机器人 / 具身智能

A Neuromorphic Incipient Slip Detection System using Papillae Morphology

Yanhui Lu, Zeyu Deng, Stephen J. Redmond, Efi Psomopoulou, Benjamin Ward-Cherrier

机构 * School of Engineering Mathematics and Technology, University of Bristol（布里斯托大学工程数学与技术学院） ； James Watt School of Engineering, University of Glasgow（格拉斯哥大学詹姆斯·瓦特工程学院） ； School of Electrical and Electronic Engineering, University College Dublin（都柏林大学学院电子与电气工程学院） 纠错

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

Comments 7 pages, 12 figures. Submitted to IEEE Robotics and Automation Letters (RAL), under review

Learning Multi-Stage Pick-and-Place with a Legged Mobile Manipulator

Haichao Zhang, Haonan Yu, Le Zhao, Andrew Choi, Qinxun Bai, Yiqing Yang, Wei Xu

机构 * Horizon Robotics 纠错

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

Comments Accepted to IEEE Robotics and Automation Letters (RA-L). Tech Report: arXiv:2501.09905

Automatic Geometric Decomposition for Analytical Inverse Kinematics

Daniel Ostermeier, Jonathan Külz, Matthias Althoff

机构 * Department of Computer Engineering, Technical University of Munich（计算机工程系，慕尼黑技术大学） ； Munich Center for Machine Learning（慕尼黑机器学习中心） 纠错

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

Comments Website: https://eaik.cps.cit.tum.de/

Journal ref IEEE Robotics and Automation Letters (RA-L), Vol. 10, No. 10, pp. 9964--9971, 2025

D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation

I-Chun Arthur Liu, Jason Chen, Gaurav Sukhatme, Daniel Seita

机构 * Department of Computer Science, University of Southern California（计算机科学系，南加州大学） 纠错

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

Comments Accepted to the Conference on Robot Learning (CoRL) 2025

Generalizable Motion Policies through Keypoint Parameterization and Transportation Maps

Giovanni Franzese, Ravi Prakash, Cosimo Della Santina, Jens Kober

机构 * Cognitive Robotics, Delft University of Technology（德鲁特理工大学认知机器人实验室） ； Cyber Physical Systems, Indian Institute of Science Bangalore（印度科学研究院班加罗尔计算机物理系统） 纠错

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

Comments This article was accepted at IEEE Transactions on Robotics (T-RO)

FMimic: Foundation Models are Fine-grained Action Learners from Human Videos

Guangyan Chen, Meiling Wang, Te Cui, Yao Mu, Haoyang Lu, Zicai Peng, Mengxiao Hu, Tianxing Zhou, Mengyin Fu, Yi Yang, Yufeng Yue

机构 * Beijing Institute of Technology, Beijing, P. R. China（北京理工大学） ； The University of Hong Kong, Hong Kong, P. R. China（香港大学） 纠错

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

Comments accepted to International Journal of Robotics Research(IJRR)

Octopus-Swimming-Like Robot with Soft Asymmetric Arms

Bobing Zhang, Yiyuan Zhang, Yiming Li, Sicheng Xuan, Hong Wei Ng, Yuliang Liufu, Zhiqiang Tang, Cecilia Laschi

机构 * Department of Mechanical Engineering, National University of Singapore（机械工程系，新加坡国立大学） 纠错

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

Journal ref 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)

Hierarchical Task Decomposition for Execution Monitoring and Error Recovery: Understanding the Rationale Behind Task Demonstrations

Christoph Willibald, Dongheui Lee

机构 * Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（机器人与机电研究所，德国航空航天中心（DLR）） ； Technische Universität Wien (TU Wien)（维也纳技术大学（TU Wien）） 纠错

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

Comments The paper has been accepted for publication by the International Journal of Robotics Research (IJRR), 26 pages

Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback

Hung-Ching Lin, Murilo Marques Marinho, Kanako Harada

机构 * Department of Mechanical Engineering, the University of Tokyo（东京大学机械工程系） ； Department of Electrical and Electronic Engineering, the University of Manchester（曼彻斯特大学电子与电气工程系） 纠错

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

Comments 6 pages, 5 figures, Accepted for ICRA2024

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 2162-2168

Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems

Zhongqi Wei, Xusheng Luo, Changliu Liu

机构 * Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

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

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

Instrumentation for Better Demonstrations: A Case Study

Remko Proesmans, Thomas Lips, Francis wyffels

机构 * AI and Robotics Lab (IDLab-AIRO), Ghent University—imec（人工智能与机器人实验室（IDLab-AIRO），根特大学—imec） 纠错

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

Comments Submitted to ICRA 2025 Workshop on Learning Meets Model-Based Methods for Contact-Rich Manipulation

DexTOG: Learning Task-Oriented Dexterous Grasp with Language

Jieyi Zhang, Wenqiang Xu, Zhenjun Yu, Pengfei Xie, Tutian Tang, Cewu Lu

机构 * School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（上海交通大学电子信息与电气工程学院） ； AI Institute, Shanghai Jiao Tong University（上海交通大学AI研究院） ； Southeast University（东南大学） 纠错

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

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 995-1002, Feb. 2025

$\mathcal{D(R,O)}$ Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping

Zhenyu Wei, Zhixuan Xu, Jingxiang Guo, Yiwen Hou, Chongkai Gao, Zhehao Cai, Jiayu Luo, Lin Shao

机构 * National University of Singapore（新加坡国立大学） ； School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（上海交通大学电子信息与电气工程学院） ； Zhiyuan College, Shanghai Jiao Tong University（上海交通大学致远学院） 纠错

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

Comments Accepted to the 2025 International Conference on Robotics and Automation (ICRA 2025). Project Website: https://nus-lins-lab.github.io/drograspweb/

Compliant Beaded-String Jamming For Variable Stiffness Anthropomorphic Fingers

Maximilian Westermann, Marco Pontin, Leone Costi, Alessandro Albini, Perla Maiolino

机构 * Oxford Robotics Institute, University of Oxford（牛津大学牛津机器人研究所） 纠错

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

Comments 6 pages, 9 figures, accepted by the 8th IEEE-RAS International Conference on Soft Robotics, RoboSoft 2025

Incipient Slip-Based Rotation Measurement via Visuotactile Sensing During In-Hand Object Pivoting

Mingxuan Li, Yen Hang Zhou, Tiemin Li, Yao Jiang

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

Comments 7 pages, 9 figures, Accepted by ICRA 2024

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, pp. 17132-17138

Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment

Jeonghyun Byun, Yeonjoon Kim, Dongjae Lee, H. Jin Kim

机构 * Seoul National University（首尔大学） 纠错

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

Comments to be presented in 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA, 2025

Grasping by parallel shape matching

Wenzheng Zhang, Fahira Afzal Maken, Tin Lai, Fabio Ramos

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

Journal ref ACRA 2024: Australasian Conference on Robotics and Automation, November 2024, Auckland, New Zealand

HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads

Mrunal Sarvaiya, Guanrui Li, Giuseppe Loianno

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

Comments Accepted to IEEE Robotics and Automation Letters

Impact-Aware Control using Time-Invariant Reference Spreading

Jari van Steen, Nathan van de Wouw, Alessandro Saccon

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

Comments 15 pages, 10 figures. Submitted to IEEE Transactions on Robotics (T-RO)

Non-rigid Relative Placement through 3D Dense Diffusion

Eric Cai, Octavian Donca, Ben Eisner, David Held

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

Comments Conference on Robot Learning (CoRL), 2024

Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Julien Mellet, Andrea Berra, Achilleas Santi Seisa, Viswa Sankaranarayanan, Udayanga G. W. K. N. Gamage, Miguel Angel Trujillo Soto, Guillermo Heredia, George Nikolakopoulos, Vincenzo Lippiello, Fabio Ruggiero

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

Comments 6 pages, 7 figures, ROBOSOFT 2024

Journal ref 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)

Embodied Active Learning of Generative Sensor-Object Models

Allison Pinosky, Todd D. Murphey

专题命中 机器人操作 ：embodied agent(abstract)；robotic(abstract)；分类 cs.RO；robotics(comments)

Comments 16 pages, International Symposium of Robotics Research (ISRR) 2024

Fast Payload Calibration for Sensorless Contact Estimation Using Model Pre-training

Shilin Shan, Quang-Cuong Pham

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

Comments Accepted to Robotics and Automation Letters (RA-L), 8 pages

Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D

Lingyun Chen, Haoyu Yu, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin

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

Comments Accepted to the European Robotic Forum (ERF) 2024

Language-Augmented Symbolic Planner for Open-World Task Planning

Guanqi Chen, Lei Yang, Ruixing Jia, Zhe Hu, Yizhou Chen, Wei Zhang, Wenping Wang, Jia Pan

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

Comments Accepted by Robotics: Science and Systems (RSS) 2024

Push Past Green: Learning to Look Behind Plant Foliage by Moving It

Xiaoyu Zhang, Saurabh Gupta

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

Comments Accepted by Conference on Robot Learning (CoRL) 2023. for project website with video, see https://sites.google.com/view/pushpastgreen/

Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models

Yixuan Huang, Jialin Yuan, Chanho Kim, Pupul Pradhan, Bryan Chen, Li Fuxin, Tucker Hermans

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

Comments Presented at IEEE Conference on Robotics and Automation (ICRA) 2024. Website: https://sites.google.com/view/rdmemory

Hybrid Soft Electrostatic Metamaterial Gripper for Multi-surface, Multi-object Adaptation

Ryo Kanno, Pham H. Nguyen, Joshua Pinskier, David Howard, Sukho Song, Mirko Kovac

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

Comments 7 pages, 9 figures, Accepted in IEEE International Conference on Soft Robotics 2024 (Robosoft)

Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models

Marco Faroni, Dmitry Berenson

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

Comments 6 pages + references

Journal ref IEEE International Conference on Robotics and Automation, 2024

The Grasp Reset Mechanism: An Automated Apparatus for Conducting Grasping Trials

Kyle DuFrene, Keegan Nave, Joshua Campbell, Ravi Balasubramanian, Cindy Grimm

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

Comments Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA2024)