机器人 / 具身智能

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

Marius Memmel, Jacob Berg, Bingqing Chen, Abhishek Gupta, Jonathan Francis

机构 * Paul G. Allen School of Computer Science & Engineering, University of Washington（保罗·G·艾伦计算机科学与工程学院，华盛顿大学） ； Robot Learning Lab, Bosch Center for Artificial Intelligence（机器人学习实验室，博世人工智能中心） ； Robotics Institute, Carnegie Mellon University（机器人研究所，卡内基梅隆大学） 纠错

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

Comments Project website at https://weirdlabuw.github.io/strap/

CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion

Jiahua Ma, Yiran Qin, Yixiong Li, Xuanqi Liao, Yulan Guo, Ruimao Zhang

机构 * Sun Yat-sen University（中山大学） ； CUHK(SZ)（香港中文大学（深圳）） ； Oxford（牛津大学） 纠错

专题命中 机器人学习 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

NVSPolicy: Adaptive Novel-View Synthesis for Generalizable Language-Conditioned Policy Learning

Le Shi, Yifei Shi, Xin Xu, Tenglong Liu, Junhua Xi, Chengyuan Chen

机构 * College of Intelligence Science and Technology, National University of Defense Technology（智能科学与技术学院，国防科技大学） 纠错

专题命中 机器人学习 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Few-Shot Vision-Language Action-Incremental Policy Learning

Mingchen Song, Xiang Deng, Guoqiang Zhong, Qi Lv, Jia Wan, Yinchuan Li, Jianye Hao, Weili Guan

机构 * School of Computer Science and Technology, Harbin Institute of Technology (Shenzhen)（计算机科学与技术学院，哈尔滨工业大学（深圳）） ； Department of Computer Science and Technology, Ocean University of China（计算机科学与技术系，中国海洋大学） ； Huawei Noah’s Ark Lab（华为诺亚实验室） 纠错

专题命中 机器人学习 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance

Kin Man Lee, Sean Ye, Qingyu Xiao, Zixuan Wu, Zulfiqar Zaidi, David B. D'Ambrosio, Pannag R. Sanketi, Matthew Gombolay

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

Comments ICRA 2025

Unlock Reliable Skill Inference for Quadruped Adaptive Behavior by Skill Graph

Hongyin Zhang, Diyuan Shi, Zifeng Zhuang, Han Zhao, Zhenyu Wei, Feng Zhao, Sibo Gai, Shangke Lyu, Donglin Wang

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

Survey on safe robot control via learning

Bassel El Mabsout

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

Prediction with Action: Visual Policy Learning via Joint Denoising Process

Yanjiang Guo, Yucheng Hu, Jianke Zhang, Yen-Jen Wang, Xiaoyu Chen, Chaochao Lu, Jianyu Chen

专题命中 机器人学习 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments NeurIPS 2024

On the Effect of Robot Errors on Human Teaching Dynamics

Jindan Huang, Isaac Sheidlower, Reuben M. Aronson, Elaine Schaertl Short

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

Comments Accepted to 2024 International Conference on Human-Agent Interaction (HAI)

Accelerating Laboratory Automation Through Robot Skill Learning For Sample Scraping

Gabriella Pizzuto, Hetong Wang, Hatem Fakhruldeen, Bei Peng, Kevin S. Luck, Andrew I. Cooper

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

Comments 8 pages, 7 figures

Robot Fleet Learning via Policy Merging

Lirui Wang, Kaiqing Zhang, Allan Zhou, Max Simchowitz, Russ Tedrake

专题命中 机器人学习 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments See the code https://github.com/liruiw/Fleet-Tools for more details

Revisiting Energy Based Models as Policies: Ranking Noise Contrastive Estimation and Interpolating Energy Models

Sumeet Singh, Stephen Tu, Vikas Sindhwani

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

AR2-D2:Training a Robot Without a Robot

Jiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, Ranjay Krishna

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

Comments Project website: www.ar2d2.site

Evaluating Continual Learning on a Home Robot

Sam Powers, Abhinav Gupta, Chris Paxton

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

BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment

Zeyi Liu, Zhenjia Xu, Shuran Song

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

Comments CoRL 2022 camera-ready; Website: https://busybot.cs.columbia.edu/

Physical Interaction as Communication: Learning Robot Objectives Online from Human Corrections

Dylan P. Losey, Andrea Bajcsy, Marcia K. O'Malley, Anca D. Dragan

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

Hierarchical and Partially Observable Goal-driven Policy Learning with Goals Relational Graph

Xin Ye, Yezhou Yang

专题命中 机器人学习 ：navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments CVPR2021

A data-set of piercing needle through deformable objects for Deep Learning from Demonstrations

Hamidreza Hashempour, Kiyanoush Nazari, Fangxun Zhong, Amir Ghalamzan E.

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

Comments https://github.com/imanlab/d-lfd

Learning to Augment Synthetic Images for Sim2Real Policy Transfer

Alexander Pashevich, Robin Strudel, Igor Kalevatykh, Ivan Laptev, Cordelia Schmid

专题命中 机器人学习 ：robotics(abstract)；manipulation(abstract)；分类 cs.CV、cs.LG

Comments 7 pages

Journal ref IROS 2019

Residual Policy Learning

Tom Silver, Kelsey Allen, Josh Tenenbaum, Leslie Kaelbling

专题命中 机器人学习 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Visuospatial Skill Learning for Robots

S. Reza Ahmadzadeh, Fulvio Mastrogiovanni, Petar Kormushev

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

Comments 24 pages, 36 figures

Model Predictive Impedance Control with Gaussian Processes for Human and Environment Interaction

基于高斯过程的模型预测阻抗控制用于人与环境交互

Kevin Haninger, Christian Hegeler, Luka Peternel

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

AI总结 本文提出基于高斯过程的模型预测控制框架，用于处理人机交互中的多种不确定性，通过非线性优化提升机器人轨迹和阻抗的适应性与安全性。

Comments Video: https://youtu.be/Of2O3mHfM94 Code: https://gitlab.cc-asp.fraunhofer.de/hanikevi/gp-mpc-impedance-control

Journal ref Robotics and Autonomous Systems, Volume 165, 104431, July 2023

Advances on Affordable Hardware Platforms for Human Demonstration Acquisition in Agricultural Applications

Alberto San-Miguel-Tello, Gennaro Scarati, Alejandro Hernández, Mario Cavero-Vidal, Aakash Maroti, Néstor García

机构 * Eurecat, Centre Tecnològic de Catalunya, Robotics and Automation Unit（Eurecat，加泰罗尼亚技术中心，机器人与自动化单位） 纠错

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

Comments 7 pages, 2 figures

Journal ref European Robotics Forum 2025. ERF 2025. Springer Proceedings in Advanced Robotics, vol 36. Springer

SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment

Caelan Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox

专题命中 机器人学习 ：manipulation(abstract)；分类 cs.RO、cs.AI、cs.CV；robot learning(journal_ref)

Journal ref 2024 Conference on Robot Learning (CoRL)

Open-source High-precision Autonomous Suturing Framework With Visual Guidance

Hongbin Lin, Bin Li, Yunhui Liu, Kwok Wai Samuel Au

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

Journal ref IROS 2022 Workshop on "A Panacea Or An Alchemy? Benefits And Risks Of Robot Learning In Medical Applications"

Affordance Learning from Play for Sample-Efficient Policy Learning

Jessica Borja-Diaz, Oier Mees, Gabriel Kalweit, Lukas Hermann, Joschka Boedecker, Wolfram Burgard

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

Comments Accepted at the 2022 IEEE International Conference on Robotics and Automation (ICRA). Videos at http://vapo.cs.uni-freiburg.de/

Safety Embedded Differential Dynamic Programming Using Discrete Barrier States

Hassan Almubarak, Kyle Stachowicz, Nader Sadegh, Evangelos A. Theodorou

专题命中 机器人学习 ：robotics(abstract,journal_ref)；navigation(abstract)；分类 cs.RO

Comments Added extensive quantitative comparisons and analysis in the implementation examples, and revised discussions and illustrations

Journal ref IEEE ROBOTICS AND AUTOMATION LETTERS, VOL. 7, NO. 2, APRIL 2022

Learning from Demonstrations for Autonomous Soft-tissue Retraction

Ameya Pore, Eleonora Tagliabue, Marco Piccinelli, Diego Dall'Alba, Alicia Casals, Paolo Fiorini

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

Comments Accepted in IEEE International Symposium of Medical Robotics (ISMR 2021)

Hybrid Control for Learning Motor Skills

Ian Abraham, Alexander Broad, Allison Pinosky, Brenna Argall, Todd D. Murphey

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

Journal ref Workshop on the Algorithmic Foundations of Robotics (2020)

Co-design of Neural and Muscle Network based on Embodied Perceptron Representation

基于具身感知机表示的神经网络与肌肉网络协同设计

Siyuan Tao, Yoichi Masuda, Hiroyuki Nabae, Masato Ishikawa

机构 * The University of Osaka（大阪大学） ； Institute of Science Tokyo（东京科学大学） 纠错

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

AI总结 本文提出具身感知机框架，将躯体建模为感知机，通过协同优化肌肉骨骼机器人的控制策略与肌肉配置，实现具身智能，兼具稳定性、高学习效率与小模型规模，为具身AI系统设计提供新路径。

Comments 10 pages, 7 figures, 2026 IEEE/SICE International Symposium on System Integration (SII)

Journal ref Proc. 2026 IEEE/SICE International Symposium on System Integration (SII), pp. 167-172, 2026