Models for Semantic Navigation and Manipulation in an Aerial-Ground Robotic System

Haokun Liu, Zhaoqi Ma, Yunong Li, Junichiro Sugihara, Yicheng Chen, Jinjie Li, Moju Zhao

机构 * DRAGON Lab at Department of Mechanical Engineering, The University of Tokyo（东京大学机械工程系DRAGON实验室）

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

Comments 18 pages, 10 figures

Journal ref Advanced Intelligent Systems, Oct. 2025

2510.21991 2025-10-28 cs.RO cs.AI 90%

Two-Steps Diffusion Policy for Robotic Manipulation via Genetic Denoising

Mateo Clemente, Leo Brunswic, Rui Heng Yang, Xuan Zhao, Yasser Khalil, Haoyu Lei, Amir Rasouli, Yinchuan Li

机构 * Huawei Technologies Canada（华为技术加拿大）

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

Comments 16 pages, 11 figure, 2 tables, accepted at Neurips 2025

2510.22113 2025-10-28 cs.RO cs.HC 89%

RaycastGrasp: Eye-Gaze Interaction with Wearable Devices for Robotic Manipulation

Zitiantao Lin, Yongpeng Sang, Yang Ye

机构 * College of Engineering Northeastern University Boston, USA ； Khoury College of Computer Sciences Northeastern University Boston, USA ； Department of Civil \& Environmental Engineering Northeastern University Boston, USA

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

Comments 5 pages, 5 figures; Accepted to: 2025 IEEE 4th International Conference on Intelligent Reality (ICIR 2025); Zitiantao Lin and Yongpeng Sang contributed equally to this work (co-first authors). Corresponding author: Yang Ye (y.ye@northeastern.edu)

2510.23016 2025-10-28 cs.RO 83%

ManiDP: Manipulability-Aware Diffusion Policy for Posture-Dependent Bimanual Manipulation

Zhuo Li, Junjia Liu, Dianxi Li, Tao Teng, Miao Li, Sylvain Calinon, Darwin Caldwell, Fei Chen

机构 * 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）； Hong Kong Center for Logistics Robotics（香港物流机器人中心）； Department of Technological Sciences, Wuhan University（技术科学系、武汉大学）； Idiap Research Institute（Idiap研究所）； Department of Advanced Robotics, Istituto Italiano di Tecnologia（先进机器人系、意大利Istituto Italiano di Tecnologia）

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

Comments 7 pages, 6 figures, Accepted and published in IROS 2025

2509.25776 2025-10-28 cs.CV cs.AI 81%

Editable Noise Map Inversion: Encoding Target-image into Noise For High-Fidelity Image Manipulation

Mingyu Kang, Yong Suk Choi

机构 * Department of Artificial Intelligence, University of Hanyang, Seoul, Korea（人工智能系，翰阳大学，韩国首尔）； Department of Computer Science, University of Hanyang, Seoul, Korea（计算机科学系，翰阳大学，韩国首尔）

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

Comments ICML 2025

2508.12980 2025-10-28 cs.RO 79%

Scaling Whole-body Multi-contact Manipulation with Contact Optimization

Victor Levé, João Moura, Sachiya Fujita, Tamon Miyake, Steve Tonneau, Sethu Vijayakumar

机构 * School of Informatics, The University of Edinburgh（信息学院、爱丁堡大学）； Waseda University（早稻田大学）

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

Comments This work has been accepted for publication in IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids 2025). Copyrights to IEEE

Journal ref 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)

2510.21744 2025-10-28 cs.RO 79%

FORGE-Tree: Diffusion-Forcing Tree Search for Long-Horizon Robot Manipulation

Yanjia Huang, Shuo Liu, Sheng Liu, Qingxiao Xu, Mingyang Wu, Xiangbo Gao, Zhengzhong Tu

机构 * Department of Computer Science and Engineering, Texas A&M University（德克萨斯A&M大学计算机科学与工程系）； Department of Electrical & Computer Engineering, University of Washington（华盛顿大学电气与计算机工程系）； Karlsruhe Institute of Technology, Germany（德国卡尔斯鲁厄理工学院）

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

2510.23119 2025-10-28 cs.RO 77%

OmniDexGrasp: Generalizable Dexterous Grasping via Foundation Model and Force Feedback

Yi-Lin Wei, Zhexi Luo, Yuhao Lin, Mu Lin, Zhizhao Liang, Shuoyu Chen, Wei-Shi Zheng

机构 * School of Computer Science and Engineering, Sun Yat-sen University, China（计算机科学与工程学院，中山大学）

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

Comments Project page: https://isee-laboratory.github.io/OmniDexGrasp/

2501.02630 2025-10-28 cs.RO 74%

Soft and Compliant Contact-Rich Hair Manipulation and Care

Uksang Yoo, Nathaniel Dennler, Eliot Xing, Maja Matarić, Stefanos Nikolaidis, Jeffrey Ichnowski, Jean Oh

机构 * Carnegie Mellon University（卡内基梅隆大学）； University of Southern California（南加州大学）

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

2506.23068 2025-10-28 cs.LG cs.AI stat.AP 73%

Curious Causality-Seeking Agents Learn Meta Causal World

Zhiyu Zhao, Haoxuan Li, Haifeng Zhang, Jun Wang, Francesco Faccio, Jürgen Schmidhuber, Mengyue Yang

机构 * University of Bristol（布里斯托大学）； Peking University（北京大学）； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）； School of Artificial Intelligence, Chinese Academy of Sciences（中国科学院人工智能学院）； University College London（伦敦大学学院）； King Abdullah University of Science and Technology（卡塔尔科技大学）； The Swiss AI Lab, IDSIA-USI/SUPSI（瑞士AI实验室，IDSIA-USI/SUPSI）

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

Comments 30 pages

2410.19263 2025-10-28 cond-mat.mes-hall 71%

Ultrafast selective mid-infrared sublattice manipulation in the ferrimagnet $FeCr_2S_4$

Davide Soranzio, Matteo Savoini, Fabian Graf, Rafael T. Winkler, Abhishek Nag, Hiroki Ueda, Kenya Ohgushi, Yoshinori Tokura, Steven L. Johnson

专题命中机器人操作：manipulation(title)

Comments 25 pages, 17 figures

Journal ref Phys. Rev. Research 7, L042025 (2025)

2510.21756 2025-10-28 physics.comp-ph cond-mat.mtrl-sci 71%

Utilizing SciPy and other open source packages to provide a powerful API for materials manipulation in the Schrödinger Materials Suite

Alexandr Fonari, Farshad Fallah, Michael Rauch

专题命中机器人操作：manipulation(title)

Journal ref Proceedings of the 21st Python in Science Conference (2022)

2504.04516 2025-10-28 cs.RO 70%

DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments

Lixin Xu, Zixuan Liu, Zhewei Gui, Jingxiang Guo, Zeyu Jiang, Tongzhou Zhang, Zhixuan Xu, Chongkai Gao, Lin Shao

机构 * School of Computing, National University of Singapore（新加坡国立大学计算机学院）

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

2510.23003 2025-10-28 cs.RO cs.CV cs.SY eess.SY 62%

An Intelligent Water-Saving Irrigation System Based on Multi-Sensor Fusion and Visual Servoing Control

ZhengKai Huang, YiKun Wang, ChenYu Hui, XiaoCheng

机构 * Xi'an Jiaotong University Faculty of Microelectronics Science（西安交通大学微电子科学与工程学院）； Xi'an Jiaotong University School of Electrical Engineering（西安交通大学电气工程学院）

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

2510.22199 2025-10-28 cs.CV cs.GR cs.RO 62%

MOGRAS: Human Motion with Grasping in 3D Scenes

Kunal Bhosikar, Siddharth Katageri, Vivek Madhavaram, Kai Han, Charu Sharma

机构 * Machine Learning Lab, International Institute of Information Technology, Hyderabad, India（机器学习实验室，国际信息科技研究所，印度海得拉巴）； Vision AI Lab, The University of Hong Kong, Pokfulam Road, Hong Kong（视觉人工智能实验室，香港大学，薄扶林路，香港）

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

Comments British Machine Vision Conference Workshop - From Scene Understanding to Human Modeling

2509.11173 2025-10-28 cs.CR cs.AI cs.LG cs.SE 62%

Your Compiler is Backdooring Your Model: Understanding and Exploiting Compilation Inconsistency Vulnerabilities in Deep Learning Compilers

Simin Chen, Jinjun Peng, Yixin He, Junfeng Yang, Baishakhi Ray

机构 * University of Southern California（南加州大学）

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

Comments This paper is accepted to IEEE S&P 2026, the code is available at https://github.com/SeekingDream/DLCompilerAttack

2503.15386 2025-10-28 cs.RO cs.AI 62%

CCDP: Composition of Conditional Diffusion Policies with Guided Sampling

Amirreza Razmjoo, Sylvain Calinon, Michael Gienger, Fan Zhang

机构 * Honda Research Institute Europe GmbH（本田欧洲研究院）； Idiap Research Institute（IDIAP研究所）； École Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）

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

Comments Accepted to IROS 2025

2510.23234 2025-10-28 cs.RO 57%

Optimal Dimensioning of Elastic-Link Manipulators regarding Lifetime Estimation

Klaus Zauner, Hubert Gattringer, Andreas Mueller

专题命中机器人操作：robotic(abstract)；分类 cs.RO

Comments Mechanics Based Design of Structures and Machines, December 2024

2510.22283 2025-10-28 cs.CR cs.LG cs.SY eess.SY physics.app-ph 57%

Adapting Noise-Driven PUF and AI for Secure WBG ICS: A Proof-of-Concept Study

Devon A. Kelly, Christiana Chamon

机构 * Department of Electrical and Computer Engineering（电气与计算机工程系）

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

2509.19921 2025-10-28 cs.LG cs.CR cs.GT 57%

On the Fragility of Contribution Score Computation in Federated Learning

Balazs Pejo, Marcell Frank, Krisztian Varga, Peter Veliczky, Gergely Biczok

机构 * Dep. of Networked Systems and Services（网络化系统与服务系）； Fac. of Electrical Eng. and Informatics（电气工程与信息学系）； Faculty of Natural Sciences（自然科学系）

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

2508.03543 2025-10-28 cs.SD cs.AI eess.AS 57%

EmoSteer-TTS: Fine-Grained and Training-Free Emotion-Controllable Text-to-Speech via Activation Steering

Tianxin Xie, Shan Yang, Chenxing Li, Dong Yu, Li Liu

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州））； Tencent AI Lab（腾讯人工智能实验室）

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

Comments 25 pages, 9 figures, 3 tables

2505.20455 2025-10-28 cs.RO 57%

HAND Me the Data: Fast Robot Adaptation via Hand Path Retrieval

Matthew Hong, Anthony Liang, Kevin Kim, Harshitha Rajaprakash, Jesse Thomason, Erdem Bıyık, Jesse Zhang

机构 * Thomas Lord Department of Computer Science, University of Southern California（汤姆·劳德计算机科学系，南加州大学）

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

2505.19911 2025-10-28 cs.CV 57%

Attention! Your Vision Language Model Could Be Maliciously Manipulated

Xiaosen Wang, Shaokang Wang, Zhijin Ge, Yuyang Luo, Shudong Zhang

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

Comments NeurIPS 2025

2502.11521 2025-10-28 cs.CR cs.AI 57%

Detecting Various DeFi Price Manipulations with LLM Reasoning

Juantao Zhong, Daoyuan Wu, Ye Liu, Maoyi Xie, Yang Liu, Yi Li, Ning Liu

机构 * Daoyuan Wu is the co-first author.（达元吴是共同第一作者）； Ye Liu is the corresponding author.（叶刘是通讯作者）

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

Comments Accepted by ASE 2025. Please cite the conference version of this paper, e.g., "Juantao Zhong, Daoyuan Wu, Ye Liu, Maoyi Xie, Yang Liu, Yi Li, Ning Liu. Detecting Various DeFi Price Manipulations with LLM Reasoning. In 40th IEEE/ACM International Conference on Automated Software Engineering (ASE 2025)"

2510.23268 2025-10-28 cond-mat.stat-mech cond-mat.mes-hall cond-mat.soft 50%