机器人 / 具身智能

When Object-Centric World Models Meet Policy Learning: From Pixels to Policies, and Where It Breaks

Stefano Ferraro, Akihiro Nakano, Masahiro Suzuki, Yutaka Matsuo

机构 * IDLAB, Gent University, Gent, Belgium（根特大学IDLAB实验室，比利时根特） ； Graduate School of Engineering, The University of Tokyo, Tokyo, Japan（东京大学工学院） 纠错

专题命中 机器人学习 ：world model(title,abstract)；分类 cs.AI

Towards Affordance-Aware Robotic Dexterous Grasping with Human-like Priors

Haoyu Zhao, Linghao Zhuang, Xingyue Zhao, Cheng Zeng, Haoran Xu, Yuming Jiang, Jun Cen, Kexiang Wang, Jiayan Guo, Siteng Huang, Xin Li, Deli Zhao, Hua Zou

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

Comments AAAI 2026

RePose-NeRF: Robust Radiance Fields for Mesh Reconstruction under Noisy Camera Poses

Sriram Srinivasan, Gautam Ramachandra

机构 * Bellatrix Aerospace（贝尔拉克斯航空航天） 纠错

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

Comments Several figures are included to illustrate the reconstruction and rendering quality of the proposed method, which is why the submission exceeds the 50MB file size limit. > Several figures are included to illustrate the reconstruction and rendering quality of the proposed method, which is why the submission exceeds the 50,000 KB file size limit (Now this has been resolved)

Intuitive control of supernumerary robotic limbs through a tactile-encoded neural interface

Tianyu Jia, Xingchen Yang, Ciaran McGeady, Yifeng Li, Jinzhi Lin, Kit San Ho, Feiyu Pan, Linhong Ji, Chong Li, Dario Farina

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

Robust Nearest Neighbour Retrieval Using Targeted Manifold Manipulation

B. Ghosh, H. Harikumar, S. Rana

机构 * Applied Artificial Intelligence Institute, Deakin University, Australia（应用人工智能研究所，德金大学，澳大利亚） ； The University of Manchester, Manchester, England（曼彻斯特大学，曼彻斯特，英格兰） 纠错

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

LLM-GROP: Visually Grounded Robot Task and Motion Planning with Large Language Models

Xiaohan Zhang, Yan Ding, Yohei Hayamizu, Zainab Altaweel, Yifeng Zhu, Yuke Zhu, Peter Stone, Chris Paxton, Shiqi Zhang

机构 * The State University of New York at Binghamton（纽约州立大学布林顿分校） ； The University of Texas at Austin（德克萨斯大学奥斯汀分校） ； Sony AI（索尼人工智能） ； Hello Robot（Hello Robot公司） ； Shanghai AI Laboratory（上海人工智能实验室） ； OneStar Robotics（OneStar机器人） 纠错

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

Journal ref The International Journal of Robotics Research, 2025, Vol. 0(0), pp. 1-19

MPMA: Preference Manipulation Attack Against Model Context Protocol

Zihan Wang, Rui Zhang, Yu Liu, Wenshu Fan, Wenbo Jiang, Qingchuan Zhao, Hongwei Li, Guowen Xu

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

Comments This is an extended version of the copyrighted publication at AAAI

Internal Causal Mechanisms Robustly Predict Language Model Out-of-Distribution Behaviors

Jing Huang, Junyi Tao, Thomas Icard, Diyi Yang, Christopher Potts

机构 * stanford（斯坦福大学） 纠错

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

Comments ICML 2025

A Supervised Autonomous Resection and Retraction Framework for Transurethral Enucleation of the Prostatic Median Lobe

Mariana Smith, Tanner Watts, Susheela Sharma Stern, Brendan Burkhart, Hao Li, Alejandro O. Chara, Nithesh Kumar, James Ferguson, Ayberk Acar, Jesse F. d'Almeida, Lauren Branscombe, Lauren Shepard, Ahmed Ghazi, Ipek Oguz, Jie Ying Wu, Robert J. Webster, Axel Krieger, Alan Kuntz

机构 * Laboratory for Computational Sensing and Robotics, Johns Hopkins University（计算感知与机器人实验室，约翰霍普金斯大学） ； Department of Mechanical Engineering, Vanderbilt University（机械工程系，范德比尔特大学） ； Department of Computer Science, Vanderbilt University（计算机科学系，范德比尔特大学） ； Department of General Surgery, Vanderbilt University Medical Center（外科学系，范德比尔特大学医学中心） ； Virtuoso Surgical（Virtuoso手术公司） ； Department of Urology, Johns Hopkins University James Buchanan Brady Urological Institute（泌尿外科系，约翰霍普金斯大学詹姆斯·布坎南·布里克泌尿外科研究所） 纠错

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

Comments Submitted to International Symposium on Medial Robotics (ISMR) 2026. 7 pages, 8 figures

A Two-Layer Electrostatic Film Actuator with High Actuation Stress and Integrated Brake

Huacen Wang, Hongqiang Wang

机构 * Department of Mechanical and Energy Engineering, Southern University of Science and Technology（机械与能源工程系，南方科技大学） 纠错

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

Residual Rotation Correction using Tactile Equivariance

Yizhe Zhu, Zhang Ye, Boce Hu, Haibo Zhao, Yu Qi, Dian Wang, Robert Platt

机构 * Northeastern University（东北大学） ； Stanford University（斯坦福大学） 纠错

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

Comments 8 pages

Cuprate Twistronics for Quantum Hardware

Tommaso Confalone, Flavia Lo Sardo, Yejin Lee, Sanaz Shokri, Giuseppe Serpico, Alessandro Coppo, Valerii M. Vinokur, Luca Chirolli, Valentina Brosco, Uri Vool, Domenico Montemurro, Francesco Tafuri, Golam Haider, Kornelius Nielsch, Nicola Poccia

专题命中 机器人操作 ：manipulation(abstract)

Journal ref Adv Quantum Technol. 2025, 2500203

Strategic Learning with Asymmetric Rationality

Qingmin Liu, Yuyang Miao

专题命中 机器人操作 ：manipulation(abstract)

Experimental proposal of a mode sorter for vector vortex beams of arbitrary order

P. Schneider Lacerda, L. Marques Fagundes, R. Medeiros de Araújo

专题命中 机器人操作 ：manipulation(abstract)

Comments 7 pages, 4 figures

Virtual Traffic Lights for Multi-Robot Navigation: Decentralized Planning with Centralized Conflict Resolution

Sagar Gupta, Thanh Vinh Nguyen, Thieu Long Phan, Vidul Attri, Archit Gupta, Niroshinie Fernando, Kevin Lee, Seng W. Loke, Ronny Kutadinata, Benjamin Champion, Akansel Cosgun

机构 * Deakin University（德金大学） ； National Transport Research Organisation (NTRO)（国家交通研究组织） 纠错

专题命中 具身导航 ：navigation(title)；分类 cs.RO

Learning Vision-Based Neural Network Controllers with Semi-Probabilistic Safety Guarantees

Xinhang Ma, Junlin Wu, Hussein Sibai, Yiannis Kantaros, Yevgeniy Vorobeychik

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

Navigating the Wild: Pareto-Optimal Visual Decision-Making in Image Space

Durgakant Pushp, Weizhe Chen, Zheng Chen, Chaomin Luo, Jason M. Gregory, Lantao Liu

机构 * Luddy School of Informatics, Computing, and Engineering（信息学、计算与工程学院） ； Indiana University（印第安纳大学） ； Department of Electrical and Computer Engineering（电气与计算机工程系） ； Mississippi State University（密苏里州立大学） ； DEVCOM Army Research Laboratory（陆军研究实验室） 纠错

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

UniMapGen: A Generative Framework for Large-Scale Map Construction from Multi-modal Data

Yujian Yuan, Changjie Wu, Xinyuan Chang, Sijin Wang, Hang Zhang, Shiyi Liang, Shuang Zeng, Mu Xu, Ning Guo

机构 * Alibaba Group（阿里巴巴集团） 纠错

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

Comments AAAI2026 Oral

Audio-Visual Traffic Light State Detection for Urban Robots

Sagar Gupta, Akansel Cosgun

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

Comments Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Extended Time Varying Multi-Cluster Fluctuating Two-Ray Fading Model for Maritime Environment

Antoine Thibault Vié, Roberto Galeazzi, Dimitrios Papagergiou

专题命中 具身导航 ：navigation(abstract)

Effective SU(2) gadget: holonomic walk on higher-order Poincaré sphere

Mohammad Umar, Sarvesh Bansal, Paramasivam Senthilkumaran

专题命中 具身导航 ：navigation(abstract)

Comments 12 pages, 4 figures, 2 tables

From Pixels to Cooperation Multi Agent Reinforcement Learning based on Multimodal World Models

Sureyya Akin, Kavita Srivastava, Prateek B. Kapoor, Pradeep G. Sethi, Sunita Q. Patel, Rahu Srivastava

专题命中 具身推理 ：world model(title,abstract)

Comments We have identified critical issues in the code implementation that severely deviate from Algorithm 1, invalidating all experimental results and conclusions. Despite exhaustive efforts to correct these issues, we find they fundamentally undermine the paper's core claims. To uphold academic integrity and prevent misinformation, we are withdrawing this manuscript

AgentSense: Virtual Sensor Data Generation Using LLM Agents in Simulated Home Environments

Zikang Leng, Megha Thukral, Yaqi Liu, Hrudhai Rajasekhar, Shruthi K. Hiremath, Jiaman He, Thomas Plötz

专题命中 具身推理 ：embodied AI(abstract)；embodied agent(abstract)；world model(abstract)；分类 cs.CV

Comments Accepted by AAAI 2026

3D4D: An Interactive, Editable, 4D World Model via 3D Video Generation

Yunhong He, Zhengqing Yuan, Zhengzhong Tu, Yanfang Ye, Lichao Sun

专题命中 具身推理 ：world model(title)；分类 cs.CV

Comments Accepted by AAAI 2026 Demo Track

FutureSightDrive: Thinking Visually with Spatio-Temporal CoT for Autonomous Driving

Shuang Zeng, Xinyuan Chang, Mengwei Xie, Xinran Liu, Yifan Bai, Zheng Pan, Mu Xu, Xing Wei, Ning Guo

机构 * Xi’an Jiaotong University（西安交通大学） ； Amap, Alibaba Group（阿里巴巴集团） ； DAMO Academy, Alibaba Group（阿里巴巴达摩院） 纠错

专题命中 具身推理 ：world model(abstract)；分类 cs.CV

Comments Accepted to NeurIPS 2025 as Spotlight Presentation. Code: https://github.com/MIV-XJTU/FSDrive

Human Machine Social Hybrid Intelligence:A Collaborative Decision Making Framework for Large Model Agent Groups and Human Experts

Ahmet Akkaya Melih, Yamuna Singh, Kunal L. Agarwal, Priya Mukherjee, Kiran Pattnaik, Hanuman Bhatia

专题命中 具身推理 ：world model(abstract)

Comments We have identified critical issues in the code implementation that severely deviate from Algorithm 1, invalidating all experimental results and conclusions. Despite exhaustive efforts to correct these issues, we find they fundamentally undermine the paper's core claims. To uphold academic integrity and prevent misinformation, we are withdrawing this manuscript

LPPG-RL: Lexicographically Projected Policy Gradient Reinforcement Learning with Subproblem Exploration

Ruiyu Qiu, Rui Wang, Guanghui Yang, Xiang Li, Zhijiang Shao

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

Balance Equation-based Distributionally Robust Offline Imitation Learning

Rishabh Agrawal, Yusuf Alvi, Rahul Jain, Ashutosh Nayyar

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

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

On the Convergence and Stability of Upside-Down Reinforcement Learning, Goal-Conditioned Supervised Learning, and Online Decision Transformers

Miroslav Štrupl, Oleg Szehr, Francesco Faccio, Dylan R. Ashley, Rupesh Kumar Srivastava, Jürgen Schmidhuber

机构 * Dalle Molle Institute for Artificial Intelligence (IDSIA) - USI/SUPSI（达摩信息技术研究所（IDSIA）- USI/SUPSI） ； Center of Excellence for Generative AI, King Abdullah University of Science and Technology（生成人工智能卓越中心，国王阿卜杜勒阿齐兹大学科学与技术学院） ； NNAISENSE 纠错

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

Comments 85 pages in main text + 4 pages of references + 26 pages of appendices, 12 figures in main text + 2 figures in appendices; source code available at https://github.com/struplm/eUDRL-GCSL-ODT-Convergence-public

AgentPRM: Process Reward Models for LLM Agents via Step-Wise Promise and Progress

Zhiheng Xi, Chenyang Liao, Guanyu Li, Yajie Yang, Wenxiang Chen, Zhihao Zhang, Binghai Wang, Senjie Jin, Yuhao Zhou, Jian Guan, Wei Wu, Tao Ji, Tao Gui, Qi Zhang, Xuanjing Huang

机构 * Fudan University（复旦大学） ； Ant Group（蚂蚁集团） 纠错

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

Comments Preprint