机器人 / 具身智能 - arXivDaily 专题

2310.14860 2023-11-23 cs.RO 80%

Adaptive Tuning of Robotic Polishing Skills based on Force Feedback Model

Yu Wang, Zhouyi Zheng, Chen Chen, Zezheng Wang, Zhitao Gao, Fangyu Peng, Xiaowei Tang, Rong Yan

专题命中机器人数据与评测：robotic(title,abstract)；分类 cs.RO；robotics(comments)

Comments This paper has been accepted by The 2023 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2023)

2310.10509 2023-10-17 cs.RO 80%

Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning

Xiang Zhang, Changhao Wang, Lingfeng Sun, Zheng Wu, Xinghao Zhu, Masayoshi Tomizuka

专题命中机器人数据与评测：manipulation(title,abstract)；分类 cs.RO；robot learning(comments)

Comments Conference on Robot Learning (CoRL) 2023

2212.08531 2022-12-19 cs.RO 80%

Learning and Extrapolation of Robotic Skills using Task-Parameterized Equation Learner Networks

Hector Villeda, Justus Piater, Matteo Saveriano

专题命中机器人数据与评测：robotic(title)；manipulation(abstract)；分类 cs.RO；robotics(journal_ref)

Journal ref Robotics and Autonomous Systems 2022

2109.09047 2022-11-21 cs.RO cs.SY eess.SY math.DS 80%

Model-Free Safety-Critical Control for Robotic Systems

Tamas G. Molnar, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames

专题命中机器人数据与评测：robotic(title,abstract)；分类 cs.RO；robotics(comments)

Comments Accepted to the IEEE Robotics and Automation Letters (RA-L) and submitted to the 2022 IEEE International Conference on Robotics and Automation (ICRA). 8 pages, 5 figures

2209.07392 2022-09-16 cs.RO 80%

On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications

Matteo Iovino, Julian Förster, Pietro Falco, Jen Jen Chung, Roland Siegwart, Christian Smith

专题命中机器人数据与评测：robotic(title,abstract)；分类 cs.RO；robotics(comments)

Comments Submitted to 2023 IEEE International Conference on Robotics and Automation (ICRA)

2204.03028 2022-04-08 cs.RO 80%

Software Testing, AI and Robotics (STAIR) Learning Lab

Simon Haller-Seeber, Thomas Gatterer, Patrick Hofmann, Christopher Kelter, Thomas Auer, Michael Felderer

专题命中机器人数据与评测：robotics(title,abstract)；分类 cs.RO

Comments 8 pages, 5 figures, Accepted at the Robotics in Education (RiE2022) Conference

2103.16772 2022-03-15 cs.RO 80%

Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies

Tabitha Edith Lee, Jialiang Zhao, Amrita S. Sawhney, Siddharth Girdhar, Oliver Kroemer

专题命中机器人数据与评测：manipulation(title,abstract)；分类 cs.RO；robotics(comments)

Comments Presented at the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). This version contains the camera-ready paper with supplementary materials and minor typo fixes. Project page: https://sites.google.com/view/crest-causal-struct-xfer-manip

2108.11253 2021-11-05 cs.RO 80%

On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments

Yangxin Xu, Keyu Li, Ziqi Zhao, Max Q. -H. Meng

专题命中机器人数据与评测：robotic(title,abstract)；分类 cs.RO；robotics(journal_ref)

Journal ref IEEE Transactions on Medical Robotics and Bionics (2021)

2105.04980 2021-07-20 cs.CY cs.RO 80%

Teachers' perspective on fostering computational thinking through educational robotics

Morgane Chevalier, Laila El-Hamamsy, Christian Giang, Barbara Bruno, Francesco Mondada

专题命中机器人数据与评测：robotics(title,abstract)；分类 cs.RO

Comments To appear in the proceedings of the 12th international conference on robotics in education (RiE 2021)

2012.09264 2020-12-18 cs.RO 80%

MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception

Benjamin Ramtoula, Adam Caccavale, Giovanni Beltrame, Mac Schwager

专题命中机器人数据与评测：robotic(title)；robotics(abstract,comments)；分类 cs.RO

Comments 12 pages, 6 figures, to be published in 2020 International Symposium on Experimental Robotics (ISER)

2007.00982 2020-07-03 cs.RO 80%

Towards Generalization and Data Efficient Learning of Deep Robotic Grasping

Zhixin Chen, Mengxiang Lin, Zhixin Jia, Shibo Jian

专题命中机器人数据与评测：robotic(title,abstract)；分类 cs.RO；robotics(comments)

Comments 9 pages, 10 figures, under review of "Robotics and Autonomous Systems"

2002.07534 2020-06-09 cs.RO cs.NE q-bio.NC 80%

A Spiking Neural Network Emulating the Structure of the Oculomotor System Requires No Learning to Control a Biomimetic Robotic Head

Praveenram Balachandar, Konstantinos P. Michmizos

专题命中机器人数据与评测：robotic(title,abstract)；分类 cs.RO；robotics(comments)

Comments 6 pages, 3 figures, IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2020

2004.02607 2020-04-07 cs.IR cs.LG stat.ML 80%

Semantic Image Search for Robotic Applications

Tomas Kulvicius, Irene Markelic, Minija Tamosiunaite, Florentin Wörgötter

专题命中机器人数据与评测：robotic(title)；robotics(abstract,journal_ref)；分类 cs.LG

Journal ref 22nd International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2013), September 11-13, 2013, Portoroz, Slovenia

1902.10363 2019-02-28 cs.CV 80%

The Importance of Metric Learning for Robotic Vision: Open Set Recognition and Active Learning

Benjamin J. Meyer, Tom Drummond

专题命中机器人数据与评测：robotic(title,abstract)；分类 cs.CV；robotics(comments)

Comments Accepted to the 2019 IEEE International Conference on Robotics and Automation (ICRA)

1902.06273 2019-02-19 cs.RO 80%

"Touching to See" and "Seeing to Feel": Robotic Cross-modal SensoryData Generation for Visual-Tactile Perception

Jet-Tsyn Lee, Danushka Bollegala, Shan Luo

专题命中机器人数据与评测：robotic(title,abstract)；分类 cs.RO；robotics(comments)

Comments 7 pages, IEEE International Conference on Robotics and Automation 2019

1711.10945 2018-01-24 cs.RO cs.DS 80%

Near-optimal irrevocable sample selection for periodic data streams with applications to marine robotics

Genevieve Flaspohler, Nicholas Roy, Yogesh Girdhar

专题命中机器人数据与评测：robotics(title,abstract)；分类 cs.RO

Comments 8 pages, accepted for presentation in IEEE Int. Conf. on Robotics and Automation, ICRA '18, Brisbane, Australia, May 2018

0909.3917 2009-12-01 cs.RO 80%

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

Anatoly Pashkevich, Alexandr Klimchik, Damien Chablat, Philippe Wenger

专题命中机器人数据与评测：robotic(title,abstract)；分类 cs.RO；robotics(journal_ref)

Journal ref Journal of Automation, Mobile Robotics and Intelligent Systems 3, 3 (2009) 75-82

2602.09153 2026-06-02 cs.RO cs.AI cs.CV cs.GR 80%

SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes

SceneSmith: 面向仿真就绪室内场景的智能体生成

Nicholas Pfaff, Thomas Cohn, Sergey Zakharov, Rick Cory, Russ Tedrake

机构 * Massachusetts Institute of Technology（麻省理工学院）； Harvard University（哈佛大学）

专题命中机器人数据与评测：manipulation(abstract)；robot policy(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结提出层次化智能体框架SceneSmith，通过VLM智能体协作从自然语言生成仿真就绪的室内场景，相比先前方法生成3-6倍物体且碰撞率低于2%。

Comments ICML 2026 Spotlight; Project page: https://scenesmith.github.io/

2605.19957 2026-05-20 cs.CV cs.AI cs.RO 80%

World-Ego Modeling for Long-Horizon Evolution in Hybrid Embodied Tasks

为混合具身体验中的长时域演化构建世界-自我模型

Zuyao Lin, Jianhui Zhang, Peidong Jia, Xiaoguang Zhao, Shanghang Zhang, Xingyu Chen

机构 * Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）； University of Chinese Academy of Sciences（中国科学院大学）； Peking University（北京大学）

专题命中机器人数据与评测：manipulation(abstract)；navigation(abstract)；world model(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结本文提出了一种新的世界-自我建模范式，通过分解未来演化为世界和自我组件，解决混合任务中长时域具身体验中的退化问题，并通过HTEWorld基准测试验证了其有效性。

2603.26690 2026-03-31 cs.RO cs.AI cs.CV 80%

SpatialPoint: Spatial-aware Point Prediction for Embodied Localization

SpatialPoint: 体感-aware 点预测用于具身定位

Qiming Zhu, Zhirui Fang, Tianming Zhang, Chuanxiu Liu, Xiaoke Jiang, Lei Zhang

机构 * Visincept Research（Visincept 研究院）； Tsinghua University（清华大学）； International Digital Economy Academy (IDEA)（国际数字经济学院（IDEA））

专题命中机器人数据与评测：robotics(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结本文提出SpatialPoint框架，通过整合结构化深度信息提升具身定位性能，采用260万样本RGB-D数据集进行训练与评估，在真实机器人部署中验证了其在抓取、放置和导航任务中的有效性。

Comments 19 pages, 12 figures, supplementary material included

2601.05848 2026-03-24 cs.CV cs.AI cs.RO 80%

Goal Force: Teaching Video Models To Accomplish Physics-Conditioned Goals

目标力：教视频模型实现物理条件化的目标

Nate Gillman, Yinghua Zhou, Zitian Tang, Evan Luo, Arjan Chakravarthy, Daksh Aggarwal, Michael Freeman, Charles Herrmann, Chen Sun

机构 * Brown University（布朗大学）； Cornell University（康奈尔大学）

专题命中机器人数据与评测：robotics(abstract)；manipulation(abstract)；world model(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结本文提出Goal Force框架，通过显式力矢量和中间动力学定义目标，使视频模型能零样本泛化到复杂现实场景，实现基于物理的视频生成与规划。

Comments Camera ready version (CVPR 2026). Code and interactive demos at https://goal-force.github.io/

2603.04356 2026-03-05 cs.RO cs.AI cs.LG 80%

RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots

RoboCasa365：一种大规模仿真框架，用于训练和评估通用机器人

Soroush Nasiriany, Sepehr Nasiriany, Abhiram Maddukuri, Yuke Zhu

机构 * The University of Texas at Austin（德克萨斯大学奥斯汀分校）； NVIDIA Research（NVIDIA研究）

专题命中机器人数据与评测：robot learning(abstract)；manipulation(abstract)；robot foundation model(abstract)；分类 cs.RO、cs.AI、cs.LG

AI总结 RoboCasa365通过大规模仿真框架提供多样化任务和环境，用于训练和评估通用机器人，分析任务多样性、数据集规模和环境变化对泛化的影响。

Comments ICLR 2026; First three authors contributed equally

2601.15282 2026-01-22 cs.CV cs.AI cs.RO 80%

Rethinking Video Generation Model for the Embodied World

重新思考具身世界的视频生成模型

Yufan Deng, Zilin Pan, Hongyu Zhang, Xiaojie Li, Ruoqing Hu, Yufei Ding, Yiming Zou, Yan Zeng, Daquan Zhou

机构 * Peking University（北京大学）

专题命中机器人数据与评测：robotics(abstract)；embodied AI(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结本文提出Rbench机器人视频生成基准和RoVid-X数据集，旨在解决高保真机器人视频生成中的数据短缺问题，推动具身AI发展。

Comments Github: https://github.com/DAGroup-PKU/ReVidgen/ Project website: https://dagroup-pku.github.io/ReVidgen.github.io/

2512.01188 2025-12-02 cs.RO cs.AI cs.LG 80%

Real-World Reinforcement Learning of Active Perception Behaviors

现实世界中主动感知行为的强化学习

Edward S. Hu, Jie Wang, Xingfang Yuan, Fiona Luo, Muyao Li, Gaspard Lambrechts, Oleh Rybkin, Dinesh Jayaraman

机构 * University of Pennsylvania（宾夕法尼亚大学）； University of Liège（列日大学）； UC Berkeley（伯克利大学）

专题命中机器人数据与评测：robot learning(abstract)；manipulation(abstract)；robot policy(abstract)；分类 cs.RO、cs.AI、cs.LG

AI总结本文提出AAWR方法，通过特权传感器训练高效主动感知策略，提升机器人在部分可观测环境下的任务性能。

Comments NeurIPS 2025 camera ready

2508.19172 2025-08-29 cs.RO cs.AI cs.LG 80%

From Tabula Rasa to Emergent Abilities: Discovering Robot Skills via Real-World Unsupervised Quality-Diversity

Luca Grillotti, Lisa Coiffard, Oscar Pang, Maxence Faldor, Antoine Cully

机构 * Adaptive & Intelligent Robotics Lab（智能机器人实验室）

专题命中机器人数据与评测：robotics(abstract)；robot learning(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments Accepted at CoRL 2025

2507.09725 2025-07-15 cs.RO cs.AI cs.CV 80%

Visual Homing in Outdoor Robots Using Mushroom Body Circuits and Learning Walks

Gabriel G. Gattaux, Julien R. Serres, Franck Ruffier, Antoine Wystrach

机构 * Aix Marseille Univ, CNRS, ISM, Marseille, France（法国马赛大学、国家科学研究中心、ISM、马赛）； Institut Universitaire de France, IUF, Paris, France（法国国家大学研究院、IUF、巴黎）； Univ Toulouse, CRCA, CBI, UMR CNRS-UPS 5169, Toulouse, France（法国图卢兹大学、CRCA、CBI、国家科学研究中心-UPS 5169、图卢兹）

专题命中机器人数据与评测：robotics(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Published by Springer Nature with the 14th bioinspired and biohybrid systems conference in Sheffield, and presented at the conference in July 2025

2410.11758 2025-05-16 cs.RO cs.CL cs.CV cs.LG 80%

Latent Action Pretraining from Videos

Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo

机构 * KAIST（韩国科学技术院）； University of Washington（华盛顿大学）； Microsoft Research（微软研究院）； NVIDIA（英伟达）； Allen Institute for AI（人工智能算法研究所）

专题命中机器人数据与评测：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV、cs.LG

Comments ICLR 2025 Website: https://latentactionpretraining.github.io

2505.00690 2025-05-02 cs.CV cs.AI cs.RO 80%

Towards Autonomous Micromobility through Scalable Urban Simulation

Wayne Wu, Honglin He, Chaoyuan Zhang, Jack He, Seth Z. Zhao, Ran Gong, Quanyi Li, Bolei Zhou

专题命中机器人数据与评测：robot learning(abstract)；embodied agent(abstract)；navigation(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments CVPR 2025 Highlight. Project page: https://metadriverse.github.io/urban-sim/

2410.02844 2024-10-14 stat.ML cs.AI cs.LG cs.RO 80%

CAnDOIT: Causal Discovery with Observational and Interventional Data from Time-Series

Luca Castri, Sariah Mghames, Marc Hanheide, Nicola Bellotto

专题命中机器人数据与评测：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments Published in Advanced Intelligent Systems

2409.17995 2024-09-27 cs.RO cs.AI cs.LG 80%

Joint Localization and Planning using Diffusion

L. Lao Beyer, S. Karaman

专题命中机器人数据与评测：robotics(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments 7 pages, 9 figures. Submitted to ICRA 2025, under review

1. 机器人数据与评测 8673 篇

Adaptive Tuning of Robotic Polishing Skills based on Force Feedback Model

Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning

Learning and Extrapolation of Robotic Skills using Task-Parameterized Equation Learner Networks

Model-Free Safety-Critical Control for Robotic Systems

On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications

Software Testing, AI and Robotics (STAIR) Learning Lab

Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies

On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments

Teachers' perspective on fostering computational thinking through educational robotics

MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception

Towards Generalization and Data Efficient Learning of Deep Robotic Grasping

A Spiking Neural Network Emulating the Structure of the Oculomotor System Requires No Learning to Control a Biomimetic Robotic Head

Semantic Image Search for Robotic Applications

The Importance of Metric Learning for Robotic Vision: Open Set Recognition and Active Learning

"Touching to See" and "Seeing to Feel": Robotic Cross-modal SensoryData Generation for Visual-Tactile Perception

Near-optimal irrevocable sample selection for periodic data streams with applications to marine robotics

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes

World-Ego Modeling for Long-Horizon Evolution in Hybrid Embodied Tasks

SpatialPoint: Spatial-aware Point Prediction for Embodied Localization

Goal Force: Teaching Video Models To Accomplish Physics-Conditioned Goals

RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots

Rethinking Video Generation Model for the Embodied World

Real-World Reinforcement Learning of Active Perception Behaviors

From Tabula Rasa to Emergent Abilities: Discovering Robot Skills via Real-World Unsupervised Quality-Diversity

Visual Homing in Outdoor Robots Using Mushroom Body Circuits and Learning Walks

Latent Action Pretraining from Videos

Towards Autonomous Micromobility through Scalable Urban Simulation

CAnDOIT: Causal Discovery with Observational and Interventional Data from Time-Series

Joint Localization and Planning using Diffusion