机器人 / 具身智能

Learning Additively Compositional Latent Actions for Embodied AI

学习可加性组合的潜在动作以实现具身AI

Hangxing Wei, Xiaoyu Chen, Chuheng Zhang, Tim Pearce, Jianyu Chen, Alex Lamb, Li Zhao, Jiang Bian

机构 * Wuhan University（武汉大学） ； Tsinghua University（清华大学） ； Microsoft Research（微软研究院） 纠错

专题命中 机器人学习 ：embodied AI(title,abstract)；分类 cs.AI、cs.CV

AI总结 本文提出AC-LAM模型，通过强制潜在动作空间上的可加性组合结构，提升动作表示的结构性和准确性，优于现有方法。

PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations

PvP: 通过体感优先对比表示实现数据高效的类人机器人学习

Mingqi Yuan, Tao Yu, Haolin Song, Bo Li, Xin Jin, Hua Chen, Wenjun Zeng

机构 * HK PolyU（香港理工大学） ； LimX Dynamics ； EIT, Ningbo（宁波工程学院） ； USTC（中国科学技术大学） ； ZJU-UIUC（浙江大学-UIUC） ； ZGCA（浙江工业大学） 纠错

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

AI总结 PvP通过体感优先对比学习提升类人机器人学习的样本效率和性能。

Comments 15 pages, 17 figures

Journal ref 2026 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)

Quality over Quantity: Demonstration Curation via Influence Functions for Data-Centric Robot Learning

质量优于数量：通过影响函数进行演示数据的 curated

Haeone Lee, Taywon Min, Junsu Kim, Sinjae Kang, Fangchen Liu, Lerrel Pinto, Kimin Lee

机构 * KAIST（韩国科学技术院） ； University of California, Berkeley（加州大学伯克利分校） ； New York University（纽约大学） 纠错

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

AI总结 本文提出 QoQ 方法，通过影响函数识别高质量演示数据，提升机器人学习性能。

Comments Accepted to ICRA 2026, 8 pages

Using Temperature Sampling to Effectively Train Robot Learning Policies on Imbalanced Datasets

Basavasagar Patil, Sydney Belt, Jayjun Lee, Nima Fazeli, Bernadette Bucher

机构 * Department of Robotics, University of Michigan（机器人学系，密歇根大学） 纠错

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

RaC: Robot Learning for Long-Horizon Tasks by Scaling Recovery and Correction

Zheyuan Hu, Robyn Wu, Naveen Enock, Jasmine Li, Riya Kadakia, Zackory Erickson, Aviral Kumar

机构 * Carnegie Mellon University（卡内基梅隆大学） 纠错

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

Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion

Nico Bohlinger, Jonathan Kinzel, Daniel Palenicek, Lukasz Antczak, Jan Peters

机构 * Department of Computer Science, Technical University of Darmstadt（德累斯顿技术大学计算机科学系） ； MAB Robtics ； German Research Center for AI (DFKI), Research Department: Systems AI for Robot Learning（德国人工智能研究中心（DFKI）系统AI机器人学习研究部） ； Robotics Institute Germany (RIG)（德国机器人研究所） 纠错

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

Towards Generalist Robot Learning from Internet Video: A Survey

Robert McCarthy, Daniel C. H. Tan, Dominik Schmidt, Fernando Acero, Nathan Herr, Yilun Du, Thomas G. Thuruthel, Zhibin Li

机构 * University College London（伦敦大学学院） ； Massachusetts Institute of Technology（麻省理工学院） 纠错

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

Journal ref Journal of Artificial Intelligence Research, Vol.83, Article 12. Publication date: July 2025

SECURE: Semantics-aware Embodied Conversation under Unawareness for Lifelong Robot Learning

Rimvydas Rubavicius, Peter David Fagan, Alex Lascarides, Subramanian Ramamoorthy

机构 * School of Informatics The University of Edinburgh（信息学院爱丁堡大学） 纠错

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

Comments Published at 4th Conference on Lifelong Learning Agents (CoLLAs), 2025

dARt Vinci: Egocentric Data Collection for Surgical Robot Learning at Scale

Yihao Liu, Yu-Chun Ku, Jiaming Zhang, Hao Ding, Peter Kazanzides, Mehran Armand

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

Comments 8 pages, 7 figures

Simulation-Aided Policy Tuning for Black-Box Robot Learning

Shiming He, Alexander von Rohr, Dominik Baumann, Ji Xiang, Sebastian Trimpe

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

Learning Nonverbal Cues in Multiparty Social Interactions for Robotic Facilitators

Antonio Lech Martin-Ozimek, Isuru Jayarathne, Su Larb Mon, Jouhyeong Chew

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

Comments Submitted to as a short contribution to HRI2025

ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedback

Sirui Chen, Chen Wang, Kaden Nguyen, Li Fei-Fei, C. Karen Liu

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

Comments 8 pages, 8 Figures, submitted to ICRA 2025

AnySkin: Plug-and-play Skin Sensing for Robotic Touch

Raunaq Bhirangi, Venkatesh Pattabiraman, Enes Erciyes, Yifeng Cao, Tess Hellebrekers, Lerrel Pinto

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

Learning to Play Foosball: System and Baselines

Janosch Moos, Cedric Derstroff, Niklas Schröder, Debora Clever

专题命中 机器人学习 ：robotics(abstract,comments)；robot learning(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments 7 pages, 5 figures, 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA) (2024) 4326-4332

A Survey of Robotic Language Grounding: Tradeoffs between Symbols and Embeddings

Vanya Cohen, Jason Xinyu Liu, Raymond Mooney, Stefanie Tellex, David Watkins

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

Comments IJCAI 2024 Survey Track

The Power of Combined Modalities in Interactive Robot Learning

Helen Beierling, Anna-Lisa Vollmer

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

ToP-ToM: Trust-aware Robot Policy with Theory of Mind

Chuang Yu, Baris Serhan, Angelo Cangelosi

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

Comments 7 pages

Spatial-Language Attention Policies for Efficient Robot Learning

Priyam Parashar, Vidhi Jain, Xiaohan Zhang, Jay Vakil, Sam Powers, Yonatan Bisk, Chris Paxton

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

Lifelong Robot Learning with Human Assisted Language Planners

Meenal Parakh, Alisha Fong, Anthony Simeonov, Tao Chen, Abhishek Gupta, Pulkit Agrawal

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

Decentralized Motor Skill Learning for Complex Robotic Systems

Yanjiang Guo, Zheyuan Jiang, Yen-Jen Wang, Jingyue Gao, Jianyu Chen

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

Comments 8 pages, 7 figures

Learning rewards for robotic ultrasound scanning using probabilistic temporal ranking

Michael Burke, Katie Lu, Daniel Angelov, Artūras Straižys, Craig Innes, Kartic Subr, Subramanian Ramamoorthy

专题命中 机器人学习 ：robotic(title)；robotics(abstract)；分类 cs.RO、cs.LG

Comments Accepted for publication at Springer Autonomous Robots, 2023

VMAS: A Vectorized Multi-Agent Simulator for Collective Robot Learning

Matteo Bettini, Ryan Kortvelesy, Jan Blumenkamp, Amanda Prorok

专题命中 机器人学习 ：robot learning(title)；robotics(abstract)；分类 cs.RO、cs.LG

Robot Policy Learning from Demonstration Using Advantage Weighting and Early Termination

Abdalkarim Mohtasib, Gerhard Neumann, Heriberto Cuayahuitl

专题命中 机器人学习 ：robot policy(title)；robotic(abstract)；分类 cs.RO、cs.LG

Towards Exploiting Geometry and Time for Fast Off-Distribution Adaptation in Multi-Task Robot Learning

K. R. Zentner, Ryan Julian, Ujjwal Puri, Yulun Zhang, Gaurav Sukhatme

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

Comments Accepted to Challenges of Real World Reinforcement Learning, Virtual Workshop at NeurIPS 2020

GoSafe: Globally Optimal Safe Robot Learning

Dominik Baumann, Alonso Marco, Matteo Turchetta, Sebastian Trimpe

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

Efficient Robotic Object Search via HIEM: Hierarchical Policy Learning with Intrinsic-Extrinsic Modeling

Xin Ye, Yezhou Yang

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

Comments RA-L & ICRA21

Classified Regression for Bayesian Optimization: Robot Learning with Unknown Penalties

Alonso Marco, Dominik Baumann, Philipp Hennig, Sebastian Trimpe

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

Comments This paper was submitted to JMLR in 2018 and rejected. Currently, it is not published, nor under review in any conference or journal venue

Decoupling feature extraction from policy learning: assessing benefits of state representation learning in goal based robotics

Antonin Raffin, Ashley Hill, René Traoré, Timothée Lesort, Natalia Díaz-Rodríguez, David Filliat

专题命中 机器人学习 ：robotics(title,abstract)；分类 cs.RO、cs.LG

Comments Github repo: https://github.com/araffin/srl-zoo Documentation: https://srl-zoo.readthedocs.io/en/latest/, As part of SRL-Toolbox: https://s-rl-toolbox.readthedocs.io/en/latest/. Accepted to the Workshop on Structure & Priors in Reinforcement Learning at ICLR 2019

GAPLE: Generalizable Approaching Policy LEarning for Robotic Object Searching in Indoor Environment

Xin Ye, Zhe Lin, Joon-Young Lee, Jianming Zhang, Shibin Zheng, Yezhou Yang

专题命中 机器人学习 ：robotic(title)；navigation(abstract)；分类 cs.RO、cs.CV

3D Human Pose Estimation in RGBD Images for Robotic Task Learning

Christian Zimmermann, Tim Welschehold, Christian Dornhege, Wolfram Burgard, Thomas Brox

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

Comments Accepted to ICRA 2018. Video and Code (ROS node) are available: http://lmb.informatik.uni-freiburg.de/projects/rgbd-pose3d/