机器人 / 具身智能 - arXivDaily 专题

2505.15685 2025-11-04 cs.RO 90%

From Grounding to Manipulation: Case Studies of Foundation Model Integration in Embodied Robotic Systems

Xiuchao Sui, Daiying Tian, Qi Sun, Ruirui Chen, Dongkyu Choi, Kenneth Kwok, Soujanya Poria

机构 * IHPC, Agency for Science, Technology and Research, Singapore（科技研究局智能技术中心，新加坡）； Nanyang Technological University, Singapore（南洋理工大学，新加坡）

专题命中机器人操作：manipulation(title,abstract)；robotic(title,abstract)；robotics(abstract)；embodied agent(abstract)

Comments EMNLP 2025 camera ready

2511.01501 2025-11-04 cs.CV cs.RO 90%

SE(3)-PoseFlow: Estimating 6D Pose Distributions for Uncertainty-Aware Robotic Manipulation

Yufeng Jin, Niklas Funk, Vignesh Prasad, Zechu Li, Mathias Franzius, Jan Peters, Georgia Chalvatzaki

机构 * Department of Computer Science, TU Darmstadt（图宾根大学计算机科学系）； Honda Research Institute Europe GmbH（本田欧洲研究院）； DFKI, Research Department SAIROL（德累斯顿人工智能研究所）

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

2510.15530 2025-11-04 cs.RO cs.CV cs.LG 89%

VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulation

Zehao Ni, Yonghao He, Lingfeng Qian, Jilei Mao, Fa Fu, Wei Sui, Hu Su, Junran Peng, Zhipeng Wang, Bin He

机构 * D-Robotics（D机器人）； National Key Laboratory of Autonomous Intelligent Unmanned Systems（国家级自主智能无人机系统实验室）； University of Science and Technology Beijing（北京科技大学）； State Key Laboratory of Multimodal Artificial Intelligence System (MAIS) Institute of Automation of Chinese Academy of Sciences（多模态人工智能系统（MAIS）实验室，中国科学院自动化研究所）； Frontiers Science Center for Intelligent Autonomous Systems（智能自主系统前沿科学中心）； Shanghai Institute of Intelligent Science and Technology, Tongji University（上海智能科学技术研究院，同济大学）

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

2510.23763 2025-11-04 cs.RO cs.CL cs.CV 84%

RoboOmni: Proactive Robot Manipulation in Omni-modal Context

Siyin Wang, Jinlan Fu, Feihong Liu, Xinzhe He, Huangxuan Wu, Junhao Shi, Kexin Huang, Zhaoye Fei, Jingjing Gong, Zuxuan Wu, Yu-Gang Jiang, See-Kiong Ng, Tat-Seng Chua, Xipeng Qiu

机构 * Fudan University（复旦大学）； Shanghai Innovation Institute（上海创新研究院）； National University of Singapore（新加坡国立大学）

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

2511.01232 2025-11-04 cs.RO 83%

High-Precision Surgical Robotic System for Intraocular Procedures

Yu-Ting Lai, Jacob Rosen, Yasamin Foroutani, Ji Ma, Wen-Cheng Wu, Jean-Pierre Hubschman, Tsu-Chin Tsao

机构 * Department of Mechanical and Aerospace Engineering, University of California, Los Angeles（机械与航空航天工程系，加州大学洛杉矶分校）； Stein Eye Institute, University of California, Los Angeles（斯坦眼科研究所，加州大学洛杉矶分校）

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

2511.01476 2025-11-04 cs.RO cs.AI 81%

MO-SeGMan: Rearrangement Planning Framework for Multi Objective Sequential and Guided Manipulation in Constrained Environments

Cankut Bora Tuncer, Marc Toussaint, Ozgur S. Oguz

机构 * LIRA Lab, Bilkent University, Turkey（比尔肯大学LIRA实验室，土耳其）； LIS Lab, TU Berlin, Germany（柏林技术大学LIS实验室，德国）； Department of Computer Engineering, Bilkent University（比尔肯大学计算机工程系）

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

Comments 8 pages, 8 figures, website:https://sites.google.com/view/mo-segman/

2505.02291 2025-11-04 cs.RO 80%

Dexterous Contact-Rich Manipulation via the Contact Trust Region

H. J. Terry Suh, Tao Pang, Tong Zhao, Russ Tedrake

机构 * Massachusetts Institute of Technology, USA（麻省理工学院）； RAI Institute (formerly Boston Dynamics AI Institute), USA（RAI研究所）

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

Journal ref International Journal of Robotics Research 2025

2511.00259 2025-11-04 cs.RO cs.ET cs.HC 79%

Tailored robotic training improves hand function and proprioceptive processing in stroke survivors with proprioceptive deficits: A randomized controlled trial

Andria J. Farrens, Luis Garcia-Fernandez, Raymond Diaz Rojas, Jillian Obeso Estrada, Dylan Reinsdorf, Vicky Chan, Disha Gupta, Joel Perry, Eric Wolbrecht, An Do, Steven C. Cramer, David J. Reinkensmeyer

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

Comments Main manuscript: 38 pages (double spaced, with references), 6 figures, 2 tables and collated supplemental materials (17 pages, double spaced)

2507.22608 2025-11-04 cs.CL 78%

Language Arithmetics: Towards Systematic Language Neuron Identification and Manipulation

Daniil Gurgurov, Katharina Trinley, Yusser Al Ghussin, Tanja Baeumel, Josef van Genabith, Simon Ostermann

机构 * Saarland University（萨尔兰大学）； German Research Center for AI (DFKI)（德国人工智能研究中心）； Centre for European Research in Trusted AI (CERTAIN)（可信人工智能欧洲研究中心）

专题命中机器人操作：manipulation(title,abstract)

Comments accepted to AACL main

2511.00373 2025-11-04 physics.optics cond-mat.mes-hall 78%

Direct Observation and Optical Manipulation of Exciton-polariton Parametric Scattering Lasing in Temporal

Junxing Dong, Si Shen, Jingzhuo Wang, Lisheng Wang, Yifan Zhang, Huashan Li, Xianghu Wang, Wei Gao, Yongzheng Fang, Hai Zhu

专题命中机器人操作：manipulation(title,abstract)

2503.05301 2025-11-04 cs.RO 74%

A Helping (Human) Hand in Kinematic Structure Estimation

Adrian Pfisterer, Xing Li, Vito Mengers, Oliver Brock

机构 * Robotics and Biology Laboratory, Technische Universität Berlin（技术大学柏林机器人与生物学实验室）； Science of Intelligence, Research Cluster of Excellence, Berlin（智能科学优秀研究集群，柏林）

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

Comments Accepted at ICRA25; 8 pages + 7 figures; For supplementary material, see https://www.tu.berlin/robotics/papers/helpinghands

Journal ref IEEE International Conference on Robotics and Automation (ICRA), 2025, pp. 11918-11925

2511.01791 2025-11-04 cs.RO cs.AI 73%

GenDexHand: Generative Simulation for Dexterous Hands

Feng Chen, Zhuxiu Xu, Tianzhe Chu, Xunzhe Zhou, Li Sun, Zewen Wu, Shenghua Gao, Zhongyu Li, Yanchao Yang, Yi Ma

机构 * The University of Hong Kong（香港大学）； Transcengram ； Shanghai Jiao Tong University（上海交通大学）； The Chinese University of Hong Kong（香港中文大学）

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

2511.01520 2025-11-04 cs.RO 70%

Phy-Tac: Toward Human-Like Grasping via Physics-Conditioned Tactile Goals

Shipeng Lyu, Lijie Sheng, Fangyuan Wang, Wenyao Zhang, Weiwei Lin, Zhenzhong Jia, David Navarro-Alarcon, Guodong Guo

机构 * Department of Mechanical Engineering, The Hong Kong Polytechnic University (PolyU)（香港理工大学机械工程系）； Research Institute for Smart Ageing (RISA), PolyU（PolyU智能老龄化研究所以）； Ningbo Institute of Digital Twin, Eastern Institute of Technology (EIT)（宁波数字孪生研究所，东部技术研究所）； Department of Mechanical and Energy Engineering, Southern University of Science and Technology（南方科技大学机械与能源工程系）

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

Comments 9 papges, 10 figures, 3 tables

2511.00516 2025-11-04 cs.RO 70%

Adaptive and Multi-object Grasping via Deformable Origami Modules

Peiyi Wang, Paul A. M. Lefeuvre, Shangwei Zou, Zhenwei Ni, Daniela Rus, Cecilia Laschi

机构 * Singapore MIT Alliance for Research and Technology (SMART) centre（新加坡-麻省理工联合研究与技术中心）； Department of Mechanical Engineering, National University of Singapore（国立新加坡大学机械工程系）

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

2310.04566 2025-11-04 cs.RO cs.AI cs.CV cs.LG 70%

Knolling Bot: Teaching Robots the Human Notion of Tidiness

Yuhang Hu, Judah Goldfeder, Zhizhuo Zhang, Xinyue Zhu, Ruibo Liu, Philippe Wyder, Jiong Lin, Hod Lipson

机构 * Columbia University（哥伦比亚大学）

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

Comments Accepted at the 39th Conference on Neural Information Processing Systems (NeurIPS 2025) Creative AI Track

2506.10978 2025-11-04 cs.CV cs.AI cs.LG 67%

Where and How to Perturb: On the Design of Perturbation Guidance in Diffusion and Flow Models

Donghoon Ahn, Jiwon Kang, Sanghyun Lee, Minjae Kim, Jaewon Min, Wooseok Jang, Sangwu Lee, Sayak Paul, Susung Hong, Seungryong Kim

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

Comments Accepted at NeurIPS 2025. Project page: https://cvlab-kaist.github.io/HeadHunter/

2511.00083 2025-11-04 cs.LG cs.AI 62%

Fixed-point graph convolutional networks against adversarial attacks

Shakib Khan, A. Ben Hamza, Amr Youssef

机构 * Concordia Institute for Information Systems Engineering（康科迪亚信息系统工程研究所）； Concordia University（康科迪亚大学）

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

2511.01379 2025-11-04 cs.RO 57%

CM-LIUW-Odometry: Robust and High-Precision LiDAR-Inertial-UWB-Wheel Odometry for Extreme Degradation Coal Mine Tunnels

Kun Hu, Menggang Li, Zhiwen Jin, Chaoquan Tang, Eryi Hu, Gongbo Zhou

机构 * School of Mechatronic Engineering, China University of Mining and Technology（机械电子工程学院，中国矿业大学）

专题命中机器人操作：robotics(abstract)；分类 cs.RO

Comments Accepted by IROS 2025

2511.01276 2025-11-04 cs.RO 57%

Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generation

Yiyao Ma, Kai Chen, Kexin Zheng, Qi Dou

机构 * Department of Computer Science and Engineering, The Chinese University of Hong Kong（计算机科学与工程系，香港中文大学）

专题命中机器人操作：robotics(abstract)；分类 cs.RO

2510.27630 2025-11-04 cs.AI 57%

Interaction as Intelligence Part II: Asynchronous Human-Agent Rollout for Long-Horizon Task Training

Dayuan Fu, Yunze Wu, Xiaojie Cai, Lyumanshan Ye, Shijie Xia, Zhen Huang, Weiye Si, Tianze Xu, Jie Sun, Keyu Li, Mohan Jiang, Junfei Wang, Qishuo Hua, Pengrui Lu, Yang Xiao, Pengfei Liu

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

2510.22736 2025-11-04 cs.CV 57%

Cross-view Localization and Synthesis -- Datasets, Challenges and Opportunities

Ningli Xu, Rongjun Qin

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

Comments 15 Figures

2511.01839 2025-11-04 cs.HC 50%