机器人 / 具身智能

2505.05525 2025-10-28 cs.LG physics.flu-dyn 79%

A critical assessment of reinforcement learning methods for microswimmer navigation in complex flows

Selim Mecanna, Aurore Loisy, Christophe Eloy

机构 * Aix Marseille Univ, CNRS, Centrale Med, IRPHE（艾克斯-马赛大学、国家科学研究中心、中央医学学院、IRPHE）

专题命中模仿学习与强化学习：navigation(title,abstract)；分类 cs.LG

Journal ref Eur. Phys. J. E 48, 58 (2025)

2510.19495 2025-10-28 cs.RO cs.AI cs.LG 75%

Using Non-Expert Data to Robustify Imitation Learning via Offline Reinforcement Learning

Kevin Huang, Rosario Scalise, Cleah Winston, Ayush Agrawal, Yunchu Zhang, Rohan Baijal, Markus Grotz, Byron Boots, Benjamin Burchfiel, Masha Itkina, Paarth Shah, Abhishek Gupta

机构 * University of Washington（华盛顿大学）； Toyota Research Institute (TRI)（丰田研究院）

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

2503.16447 2025-10-28 cs.HC cs.RO 70%

SHIFT: An Interdisciplinary Framework for Scaffolding Human Attention and Understanding in Explanatory Tasks

André Groß, Birte Richter, Britta Wrede

机构 * Medical Assistance Systems, Medical School OWL（医疗辅助系统，OWL医学院）； Center for Cognitive Interaction Technology, CITEC from Bielefeld University（认知交互技术中心，Bielefeld大学）

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

Comments 8 pages, 3 figures

2510.22420 2025-10-28 cs.RO cs.SY eess.SY 70%

A Novel Multi-Timescale Stability-Preserving Hierarchical Reinforcement Learning Controller Framework for Adaptive Control in High-Dimensional Dynamical Systems

Mohammad Ali Labbaf Khaniki, Fateme Taroodi, Benyamin Safizadeh

机构 * Faculty of Electrical Engineering K.N. Toosi University of Technology（法拉比科技大学电气工程学院）； Faculty of Mathematical Sciences Shahid Beheshti University（沙希德·贝赫什提大学数学科学学院）； Department of Mathematics and Computer Science University of Central Oklahoma（中央俄克拉荷马大学数学与计算机科学系）

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

2409.11403 2025-10-28 cs.RO 57%

UniLCD: Unified Local-Cloud Decision-Making via Reinforcement Learning

Kathakoli Sengupta, Zhongkai Shangguan, Sandesh Bharadwaj, Sanjay Arora, Eshed Ohn-Bar, Renato Mancuso

机构 * Boston University（波士顿大学）； Red Hat（红帽公司）

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

Comments ECCV 24

2510.22892 2025-10-28 cs.RO cs.SY eess.SY 57%

Never Too Rigid to Reach: Adaptive Virtual Model Control with LLM- and Lyapunov-Based Reinforcement Learning

Jingzehua Xu, Yangyang Li, Yangfei Chen, Guanwen Xie, Shuai Zhang

机构 * Department of Engineering, University of Cambridge（剑桥大学工程系）； Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology（麻省理工学院电气工程与计算机科学系）； Zhejiang University-University of Illinois Urbana-Champaign Institute, Zhejiang University（浙江大学-伊利诺伊大学厄巴纳-香槟分校联合研究所）； Tsinghua Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际 Graduate School）； Department of Data Science, New Jersey Institute of Technology（新泽西理工学院数据科学系）

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

2510.22699 2025-10-28 cs.RO 57%

RL-AVIST: Reinforcement Learning for Autonomous Visual Inspection of Space Targets

Matteo El-Hariry, Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez

机构 * Earth Species Project（地球物种计划）

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

2510.22524 2025-10-28 cs.RO 57%

Ant-inspired Walling Strategies for Scalable Swarm Separation: Reinforcement Learning Approaches Based on Finite State Machines

Shenbagaraj Kannapiran, Elena Oikonomou, Albert Chu, Spring Berman, Theodore P. Pavlic

机构 * School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ 85287, USA（1 工程物质、运输与能量学院，亚利桑那州立大学，Tempe, AZ 85287, USA）； School of Computing and Augmented Intelligence, Arizona State University, Tempe, AZ 85281, USA（2 计算与增强智能学院，亚利桑那州立大学，Tempe, AZ 85281, USA）； School of Life Sciences, Arizona State University, Tempe, AZ 85281, USA（3 生命科学学院，亚利桑那州立大学，Tempe, AZ 85281, USA）

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

2510.21840 2025-10-28 cs.CV cs.GR 57%

Improving the Physics of Video Generation with VJEPA-2 Reward Signal

Jianhao Yuan, Xiaofeng Zhang, Felix Friedrich, Nicolas Beltran-Velez, Melissa Hall, Reyhane Askari-Hemmat, Xiaochuang Han, Nicolas Ballas, Michal Drozdzal, Adriana Romero-Soriano

机构 * FAIR, Meta Superintelligence Labs（FAIR、Meta超智能实验室）； University of Oxford（牛津大学）； Mila - Québec AI Institute（魁北克人工智能研究所）； Université de Montréal（蒙特利尔大学）； Columbia University（哥伦比亚大学）； McGill University（麦吉尔大学）； Canada CIFAR AI Chair（加拿大CIFAR人工智能 chair）

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

Comments 2 pages

Journal ref Winning entry of the ICCV 2025 Physics IQ Challenge

2510.21771 2025-10-28 cs.RO 84%

Improving the performance of AI-powered Affordable Robotics for Assistive Tasks

Dharunish Yugeswardeenoo

机构 * Central Bucks High School South（中央巴克斯高中南校区）

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

Comments 6 pages, 5 figures. Accepted to Conference on Robot Learning (CoRL 2025), Seoul, Korea

2510.23495 2025-10-28 cs.RO 57%

COOPERA: Continual Open-Ended Human-Robot Assistance

Chenyang Ma, Kai Lu, Ruta Desai, Xavier Puig, Andrew Markham, Niki Trigoni

机构 * University of Oxford（牛津大学）

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

Comments NeurIPS 2025 (Spotlight); Project Page: https://dannymcy.github.io/coopera/

2510.23059 2025-10-28 cs.RO 57%

Awakening Facial Emotional Expressions in Human-Robot

Yongtong Zhu, Lei Li, Iggy Qian, WenBin Zhou, Ye Yuan, Qingdu Li, Na Liu, Jianwei Zhang

机构 * Institute of Machine Intelligence, University of Shanghai for Science and Technology（上海理工大学机器智能学院）； College Of Information Engineering, Zhejiang University of Technology（浙江工业大学信息工程学院）； Shanghai Droid Robot Co., Ltd.（上海机灵狗机器人有限公司）； Department of Informatics, University of Hamburg（汉堡大学信息学院）

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

Comments Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025). 8 pages, 7 figures, IEEE two-column format

2510.23176 2025-10-28 cs.RO cs.LG 81%

TARC: Time-Adaptive Robotic Control

Arnav Sukhija, Lenart Treven, Jin Cheng, Florian Dörfler, Stelian Coros, Andreas Krause

机构 * Department of Computer Science, ETH Zurich（计算机科学系，苏黎世联邦理工学院）

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

2510.21867 2025-10-28 cs.CV cs.AI 81%

Addressing Corner Cases in Autonomous Driving: A World Model-based Approach with Mixture of Experts and LLMs

Haicheng Liao, Bonan Wang, Junxian Yang, Chengyue Wang, Zhengbin He, Guohui Zhang, Chengzhong Xu, Zhenning Li

机构 * State Key Laboratory of Internet of Things for Smart City, University of Macau（物联网智能城市国家重点实验室，澳门大学）； Department of Computer and Information Science, University of Macau（计算机与信息科学系，澳门大学）； Department of Civil and Environmental Engineering, University of Macau（土木与环境工程系，澳门大学）； Senseable City Lab, Massachusetts Institute of Technology（可感知城市实验室，麻省理工学院）； Department of Civil and Environmental Engineering, University of Hawaii（土木与环境工程系，夏威夷大学）

专题命中机器人数据与评测：world model(title,abstract)；分类 cs.AI、cs.CV

2506.21669 2025-10-28 cs.AI 79%

SEEA-R1: Tree-Structured Reinforcement Fine-Tuning for Self-Evolving Embodied Agents

Wanxin Tian, Shijie Zhang, Kevin Zhang, Xiaowei Chi, Chunkai Fan, Junyu Lu, Yulin Luo, Qiang Zhou, Yiming Zhao, Ning Liu, Siyu Lin, Zhiyuan Qin, Xiaozhu Ju, Shanghang Zhang, Jian Tang

机构 * Beijing Innovation Center of Humanoid Robotics（人形机器人创新中心）； State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University（多媒体信息处理国家重点实验室，计算机科学学院，北京大学）

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

2510.23576 2025-10-28 cs.RO cs.AI cs.CV 67%

UrbanVLA: A Vision-Language-Action Model for Urban Micromobility

Anqi Li, Zhiyong Wang, Jiazhao Zhang, Minghan Li, Yunpeng Qi, Zhibo Chen, Zhizheng Zhang, He Wang

机构 * Peking University（北京大学）； Galbot ； USTC（中国科学技术大学）； BAAI（阿里巴巴人工智能研究院）

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

2509.20414 2025-10-28 cs.GR cs.CV cs.LG cs.RO 67%

SceneWeaver: All-in-One 3D Scene Synthesis with an Extensible and Self-Reflective Agent

Yandan Yang, Baoxiong Jia, Shujie Zhang, Siyuan Huang

机构 * State Key Laboratory of General Artificial Intelligence, BIGAI（1 通用人工智能国家重点实验室、BIGAI）； Tsinghua University（2 清华大学）

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

Comments Accepted by NeurIPS 2025, 26 pages

2501.13457 2025-10-28 cs.RO cs.AI cs.LG cs.SY eess.SY 67%

Zero-Shot Trajectory Planning for Signal Temporal Logic Tasks

Ruijia Liu, Ancheng Hou, Xiao Yu, Xiang Yin

机构 * Department of Automation（自动化系）； Shanghai Jiao Tong University（上海交通大学）； Institute of Artificial Intelligence（人工智能研究院）； Xiamen University（厦门大学）

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

2510.14627 2025-10-28 cs.RO cs.CV 62%

GOPLA: Generalizable Object Placement Learning via Synthetic Augmentation of Human Arrangement

Yao Zhong, Hanzhi Chen, Simon Schaefer, Anran Zhang, Stefan Leutenegger

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

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

2505.13227 2025-10-28 cs.AI cs.CL cs.CV cs.HC 62%

Scaling Computer-Use Grounding via User Interface Decomposition and Synthesis

Tianbao Xie, Jiaqi Deng, Xiaochuan Li, Junlin Yang, Haoyuan Wu, Jixuan Chen, Wenjing Hu, Xinyuan Wang, Yuhui Xu, Zekun Wang, Yiheng Xu, Junli Wang, Doyen Sahoo, Tao Yu, Caiming Xiong

机构 * The University of Hong Kong（香港大学）； Salesforce AI Research（Salesforce AI研究院）

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

Comments 49 pages, 13 figures

2510.23190 2025-10-28 cs.CV 61%

Evaluation of Vision-LLMs in Surveillance Video

Pascal Benschop, Cristian Meo, Justin Dauwels, Jelte P. Mense

机构 * Department of Computer Science（计算机科学系）； Delft University of Technology（代尔夫特理工大学）； LatentWorlds AI ； National Policelab AI & Model-Driven Decisions Lab（国家警务实验室AI与模型驱动决策实验室）

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

Comments Accepted as poster in the NeurIPS 2025 Workshop on Space in Vision, Language, and Embodied AI

2510.23368 2025-10-28 cs.CV 57%

PlanarTrack: A high-quality and challenging benchmark for large-scale planar object tracking

Yifan Jiao, Xinran Liu, Xiaoqiong Liu, Xiaohui Yuan, Heng Fan, Libo Zhang

机构 * organization= Institute of Software, Chinese Academy of Sciences , city= Beijing , country= China ； organization= University of Chinese Academy of Sciences , city= Beijing , country= China ； organization= Dept. of Computer Science \& Engineering, University of North Texas , city= Denton , country= United States of America

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

2510.23203 2025-10-28 cs.CV 57%

DecoDINO: 3D Human-Scene Contact Prediction with Semantic Classification

Lukas Bierling, Davide Pasero, Fleur Dolmans, Helia Ghasemi, Angelo Broere

机构 * University of Amsterdam（阿姆斯特丹大学）

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

2510.22949 2025-10-28 cs.RO cs.SY eess.SY 57%

End-to-End Design and Validation of a Low-Cost Stewart Platform with Nonlinear Estimation and Control

Benedictus C. G. Cinun, Tua A. Tamba, Immanuel R. Santjoko, Xiaofeng Wang, Michael A. Gunarso, Bin Hu

机构 * Department of Electrical and Computer Engineering at University of Houston（德克萨斯大学休斯顿分校电气与计算机工程系）； Department of Electrical Engineering, Faculty of Engineering Technology, Parahyangan Catholic University（帕拉哈扬天主教大学工程技术学院电气工程系）； Department of Electrical Engineering, University of South Carolina（南卡罗来纳大学电气工程系）； Department of Engineering Technology, Electrical and Computer Engineering, University of Houston（德克萨斯大学休斯顿分校工程技术系、电气与计算机工程系）

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

Comments 24 pages, journal

2510.22821 2025-10-28 cs.RO cs.SY eess.SY 57%

Analytical Swarm Chemistry: Characterization and Analysis of Emergent Swarm Behaviors

Ricardo Vega, Connor Mattson, Kevin Zhu, Daniel S. Brown, Cameron Nowzari

机构 * George Mason University（乔治·玛森大学）； Kahlert School of Computing, University of Utah（计算学院，犹他大学）

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

Comments 9 pages, 8 figures, 1 table

2510.15963 2025-10-28 cs.CV cs.AI cs.LG 82%

ESCA: Contextualizing Embodied Agents via Scene-Graph Generation

Jiani Huang, Amish Sethi, Matthew Kuo, Mayank Keoliya, Neelay Velingker, JungHo Jung, Ser-Nam Lim, Ziyang Li, Mayur Naik

专题命中其他机器人：embodied agent(title,abstract)；分类 cs.AI、cs.CV、cs.LG

Comments Accepted as a Spotlight Paper at NeurIPS 2025

2412.00538 2025-10-28 cs.RO cs.LG cs.SY eess.SY stat.AP 81%

Prognostic Framework for Robotic Manipulators Operating Under Dynamic Task Severities

Ayush Mohanty, Jason Dekarske, Stephen K. Robinson, Sanjay Joshi, Nagi Gebraeel

机构 * School of Industrial and Systems Engineering, Georgia Institute of Technology（工业与系统工程系，佐治亚理工学院）； Department of Mechanical and Aerospace Engineering, University of California Davis（机械与航空航天工程系，加州大学戴维斯分校）

专题命中其他机器人：robotic(title,abstract)；分类 cs.RO、cs.LG

Comments Accepted for Publication in IEEE Transactions on Systems, Man, and Cybernetics: Systems

2510.23227 2025-10-28 cs.RO 80%

Workspace Registration and Collision Detection for Industrial Robotics Applications

Klaus Zauner, Josef El Dib, Hubert Gattringer, Andreas Mueller

机构 * Institute of Robotics（机器人研究所）； Johannes Kepler University（约翰·凯撒大学）

专题命中其他机器人：robotics(title,journal_ref)；robotic(abstract)；分类 cs.RO

Journal ref Proceedings AIRoV - The First Austrian Symposium on AI, Robotics, and Vision, 25.-27.3.2024, Innsbruck, March 2024

2510.23357 2025-10-28 cs.RO 72%

Large language model-based task planning for service robots: A review

Shaohan Bian, Ying Zhang, Guohui Tian, Zhiqiang Miao, Edmond Q. Wu, Simon X. Yang, Changchun Hua

机构 * School of Electrical Engineering, Yanshan University（燕山大学电气工程学院）； Engineering Research Center of Intelligent Control System and Intelligent Equipment, Ministry of Education, Yanshan University（燕山大学智能控制与设备工程研究中心）； Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University（河北省智能康复与神经调制重点实验室）； School of Control Science and Engineering, Shandong University（山东大学控制科学与工程学院）； National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University（国家机器人视觉感知与控制技术工程研究中心）； Department of Automation, Shanghai Jiao Tong University（上海交通大学自动化系）； Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph（圭尔夫大学工程学院先进机器人与智能系统实验室）

专题命中其他机器人：robotics(abstract,comments)；robotic(abstract)；分类 cs.RO

Comments Submitted to Biomimetic Intelligence and Robotics for possible publication

2510.21785 2025-10-28 cs.CV cs.GR cs.LG cs.RO 67%

Multi-Agent Pose Uncertainty: A Differentiable Rendering Cramér-Rao Bound

Arun Muthukkumar

机构 * Illinois Mathematics and Science Academy（伊利诺伊数学与科学学院）

专题命中其他机器人：robotics(abstract)；分类 cs.RO、cs.CV、cs.LG

Comments 5 pages, 3 figures, 1 table. Presented at IEEE/CVF International Conference on Computer Vision (ICCV 2025) and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

1. 模仿学习与强化学习 11 篇