机器人 / 具身智能

Diff-Muscle: Efficient Learning for Musculoskeletal Robotic Table Tennis

Diff-Muscle: 高效学习用于肌骨骼机器人乒乓球

Wentao Zhao, Jun Guo, Kangyao Huang, Xin Liu, Huaping Liu

机构 * Department of Computer Science and Technology, Tsinghua University, China（清华大学计算机科学与技术系） 纠错

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

AI总结 Diff-Muscle通过微分平坦性将高维动作空间转化为低维关节空间，实现高效学习，使肌骨骼机器人在动态乒乓球任务中实现连续回球。

Comments 8 pages, 7 figures

Interface-Aware Trajectory Reconstruction of Limited Demonstrations for Robot Learning

面向接口的有限示范轨迹重建用于机器人学习

Demiana R. Barsoum, Mahdieh Nejati Javaremi, Larisa Y. C. Loke, Brenna D. Argall

机构 * Northwestern University \& Shirley Ryan AbilityLab Chicago Illinois USA ； Northwestern University \& Shirley Ryan AbilityLab 纠错

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

AI总结 本文提出一种轨迹重建算法，通过考虑任务、环境和接口约束，将受限示范提升到完整控制空间，以提升机器人运动的效率和用户意图的实现。

Comments 13 pages, 8 figures, to appear in the proceedings of the 2026 Human-Robot Interaction (HRI) Conference

EgoAVFlow: Robot Policy Learning with Active Vision from Human Egocentric Videos via 3D Flow

EgoAVFlow：通过人类中心视频主动视觉实现机器人策略学习

Daesol Cho, Youngseok Jang, Danfei Xu, Sehoon Ha

机构 * School of Interactive Computing, Georgia Institute of Technology（交互计算学院，佐治亚理工学院） ； InnoCORE AI-Transformed Aerospace Research Center, KAIST（AI转型航空航天研究中心，韩国成均馆大学） 纠错

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

AI总结 EgoAVFlow通过共享3D流表示从人类中心视频中学习机器人策略，实现主动视觉和稳健操纵，无需机器人演示。

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

Gentle Manipulation Policy Learning via Demonstrations from VLM Planned Atomic Skills

Jiayu Zhou, Qiwei Wu, Jian Li, Zhe Chen, Xiaogang Xiong, Renjing Xu

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

Comments Accepted for the 40th Annual AAAI Conference on Artificial Intelligence (2026)

Cosmos-Surg-dVRK: World Foundation Model-based Automated Online Evaluation of Surgical Robot Policy Learning

Lukas Zbinden, Nigel Nelson, Juo-Tung Chen, Xinhao Chen, Ji Woong Kim, Mahdi Azizian, Axel Krieger, Sean Huver

机构 * NVIDIA ； Johns Hopkins University（约翰霍普金斯大学） ； Stanford University（斯坦福大学） 纠错

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

Comments minor metadata and notation fixes; +3 citations

Social World Model-Augmented Mechanism Design Policy Learning

Xiaoyuan Zhang, Yizhe Huang, Chengdong Ma, Zhixun Chen, Long Ma, Yali Du, Song-Chun Zhu, Yaodong Yang, Xue Feng

机构 * Institute for Artificial Intelligence, Peking University（人工智能研究院，北京大学） ； State Key Laboratory of General Artificial Intelligence, BIGAI, Beijing, China（通用人工智能国家重点实验室，BIGAI，北京，中国） ； State Key Laboratory of General Artificial Intelligence, Peking University, Beijing, China（通用人工智能国家重点实验室，北京大学，北京，中国） ； The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） ； Center for Data Science, Academy for Advanced Interdisciplinary Studies, Peking University（数据科学中心，先进跨学科研究学院，北京大学） ； King’s College London（伦敦国王学院） 纠错

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

Stinger Robot: A Self-Bracing Robotic Platform for Autonomous Drilling in Confined Underground Environments

H. Liu, L. S. Moreu, T. S. Andersen, V. V. Puche, M. Fumagalli

机构 * Department of Electrical and Photonics Engineering, DTU（电气与光子工程系，丹麦技术大学） 纠错

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

Comments 7 pages, submitted

Exploiting Local Observations for Robust Robot Learning

Wenshuai Zhao, Eetu-Aleksi Rantala, Sahar Salimpour, Zhiyuan Li, Joni Pajarinen, Jorge Peña Queralta

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

Comments 8 pages, 8 figures

L2D2: Robot Learning from 2D Drawings

Shaunak A. Mehta, Heramb Nemlekar, Hari Sumant, Dylan P. Losey

机构 * Mechanical Engineering, Virginia Tech（弗吉尼亚理工大学机械工程学院） 纠错

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

Robot Learning Using Multi-Coordinate Elastic Maps

Brendan Hertel, Reza Azadeh

机构 * Persistent Autonomy and Robot Learning (PeARL) Lab, University of Massachusetts Lowell（持续自主与机器人学习实验室，马萨诸塞大学洛厄尔分校） 纠错

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

Comments 7 pages, 6 figures. Accepted to UR 2025. Code available at: https://github.com/brenhertel/MC-Elmap, Accompanying video at: https://youtu.be/KU-ldkTa9UE

Robotic Grinding Skills Learning Based on Geodesic Length Dynamic Motion Primitives

Shuai Ke, Huan Zhao, Xiangfei Li, Zhiao Wei, Yecan Yin, Han Ding

机构 * State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Department of Mechanical Science and Engineering, Huazhong University of Science and Technology（智能制造装备与技术国家重点实验室，机械科学与工程学院，华中科技大学） 纠错

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

Hybrid Robot Learning for Automatic Robot Motion Planning in Manufacturing

Siddharth Singh, Tian Yu, Qing Chang, John Karigiannis, Shaopeng Liu

机构 * University of Virginia（弗吉尼亚大学） 纠错

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

Comments 35 Pages, 11 Figures

Scaling Robot Policy Learning via Zero-Shot Labeling with Foundation Models

Nils Blank, Moritz Reuss, Marcel Rühle, Ömer Erdinç Yağmurlu, Fabian Wenzel, Oier Mees, Rudolf Lioutikov

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

Comments Project Website at https://robottasklabeling.github.io/

E2H: A Two-Stage Non-Invasive Neural Signal Driven Humanoid Robotic Whole-Body Control Framework

Yiqun Duan, Qiang Zhang, Jinzhao Zhou, Jingkai Sun, Xiaowei Jiang, Jiahang Cao, Jiaxu Wang, Yiqian Yang, Wen Zhao, Gang Han, Yijie Guo, Chin-Teng Lin

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

Extended Reality System for Robotic Learning from Human Demonstration

Isaac Ngui, Courtney McBeth, Grace He, André Corrêa Santos, Luciano Soares, Marco Morales, Nancy M. Amato

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

Comments In submission

RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning

Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Muhammad Zubair Irshad, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg

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

Comments CoRL 2024 (Oral). Project website: https://rovi-aug.github.io

A Practical Roadmap to Learning from Demonstration for Robotic Manipulators in Manufacturing

Alireza Barekatain, Hamed Habibi, Holger Voos

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

Comments 26 pages, 6 figures

DFL-TORO: A One-Shot Demonstration Framework for Learning Time-Optimal Robotic Manufacturing Tasks

Alireza Barekatain, Hamed Habibi, Holger Voos

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

Comments 20 pages, 14 figures

A Framework for Learning and Reusing Robotic Skills

Brendan Hertel, Nhu Tran, Meriem Elkoudi, Reza Azadeh

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

Comments 4 pages, 4 figures. Accepted for publication as work-in-progress paper at Ubiquitous Robots (UR) 2024. Code available here: https://github.com/brenhertel/Probabilistic-Segmentation and here: https://github.com/brenhertel/Elastic-Clustering

Journal ref 2024 20th International Conference on Ubiquitous Robots (UR) 801-804

Robot Learning from Demonstration Using Elastic Maps

Brendan Hertel, Matthew Pelland, S. Reza Ahmadzadeh

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

Comments 7 pages, 9 figures, 3 tables. Accepted to IROS 2022. Code available at: https://github.com/brenhertel/ElMapTrajectories Accompanying video at: https://youtu.be/rZgN9Pkw0tg

Journal ref 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 7407-7413

Logic Learning from Demonstrations for Multi-step Manipulation Tasks in Dynamic Environments

Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon

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

Comments Accepted by IEEE RA-L

A Review of Communicating Robot Learning during Human-Robot Interaction

Soheil Habibian, Antonio Alvarez Valdivia, Laura H. Blumenschein, Dylan P. Losey

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

LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning

Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, Peter Stone

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

PyPose v0.6: The Imperative Programming Interface for Robotics

Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, Abhinav Pandey, Haitao Xiao, Yangmengfei Xu, Xiangyu Chen, Kuan Xu, Kun Cao, Zhipeng Zhao, Zihan Wang, Huan Xu, Zihang Fang, Yutian Chen, Wentao Wang, Xu Fang, Yi Du, Tianhao Wu, Xiao Lin, Yuheng Qiu, Fan Yang, Jingnan Shi, Shaoshu Su, Yiren Lu, Taimeng Fu, Karthik Dantu, Jiajun Wu, Lihua Xie, Marco Hutter, Luca Carlone, Sebastian Scherer, Daning Huang, Yaoyu Hu, Junyi Geng, Chen Wang

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

Robotic LEGO Assembly and Disassembly from Human Demonstration

Ruixuan Liu, Yifan Sun, Changliu Liu

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

Failure-aware Policy Learning for Self-assessable Robotics Tasks

Kechun Xu, Runjian Chen, Shuqi Zhao, Zizhang Li, Hongxiang Yu, Ci Chen, Yue Wang, Rong Xiong

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

Gaussian-Process-based Robot Learning from Demonstration

Miguel Arduengo, Adrià Colomé, Joan Lobo-Prat, Luis Sentis, Carme Torras

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

Comments 8 pages, 10 figures

Journal ref Journal of Ambient Intelligence and Humanized Computing, 2023

Residual Robot Learning for Object-Centric Probabilistic Movement Primitives

Joao Carvalho, Dorothea Koert, Marek Daniv, Jan Peters

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

Model Hierarchy Predictive Control of Robotic Systems

He Li, Robert J. Frei, Patrick M. Wensing

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

Comments Author pre-print of accepted RA-L/ICRA 2021 manuscript