机器人 / 具身智能

StereoSpike: Depth Learning with a Spiking Neural Network

Ulysse Rançon, Javier Cuadrado-Anibarro, Benoit R. Cottereau, Timothée Masquelier

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

PaLM-E: An Embodied Multimodal Language Model

Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence

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

LISA: Learning Interpretable Skill Abstractions from Language

Divyansh Garg, Skanda Vaidyanath, Kuno Kim, Jiaming Song, Stefano Ermon

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

Comments NeurIPS 2022. Website: https://div99.github.io/LISA/

Walk the Random Walk: Learning to Discover and Reach Goals Without Supervision

Lina Mezghani, Sainbayar Sukhbaatar, Piotr Bojanowski, Karteek Alahari

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

CAMPs: Learning Context-Specific Abstractions for Efficient Planning in Factored MDPs

Rohan Chitnis, Tom Silver, Beomjoon Kim, Leslie Pack Kaelbling, Tomas Lozano-Perez

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

Comments CoRL 2020

Neural Manipulation Planning on Constraint Manifolds

Ahmed H. Qureshi, Jiangeng Dong, Austin Choe, Michael C. Yip

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

Comments This is the preprint version of the paper published at IEEE Robotics and Automation Letters 2020

Journal ref in IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6089-6096, Oct. 2020

Soft Actor-Critic Algorithms and Applications

Tuomas Haarnoja, Aurick Zhou, Kristian Hartikainen, George Tucker, Sehoon Ha, Jie Tan, Vikash Kumar, Henry Zhu, Abhishek Gupta, Pieter Abbeel, Sergey Levine

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

Comments arXiv admin note: substantial text overlap with arXiv:1801.01290

Fully Convolutional Search Heuristic Learning for Rapid Path Planners

Yuka Ariki, Takuya Narihira

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

Comments 11 pages, 4 figures

Straight to Shapes++: Real-time Instance Segmentation Made More Accurate

Laurynas Miksys, Saumya Jetley, Michael Sapienza, Stuart Golodetz, Philip H. S. Torr

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

Comments Technical report, 27 pages (12 main, 15 supplementary), 17 figures, 14 tables

Multiple Interactions Made Easy (MIME): Large Scale Demonstrations Data for Imitation

Pratyusha Sharma, Lekha Mohan, Lerrel Pinto, Abhinav Gupta

专题命中 机器人操作 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV、cs.LG

Comments 10 pages, CoRL 2018

Sim2Real View Invariant Visual Servoing by Recurrent Control

Fereshteh Sadeghi, Alexander Toshev, Eric Jang, Sergey Levine

专题命中 机器人操作 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV、cs.LG

Comments Supplementary video: https://fsadeghi.github.io/Sim2RealViewInvariantServo

PlanIt: A Crowdsourcing Approach for Learning to Plan Paths from Large Scale Preference Feedback

Ashesh Jain, Debarghya Das, Jayesh K Gupta, Ashutosh Saxena

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

Comments PlanIt Camera Ready ICRA'15

ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D videos

ArtiTwinSplat：基于RGB-D视频的高斯泼溅实现可交互数字孪生重建

Pranjal Mishra, René Zurbrügg, Max Wilder-Smith, Marco Hutter, Marc Pollefeys, Zuria Bauer, Hermann Blum

机构 * ETH Zürich（苏黎世联邦理工学院） ； Microsoft（微软） ； University of Bonn（波恩大学） 纠错

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

AI总结 提出ArtiTwinSplat框架，利用3D高斯泼溅从RGB-D视频自动构建可交互的铰接物体数字孪生，无需CAD模型或人工标注，支持实时渲染与交互操作。

Comments Presented at the ICRA 2026 Workshop on Advances and Challenges in AI-Driven Automation and Robotic System Integration with Digital Twins, Vienna, June 2026

Flow6D: Discrete-to-Continuous Flow Matching for Efficient and Accurate Category-Level 6D Pose Estimation

Flow6D: 离散到连续的流匹配用于高效且准确的类别级6D姿态估计

Mingyu Mei, Li Zhang, Zibo Dai, Han Sun, Xinyue Zhao, Huiliang Shen, Zaixing He

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

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

AI总结 提出Flow6D分层流匹配框架，通过两阶段离散潜空间定位-连续姿态回归策略，先离散化姿态参数并用离散流匹配缩小搜索空间，再连续流匹配预测局部残差优化姿态，在合成和真实数据集上以70 FPS实现实时推理，性能优于现有方法。

Comments Accepted for publication in IEEE Robotics and Automation Letters (RA-L), 2026

Fluidically Innervated Lattices Make Versatile and Durable Tactile Sensors

Annan Zhang, Miguel Flores-Acton, Andy Yu, Anshul Gupta, Maggie Yao, Daniela Rus

机构 * Computer Science and Artificial Intelligence Laboratory（计算机科学与人工智能实验室） ； Massachusetts Institute of Technology（麻省理工学院） 纠错

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

Comments Accepted for publication in the proceedings of the 2025 International Symposium on Experimental Robotics (ISER)

UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimation

Zhaodong Jiang, Ashish Sinha, Tongtong Cao, Yuan Ren, Bingbing Liu, Binbin Xu

机构 * Huawei Noah’s Ark Lab, Canada（华为诺亚实验室，加拿大） ； University of Toronto, Canada（多伦多大学，加拿大） 纠错

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

Comments Published at the Conference on Robot Learning (CoRL) 2025. For more details please visit https://frankzhaodong.github.io/UnPose

Decomposition-based Hierarchical Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications

Xusheng Luo, Shaojun Xu, Ruixuan Liu, Changliu Liu

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

Comments 10 pages, 6 figures. Accepted by IEEE Robotics and Automation Letters (extended version)

Physics-Encoded Graph Neural Networks for Deformation Prediction under Contact

Mahdi Saleh, Michael Sommersperger, Nassir Navab, Federico Tombari

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

Comments Accepted at 2024 IEEE International Conference on Robotics and Automation (ICRA2024)

Learning to Search in Task and Motion Planning with Streams

Mohamed Khodeir, Ben Agro, Florian Shkurti

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

Comments RAL Camera-Ready

Journal ref IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 1983-1990

NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields

Jiankai Sun, Yan Xu, Mingyu Ding, Hongwei Yi, Chen Wang, Jingdong Wang, Liangjun Zhang, Mac Schwager

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

Journal ref IEEE Robotics and Automation Letters ( Volume: 8, Issue: 8, August 2023)

Modeling Long-horizon Tasks as Sequential Interaction Landscapes

Sören Pirk, Karol Hausman, Alexander Toshev, Mohi Khansari

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

Comments Published at 4th Conference on Robot Learning (CoRL 2020), Cambridge MA, USA More details available at: http://www.pirk.io

Energy-Based Hindsight Experience Prioritization

Rui Zhao, Volker Tresp

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

Comments Published in Conference on Robot Learning (CoRL 2018) as oral presentation (7%), Zurich, Switzerland

Journal ref PMLR 87:113-122, 2018

Training Adversarial Agents to Exploit Weaknesses in Deep Control Policies

Sampo Kuutti, Saber Fallah, Richard Bowden

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

Comments 2020 IEEE International Conference on Robotics and Automation (ICRA)

Physics-based Scene-level Reasoning for Object Pose Estimation in Clutter

Chaitanya Mitash, Abdeslam Boularias, Kostas Bekris

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

Comments 18 pages, 13 figures, International Journal of Robotics Research (IJRR) 2019. arXiv admin note: text overlap with arXiv:1710.08577

Levels of Integration between Low-Level Reasoning and Task Planning

Esra Erdem, Volkan Patoglu, Peter Schüller

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

Comments In Workshop on Knowledge Representation and Reasoning in Robotics (KRR) (International Conference on Logic Programming (ICLP) 2013)

FedLNS: Leverage LayerNorm Signature Modeling to Mitigate Adversarial Manipulation in Federated LLMs

FedLNS：利用层归一化签名建模缓解联邦大语言模型中的对抗性操纵

Kai Li, Jong-Ik Park, Carlee Joe-Wong, Wei Ni, Falko Dressler

机构 * Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg（卢森堡大学安全、可靠性与跨学科研究中心（SnT）） ； Carnegie Mellon University（卡内基梅隆大学） ； Edith Cowan University（埃迪斯科文大学） ； TU Berlin（柏林工业大学） 纠错

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

AI总结 FedLNS是一种服务器端联邦学习框架，通过层归一化签名筛选恶意更新，在200个客户端、40%目标操纵下，对三类模型均实现优于基线的测试困惑度。

Comments 13 pages (main body), 36 pages (appendix), 3 figures, 98 tables

SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation

SoftVTBench：面向可变形物体操作的形变感知视觉-触觉数据集与基准

Bowen Jing, Mingxin Wang, Ruiyang Hao, Chenchen Ge, Hanwen Shen, Junjie He, Yang Cui, Yiming Hou, Weitao Zhou, Jiawei Wang, Minglei Li, Dandan Zhang, Ding Zhao, Houde Liu, Xiaofan Li, Si Liu, Ping Luo, Haibao Yu

机构 * Tuojing Intelligence（拓境智能） ； Tsinghua University（清华大学） ； Southeast University（东南大学） ； Stevens Institute of Technology（斯蒂文斯理工学院） ； The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） ； University of Manchester（曼彻斯特大学） ； Simple AI ； Imperial College London（帝国理工学院） ； Carnegie Mellon University（卡内基梅隆大学） ； Zhejiang University（浙江大学） ； Beihang University（北京航空航天大学） ； The University of Hong Kong（香港大学） 纠错

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

AI总结 本研究推出SoftVTBench视觉-触觉数据集与基准，定义形变感知成功率（DSR），发现触觉信息本身未必提升多模态融合，为可变形物体操作的物理交互研究提供资源。

Vision-Language Models for Egocentric Video: From Hand-Object Interaction to Embodied AI

用于第一人称视角视频的视觉-语言模型：从手-物交互到具身智能

Mohammad Zamani, Fatemeh Ziaeetabar

机构 * University of Tehran（德黑兰大学） 纠错

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

AI总结 本综述梳理了用于第一人称视角视频理解的视觉-语言模型的发展，分析其挑战、研究方向与局限，明确了可部署具身智能的关键优先方向。

Backward Layout Search for Sequence-Constrained Robotic Assembly

面向序列约束机器人装配的反向布局搜索

Xi Zhang, Jiancong Dai, Hao Chen, Zhengtao Hu, Changcai Yang, Weiwei Wan

机构 * College of Computer and Information Sciences, Fujian Agriculture and Forestry University（福建农林大学计算机与信息学院） ； School of Mechatronic Engineering and Automation, Shanghai University（上海大学机电工程与自动化学院） ； Department of System Innovation, Graduate School of Engineering Science, Osaka University（大阪大学工程科学研究生院系统创新系） 纠错

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

AI总结 针对序列约束机器人装配布局规划的挑战，提出反向布局搜索（BLS）算法，通过反向分配零件初始位姿并结合多维度检查与波束选择，在5个装配模型上实现了更优的无碰撞布局规划，减少了评估次数与搜索时间。

Comments Submit to ROBIO2026

CompCPZ: Preserving Multi-Modal Intent in Language-Guided Robot Manipulation

CompCPZ：在语言引导的机器人操作中保留多模态意图

Zhen Zhang, Ahmad Hafez, Peng Xie, Yanliang Huang, Wenyuan Wu, Amr Alanwar

机构 * School of Computation, Information and Technology（计算、信息与技术学院） ； Technical University of Munich（慕尼黑工业大学） 纠错

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

AI总结 CompCPZ是一种用于语言引导机器人操作的代数层，可恢复多模态析取表示，在ManiSkill3基准测试中性能优于多种基线，且能迁移至真实机器人实验，凸显组合语言接地需评估意图连通分量结构。