机器人 / 具身智能

Planning with Goal-Conditioned Policies

Soroush Nasiriany, Vitchyr H. Pong, Steven Lin, Sergey Levine

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

Comments In Advances in Neural Information Processing Systems, 2019

Learning Compact Models for Planning with Exogenous Processes

Rohan Chitnis, Tomás Lozano-Pérez

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

Comments CoRL 2019 final version

Towards Object Detection from Motion

Rico Jonschkowski, Austin Stone

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

Estimating Fingertip Forces, Torques, and Local Curvatures from Fingernail Images

Nutan Chen, Göran Westling, Benoni B. Edin, Patrick van der Smagt

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

Comments Robotica

Tuned Inception V3 for Recognizing States of Cooking Ingredients

Kin Ng

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

Leveraging Contact Forces for Learning to Grasp

Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg

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

Comments 7 pages, 5 figures, Submitted to ICRA'19

Learning to Poke by Poking: Experiential Learning of Intuitive Physics

Pulkit Agrawal, Ashvin Nair, Pieter Abbeel, Jitendra Malik, Sergey Levine

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

Journal ref NIPS 2016

Sum of Costs Diffusion with Dynamic Guidance for Motion Planning

运动规划的动态引导代价和扩散模型

Aysu Aylin Kaplan, Özgür Erkent

机构 * Computer Engineering Department, Hacettepe University（哈切特佩大学计算机工程系） 纠错

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

AI总结 提出一种基于扩散模型的高泛化运动规划方法，通过总碰撞代价梯度引导去噪过程并动态选择引导起始步，在Mπnets数据集上取得最优性能。

Comments Accepted at the Frontiers of Optimization for Robotics Workshop at the IEEE International Conference of Robotics & Automation (ICRA), 2026

Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstration

生成、迁移、适应：从单个人示范学习功能性灵巧抓取

Xingyi He, Adhitya Polavaram, Yunhao Cao, Om Deshmukh, Tianrui Wang, Xiaowei Zhou, Kuan Fang

机构 * Cornell University（康奈尔大学） 纠错

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

AI总结 CorDex通过单个人示范生成合成数据，结合多模态预测网络和局部-全局融合模块，实现对新型物体的灵巧抓取学习。

Comments Project Page: https://cordex-manipulation.github.io/

UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Hands

UniFucGrasp: 人类手启发的统一功能抓取标注策略与多样的灵巧手数据集

Haoran Lin, Wenrui Chen, Xianchi Chen, Fan Yang, Qiang Diao, Wenxin Xie, Sijie Wu, Kailun Yang, Maojun Li, Yaonan Wang

机构 * School of Artificial Intelligence and Robotics, Hunan University, China（人工智能与机器人学院，湖南大学） ； National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, China（机器人视觉感知与控制技术国家工程研究中心，湖南大学） ； College of Mechanical and Vehicle Engineering, Hunan University, China（机械与车辆工程学院，湖南大学） 纠错

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

AI总结 UniFucGrasp提出了一种基于人类手启发的统一功能抓取标注策略与数据集，支持低成本高效收集多样化高质量功能抓取，提升多机器人手的抓取稳定性和适应性。

Comments Accepted to IEEE Robotics and Automation Letters (RA-L). The project page is at https://haochen611.github.io/UFG

RLBind: Adversarial-Invariant Cross-Modal Alignment for Unified Robust Embeddings

Yuhong Lu

机构 * Samueli School of Engineering, Electrical and Computer Engineering, UCLA（UCLA电气与计算机工程学院萨姆利学校） 纠错

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

Comments This paper is submitted to IEEE International Conference on Robotics and Automation (ICRA) 2026

Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration

Ce Guo, Xieyuanli Chen, Zhiwen Zeng, Zirui Guo, Yihong Li, Haoran Xiao, Dewen Hu, Huimin Lu

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

Comments 20 pages, 19 figures, accepted by IEEE Transactions on Robotics

Multi-Keypoint Affordance Representation for Functional Dexterous Grasping

Fan Yang, Dongsheng Luo, Wenrui Chen, Jiacheng Lin, Junjie Cai, Kailun Yang, Zhiyong Li, Yaonan Wang

机构 * School of Artificial Intelligence and Robotics, Hunan University（人工智能与机器人学院，湖南大学） ； College of Computer Science and Electronic Engineering, Hunan University（计算机科学与电子工程学院，湖南大学） ； National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University（机器人视觉感知与控制技术国家工程研究中心，湖南大学） 纠错

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

Comments Accepted to IEEE Robotics and Automation Letters (RA-L). The source code and demo videos are publicly available at https://github.com/PopeyePxx/MKA

emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal Hands

Sagar Verma

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

Comments Accepted in Robotics: Science and Systems (RSS 2025)

RICL: Adding In-Context Adaptability to Pre-Trained Vision-Language-Action Models

Kaustubh Sridhar, Souradeep Dutta, Dinesh Jayaraman, Insup Lee

机构 * University of Pennsylvania（宾夕法尼亚大学） ； University of British Columbia（不列颠哥伦比亚大学） 纠错

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

Comments Conference on Robot Learning 2025 (CoRL 2025), 17 pages

rt-RISeg: Real-Time Model-Free Robot Interactive Segmentation for Active Instance-Level Object Understanding

Howard H. Qian, Yiting Chen, Gaotian Wang, Podshara Chanrungmaneekul, Kaiyu Hang

机构 * Department of Computer Science, Rice University（计算机科学系， Rice大学） 纠错

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

Comments 8 pages, IROS 2025, Interactive Perception, Segmentation, Robotics, Computer Vision

Sim2Real Transfer for Vision-Based Grasp Verification

Pau Amargant, Peter Hönig, Markus Vincze

机构 * Faculty of Electrical Engineering, Technical University of Vienna（维也纳技术大学电子工程学院） ； Polytechnic University of Catalonia（加泰罗尼亚理工大学） 纠错

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

Comments Accepted at Austrian Robotics Workshop 2025

Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing

Lukas Mack, Felix Grüninger, Benjamin A. Richardson, Regine Lendway, Katherine J. Kuchenbecker, Joerg Stueckler

机构 * University of Augsburg（奥格斯堡大学） ； Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所） 纠错

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

Comments Accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA), 2025

Evaluating Uncertainty-based Failure Detection for Closed-Loop LLM Planners

Zhi Zheng, Qian Feng, Hang Li, Alois Knoll, Jianxiang Feng

机构 * Technical University of Munich（慕尼黑工业大学） 纠错

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

Comments Accepted at ICRA 2024 Workshop on Back to the Future: Robot Learning Going Probabilistic. Website: https://sites.google.com/view/konwloop/home

Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting

Matthew Strong, Boshu Lei, Aiden Swann, Wen Jiang, Kostas Daniilidis, Monroe Kennedy

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

Comments To appear in International Conference on Robotics and Automation (ICRA) 2025

SELP: Generating Safe and Efficient Task Plans for Robot Agents with Large Language Models

Yi Wu, Zikang Xiong, Yiran Hu, Shreyash S. Iyengar, Nan Jiang, Aniket Bera, Lin Tan, Suresh Jagannathan

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

Comments This paper has been accepted for presentation at the 2025 IEEE International Conference on Robotics and Automation (ICRA), May 19-23, 2025, Atlanta, USA, and for inclusion in the conference proceeding

ReFlow6D: Refraction-Guided Transparent Object 6D Pose Estimation via Intermediate Representation Learning

Hrishikesh Gupta, Stefan Thalhammer, Jean-Baptiste Weibel, Alexander Haberl, Markus Vincze

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

Journal ref IEEE Robotics and Automation Letters, vol. 9, no. 11, pp. 9438-9445, Nov. 2024

Towards Open-World Grasping with Large Vision-Language Models

Georgios Tziafas, Hamidreza Kasaei

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

Comments 8th Conference on Robot Learning (CoRL 2024), Munich, Germany

LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-based Planning

Zeyu Feng, Hao Luan, Pranav Goyal, Harold Soh

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

Journal ref in IEEE Robotics and Automation Letters, vol. 9, no. 10, pp. 8571-8578, Oct. 2024

Single-View 3D Reconstruction via SO(2)-Equivariant Gaussian Sculpting Networks

Ruihan Xu, Anthony Opipari, Joshua Mah, Stanley Lewis, Haoran Zhang, Hanzhe Guo, Odest Chadwicke Jenkins

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

Comments Accepted to RSS 2024 Workshop on Geometric and Algebraic Structure in Robot Learning

Proprioceptive Learning with Soft Polyhedral Networks

Xiaobo Liu, Xudong Han, Wei Hong, Fang Wan, Chaoyang Song

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

Comments 20 pages, 10 figures, 2 tables, Published in the International Journal of Robotics Research

Sim-Grasp: Learning 6-DOF Grasp Policies for Cluttered Environments Using a Synthetic Benchmark

Juncheng Li, David J. Cappelleri

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

Journal ref IEEE Robotics and Automation Letters (2024) 1-8

CenterArt: Joint Shape Reconstruction and 6-DoF Grasp Estimation of Articulated Objects

Sassan Mokhtar, Eugenio Chisari, Nick Heppert, Abhinav Valada

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

Comments 4 pages, 2 figures, accepted to the ICRA 2024 Workshop on 3D Visual Representations for Robot Manipulation

Sample-Efficient Safety Assurances using Conformal Prediction

Rachel Luo, Shengjia Zhao, Jonathan Kuck, Boris Ivanovic, Silvio Savarese, Edward Schmerling, Marco Pavone

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

Comments International Journal of Robotics Research, 2023

Open-Set Object Detection Using Classification-free Object Proposal and Instance-level Contrastive Learning

Zhongxiang Zhou, Yifei Yang, Yue Wang, Rong Xiong

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

Comments IEEE Robotics and Automation Letters