机器人 / 具身智能

RoboPCA: Pose-centered Affordance Learning from Human Demonstrations for Robot Manipulation

RoboPCA：基于姿态的从人类示范中学习空间可及性的方法用于机器人操作

Zhanqi Xiao, Ruiping Wang, Xilin Chen

机构 * Key Laboratory of AI Safety of CAS, Institute of Computing Technology, Chinese Academy of Sciences（中国科学院人工智能安全重点实验室、计算技术研究所） ； University of Chinese Academy of Sciences（中国科学院大学） 纠错

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

AI总结 RoboPCA通过联合预测接触区域和姿态，提升机器人操作中从人类示范中学习空间可及性的性能。

Comments Accepted to ICRA 2026

Estimating Human Muscular Fatigue in Dynamic Collaborative Robotic Tasks with Learning-Based Models

基于学习模型的动态协作机器人任务中人体肌肉疲劳估计

Feras Kiki, Pouya P. Niaz, Alireza Madani, Cagatay Basdogan

机构 * Robotics and Mechatronics Laboratory (RML) and the KUIS AI Center（机器人与机电实验室（RML）和KUIS人工智能中心） 纠错

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

AI总结 本文提出基于学习模型的动态协作机器人任务中人体肌肉疲劳估计方法，利用sEMG数据通过回归模型预测疲劳周期分数，CNN模型表现最佳，展示了跨任务泛化的潜力。

Comments ICRA 2026 Original Contribution, Vienne, Austria

Mitigating the Likelihood Paradox in Flow-based OOD Detection via Entropy Manipulation

通过熵操控缓解基于流的分布外检测中的可能性悖论

Donghwan Kim, Hyunsoo Yoon

机构 * University of Yonsei（延世大学） 纠错

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

AI总结 本文通过熵操控缓解基于流的分布外检测中的可能性悖论，利用语义相似性调整输入熵以提高检测性能。

Comments 28 pages, 4 figures

EditYourself: Audio-Driven Generation and Manipulation of Talking Head Videos with Diffusion Transformers

EditYourself: 基于音频驱动的谈话头视频生成与操控的扩散变换器

John Flynn, Wolfgang Paier, Dimitar Dinev, Sam Nhut Nguyen, Hayk Poghosyan, Manuel Toribio, Sandipan Banerjee, Guy Gafni

机构 * Pipio AI ； Amazon（亚马逊） 纠错

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

AI总结 EditYourself通过音频驱动的视频到视频编辑框架，实现基于脚本的谈话头视频修改，包括内容的添加、删除和重新定时，同时保持唇同步和时间一致性。

Comments Project page: https://edit-yourself.github.io/

A3D: Adaptive Affordance Assembly with Dual-Arm Manipulation

A3D：基于双臂操作的自适应可达性组装

Jiaqi Liang, Yue Chen, Qize Yu, Yan Shen, Haipeng Zhang, Hao Dong, Ruihai Wu

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

AI总结 A3D通过自适应可达性学习和双臂协作，实现家具组装任务的高效泛化。

Comments AAAI2026 oral

Diffusion-Driven Deceptive Patches: Adversarial Manipulation and Forensic Detection in Facial Identity Verification

扩散驱动的欺骗性补丁：面部身份验证中的对抗操纵与取证检测

Shahrzad Sayyafzadeh, Hongmei Chi, Shonda Bernadin

专题命中 机器人操作 ：manipulation(title)；分类 cs.AI、cs.CV

AI总结 本文提出了一种基于扩散模型的对抗性补丁生成与检测方法，通过FGSM和ViT-GPT2模型提升对抗性攻击的隐蔽性与有效性，并实现了高SSIM的检测性能。

Comments This manuscript is a preprint. A revised version of this work has been accepted for publication in the Springer Nature book Artificial Intelligence-Driven Forensics. This version includes one additional figure for completeness

Modality-Augmented Fine-Tuning of Foundation Robot Policies for Cross-Embodiment Manipulation on GR1 and G1

模态增强的基座机器人策略微调用于GR1和G1跨躯体操作

Junsung Park, Hogun Kee, Songhwai Oh

机构 * Department of Electrical and Computer Engineering, Seoul National University（电气与计算机工程系，首尔国立大学） 纠错

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

AI总结 本文提出了一种模态增强的微调方法，通过多模态数据提升机器人策略在不同躯体上的性能，显著提高了任务成功率。

Comments 8 pages, 10 figures

FoCLIP: A Feature-Space Misalignment Framework for CLIP-Based Image Manipulation and Detection

Yulin Chen, Zeyuan Wang, Tianyuan Yu, Yingmei Wei, Liang Bai

机构 * Laboratory for Big Data and Decision, National University of Defense Technology, Changsha 410073, China（大数据与决策实验室，国防科技大学，长沙410073，中国） 纠错

专题命中 机器人操作 ：manipulation(title)；分类 cs.AI、cs.CV

Comments 15 page, 9 figures, published to PRCV

Beyond Hidden-Layer Manipulation: Semantically-Aware Logit Interventions for Debiasing LLMs

Wei Xia

机构 * Ludwig Maximilian University of Munich（慕尼黑路德维希-马克西米利安大学） 纠错

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

RoBCtrl: Attacking GNN-Based Social Bot Detectors via Reinforced Manipulation of Bots Control Interaction

Yingguang Yang, Xianghua Zeng, Qi Wu, Hao Peng, Yutong Xia, Hao Liu, Bin Chong, Philip S. Yu

机构 * University of Science and Technology of China（科学技术大学） ； Beihang University（北京航空航天大学） ； National University of Singapore（国立新加坡大学） ； Peking University（北京大学） ； University of Illinois Chicago（伊利诺伊大学香槟分校） ； Institute for Clarity in Documentation（文档清晰研究所） ； Inria Paris-Rocquencourt（巴黎-拉德克利夫研究所） ； Rajiv Gandhi University（拉贾·甘地大学） ； Tsinghua University（清华大学） ； Palmer Research Laboratories（帕尔默研究实验室） 纠错

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

Comments 27 pages, 10 figures

PhonemeFake: Redefining Deepfake Realism with Language-Driven Segmental Manipulation and Adaptive Bilevel Detection

Oguzhan Baser, Ahmet Ege Tanriverdi, Sriram Vishwanath, Sandeep P. Chinchali

机构 * Department of Electrical and Computer Engineering（电气与计算机工程系） 纠错

专题命中 机器人操作 ：manipulation(title)；分类 cs.AI、cs.CV

Comments 5 pages, 3 figures, Published at Proceedings of Interspeech 2025, for the dataset see https://huggingface.co/datasets/phonemefake/PhonemeFakeV2, for the code see https://github.com/UTAustin-SwarmLab/ PhonemeFake

Journal ref Proceedings of Interspeech 2025

Visuomotor Grasping with World Models for Surgical Robots

Hongbin Lin, Bin Li, Kwok Wai Samuel Au

机构 * Chinese University of Hong Kong（香港中文大学） ； Sunrise Setting Ltd, UK（Sunrise Setting Ltd） ； SAGE Publications Ltd, UK（SAGE Publications Ltd） 纠错

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

Explainability-in-Action: Enabling Expressive Manipulation and Tacit Understanding by Bending Diffusion Models in ComfyUI

Ahmed M. Abuzuraiq, Philippe Pasquier

机构 * School of Interactive Arts and Technology（交互艺术与技术学院） ； Simon Fraser University（西蒙弗雷泽大学） 纠错

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

Comments In Proceedings of Explainable AI for the Arts Workshop 2025 (XAIxArts 2025) arXiv:2406.14485

SegVec3D: A Method for Vector Embedding of 3D Objects Oriented Towards Robot manipulation

Zhihan Kang, Boyu Wang

机构 * Northwestern Polytechnical University（西北工业大学） 纠错

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

Comments Undergraduate Theis; 12 pages, 6 figures

JAM: Controllable and Responsible Text Generation via Causal Reasoning and Latent Vector Manipulation

Yingbing Huang, Deming Chen, Abhishek K. Umrawal

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

Comments 10 pages, 3 figures, and 6 tables

Exploring Sentiment Manipulation by LLM-Enabled Intelligent Trading Agents

David Byrd

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

SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection

Yifu Tao, Yash Bhalgat, Lanke Frank Tarimo Fu, Matias Mattamala, Nived Chebrolu, Maurice Fallon

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

Comments Accepted at ICRA 2024; Website: https://ori-drs.github.io/projects/silvr/

From Human Hands to Robotic Limbs: A Study in Motor Skill Embodiment for Telemanipulation

Haoyi Shi, Mingxi Su, Ted Morris, Vassilios Morellas, Nikolaos Papanikolopoulos

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

What constitutes a Deep Fake? The blurry line between legitimate processing and manipulation under the EU AI Act

Kristof Meding, Christoph Sorge

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

Comments Preprint. Accepted at ACM CS&Law '25

AtMan: Understanding Transformer Predictions Through Memory Efficient Attention Manipulation

Björn Deiseroth, Mayukh Deb, Samuel Weinbach, Manuel Brack, Patrick Schramowski, Kristian Kersting

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

FameBias: Embedding Manipulation Bias Attack in Text-to-Image Models

Jaechul Roh, Andrew Yuan, Jinsong Mao

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

Open-Vocabulary Mobile Manipulation Based on Double Relaxed Contrastive Learning with Dense Labeling

Daichi Yashima, Ryosuke Korekata, Komei Sugiura

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

Comments Accepted for IEEE RA-L 2025

Towards Kinetic Manipulation of the Latent Space

Diego Porres

专题命中 机器人操作 ：manipulation(title)；分类 cs.AI、cs.CV

Comments NeurIPS 2024 Creative AI Track & LatinX in AI Affinity Workshop

The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control

Oleg Kaidanov, Firas Al-Hafez, Yusuf Suvari, Boris Belousov, Jan Peters

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

Comments Conference on Robot Learning, Workshop on Whole-Body Control and Bimanual Manipulation

Position Engineering: Boosting Large Language Models through Positional Information Manipulation

Zhiyuan He, Huiqiang Jiang, Zilong Wang, Yuqing Yang, Luna Qiu, Lili Qiu

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

BodyShapeGPT: SMPL Body Shape Manipulation with LLMs

Baldomero R. Árbol, Dan Casas

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

Comments Accepted to ECCV 2024 Workshop on Foundation Models for 3D Humans. Code repository: https://github.com/baldoarbol/BodyShapeGPT

RadiomicsFill-Mammo: Synthetic Mammogram Mass Manipulation with Radiomics Features

Inye Na, Jonghun Kim, Eun Sook Ko, Hyunjin Park

专题命中 机器人操作 ：manipulation(title)；分类 cs.AI、cs.CV

Comments Accepted at MICCAI 2024

Evaluating the Impact of Advanced LLM Techniques on AI-Lecture Tutors for a Robotics Course

Sebastian Kahl, Felix Löffler, Martin Maciol, Fabian Ridder, Marius Schmitz, Jennifer Spanagel, Jens Wienkamp, Christopher Burgahn, Malte Schilling

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

Comments The article is an extended version of a paper presented at the International Workshop on AI in Education and Educational Research (AIEER) at ECAI-2024 (27th European Conference on Artificial Intelligence)

Learning to Recover from Plan Execution Errors during Robot Manipulation: A Neuro-symbolic Approach

Namasivayam Kalithasan, Arnav Tuli, Vishal Bindal, Himanshu Gaurav Singh, Parag Singla, Rohan Paul

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

Comments This work has been submitted to the IEEE for possible publication

Residual-NeRF: Learning Residual NeRFs for Transparent Object Manipulation

Bardienus P. Duisterhof, Yuemin Mao, Si Heng Teng, Jeffrey Ichnowski

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