机器人 / 具身智能

Fauna Sprout: A lightweight, approachable, developer-ready humanoid robot

Fauna Sprout：一种轻量、易用、开发者友好的人形机器人

Fauna Robotics, :, Diego Aldarondo, Ana Pervan, Daniel Corbalan, Dave Petrillo, Bolun Dai, Aadhithya Iyer, Nina Mortensen, Erik Pearson, Sridhar Pandian Arunachalam, Emma Reznick, David Weis, Jacob Davison, Samuel Patterson, Tess Carella, Michael Suguitan, David Ye, Oswaldo Ferro, Nilesh Suriyarachchi, Spencer Ling, Erik Su, Daniel Giebisch, Peter Traver, Sam Fonseca, Mack Mor, Rohan Singh, Sertac Guven, Kangni Liu, Yaswanth Kumar Orru, Ashiq Rahman Anwar Batcha, Shruthi Ravindranath, Silky Arora, Hugo Ponte, Dez Hernandez, Utsav Chaudhary, Zack Walker, Michael Kelberman, Ivan Veloz, Christina Santa Lucia, Kat Casale, Helen Han, Michael Gromis, Michael Mignatti, Jason Reisman, Kelleher Guerin, Dario Narvaez, Christopher Anderson, Anthony Moschella, Robert Cochran, Josh Merel

机构 * Fauna Robotics（Fauna机器人公司） 纠错

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

AI总结 Fauna Sprout 是一种轻量、易用、开发者友好的人形机器人平台，通过强调安全、表达性和开发者可及性，解决现有机器人在人类环境中的部署难题，并为开发具身智能提供实用基础。

QAL: A Loss for Recall Precision Balance in 3D Reconstruction

QAL：用于3D重建中召回精度平衡的损失

Pranay Meshram, Yash Turkar, Kartikeya Singh, Praveen Raj Masilamani, Charuvahan Adhivarahan, Karthik Dantu

机构 * University at Buffalo, The State University of New York（布法罗大学） 纠错

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

AI总结 QAL是一种用于3D重建中平衡召回和精度的损失函数，通过结合覆盖加权最近邻项和未覆盖真实地面吸引项，提升了补全效果和机器人操作的可靠性。

Comments Accepted to WACV 2026. Camera-ready version to appear

Leveraging Foundation Models for Enhancing Robot Perception and Action

Reihaneh Mirjalili

机构 * Department Computer Science & Artificial Intelligence University of Technology Nuremberg（技术大学纽伦堡计算机科学与人工智能系） 纠错

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

Comments Doctoral thesis

PoseDiff: A Unified Diffusion Model Bridging Robot Pose Estimation and Video-to-Action Control

Haozhuo Zhang, Michele Caprio, Jing Shao, Qiang Zhang, Jian Tang, Shanghang Zhang, Wei Pan

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

Comments The experimental setup and metrics lacks rigor, affecting the fairness of the comparisons

Information Seeking for Robust Decision Making under Partial Observability

Djengo Cyun-Jyun Fang, Tsung-Wei Ke

机构 * National Taiwan University（台湾大学） 纠错

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

Comments The project page is available at https://infoseekerllm.github.io

FreeAction: Training-Free Techniques for Enhanced Fidelity of Trajectory-to-Video Generation

Seungwook Kim, Seunghyeon Lee, Minsu Cho

机构 * POSTECH ； Ewha Womans University（成均馆大学） ； RLWRLD 纠错

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

Comments 8 pages, 4 figures, accepted to CoRL 2025 LSRW workshop

3D Feature Distillation with Object-Centric Priors

Georgios Tziafas, Yucheng Xu, Zhibin Li, Hamidreza Kasaei

机构 * Department of Artificial Intelligence University of Groningen, the Neteherlands（格罗宁根大学人工智能系） ； School of Informatics University of Edinburgh, United Kingdom（爱丁堡大学信息学院） ； Department of Computer Science University College London, United Kingdom（伦敦大学学院计算机科学系） 纠错

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

Feel the Force: Contact-Driven Learning from Humans

Ademi Adeniji, Zhuoran Chen, Vincent Liu, Venkatesh Pattabiraman, Raunaq Bhirangi, Siddhant Haldar, Pieter Abbeel, Lerrel Pinto

机构 * New York University（纽约大学） ； UC Berkeley（加州大学伯克利分校） ； New York University Shanghai（纽约大学上海分校） 纠错

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

Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning

Zhengyi Luo, Chen Tessler, Toru Lin, Ye Yuan, Tairan He, Wenli Xiao, Yunrong Guo, Gal Chechik, Kris Kitani, Linxi Fan, Yuke Zhu

机构 * Nvidia（英伟达） ； Carnegie Mellon University（卡内基梅隆大学） ； University of California, Berkeley（加州大学伯克利分校） 纠错

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

Comments Project page: https://zhengyiluo.github.io/PDC

Imitation Learning for Adaptive Control of a Virtual Soft Exoglove

Shirui Lyu, Vittorio Caggiano, Matteo Leonetti, Dario Farina, Letizia Gionfrida

机构 * Department of Informatics, King’s College London（信息学院，伦敦国王学院） ； MyoLab ； Harvard Medical School（哈佛医学院） ； Spaulding Rehabilitation Hospital（斯波林康复医院） ； Department of Bioengineering, Faculty of Engineering, Imperial College London（生物工程系，伦敦帝国理工学院工程学院） ； John A. Paulson School of Engineering and Applied Sciences, Harvard University（哈佛大学约翰·A·保罗森工程与应用科学学院） 纠错

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

From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment

Yilin Wu, Ran Tian, Gokul Swamy, Andrea Bajcsy

机构 * Carnegie Mellon University（卡内基梅隆大学） ； UC Berkeley（伯克利大学） 纠错

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

Contractive Dynamical Imitation Policies for Efficient Out-of-Sample Recovery

Amin Abyaneh, Mahrokh G. Boroujeni, Hsiu-Chin Lin, Giancarlo Ferrari-Trecate

机构 * McGill University（麦吉尔大学） ； École Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院） 纠错

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

Comments International Conference on Learning Representations

Time is on my sight: scene graph filtering for dynamic environment perception in an LLM-driven robot

Simone Colombani, Luca Brini, Dimitri Ognibene, Giuseppe Boccignone

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

Jailbreaking LLM-Controlled Robots

Alexander Robey, Zachary Ravichandran, Vijay Kumar, Hamed Hassani, George J. Pappas

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

Contrast Sets for Evaluating Language-Guided Robot Policies

Abrar Anwar, Rohan Gupta, Jesse Thomason

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

Comments Accepted to CoRL 2024

Combining Planning and Diffusion for Mobility with Unknown Dynamics

Yajvan Ravan, Zhutian Yang, Tao Chen, Tomás Lozano-Pérez, Leslie Pack Kaelbling

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

Comments Submitted to ICRA 2025

Incorporating dense metric depth into neural 3D representations for view synthesis and relighting

Arkadeep Narayan Chaudhury, Igor Vasiljevic, Sergey Zakharov, Vitor Guizilini, Rares Ambrus, Srinivasa Narasimhan, Christopher G. Atkeson

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

Comments Project webpage: https://stereomfc.github.io

Hierarchical Policy Blending as Inference for Reactive Robot Control

Kay Hansel, Julen Urain, Jan Peters, Georgia Chalvatzaki

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

Comments 8 pages, 5 figures, 1 table, accepted at ICRA 2023

Model Adaptation for Time Constrained Embodied Control

Jaehyun Song, Minjong Yoo, Honguk Woo

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

Comments 8 pages, 5 figures, Accepted in The IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024 (CVPR 2024)

Planning Robot Placement for Object Grasping

Manish Saini, Melvin Paul Jacob, Minh Nguyen, Nico Hochgeschwender

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

CalliRewrite: Recovering Handwriting Behaviors from Calligraphy Images without Supervision

Yuxuan Luo, Zekun Wu, Zhouhui Lian

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

Comments 8 pages, accepted as ICRA 2024 contributed paper

Multi-Level Compositional Reasoning for Interactive Instruction Following

Suvaansh Bhambri, Byeonghwi Kim, Jonghyun Choi

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

Comments AAAI 2023 (Oral) (Project page: https://bhkim94.github.io/projects/MCR-Agent)

Symmetry Considerations for Learning Task Symmetric Robot Policies

Mayank Mittal, Nikita Rudin, Victor Klemm, Arthur Allshire, Marco Hutter

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

Comments M. Mittal and N. Rudin contributed equally. Accepted for ICRA 2024

Autonomous Marker-less Rapid Aerial Grasping

Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann

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

Comments 8 pages, 10 figures, accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023. Video https://www.youtube.com/watch?v=6hbhAT4l90w

Journal ref 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 6395-6402

All the Feels: A dexterous hand with large-area tactile sensing

Raunaq Bhirangi, Abigail DeFranco, Jacob Adkins, Carmel Majidi, Abhinav Gupta, Tess Hellebrekers, Vikash Kumar

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

FViT-Grasp: Grasping Objects With Using Fast Vision Transformers

Arda Sarp Yenicesu, Berk Cicek, Ozgur S. Oguz

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

SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion

Julen Urain, Niklas Funk, Jan Peters, Georgia Chalvatzaki

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

Comments diffusion models, SE(3), grasping,

TTCDist: Fast Distance Estimation From an Active Monocular Camera Using Time-to-Contact

Levi Burner, Nitin J. Sanket, Cornelia Fermüller, Yiannis Aloimonos

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

Comments 19 pages, 24 figures, 1 table. To be published in ICRA 2023

Cross-Domain Transfer via Semantic Skill Imitation

Karl Pertsch, Ruta Desai, Vikash Kumar, Franziska Meier, Joseph J. Lim, Dhruv Batra, Akshara Rai

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

Comments Project website: https://kpertsch.github.io/star

Journal ref CoRL 2022

DeepSym: Deep Symbol Generation and Rule Learning from Unsupervised Continuous Robot Interaction for Planning

Alper Ahmetoglu, M. Yunus Seker, Justus Piater, Erhan Oztop, Emre Ugur

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

Comments To appear in JAIR