机器人 / 具身智能

TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensors

Shaoxiong Wang, Mike Lambeta, Po-Wei Chou, Roberto Calandra

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

Comments Accepted to IEEE RAL and ICRA 2022

Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses

Kenneth Blomqvist, Jen Jen Chung, Lionel Ott, Roland Siegwart

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

Comments Code: https://github.com/ethz-asl/object_keypoints

Learning Visible Connectivity Dynamics for Cloth Smoothing

Xingyu Lin, Yufei Wang, Zixuan Huang, David Held

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

Comments Published at CoRL 2021. Project website: https://sites.google.com/view/vcd-cloth

Automatic Goal Generation using Dynamical Distance Learning

Bharat Prakash, Nicholas Waytowich, Tinoosh Mohsenin, Tim Oates

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

VIPose: Real-time Visual-Inertial 6D Object Pose Tracking

Rundong Ge, Giuseppe Loianno

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

Comments Accepted by The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021

Deterministic Iteratively Built KD-Tree with KNN Search for Exact Applications

Aryan Naim, Joseph Bowkett, Sisir Karumanchi, Peyman Tavallali, Brett Kennedy

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

TriFinger: An Open-Source Robot for Learning Dexterity

Manuel Wüthrich, Felix Widmaier, Felix Grimminger, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer

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

A Neuro-Symbolic Humanlike Arm Controller for Sophia the Robot

David Hanson, Alishba Imran, Abhinandan Vellanki, Sanjeew Kanagaraj

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

Comments 12 pages, 11 figures, 1 table

GlassLoc: Plenoptic Grasp Pose Detection in Transparent Clutter

Zheming Zhou, Tianyang Pan, Shiyu Wu, Haonan Chang, Odest Chadwicke Jenkins

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

Comments Accepted to the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems. Contact: Zheming Zhou, zhezhou@umich.edu

Guided Policy Search as Approximate Mirror Descent

William Montgomery, Sergey Levine

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

IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization

IMPACT: 一种隐式主动集增广拉格朗日法用于快速接触-隐式轨迹优化

Jiayun Li, Dejian Gong, Georgia Chalvatzaki

机构 * PEARL Lab, Dept. of Computer Science, TU Darmstadt, Germany（图腾实验室，计算机科学系，图恩大学，德国） ； Hessian.AI, Darmstadt, Germany（海森AI，图恩，德国） ； Robotics Institute Germany (RIG)（德国机器人研究所（RIG）） 纠错

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

AI总结 本文提出IMPACT方法，通过隐式主动集策略解决接触约束下的轨迹优化问题，实现高效求解并提升控制质量。

Comments Accepted to Robotics: Science and Systems (RSS), 2026

DexSIM: Real-time Dexterous Simulation with Unified Causal Video Diffusion

DexSIM: 具有统一因果视频扩散的实时灵巧仿真

Adam Lee

机构 * UC Berkeley（加州大学伯克利分校） 纠错

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

AI总结 提出DexSIM框架，通过两阶段训练（双向视频扩散和自回归滚动训练）实现实时、长时一致的灵巧操作仿真，在像素相似度、运动保真度和手部投影精度上超越基线。

Comments World Model @ ICLR 2026

OpenGVL -- Benchmarking Visual Temporal Progress for Data Curation

OpenGVL -- 视觉时间进程数据整理的基准测试

Paweł Budzianowski, Emilia Wiśnios, Michał Tyrolski, Gracjan Góral, Igor Kulakov, Viktor Petrenko, Krzysztof Walas

机构 * Lute ； IDEAS Research Institute（IDEAS研究机构） ； Simple Automation ； Poznań University of Technology（波兹南技术大学） ； University of Warsaw（华沙大学） 纠错

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

AI总结 OpenGVL通过评估开源模型在时序任务预测中的表现，揭示其在机器人数据整理中的局限性，并提供自动化数据筛选的实用工具。

Comments Workshop on Making Sense of Data in Robotics: Composition, Curation, and Interpretability at Scale at CoRL 2025

Development of a Compliant Gripper for Safe Robot-Assisted Trouser Dressing-Undressing

可变刚度抓取器的开发：用于安全的机器人辅助裤子穿脱

Jayant Unde, Takumi Inden, Yuki Wakayama, Jacinto Colan, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

机构 * Taylor & Francis（泰勒弗朗西斯集团） 纠错

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

AI总结 本文提出一种可变刚度抓取器，用于安全协助老年人和半身瘫痪者完成裤子穿脱任务，通过机器人系统实现高成功率的穿脱操作。

Journal ref Unde, J., Inden, T., Wakayama, Y., Colan, J., Zhu, Y., Aoyama, T., and Hasegawa, Y. (2024). Development of a compliant gripper for safe robot-assisted trouser dressing--undressing. \textit{Advanced Robotics}, 38(19--20), 1424--1440

LLM-GROP: Visually Grounded Robot Task and Motion Planning with Large Language Models

Xiaohan Zhang, Yan Ding, Yohei Hayamizu, Zainab Altaweel, Yifeng Zhu, Yuke Zhu, Peter Stone, Chris Paxton, Shiqi Zhang

机构 * The State University of New York at Binghamton（纽约州立大学布林顿分校） ； The University of Texas at Austin（德克萨斯大学奥斯汀分校） ； Sony AI（索尼人工智能） ； Hello Robot（Hello Robot公司） ； Shanghai AI Laboratory（上海人工智能实验室） ； OneStar Robotics（OneStar机器人） 纠错

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

Journal ref The International Journal of Robotics Research, 2025, Vol. 0(0), pp. 1-19

Benchmarking Multi-Object Grasping

Tianze Chen, Ricardo Frumento, Giulia Pagnanelli, Gianmarco Cei, Villa Keth, Shahaddin Gafarov, Jian Gong, Zihe Ye, Marco Baracca, Salvatore D'Avella, Matteo Bianchi, Yu Sun

机构 * University of South Florida（南佛罗里达大学） ； University of Pisa（比萨大学） ； Rutgers University（罗格斯大学） 纠错

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

Comments This paper contains 11 pages and 5 figures. This paper is under review of a robotics journal

A Laser-guided Interaction Interface for Providing Effective Robot Assistance to People with Upper Limbs Impairments

Davide Torielli, Liana Bertoni, Luca Muratore, Nikos Tsagarakis

机构 * Istituto Italiano di Tecnologia（意大利技术研究院） ； University of Genova（热那亚大学） ； University of Pisa（比萨大学） 纠错

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

Comments 8 pages, 12 figures

Journal ref IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 7653-7660, Sept. 2024

OrbitGrasp: $SE(3)$-Equivariant Grasp Learning

Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang, Chenghao Wang, Robin Walters, Robert Platt

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

Comments Conference on Robot Learning 2024

Center Direction Network for Grasping Point Localization on Cloths

Domen Tabernik, Jon Muhovič, Matej Urbas, Danijel Skočaj

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

Comments Accepted for publication in IEEE Robotics and Automation Letters

Comparison between Behavior Trees and Finite State Machines

Matteo Iovino, Julian Förster, Pietro Falco, Jen Jen Chung, Roland Siegwart, Christian Smith

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

Comments Submitted to IEEE Transactions on Robotics (T-RO). arXiv admin note: text overlap with arXiv:2209.07392

Advances in soft grasping in agriculture

Ali Leylavi Shoushtari

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

Comments Chapter 12 of the book entitled "Advances in agri-food robotics"

A Data-Efficient Visual-Audio Representation with Intuitive Fine-tuning for Voice-Controlled Robots

Peixin Chang, Shuijing Liu, Tianchen Ji, Neeloy Chakraborty, Kaiwen Hong, Katherine Driggs-Campbell

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

Comments Published at Conference on Robot Learning (CoRL), 2023

Tactile Sensing

Lorenzo Natale, Giorgio Cannata

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

Journal ref Humanoid Robotics: A Reference, Springer, 2017

Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020

Marius Beul, Max Schwarz, Jan Quenzel, Malte Splietker, Simon Bultmann, Daniel Schleich, Andre Rochow, Dmytro Pavlichenko, Radu Alexandru Rosu, Patrick Lowin, Bruno Scheider, Michael Schreiber, Finn Süberkrüb, Sven Behnke

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

Comments Accepted for Field Robotics, to appear 2022

Language Grounding with 3D Objects

Jesse Thomason, Mohit Shridhar, Yonatan Bisk, Chris Paxton, Luke Zettlemoyer

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

Comments Conference on Robot Learning (CoRL) 2021

High-Resolution Depth Maps Based on TOF-Stereo Fusion

Vineet Gandhi, Jan Cech, Radu Horaud

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

Comments IEEE International Conference on Robotics and Automation, 2012

Team NimbRo's UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020

Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, Jan Razlaw, Andre Rochow, Malte Splietker, Michael Schreiber, Max Schwarz, Finn Süberkrüb, Sven Behnke

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

Comments Accepted for Field Robotics, Special Issue on MBZIRC 2020: Challenges in Autonomous Field Robotics, to appear 2021. arXiv admin note: substantial text overlap with arXiv:2011.01999

Geometry-aware Manipulability Learning, Tracking and Transfer

Noémie Jaquier, Leonel Rozo, Darwin G. Caldwell, Sylvain Calinon

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

Comments In the Intl. Journal of Robotics Research (IJRR). Website: https://sites.google.com/view/manipulability. Code: https://github.com/NoemieJaquier/Manipulability. 24 pages, 20 figures, 3 tables, 4 appendices

Where is my hand? Deep hand segmentation for visual self-recognition in humanoid robots

Alexandre Almeida, Pedro Vicente, Alexandre Bernardino

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

Comments 13 pages, 12 figures, Submitted to Journal of Robotics and Autonomous Systems

Self-supervised Learning for Precise Pick-and-place without Object Model

Lars Berscheid, Pascal Meißner, Torsten Kröger

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

Comments Published in the IEEE Robotics and Automation Letters