机器人 / 具身智能

A Roadmap for Embodied and Social Grounding in LLMs

Sara Incao, Carlo Mazzola, Giulia Belgiovine, Alessandra Sciutti

机构 * Istituto Italiano di Tecnologia（意大利技术研究院） 纠错

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

Comments Accepted Version of a conference paper presented at Robophilosophy Conference 2024

Journal ref Incao, S., Mazzola, C., Belgiovine, G., Sciutti, A., 2025, A Roadmap for Embodied and Social Grounding in LLMs. In J. Seibt, P. Fazekas, & O. S. Quick (Eds.), Social Robots with AI: Prospects, Risks, and Responsible Methods, IOS Press

Precise Pick-and-Place using Score-Based Diffusion Networks

Shih-Wei Guo, Tsu-Ching Hsiao, Yu-Lun Liu, Chun-Yi Lee

机构 * National Tsing Hua University（国立清华大学） ； National Taiwan University（国立台湾大学） ； National Yang Ming Chiao Tung University（国立阳明交通大学） 纠错

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

Comments 8 pages, 7 figures. Project webpage: https://tony2guo.github.io/precise-pick-and-place/

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, pp. 7484-7491

VideoAgent: Self-Improving Video Generation

Achint Soni, Sreyas Venkataraman, Abhranil Chandra, Sebastian Fischmeister, Percy Liang, Bo Dai, Sherry Yang

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

Making Sense of Touch: Unsupervised Shapelet Learning in Bag-of-words Sense

Zhicong Xian, Tabish Chaudhary, Jürgen Bock

机构 * Corporate Research, KUKA Germany GmbH（德国库卡有限公司企业研究部） 纠错

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

Journal ref ICRA 2020 Brain-Pil Workshop- New advances in brain-inspired perception, interaction and learning

Wonderful Team: Zero-Shot Physical Task Planning with Visual LLMs

Zidan Wang, Rui Shen, Bradly Stadie

机构 * Northwestern University（西北大学） ； University of Virginia（弗吉尼亚大学） 纠错

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

Comments aka Wonderful Team

DITTO: Demonstration Imitation by Trajectory Transformation

Nick Heppert, Max Argus, Tim Welschehold, Thomas Brox, Abhinav Valada

机构 * University of Freiburg（弗莱堡大学） 纠错

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

Comments 8 pages, 4 figures, 3 tables, accepted at IROS 2024

3D Reconstruction of non-visible surfaces of objects from a Single Depth View -- Comparative Study

Rafał Staszak, Piotr Michałek, Jakub Chudziński, Marek Kopicki, Dominik Belter

机构 * Poznan University of Technology（波兹南理工大学） 纠错

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

Temporal Binding Foundation Model for Material Property Recognition via Tactile Sequence Perception

Hengxu You, Tianyu Zhou, Jing Du

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

Comments 4 pages,

Design Optimizer for Soft Growing Robot Manipulators in Three-Dimensional Environments

Ahmet Astar, Ozan Nurcan, Erk Demirel, Emir Ozen, Ozan Kutlar, Fabio Stroppa

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

Comments 17 pages, 10 figures

Inductive Learning of Robot Task Knowledge from Raw Data and Online Expert Feedback

Daniele Meli, Paolo Fiorini

机构 * University of Verona（维罗纳大学） 纠错

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

Generalizable Articulated Object Perception with Superpoints

Qiaojun Yu, Ce Hao, Xibin Yuan, Li Zhang, Liu Liu, Yukang Huo, Rohit Agarwal, Cewu Lu

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

A Modern Take on Visual Relationship Reasoning for Grasp Planning

Paolo Rabino, Tatiana Tommasi

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

Comments Accepted at IEEE RAL - in press

Good Grasps Only: A data engine for self-supervised fine-tuning of pose estimation using grasp poses for verification

Frederik Hagelskjær

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

Comments 8 pages, 7 figures, 3 tables

Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills

Tianhao Wei, Liqian Ma, Rui Chen, Weiye Zhao, Changliu Liu

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

GSGTrack: Gaussian Splatting-Guided Object Pose Tracking from RGB Videos

Zhiyuan Chen, Fan Lu, Guo Yu, Bin Li, Sanqing Qu, Yuan Huang, Changhong Fu, Guang Chen

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

Gaussian Object Carver: Object-Compositional Gaussian Splatting with surfaces completion

Liu Liu, Xinjie Wang, Jiaxiong Qiu, Tianwei Lin, Xiaolin Zhou, Zhizhong Su

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

Semi-Supervised Neural Processes for Articulated Object Interactions

Emily Liu, Michael Noseworthy, Nicholas Roy

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

PACA: Perspective-Aware Cross-Attention Representation for Zero-Shot Scene Rearrangement

Shutong Jin, Ruiyu Wang, Kuangyi Chen, Florian T. Pokorny

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

Comments Accepted by WACV2025

A Survey on Vision Autoregressive Model

Kai Jiang, Jiaxing Huang

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

Comments This work will be integrated into another project

Self-supervised cross-modality learning for uncertainty-aware object detection and recognition in applications which lack pre-labelled training data

Irum Mehboob, Li Sun, Alireza Astegarpanah, Rustam Stolkin

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

Comments 16 pages

Large Language Models for Orchestrating Bimanual Robots

Kun Chu, Xufeng Zhao, Cornelius Weber, Mengdi Li, Wenhao Lu, Stefan Wermter

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

Comments Accepted in Humanoids 2024. The project website can be found at http://labor-agent.github.io

A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches

Zhigen Zhao, Shuo Cheng, Yan Ding, Ziyi Zhou, Shiqi Zhang, Danfei Xu, Ye Zhao

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

Comments 26 pages, 13 figures, published at IEEE/ASME Transactions on Mechatronics

Journal ref IEEE/ASME Transactions on Mechatronics (2024)

Target Pose Guided Whole-body Grasping Motion Generation for Digital Humans

Quanquan Shao, Yi Fang

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

Comments 7 pages,5 figures

FAST GDRNPP: Improving the Speed of State-of-the-Art 6D Object Pose Estimation

Thomas Pöllabauer, Ashwin Pramod, Volker Knauthe, Michael Wahl

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

Use the Force, Bot! -- Force-Aware ProDMP with Event-Based Replanning

Paul Werner Lödige, Maximilian Xiling Li, Rudolf Lioutikov

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

Comments Submitted to ICRA 2025

Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments

Haritheja Etukuru, Norihito Naka, Zijin Hu, Seungjae Lee, Julian Mehu, Aaron Edsinger, Chris Paxton, Soumith Chintala, Lerrel Pinto, Nur Muhammad Mahi Shafiullah

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

Comments Project website https://robotutilitymodels.com

From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models

Tessa Pulli, Stefan Thalhammer, Simon Schwaiger, Markus Vincze

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

PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments

Kairui Ding, Boyuan Chen, Ruihai Wu, Yuyang Li, Zongzheng Zhang, Huan-ang Gao, Siqi Li, Guyue Zhou, Yixin Zhu, Hao Dong, Hao Zhao

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

Comments Project Page: https://air-discover.github.io/PreAfford/

DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands

Fengbo Lan, Shengjie Wang, Yunzhe Zhang, Haotian Xu, Oluwatosin Oseni, Ziye Zhang, Yang Gao, Tao Zhang

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

Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting

Aiden Swann, Matthew Strong, Won Kyung Do, Gadiel Sznaier Camps, Mac Schwager, Monroe Kennedy

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

Comments 8 pages, 7 figures