机器人 / 具身智能

SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulation

Haoquan Fang, Markus Grotz, Wilbert Pumacay, Yi Ru Wang, Dieter Fox, Ranjay Krishna, Jiafei Duan

机构 * University of Washington（华盛顿大学） ； Universidad Católica San Pablo（卡塔尔大学） ； NVIDIA（NVIDIA公司） ； Allen Institute for Artificial Intelligence（人工智能研究院） 纠错

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

Comments Including Appendix, Project Page: https://sam2act.github.io

DexSim2Real$^{2}$: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation

Taoran Jiang, Yixuan Guan, Liqian Ma, Jing Xu, Jiaojiao Meng, Weihang Chen, Zecui Zeng, Lusong Li, Dan Wu, Rui Chen

机构 * Department of Mechanical Engineering, Tsinghua University（清华大学机械工程系） ； Institute for Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology（机器人与智能机器研究所（IRIM），佐治亚理工学院） ； JD Explore Academy, Beijing, China（京东探索研究院，北京，中国） 纠错

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

Comments Project Webpage: https://jiangtaoran.github.io/dexsim2real2web/ . arXiv admin note: text overlap with arXiv:2302.10693

Learning Efficient Robotic Garment Manipulation with Standardization

Changshi Zhou, Feng Luan, Jiarui Hu, Shaoqiang Meng, Zhipeng Wang, Yanchao Dong, Yanmin Zhou, Bin He

机构 * College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China（电子信息工程学院，同济大学，上海） ； The National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201210, China（自主智能无人系统国家重点实验室，同济大学，上海） ； The Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, China（智能自主系统前沿科学中心，上海） ； Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China（智能自主系统上海研究院，同济大学，上海） 纠错

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

An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation

Melih Özcan, Ozgur S. Oguz

机构 * Department of Electrical and Electronics Engineering, Middle East Technical University（电子与电气工程系，中东部技术大学） ； Department of Computer Engineering, Bilkent University（计算机工程系，比尔肯特大学） 纠错

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

Comments 8 pages, 8 figures, accepted for oral presentation at IROS 2025. Supplementary site: https://sites.google.com/view/komo-force/home

RobotSmith: Generative Robotic Tool Design for Acquisition of Complex Manipulation Skills

Chunru Lin, Haotian Yuan, Yian Wang, Xiaowen Qiu, Tsun-Hsuan Wang, Minghao Guo, Bohan Wang, Yashraj Narang, Dieter Fox, Chuang Gan

机构 * University of Massachusetts Amherst（马萨诸塞大学阿默斯特分校） ； Massachusetts Institute of Technology（麻省理工学院） ； National University of Singapore（新加坡国立大学） ； NVIDIA（英伟达） ； MIT-IBM Watson AI Lab（麻省理工-IBM沃森人工智能实验室） 纠错

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

MagicGripper: A Multimodal Sensor-Integrated Gripper for Contact-Rich Robotic Manipulation

Wen Fan, Haoran Li, Dandan Zhang

机构 * Department of Bioengineering, Imperial College London（帝国理工学院伦敦分校生物工程系） ； School of Robotics, Xi’an Jiaotong-Liverpool University（西安交通大学利物浦大学机器人学院） 纠错

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

Comments 19 pages, 24 figures

EquAct: An SE(3)-Equivariant Multi-Task Transformer for Open-Loop Robotic Manipulation

Xupeng Zhu, Yu Qi, Yizhe Zhu, Robin Walters, Robert Platt

机构 * Northeastern University（东北大学） 纠错

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

Task-oriented Robotic Manipulation with Vision Language Models

Nurhan Bulus Guran, Hanchi Ren, Jingjing Deng, Xianghua Xie

机构 * Department of Computer Science, Swansea University（计算机科学系，萨瑟兰大学） ； Department of Computer Science, Durham University（计算机科学系，杜ham大学） 纠错

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

Shape-Space Deformer: Unified Visuo-Tactile Representations for Robotic Manipulation of Deformable Objects

Sean M. V. Collins, Brendan Tidd, Mahsa Baktashmotlagh, Peyman Moghadam

机构 * CSIRO Robotics, Data61, CSIRO（CSIRO机器人部、Data61、CSIRO） ； School of Electrical Engineering and Computer Science (EECS), The University of Queensland（电气工程与计算机科学学院（EECS）、昆士兰大学） 纠错

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

Comments Accepted in ICRA2025

VLATest: Testing and Evaluating Vision-Language-Action Models for Robotic Manipulation

Zhijie Wang, Zhehua Zhou, Jiayang Song, Yuheng Huang, Zhan Shu, Lei Ma

机构 * University of Alberta（阿尔伯塔大学） ； The University of Tokyo（东京大学） 纠错

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

Comments To appear in FSE '25 (Proceedings of ACM Software Engineering, Vol. 2, Issue FSE, Article FSE073), 24 pages, 7 figures

A Deep Reinforcement Learning Environment for Particle Robot Navigation and Object Manipulation

Jeremy Shen, Erdong Xiao, Yuchen Liu, Chen Feng

专题命中 机器人操作 ：manipulation(title)；navigation(title)；robotics(abstract)；robotic(abstract)

Comments 8 pages, 6 figures; conference paper at ICRA 2022; our code and video is available at https://ai4ce.github.io/DeepParticleRobot/

CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation

Xiaoqi Li, Lingyun Xu, Mingxu Zhang, Jiaming Liu, Yan Shen, Iaroslav Ponomarenko, Jiahui Xu, Liang Heng, Siyuan Huang, Shanghang Zhang, Hao Dong

机构 * School of Computer Science, Peking University（北京大学计算机学院） ； PKU-Agibot Lab（北京大学AGIBOT实验室） 纠错

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

Comments CVPR 2025

Krysalis Hand: A Lightweight, High-Payload, 18-DoF Anthropomorphic End-Effector for Robotic Learning and Dexterous Manipulation

Al Arsh Basheer, Justin Chang, Yuyang Chen, David Kim, Iman Soltani

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

Look-to-Touch: A Vision-Enhanced Proximity and Tactile Sensor for Distance and Geometry Perception in Robotic Manipulation

Yueshi Dong, Jieji Ren, Zhenle Liu, Zhanxuan Peng, Zihao Yuan, Ningbin Zhang, Guoying Gu

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

FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation

Litao Liu, Wentao Wang, Yifan Han, Zhuoli Xie, Pengfei Yi, Junyan Li, Yi Qin, Wenzhao Lian

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

Comments 8 pages, 4 figures

Can Real-to-Sim Approaches Capture Dynamic Fabric Behavior for Robotic Fabric Manipulation?

Yingdong Ru, Lipeng Zhuang, Zhuo He, Florent P. Audonnet, Gerardo Aragon-Caramasa

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

Friction-Scaled Vibrotactile Feedback for Real-Time Slip Detection in Manipulation using Robotic Sixth Finger

Naqash Afzal, Basma Hasanen, Lakmal Seneviratne, Oussama Khatib, Irfan Hussain

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

Towards Effective Utilization of Mixed-Quality Demonstrations in Robotic Manipulation via Segment-Level Selection and Optimization

Jingjing Chen, Hongjie Fang, Hao-Shu Fang, Cewu Lu

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

Comments ICRA 2025. Project website: https://tonyfang.net/s2i/

Generative Artificial Intelligence in Robotic Manipulation: A Survey

Kun Zhang, Peng Yun, Jun Cen, Junhao Cai, Didi Zhu, Hangjie Yuan, Chao Zhao, Tao Feng, Michael Yu Wang, Qifeng Chen, Jia Pan, Wei Zhang, Bo Yang, Hua Chen

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

Deep Reinforcement Learning-Based Semi-Autonomous Control for Magnetic Micro-robot Navigation with Immersive Manipulation

Yudong Mao, Dandan Zhang

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

Comments Accepted by ICRA

Gaze-Guided Task Decomposition for Imitation Learning in Robotic Manipulation

Ryo Takizawa, Yoshiyuki Ohmura, Yasuo Kuniyoshi

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

VIP: Vision Instructed Pre-training for Robotic Manipulation

Zhuoling Li, Liangliang Ren, Jinrong Yang, Yong Zhao, Xiaoyang Wu, Zhenhua Xu, Xiang Bai, Hengshuang Zhao

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

OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints

Mingjie Pan, Jiyao Zhang, Tianshu Wu, Yinghao Zhao, Wenlong Gao, Hao Dong

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

Learned Slip-Detection-Severity Framework using Tactile Deformation Field Feedback for Robotic Manipulation

Neel Jawale, Navneet Kaur, Amy Santoso, Xiaohai Hu, Xu Chen

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

Comments Accepted at IROS 2024

Goal State Generation for Robotic Manipulation Based on Linguistically Guided Hybrid Gaussian Diffusion

Yichen Xu, Faliang Chang, Chunsheng Liu, Dexin Wang

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

Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulation

Yueru Jia, Jiaming Liu, Sixiang Chen, Chenyang Gu, Zhilue Wang, Longzan Luo, Lily Lee, Pengwei Wang, Zhongyuan Wang, Renrui Zhang, Shanghang Zhang

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

RoboMamba: Efficient Vision-Language-Action Model for Robotic Reasoning and Manipulation

Jiaming Liu, Mengzhen Liu, Zhenyu Wang, Pengju An, Xiaoqi Li, Kaichen Zhou, Senqiao Yang, Renrui Zhang, Yandong Guo, Shanghang Zhang

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

Comments Accepted by Neurips 2024

ALPHA-$α$ and Bi-ACT Are All You Need: Importance of Position and Force Information/Control for Imitation Learning of Unimanual and Bimanual Robotic Manipulation with Low-Cost System

Masato Kobayashi, Thanpimon Buamanee, Takumi Kobayashi

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

CAGE: Causal Attention Enables Data-Efficient Generalizable Robotic Manipulation

Shangning Xia, Hongjie Fang, Cewu Lu, Hao-Shu Fang

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

Comments Submitted to ICRA 2025

Contact Tooling Manipulation Control for Robotic Repair Platform

Joong-Ku Lee, Young Soo Park

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

Comments This paper was submitted to Waste Management Symposia 2024 (WM2024)