机器人 / 具身智能

Geometry-Aware Sparse Depth Sampling for High-Fidelity RGB-D Depth Completion in Robotic Systems

基于几何的稀疏深度采样用于机器人系统中高保真的RGB-D深度补全

Tony Salloom, Dandi Zhou, Xinhai Sun

机构 * Saisuode (Shanghai) Intelligent Technology Co., Ltd. (Synthoid.ai)（上海思度智能科技有限公司（Synthoid.ai）） 纠错

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

AI总结 本文提出基于几何的稀疏深度采样方法，利用表面法线估计提升RGB-D深度补全的准确性和现实感。

Learning from Watching: Scalable Extraction of Manipulation Trajectories from Human Videos

通过观看学习：从人类视频中可扩展地提取操作轨迹

X. Hu, G. Ye

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

AI总结 本文提出结合大规模基础模型与点跟踪技术，从人类视频中提取操作轨迹，以实现更高效的数据收集和机器人学习。

Comments Accepted to RSS 2025 Workshop

HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning

Zhi Jing, Siyuan Yang, Jicong Ao, Ting Xiao, Yu-Gang Jiang, Chenjia Bai

机构 * Fudan University（复旦大学） ； Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究所（TeleAI），中国电信） ； University of Science and Technology of China（中国科学技术大学） ； East China University of Science and Technology（东华大学） 纠错

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

Comments Project Page: https://openhumanoidgen.github.io

Survey of Vision-Language-Action Models for Embodied Manipulation

Haoran Li, Yuhui Chen, Wenbo Cui, Weiheng Liu, Kai Liu, Mingcai Zhou, Zhengtao Zhang, Dongbin Zhao

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

Comments in Chinese language

ArtReg: Visuo-Tactile based Pose Tracking and Manipulation of Unseen Articulated Objects

Prajval Kumar Murali, Mohsen Kaboli

机构 * RoboTac Lab, BMW Group（RoboTac实验室，宝马集团） ； University of Glasgow（格拉斯哥大学） ； Eindhoven University of Technology（埃因霍温理工大学） 纠错

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

Comments Under review

Vision-Based Adaptive Robotics for Autonomous Surface Crack Repair

Joshua Genova, Eric Cabrera, Vedhus Hoskere

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

Comments 10 pages, 6 figures, 3 tables, submitted to ASCE International Conference on Computing in Civil Engineering (i3CE 2025)

SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation

Shengjie Wang, Jiacheng You, Yihang Hu, Jiongye Li, Yang Gao

机构 * IIIS, Tsinghua University（清华大学生科院） ； Shanghai AI Laboratory（上海人工智能实验室） ； Shanghai Qi Zhi Institute（上海启智研究院） ； Department of Automation, Tsinghua University（清华大学自动化系） 纠错

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

Comments 22 pages, 22 figures

CapsDT: Diffusion-Transformer for Capsule Robot Manipulation

Xiting He, Mingwu Su, Xinqi Jiang, Long Bai, Jiewen Lai, Hongliang Ren

机构 * Department of Electronic Engineering, The Chinese University of Hong Kong (CUHK)（电子工程系，香港中文大学（CUHK）） 纠错

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

Comments IROS 2025

Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space

Jinrong Yang, Kexun Chen, Zhuoling Li, Shengkai Wu, Yong Zhao, Liangliang Ren, Wenqiu Luo, Chaohui Shang, Meiyu Zhi, Linfeng Gao, Mingshan Sun, Hui Cheng

机构 * CVTE（中国维克托技术有限公司） ； SYSU（深圳大学） ； SWJTU HKU（上海交通大学香港大学） 纠错

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

Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills

Haoqi Yuan, Yu Bai, Yuhui Fu, Bohan Zhou, Yicheng Feng, Xinrun Xu, Yi Zhan, Börje F. Karlsson, Zongqing Lu

机构 * Peking University（北京大学） ； BAAI（百度人工智能研究院） ； BeingBeyond 纠错

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

PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies

Jialiang Zhao, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, Edward Adelson

机构 * MIT CSAIL 纠错

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

Comments Nominated for the best paper award at ICRA 2025

Preference-Driven Active 3D Scene Representation for Robotic Inspection in Nuclear Decommissioning

Zhen Meng, Kan Chen, Xiangmin Xu, Erwin Jose Lopez Pulgarin, Emma Li, Philip G. Zhao, David Flynn

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

Comments This work has been submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning

Kailin Li, Puhao Li, Tengyu Liu, Yuyang Li, Siyuan Huang

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

Comments Accepted to CVPR 2025

FLEX: A Framework for Learning Robot-Agnostic Force-based Skills Involving Sustained Contact Object Manipulation

Shijie Fang, Wenchang Gao, Shivam Goel, Christopher Thierauf, Matthias Scheutz, Jivko Sinapov

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

Comments Accepted at IEEE-ICRA-2025

RoboGrasp: A Universal Grasping Policy for Robust Robotic Control

Yiqi Huang, Travis Davies, Jiahuan Yan, Xiang Chen, Yu Tian, Luhui Hu

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

Learning Generalizable 3D Manipulation With 10 Demonstrations

Yu Ren, Yang Cong, Ronghan Chen, Jiahao Long

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

Scaling Manipulation Learning with Visual Kinematic Chain Prediction

Xinyu Zhang, Yuhan Liu, Haonan Chang, Abdeslam Boularias

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

Comments CoRL 2024

Single-Shot Learning of Stable Dynamical Systems for Long-Horizon Manipulation Tasks

Alexandre St-Aubin, Amin Abyaneh, Hsiu-Chin Lin

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

Comments 7 pages, submitted to ICRA 2025

Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction

Aidan Curtis, Nishanth Kumar, Jing Cao, Tomás Lozano-Pérez, Leslie Pack Kaelbling

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

1 Modular Parallel Manipulator for Long-Term Soft Robotic Data Collection

Kiyn Chin, Carmel Majidi, Abhinav Gupta

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

Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Clouds

Oliver Lemke, Zuria Bauer, René Zurbrügg, Marc Pollefeys, Francis Engelmann, Hermann Blum

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

Comments Accepted at ICRA 2024 Workshops. Code and videos available at https://spot-compose.github.io/

Future Predictive Success-or-Failure Classification for Long-Horizon Robotic Tasks

Naoya Sogi, Hiroyuki Oyama, Takashi Shibata, Makoto Terao

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

Comments IJCNN 2024

Data-efficient, Explainable and Safe Box Manipulation: Illustrating the Advantages of Physical Priors in Model-Predictive Control

Achkan Salehi, Stephane Doncieux

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

Comments accepted for publication by l4dc 2024, 12 pages (with references), 4 figures, 2 tables

GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion

Jiazhao Zhang, Nandiraju Gireesh, Jilong Wang, Xiaomeng Fang, Chaoyi Xu, Weiguang Chen, Liu Dai, He Wang

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

Embodied Referring Expression for Manipulation Question Answering in Interactive Environment

Qie Sima, Sinan Tan, Huaping Liu

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

Graph learning in robotics: a survey

Francesca Pistilli, Giuseppe Averta

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

DMFC-GraspNet: Differentiable Multi-Fingered Robotic Grasp Generation in Cluttered Scenes

Philipp Blättner, Johannes Brand, Gerhard Neumann, Ngo Anh Vien

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

Comments Submitted IROS 2023 workshop "Policy Learning in Geometric Spaces"

Deep Instance Segmentation and Visual Servoing to Play Jenga with a Cost-Effective Robotic System

Luca Marchionna, Giulio Pugliese, Mauro Martini, Simone Angarano, Francesco Salvetti, Marcello Chiaberge

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

Journal ref Sensors. 2023; 23(2):752

Dealing with Sparse Rewards in Continuous Control Robotics via Heavy-Tailed Policies

Souradip Chakraborty, Amrit Singh Bedi, Alec Koppel, Pratap Tokekar, Dinesh Manocha

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

A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control

Qingfeng Yao, Jilong Wan, Shuyu Yang, Cong Wang, Linghan Meng, Qifeng Zhang, Donglin Wang

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

Comments 8 pages