机器人 / 具身智能

H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies

Geeta Chandra Raju Bethala, Hao Huang, Niraj Pudasaini, Abdullah Mohamed Ali, Shuaihang Yuan, Congcong Wen, Anthony Tzes, Yi Fang

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

Comments Code and videos available at https://h2compact.github.io/h2compact/

MLLM as Retriever: Interactively Learning Multimodal Retrieval for Embodied Agents

Junpeng Yue, Xinrun Xu, Börje F. Karlsson, Zongqing Lu

机构 * School of Computer Science, Peking University（北京大学计算机科学学院） ； Institute of Software, Chinese Academy of Sciences（中国科学院软件研究所） ； Beijing Academy of Artificial Intelligence（北京人工智能研究院） 纠错

专题命中 机器人操作 ：embodied agent(title,abstract)；分类 cs.LG

Comments ICLR 2025

Granular Loco-Manipulation: Repositioning Rocks Through Strategic Sand Avalanche

Haodi Hu, Yue Wu, Feifei Qian, Daniel Seita

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

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

Fast Heuristic Scheduling and Trajectory Planning for Robotic Fruit Harvesters with Multiple Cartesian Arms

Yuankai Zhu, Stavros Vougioukas

机构 * Department of Mechanical & Aerospace Engineering University of California, Davis（机械与航空航天工程系加州大学戴维斯分校） ； Department of Biological and Agricultural Engineering University of California, Davis（生物与农业工程系加州大学戴维斯分校） 纠错

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

Comments This work will be submitted to the IEEE for possible publication

IntrinsicEdit: Precise generative image manipulation in intrinsic space

Linjie Lyu, Valentin Deschaintre, Yannick Hold-Geoffroy, Miloš Hašan, Jae Shin Yoon, Thomas Leimkühler, Christian Theobalt, Iliyan Georgiev

机构 * Max-Planck-Institute for Informatics, Saarland Informatics Campus（马克斯·普朗克信息研究所，萨尔兰信息校园） ； Adobe Research（Adobe研究） 纠错

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

Comments SIGGRAPH 2025 Journal track

Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation

Chengyang He, Gadiel Sznaier Camps, Xu Liu, Mac Schwager, Guillaume Sartoretti

机构 * National University of Singapore（新加坡国立大学） ； Stanford University（斯坦福大学） 纠错

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

Augmented Body Communicator: Enhancing daily body expression for people with upper limb limitations through LLM and a robotic arm

Songchen Zhou, Mark Armstrong, Giulia Barbareschi, Toshihiro Ajioka, Zheng Hu, Ryoichi Ando, Kentaro Yoshifuji, Masatane Muto, Kouta Minamizawa

机构 * Keio University Graduate School of Media Design（庆应大学媒体设计研究生院） 纠错

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

$\texttt{SPIN}$: distilling $\texttt{Skill-RRT}$ for long-horizon prehensile and non-prehensile manipulation

Haewon Jung, Donguk Lee, Haecheol Park, JunHyeop Kim, Beomjoon Kim

机构 * Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院） 纠错

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

Comments Project website: https://sites.google.com/view/skill-rrt

Contact-based Grasp Control and Inverse Kinematics for a Five-fingered Robotic Hand

Robinson Umeike

机构 * Department of Computer Science（计算机科学系） ； The University of Alabama（阿拉巴马大学） 纠错

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

Comments 10 Pages, 5 Figures, 1 Table

KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation

Di Zhang, Chengbo Yuan, Chuan Wen, Hai Zhang, Junqiao Zhao, Yang Gao

机构 * Tongji University（同济大学） ； Tsinghua University（清华大学） ； Shanghai Jiao Tong University（上海交通大学） ； University of Hong Kong（香港大学） ； Shanghai Qi Zhi Institute（上海启智研究院） ； Shanghai AI Lab（上海人工智能实验室） 纠错

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

High Speed Robotic Table Tennis Swinging Using Lightweight Hardware with Model Predictive Control

David Nguyen, Kendrick D. Cancio, Sangbae Kim

机构 * Biomimetic Robotics Laboratory at Massachusetts Institute of Technology (MIT)（麻省理工学院仿生机器人实验室） 纠错

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

Design, Integration, and Evaluation of a Dual-Arm Robotic System for High Throughput Tissue Sampling from Potato Tubers

Divyanth L. G., Syed Usama Bin Sabir, Divya Rathore, Lav R. Khot, Chakradhar Mattupalli, Manoj Karkee

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

Caging in Time: A Framework for Robust Object Manipulation under Uncertainties and Limited Robot Perception

Gaotian Wang, Kejia Ren, Andrew S. Morgan, Kaiyu Hang

机构 * Department of Computer Science, Rice University（计算机科学系，里士大学） ； The AI Institute（人工智能研究所） 纠错

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

Comments 22 pages, 26 figures, video available at: https://www.youtube.com/watch?v=Ag_jTzazuSM

GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty

Sirui Chen, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani Zarrin

机构 * Computer Science Department, Stanford University（斯坦福大学计算机科学系） ； Honda Research Institute USA（本田美国研究院） 纠错

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

Comments 12 pages, 17 figures, Accepted by RSS 2025

IMDPrompter: Adapting SAM to Image Manipulation Detection by Cross-View Automated Prompt Learning

Quan Zhang, Yuxin Qi, Xi Tang, Jinwei Fang, Xi Lin, Ke Zhang, Chun Yuan

机构 * Tsinghua University（清华大学） ； Shanghai Jiao Tong University（上海交通大学） ； University of Science and Technology of China（中国科学技术大学） 纠错

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

NMPC-based Unified Posture Manipulation and Thrust Vectoring for Agile and Fault-Tolerant Flight of a Morphing Aerial Robot

Shashwat Pandya

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

Effective Length Extrapolation via Dimension-Wise Positional Embeddings Manipulation

Yi Lu, Wanxu Zhao, Xin Zhou, Chenxin An, Chenglong Wang, Shuo Li, Yuming Yang, Jun Zhao, Tao Ji, Tao Gui, Qi Zhang, Xuanjing Huang

机构 * Fudan University（复旦大学） ； The University of Hong Kong（香港大学） ； Northeastern University（东北大学） 纠错

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

Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models

Ilyass Taouil, Haizhou Zhao, Angela Dai, Majid Khadiv

机构 * Technical University of Munich（慕尼黑技术大学） ； Tandon School of Engineering（工程学院） 纠错

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

Characterizing Knowledge Manipulation in a Russian Wikipedia Fork

Mykola Trokhymovych, Oleksandr Kosovan, Nathan Forrester, Pablo Aragón, Diego Saez-Trumper, Ricardo Baeza-Yates

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

Manipulation of individual judgments in the quantitative pairwise comparisons method

M. Strada, K. Kułakowski

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

Comments 31 pages, 7 compound figures

Planning for quasi-static manipulation tasks via an intrinsic haptic metric: a book insertion case study

Lin Yang, Sri Harsha Turlapati, Chen Lv, Domenico Campolo

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

Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation

Xiaofeng Guo, Guanqi He, Jiahe Xu, Mohammadreza Mousaei, Junyi Geng, Sebastian Scherer, Guanya Shi

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

Comments 8 pages, 9 figures, 1 table. This paper is accepted by RAL and is presented at ICRA 2025

CATCH-FORM-ACTer: Compliance-Aware Tactile Control and Hybrid Deformation Regulation-Based Action Transformer for Viscoelastic Object Manipulation

Hongjun Ma, Weichang Li, Jingwei Zhang, Shenlai He, Xiaoyan Deng

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

Comments 7 pages, 7 figures, 1 table

Advancing Manipulation Capabilities of a UAV Featuring Dynamic Center-of-Mass Displacement

Tong Hui, Matteo Fumagalli

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

Comments arXiv admin note: text overlap with arXiv:2404.01110, accepted to the 2025 International Conference on Unmanned Aircraft Systems (ICUAS)

Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm

Amin Vahidi-Moghaddam, Keyi Zhu, Kaixiang Zhang, Ziyou Song, Zhaojian Li

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

SuperQ-GRASP: Superquadrics-based Grasp Pose Estimation on Larger Objects for Mobile-Manipulation

Xun Tu, Karthik Desingh

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

Comments 8 pages, 7 figures, accepted by ICRA 2025

Contrastive Decoupled Representation Learning and Regularization for Speech-Preserving Facial Expression Manipulation

Tianshui Chen, Jianman Lin, Zhijing Yang, Chumei Qing, Yukai Shi, Liang Lin

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

Distributed Motion Control of Multiple Mobile Manipulators for Reducing Interaction Wrench in Object Manipulation

Wenhang Liu, Meng Ren, Kun Song, Gaoming Chen, Michael Yu Wang, Zhenhua Xiong

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

A Planning Framework for Stable Robust Multi-Contact Manipulation

Lin Yang, Sri Harsha Turlapati, Zhuoyi Lu, Chen Lv, Domenico Campolo

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

CSubBT: A Self-Adjusting Execution Framework for Mobile Manipulation System

Huihui Guo, Huizhang Luo, Huilong Pi, Mingxing Duan, Kenli Li, Chubo Liu

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

Comments This work has been submitted to the IEEE for possible publication