机器人 / 具身智能

Automated Behavior Planning for Fruit Tree Pruning via Redundant Robot Manipulators: Addressing the Behavior Planning Challenge

Gaoyuan Liu, Bas Boom, Naftali Slob, Yuri Durodié, Ann Nowé, Bram Vanderborght

机构 * Brubotics ； Vrije Universiteit Brussel（自由大学布鲁塞尔） ； imec 纠错

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

Maximal Adaptation, Minimal Guidance: Permissive Reactive Robot Task Planning with Humans in the Loop

Oz Gitelson, Satya Prakash Nayak, Ritam Raha, Anne-Kathrin Schmuck

机构 * Yale University（耶鲁大学） ； Max Planck Institute for Software Systems（马克斯·普朗克软件系统研究所） 纠错

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

Hands-Free Heritage: Automated 3D Scanning for Cultural Heritage Digitization

Javed Ahmad, Federico Dassiè, Selene Frascella, Gabriele Marchello, Ferdinando Cannella, Arianna Traviglia

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

Comments The author has decided to withdraw this version to verify and update authorization details for certain image materials obtained from a collaborating institution. The issue is administrative and does not affect the technical content of the work. A revised version will be submitted once the verification process is complete

Grasping Deformable Objects via Reinforcement Learning with Cross-Modal Attention to Visuo-Tactile Inputs

Yonghyun Lee, Sungeun Hong, Min-gu Kim, Gyeonghwan Kim, Changjoo Nam

机构 * Dept. of Electronic Engineering at Sogang University（ソガン大学电子工程系） ； Dept. of Immersive Media and Engineering at Sungkyunkwan University（顺天大学沉浸媒体与工程系） ； College of Medicine, Yonsei University（延世大学医学院） 纠错

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

Tailoring materials into kirigami robots

Saravana Prashanth Murali Babu, Aida Parvaresh, Ahmad Rafsanjani

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

Journal ref Device, Volume 2, Issue 9, 20 September 2024, 100469

LERa: Replanning with Visual Feedback in Instruction Following

Svyatoslav Pchelintsev, Maxim Patratskiy, Anatoly Onishchenko, Alexandr Korchemnyi, Aleksandr Medvedev, Uliana Vinogradova, Ilya Galuzinsky, Aleksey Postnikov, Alexey K. Kovalev, Aleksandr I. Panov

机构 * MIPT（莫斯科国立交通大学） ； Sberbank of Russia, Robotics Center（俄罗斯储蓄银行机器人中心） ； AIRI 纠错

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

Comments Accepted to IROS 2025

Training-free Task-oriented Grasp Generation

Jiaming Wang, Diwen Liu, Jizhuo Chen, Harold Soh

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

Comments Jiaming Wang, Diwen Liu, and Jizhuo Chen contributed equally

Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five

Simon Fritsch, Liam Achenbach, Riccardo Bianco, Nicola Irmiger, Gawain Marti, Samuel Visca, Chenyu Yang, Davide Liconti, Barnabas Gavin Cangan, Robert Jomar Malate, Ronan J. Hinchet, Robert K. Katzschmann

机构 * Soft Robotics Lab, IRIS, D-MAVT, ETH Zurich（软机器人实验室、IRIS、D-MAVT、苏黎世联邦理工学院） 纠错

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

Comments The first five listed authors have equal contribution. This work has been accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

LangGrasp: Leveraging Fine-Tuned LLMs for Language Interactive Robot Grasping with Ambiguous Instructions

Yunhan Lin, Wenqi Wu, Zhijie Zhang, Huasong Min

机构 * School of Computer Science and Technology（计算机科学与技术学院） ； Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System（湖北省智能信息处理与实时工业系统重点实验室） ； Institute of Robotics and Intelligent Systems（机器人与智能系统研究院） ； Wuhan University of Science and Technology（武汉理工大学） 纠错

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

Comments 8 pages, 6 figures

ISyHand: A Dexterous Multi-finger Robot Hand with an Articulated Palm

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

机构 * Haptic Intelligence Department, Max Planck Institute for Intelligent Systems（智能感知研究所） 纠错

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

Comments Accepted at IEEE Humanoids 2025

On the Conic Complementarity of Planar Contacts

Yann de Mont-Marin, Louis Montaut, Jean Ponce, Martial Hebert, Justin Carpentier

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

GES-UniGrasp: A Two-Stage Dexterous Grasping Strategy With Geometry-Based Expert Selection

Fangting Xu, Jilin Zhu, Xiaoming Gu, Jianzhong Tang

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

From Fields to Splats: A Cross-Domain Survey of Real-Time Neural Scene Representations

Javed Ahmad, Penggang Gao, Donatien Delehelle, Mennuti Canio, Nikhil Deshpande, Jesús Ortiz, Darwin G. Caldwell, Yonas Teodros Tefera

机构 * Advanced Robotics, Istituto Italiano di Tecnologia (IIT)（先进机器人技术，意大利技术研究院） ； Istituto Nazionale per l’Assicurazione contro gli Infortuni sul Lavoro (INAIL)（国家职业伤害保险研究所） ； School of Computer Science, University of Nottingham（计算机科学学院，诺丁汉大学） 纠错

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

Comments 18 pages

Empart: Interactive Convex Decomposition for Converting Meshes to Parts

Brandon Vu, Shameek Ganguly, Pushkar Joshi

机构 * Intrinsic Innovation LLC 纠错

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

Training Tactile Sensors to Learn Force Sensing from Each Other

Zhuo Chen, Ni Ou, Xuyang Zhang, Zhiyuan Wu, Yongqiang Zhao, Yupeng Wang, Emmanouil Spyrakos Papastavridis, Nathan Lepora, Lorenzo Jamone, Jiankang Deng, Shan Luo

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

DemoGrasp: Universal Dexterous Grasping from a Single Demonstration

Haoqi Yuan, Ziye Huang, Ye Wang, Chuan Mao, Chaoyi Xu, Zongqing Lu

机构 * Peking University（北京大学） ； Renmin University of China（中国人民大学） ； BeingBeyond 纠错

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

FSGlove: An Inertial-Based Hand Tracking System with Shape-Aware Calibration

Yutong Li, Jieyi Zhang, Wenqiang Xu, Tutian Tang, Cewu Lu

机构 * School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（电子信息与电气工程学院，上海交通大学） ； Meta Robotics Institute, Shanghai Jiao Tong University（元机器人研究所，上海交通大学） ； Qing Yuan Research Institute（清元研究院） ； MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University（人工智能教育部重点实验室，上海交通大学） ； Shanghai Artificial Intelligence Laboratory（上海人工智能实验室） 纠错

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

Comments Presented at IROS 2025, details are available at https://fsglove.robotflow.ai

Efficient Differentiable Contact Model with Long-range Influence

Xiaohan Ye, Kui Wu, Zherong Pan, Taku Komura

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

Whole-body Motion Control of an Omnidirectional Wheel-Legged Mobile Manipulator via Contact-Aware Dynamic Optimization

Zong Chen, Shaoyang Li, Ben Liu, Min Li, Zhouping Yin, Yiqun Li

机构 * State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology（智能制造装备与技术国家重点实验室，机械科学与工程学院，华中科技大学） 纠错

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

A Convex Formulation of Compliant Contact between Filaments and Rigid Bodies

Wei-Chen Li, Glen Chou

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

MoiréTac: A Dual-Mode Visuotactile Sensor for Multidimensional Perception Using Moiré Pattern Amplification

Kit-Wa Sou, Junhao Gong, Shoujie Li, Chuqiao Lyu, Ziwu Song, Shilong Mu, Wenbo Ding

机构 * Shenzhen Ubiquitous Data Enabling Key Lab, Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China（深圳 ubiquitous 数据赋能重点实验室，深圳国际研究生院，清华大学，深圳） 纠错

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

UrgenGo: Urgency-Aware Transparent GPU Kernel Launching for Autonomous Driving

Hanqi Zhu, Wuyang Zhang, Xinran Zhang, Ziyang Tao, Xinrui Lin, Yu Zhang, Jianmin Ji, Yanyong Zhang

机构 * University of Science and Technology of China（中国科学技术大学） ； Institute of Artificial Intelligence, Hefei Comprehensive National Science Center（合肥综合性国家科学中心人工智能研究院） 纠错

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

Gesture-Based Robot Control Integrating Mm-wave Radar and Behavior Trees

Yuqing Song, Cesare Tonola, Stefano Savazzi, Sanaz Kianoush, Nicola Pedrocchi, Stephan Sigg

机构 * Aalto University（阿alto大学） ； National Research Council of Italy（意大利国家研究理事会） 纠错

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

Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarios

Xiangtong Yao, Yirui Zhou, Yuan Meng, Yanwen Liu, Liangyu Dong, Zitao Zhang, Zhenshan Bing, Kai Huang, Fuchun Sun, Alois Knoll

机构 * Technical University of Munich（慕尼黑技术大学） ； Nanjing University（南京大学） ； Sun Yat-sen University（中山大学） ； Tsinghua University（清华大学） 纠错

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

Comments 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation

Abhay Deshpande, Yuquan Deng, Arijit Ray, Jordi Salvador, Winson Han, Jiafei Duan, Kuo-Hao Zeng, Yuke Zhu, Ranjay Krishna, Rose Hendrix

机构 * Allen Institute for AI（Allen人工智能研究所） ； Boston University（波士顿大学） ； University of Washington（华盛顿大学） ； University of Texas at Austin（德克萨斯大学奥斯汀分校） 纠错

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

One View, Many Worlds: Single-Image to 3D Object Meets Generative Domain Randomization for One-Shot 6D Pose Estimation

Zheng Geng, Nan Wang, Shaocong Xu, Chongjie Ye, Bohan Li, Zhaoxi Chen, Sida Peng, Hao Zhao

机构 * Beijing Academy of Artificial Intelligence, BAAI（北京人工智能研究院） ； Zhejiang University（浙江大学） ； Institute for AI Industry Research (AIR), Tsinghua University（清华大学人工智能产业研究院） ； Nanyang Technological University（南洋理工大学） ； FNii, The Chinese University of Hongkong, Shenzhen（Fnii，香港中文大学（深圳）） ； Shanghai Jiao Tong University（上海交通大学） ； Eastern Institute of Technology, Ningbo（宁波工程技术学院） 纠错

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

Comments CoRL 2025 Oral, Project page: https://gzwsama.github.io/OnePoseviaGen.github.io/

Cortex-Synth: Differentiable Topology-Aware 3D Skeleton Synthesis with Hierarchical Graph Attention

Mohamed Zayaan S

机构 * Department of Civil Engineering（土木工程系） ； Indian Institute of Technology, Madras（印度理工学院马德拉斯分校） 纠错

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

Comments 8 pages, 4 figures

Deep Fuzzy Optimization for Batch-Size and Nearest Neighbors in Optimal Robot Motion Planning

Liding Zhang, Qiyang Zong, Yu Zhang, Zhenshan Bing, Alois Knoll

机构 * School of Computation, Information and Technology (CIT), Technical University of Munich（计算信息与技术学院（CIT），慕尼黑技术大学） ； State Key Laboratory for Novel Software Technology and the School of Science and Technology, Nanjing University (Suzhou Campus)（新型软件技术国家重点实验室和南京大学科学技术学院（苏州校区）） 纠错

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

Journal ref 2025 IEEE International Conference on Cyborg and Bionic Systems (CBS)

Ego-centric Predictive Model Conditioned on Hand Trajectories

Binjie Zhang, Mike Zheng Shou

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

Comments Code: github.com/showlab/Ego-PM

On the complexity of constrained reconfiguration and motion planning

Nicolas Bousquet, Remy El Sabeh, Amer E. Mouawad, Naomi Nishimura

机构 * CNRS - Université de Montréal CRM - CNRS（法国国家科学研究中心-蒙特利尔大学CRM-法国国家科学研究中心） ； Univ. Lyon, Université Lyon 1, CNRS, LIRIS UMR CNRS 5205（里里耶大学、里昂第一大学、法国国家科学研究中心、LIRIS CNRS 5205研究中心） ； David R. Cheriton School of Computer Science, University of Waterloo（戴维·R·切里顿计算机科学学院、滑铁卢大学） ； American University of Beirut（贝鲁特美国大学） 纠错

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