机器人 / 具身智能

RIM Hand : A Robotic Hand with an Accurate Carpometacarpal Joint and Nitinol-Supported Skeletal Structure

RIM手：具有精确的掌骨腕关节和镍钛合金支撑骨骼结构的机器人手

Joon Lee, Jeongyoon Han, Doyoung Kim, Seokhwan Jeong

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

AI总结 RIM手通过仿生设计和镍钛合金支撑结构，实现了高灵活性和负载能力，适用于假肢和服务机器人领域。

Comments Soft Robotics

Sequentially Teaching Sequential Tasks $(ST)^2$: Teaching Robots Long-horizon Manipulation Skills

顺序教学顺序任务（ST）²：教机器人长周期操作技能

Zlatan Ajanović, Ravi Prakash, Leandro de Souza Rosa, Jens Kober

机构 * Computer Science Department, RWTH Aachen University（鲁尔大学亚琛分校计算机科学系） ； Cyber Physical Systems, Indian Institute of Science Bengaluru（印度科学研究院班加罗尔分校） ； Alma Mater Studiorum Università di Bologna（博洛尼亚大学） ； Cognitive Robotics Department, Delft University of Technology（代尔夫特理工大学认知机器人学系） 纠错

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

AI总结 （ST）²通过顺序方法帮助机器人学习长周期操作技能，通过分步演示提升教学效率和用户偏好。

Comments Accepted for publication in IEEE Robotics and Automation Magazine

A Hyperspectral Imaging Guided Robotic Grasping System

基于超光谱成像的机器人抓取系统

Zheng Sun, Zhipeng Dong, Shixiong Wang, Zhongyi Chu, Fei Chen

机构 * Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR（机械与自动化工程系，T-Stone机器人研究所，香港中文大学，香港特别行政区） ； School of Instrumentation and Optoelectronic Engineering, Beihang University（仪器与光电工程学院，北航大学） 纠错

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

AI总结 本文提出一种基于超光谱成像的机器人抓取系统，通过PRISM和SpectralGrasp框架提升纺织品识别和分拣效率。

Comments 8 pages, 7 figures, Accepted to IEEE Robotics and Automation Letters (RA-L) 2025

Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation

全身体态逆动力学MPC用于腿部机动操作

Lukas Molnar, Jin Cheng, Gabriele Fadini, Dongho Kang, Fatemeh Zargarbashi, Stelian Coros

机构 * Department of Mechanical and Process Engineering, ETH Zurich（机械与过程工程系，苏黎世联邦理工学院） ； Computational Robotics Lab, Department of Computer Science, ETH Zurich（计算机器人实验室，计算机科学系，苏黎世联邦理工学院） 纠错

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

AI总结 本文提出了一种全身MPC框架，通过逆动力学优化实现腿部机动操作中的统一运动与力规划，实现实时80Hz性能，完成重物拉动、推箱子和擦拭白板等任务。

Comments 9 pages, 6 figures, to be published in IEEE Robotics and Automation Letters (Special Issue: Advancements in MPC and Learning Algorithms for Legged Robots)

Innovative Design of Multi-functional Supernumerary Robotic Limbs with Ellipsoid Workspace Optimization

Jun Huo, Jian Huang, Jie Zuo, Bo Yang, Zhongzheng Fu, Xi Li, Samer Mohammed

机构 * Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control（教育部图像处理与智能控制重点实验室） ； Hubei Key Laboratory of Brain-inspired Intelligent Systems（湖北省脑启发式智能系统重点实验室） ； School of Artificial Intelligence and Automation（人工智能与自动化学院） ； State Key Laboratory of Intelligent Vehicle Safety Technology（智能车辆安全技术国家重点实验室） ； Chongqing Changan Automobile Co Ltd（重庆长安汽车有限公司） ； School of Information Engineering（信息工程学院） ； Univ Paris-Est Créteil（巴黎-est创造大学） 纠错

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

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 4699-4718, 2025

A Multi-Arm Robotic Platform for Scientific Exploration

Murilo Marques Marinho, Juan José Quiroz-Omaña, Kanako Harada

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

Comments Accepted on RAM 2023, 10 pages

Journal ref IEEE Robotics & Automation Magazine, vol. 31, no. 4, pp. 10-20, Dec. 2024

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） 纠错

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

PLEXUS Hand: Lightweight Four-Motor Prosthetic Hand Enabling Precision-Lateral Dexterous Manipulation

Yuki Kuroda, Tomoya Takahashi, Cristian C Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka

机构 * OMRON SINIC X Corporation（OMRON SINIC X公司） 纠错

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

Journal ref 2025 International Conference On Rehabilitation Robotics (ICORR), Chicago, IL, USA, 2025, pp. 22-29

Generalist Robot Manipulation beyond Action Labeled Data

Alexander Spiridonov, Jan-Nico Zaech, Nikolay Nikolov, Luc Van Gool, Danda Pani Paudel

机构 * ETH Zurich, Switzerland（苏黎世联邦理工学院，瑞士） 纠错

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

Comments Accepted at Conference on Robot Learning 2025

Pre-Manipulation Alignment Prediction with Parallel Deep State-Space and Transformer Models

Motonari Kambara, Komei Sugiura

机构 * Keio University（keio大学） 纠错

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

Comments Published in Advanced Robotics

Exploring the Vulnerability of the Content Moderation Guardrail in Large Language Models via Intent Manipulation

Jun Zhuang, Haibo Jin, Ye Zhang, Zhengjian Kang, Wenbin Zhang, Gaby G. Dagher, Haohan Wang

机构 * Boise State University（博伊州立大学） ； University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） ； University of Pittsburgh（匹兹堡大学） ； New York University（纽约大学） ； Florida International University（佛罗里达国际大学） 纠错

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

Comments Accepted for EMNLP'25 Findings. TL;DR: We propose a new two-stage intent-based prompt-refinement framework, IntentPrompt, that aims to explore the vulnerability of LLMs' content moderation guardrails by refining prompts into benign-looking declarative forms via intent manipulation for red-teaming purposes

Mitigating Compensatory Movements in Prosthesis Users via Adaptive Collaborative Robotics

Marta Lagomarsino, Robin Arbaud, Francesco Tassi, Arash Ajoudani

机构 * Human-Robot Interfaces and Interaction, Istituto Italiano di Tecnologia（人机交互与交互，意大利技术研究院） ； Dept. of Informatics, Bioengineering, Robotics and System Engineering, University of Genoa（信息学、生物工程、机器人与系统工程系，热那亚大学） 纠错

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

Comments 6 pages, 6 figures, IEEE International Conference on Rehabilitation Robotics (ICORR)

RAMBO: RL-Augmented Model-Based Whole-Body Control for Loco-Manipulation

Jin Cheng, Dongho Kang, Gabriele Fadini, Guanya Shi, Stelian Coros

机构 * Computational Robotics Lab in the Department of Computer Science, ETH Zurich（苏黎世联邦理工学院计算机科学系计算机器人实验室） ； Robotics Institute and the School of Computer Science at Carnegie Mellon University（卡内基梅隆大学机器人研究所和计算机科学学院） 纠错

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

Comments Accepted to IEEE Robotics and Automation Letters (RA-L)

PlaneHEC: Efficient Hand-Eye Calibration for Multi-view Robotic Arm via Any Point Cloud Plane Detection

Ye Wang, Haodong Jing, Yang Liao, Yongqiang Ma, Nanning Zheng

机构 * National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University（国家人类-机器混合增强智能重点实验室，人工智能与机器人研究院，西安交通大学） 纠错

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

Comments Accepted by 2025 IEEE International Conference on Robotics & Automation (ICRA)

TACT: Humanoid Whole-body Contact Manipulation through Deep Imitation Learning with Tactile Modality

Masaki Murooka, Takahiro Hoshi, Kensuke Fukumitsu, Shimpei Masuda, Marwan Hamze, Tomoya Sasaki, Mitsuharu Morisawa, Eiichi Yoshida

机构 * CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST)（CNRS-AIST联合机器人实验室、IRL和国家先进工业科学与技术研究院） ； Tokyo University of Science（东京科学大学） ； University of Tsukuba（茨口大学） 纠错

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

Journal ref IEEE Robotics and Automation Letters 2025

A Machine Learning Approach to Sensor Substitution from Tactile Sensing to Visual Perception for Non-Prehensile Manipulation

Idil Ozdamar, Doganay Sirintuna, Arash Ajoudani

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

Comments 10 pages, 6 figures, submitted to Robotics and Autonomous Systems, for associated video, see https://youtu.be/6yIRcfn2DsY

Humanoid Loco-manipulation Planning based on Graph Search and Reachability Maps

Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar

机构 * CNRS-AIST JRL (Joint Robotics Laboratory)（CNRS-AIST联合机器人实验室） ； IRL（机器人研究所） ； National Institute of Advanced Industrial Science and Technology (AIST)（国家先进工业科学与技术研究院） 纠错

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

Journal ref IEEE Robotics and Automation Letters 2021 (Presented at ICRA 2021)

Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation

Huy Le, Tai Hoang, Miroslav Gabriel, Gerhard Neumann, Ngo Anh Vien

机构 * Bosch Center for Artificial Intelligence（博世人工智能中心） ； Institute for Anthropomatics and Robotics（人机学与机器人研究所） 纠错

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

Comments Accepted for publication in IEEE Robotics and Automation Letters (RA-L)

DoorBot: Closed-Loop Task Planning and Manipulation for Door Opening in the Wild with Haptic Feedback

Zhi Wang, Yuchen Mo, Shengmiao Jin, Wenzhen Yuan

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

Comments In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2025)

Developing Modular Grasping and Manipulation Pipeline Infrastructure to Streamline Performance Benchmarking

Brian Flynn, Kostas Bekris, Berk Calli, Aaron Dollar, Adam Norton, Yu Sun, Holly Yanco

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

Comments IEEE International Conference on Robotics and Automation (ICRA) 2025, Workshop on Robot Software Architectures (RSA25), Atlanta, Georgia, USA, May 2025

Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards

Lukas Brunke, Yanni Zhang, Ralf Römer, Jack Naimer, Nikola Staykov, Siqi Zhou, Angela P. Schoellig

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

Comments 9 pages, 6 figures

Journal ref in IEEE Robotics and Automation Letters, vol. 10, no. 5, pp. 4810-4817, May 2025

Scalable and low-cost remote lab platforms: Teaching industrial robotics using open-source tools and understanding its social implications

Amit Kumar, Jaison Jose, Archit Jain, Siddharth Kulkarni, Kavi Arya

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

Comments 14 pages. Accepted at Springer's 16th International Conference on Social Robotics + AI 2024

Journal ref Lecture Notes in Computer Science, vol 15561 (2025), pp. 202-215

Dynamic Open-Vocabulary 3D Scene Graphs for Long-term Language-Guided Mobile Manipulation

Zhijie Yan, Shufei Li, Zuoxu Wang, Lixiu Wu, Han Wang, Jun Zhu, Lijiang Chen, Jihong Liu

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

Comments Accepted by IEEE Robotics and Automation Letters (RA-L), 2025

Optimal Trajectory Planning for Cooperative Manipulation with Multiple Quadrotors Using Control Barrier Functions

Arpan Pallar, Guanrui Li, Mrunal Sarvaiya, Giuseppe Loianno

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

Comments This paper has been accepted for publication in the IEEE International Conference on Robotics and Automation(ICRA), 2025. Please cite the paper using appropriate formats

MuST: Multi-Head Skill Transformer for Long-Horizon Dexterous Manipulation with Skill Progress

Kai Gao, Fan Wang, Erica Aduh, Dylan Randle, Jane Shi

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

Comments Accepted by ICRA 2025 (2025 IEEE International Conference on Robotics & Automation)

A comparison between single-stage and two-stage 3D tracking algorithms for greenhouse robotics

David Rapado-Rincon, Akshay K. Burusa, Eldert J. van Henten, Gert Kootstra

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

Comments Accepted to the IEEE ICRA Workshop on Field Robotics 2024

Subspace-wise Hybrid RL for Articulated Object Manipulation

Yujin Kim, Sol Choi, Bum-Jae You, Keunwoo Jang, Yisoo Lee

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

Comments 14 pages, 10 figures, Submitted to Robotics and Autonomous Systems

From Flexibility to Manipulation: The Slippery Slope of XAI Evaluation

Kristoffer Wickstrøm, Marina Marie-Claire Höhne, Anna Hedström

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

Comments Published in ECCV 2024 Workshop on Explainable Computer Vision: Where are We and Where are We Going? Shorter non-archival version also appeared in the NeurIPS 2024 Interpretable AI workshop. Code is available at \url{https://github.com/Wickstrom/quantitative-xai-manipulation}

Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics

Carlo Tiseo, Quentin Rouxel, Martin Asenov, Keyhan Kouhkiloui Babarahmati, Subramanian Ramamoorthy, Zhibin Li, Michael Mistry

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

Comments in IEEE Transactions on Medical Robotics and Bionics, video: https://youtu.be/G5NfFbh_ULg

Self-Body Image Acquisition and Posture Generation with Redundancy using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation

Yuya Koga, Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba

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

Comments Accepted at IEEE Robotics and Automation Letters