机器人 / 具身智能

SAS-Prompt: Large Language Models as Numerical Optimizers for Robot Self-Improvement

Heni Ben Amor, Laura Graesser, Atil Iscen, David D'Ambrosio, Saminda Abeyruwan, Alex Bewley, Yifan Zhou, Kamalesh Kalirathinam, Swaroop Mishra, Pannag Sanketi

机构 * School of Computing and Augmented Intelligence, Arizona State University（计算与增强智能学院，亚利桑那州立大学） ； Google DeepMind（谷歌DeepMind） 纠错

专题命中 机器人学习 ：robot policy(abstract)；分类 cs.RO

Comments ICRA 2025

Co-optimizing Physical Reconfiguration Parameters and Controllers for an Origami-inspired Reconfigurable Manipulator

Zhe Chen, Li Chen, Hao Zhang, Jianguo Zhao

专题命中 机器人学习 ：robotic(abstract)；分类 cs.RO

Logarithmic Regret for Nonlinear Control

James Wang, Bruce D. Lee, Ingvar Ziemann, Nikolai Matni

专题命中 机器人学习 ：robotics(abstract)；分类 cs.LG

MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices

Giovanni Franzese, Max Spahn, Jens Kober, Cosimo Della Santina

专题命中 机器人学习 ：robotic(abstract)；分类 cs.RO

Collective Behavior Clone with Visual Attention via Neural Interaction Graph Prediction

Kai Li, Zhao Ma, Liang Li, Shiyu Zhao

专题命中 机器人学习 ：robotics(abstract)；分类 cs.RO

Practical Performative Policy Learning with Strategic Agents

Qianyi Chen, Ying Chen, Bo Li

专题命中 机器人学习 ：manipulation(abstract)；分类 cs.LG

Beyond Performance Scores: Directed Functional Connectivity as a Brain-Based Biomarker for Motor Skill Learning and Retention

Anil Kamat, Rahul Rahul, Lora Cavuoto, Harry Burke, Matthew Hackett, Jack Norfleet, Steven Schwaitzberg, Suvranu De

专题命中 机器人学习 ：robotics(abstract)；分类 cs.LG

Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations

Bo Zhou, Ruixuan Jiao, Yi Li, Xiaogang Yuan, Fang Fang, Shihua Li

专题命中 机器人学习 ：manipulation(abstract)；分类 cs.RO

Comments 8 pages, 7 figures. This is the second version of the paper, and it is subject to further revisions. The current submission does not necessarily reflect the final quality or content of the paper

Condition-based Design of Variable Impedance Controllers from User Demonstrations

Alberto San-Miguel, Guillem Alenyà, Vicenç Puig

专题命中 机器人学习 ：robotics(abstract)；分类 cs.RO

Comments This work has been submitted to Elsevier Control Engineering Practice for possible publication

Demonstration Based Explainable AI for Learning from Demonstration Methods

Morris Gu, Elizabeth Croft, Dana Kulic

专题命中 机器人学习 ：navigation(abstract)；分类 cs.RO

Comments 8 Pages, 9 Figures, 2 Tables

Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation

Jing Yuan Luo, Yunlong Song, Victor Klemm, Fan Shi, Davide Scaramuzza, Marco Hutter

专题命中 机器人学习 ：navigation(abstract)；分类 cs.RO

Bi-Level Motion Imitation for Humanoid Robots

Wenshuai Zhao, Yi Zhao, Joni Pajarinen, Michael Muehlebach

专题命中 机器人学习 ：robot policy(abstract)；分类 cs.RO

Comments CoRL 2024

Foundation Models to the Rescue: Deadlock Resolution in Connected Multi-Robot Systems

Kunal Garg, Songyuan Zhang, Jacob Arkin, Chuchu Fan

专题命中 机器人学习 ：robotic(abstract)；分类 cs.RO

RaceMOP: Mapless Online Path Planning for Multi-Agent Autonomous Racing using Residual Policy Learning

Raphael Trumpp, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Marco Caccamo

专题命中 机器人学习 ：robotics(abstract)；分类 cs.RO

Comments IEEE/RSJ International Conference on Intelligent Robots and Systems 2024

A Unified Formulation of Geometry-aware Dynamic Movement Primitives

Fares J. Abu-Dakka, Matteo Saveriano, Ville Kyrki

专题命中 机器人学习 ：robotic(abstract)；分类 cs.RO

Comments 18 pages, 12 figures, journal

A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots

Daniel Marew, Nisal Perera, Shangqun Yu, Sarah Roelker, Donghyun Kim

专题命中 机器人学习 ：robotic(abstract)；分类 cs.RO

Robust Policy Learning for Multi-UAV Collision Avoidance with Causal Feature Selection

Jiafan Zhuang, Gaofei Han, Zihao Xia, Boxi Wang, Wenji Li, Dongliang Wang, Zhifeng Hao, Ruichu Cai, Zhun Fan

专题命中 机器人学习 ：navigation(abstract)；分类 cs.RO

Towards Improving Learning from Demonstration Algorithms via MCMC Methods

Carl Qi, Edward Sun, Harry Zhang

专题命中 机器人学习 ：robot policy(abstract)；分类 cs.RO

Comments arXiv admin note: text overlap with arXiv:2207.04638, arXiv:2204.03597 by other authors

Learning a Stable Dynamic System with a Lyapunov Energy Function for Demonstratives Using Neural Networks

Yu Zhang, Yongxiang Zou, Haoyu Zhang, Xiuze Xia, Long Cheng

专题命中 机器人学习 ：robotic(abstract)；分类 cs.RO

Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds

Jake Welde, Vijay Kumar

专题命中 机器人学习 ：robotics(abstract)；分类 cs.RO

Comments Preprint. To appear in IEEE Control Systems Letters

Aligning Learning with Communication in Shared Autonomy

Joshua Hoegerman, Shahabedin Sagheb, Benjamin A. Christie, Dylan P. Losey

专题命中 机器人学习 ：robot learning(abstract)；分类 cs.RO

Comments 7 pages, under review for IROS 2024

Unified Learning from Demonstrations, Corrections, and Preferences during Physical Human-Robot Interaction

Shaunak A. Mehta, Dylan P. Losey

专题命中 机器人学习 ：manipulation(abstract)；分类 cs.RO

StROL: Stabilized and Robust Online Learning from Humans

Shaunak A. Mehta, Forrest Meng, Andrea Bajcsy, Dylan P. Losey

专题命中 机器人学习 ：robot learning(abstract)；分类 cs.RO

Learning from Few Demonstrations with Frame-Weighted Motion Generation

Jianyong Sun, Jens Kober, Michael Gienger, Jihong Zhu

专题命中 机器人学习 ：robotic(abstract)；分类 cs.RO

Comments Accepted by ISER. For the experiment video, see https://youtu.be/JpGjk4eKC3o

Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States

Zidan Wang, Takeru Oba, Takuma Yoneda, Rui Shen, Matthew Walter, Bradly C. Stadie

专题命中 机器人学习 ：robotic(abstract)；分类 cs.RO

Agile Catching with Whole-Body MPC and Blackbox Policy Learning

Saminda Abeyruwan, Alex Bewley, Nicholas M. Boffi, Krzysztof Choromanski, David D'Ambrosio, Deepali Jain, Pannag Sanketi, Anish Shankar, Vikas Sindhwani, Sumeet Singh, Jean-Jacques Slotine, Stephen Tu

专题命中 机器人学习 ：robotics(abstract)；分类 cs.RO

Comments L4DC 2023

TRAIL Team Description Paper for RoboCup@Home 2023

Chikaha Tsuji, Dai Komukai, Mimo Shirasaka, Hikaru Wada, Tsunekazu Omija, Aoi Horo, Daiki Furuta, Saki Yamaguchi, So Ikoma, Soshi Tsunashima, Masato Kobayashi, Koki Ishimoto, Yuya Ikeda, Tatsuya Matsushima, Yusuke Iwasawa, Yutaka Matsuo

专题命中 机器人学习 ：robot learning(abstract)；分类 cs.RO

Hierarchical Semi-Supervised Learning Framework for Surgical Gesture Segmentation and Recognition Based on Multi-Modality Data

Zhili Yuan, Jialin Lin, Dandan Zhang

专题命中 机器人学习 ：robotic(abstract)；分类 cs.CV

Comments 8 pages, 7 figures. Accepted by 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). For more details about this paper, please visit our website: \url{https://sites.google.com/view/surseg/home}

Embodied Executable Policy Learning with Language-based Scene Summarization

Jielin Qiu, Mengdi Xu, William Han, Seungwhan Moon, Ding Zhao

专题命中 机器人学习 ：robot learning(abstract)；分类 cs.RO

Comments 15 pages. arXiv admin note: text overlap with arXiv:2107.06912 by other authors

Code as Policies: Language Model Programs for Embodied Control

Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng

专题命中 机器人学习 ：robot policy(abstract)；分类 cs.RO