机器人 / 具身智能

Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation

Charles Sun, Jędrzej Orbik, Coline Devin, Brian Yang, Abhishek Gupta, Glen Berseth, Sergey Levine

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

Comments 16 pages, Published at CoRL 2021

Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics

Ingmar Schubert, Danny Driess, Ozgur S. Oguz, Marc Toussaint

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

Journal ref 35th Conference on Neural Information Processing Systems (NeurIPS 2021), Sydney, Australia

Reset-Free Reinforcement Learning via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention

Abhishek Gupta, Justin Yu, Tony Z. Zhao, Vikash Kumar, Aaron Rovinsky, Kelvin Xu, Thomas Devlin, Sergey Levine

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

Comments Published at ICRA 2021. First four authors contributed equally

Go Fetch: Mobile Manipulation in Unstructured Environments

Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, Florian Tschopp, Jen Jen Chung, Lionel Ott, Juan Nieto, Roland Siegwart

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

Comments Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, and Florian Tschopp contributed equally to this work

Journal ref ICRA 2020 Workshop on Perception, Action, Learning: From Metric-Semantic Scene Understanding to High-level Task Execution, 2020

Scene Understanding for Autonomous Manipulation with Deep Learning

Anh Nguyen

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

Comments PhD Thesis, 88 pages

Latest Datasets and Technologies Presented in the Workshop on Grasping and Manipulation Datasets

Matteo Bianchi, Jeannette Bohg, Yu Sun

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

Do Robots Really Need Anthropomorphic Hands? A Comparison of Human and Robotic Hands

机器人真的需要拟人化的手吗？人类手与机器人手的比较

Alexander Fabisch, Wadhah Zai El Amri, Chandandeep Singh, Nicolás Navarro-Guerrero

机构 * Robotics Innovation Center, Deutsches Forschungszentrum für Künstliche Intelligenz GmbH (DFKI)（德意志人工智能研究中心机器人创新中心） ； Leibniz Universität Hannover, L3S Research Center（汉诺威莱布尼茨大学L3S研究中心） 纠错

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

AI总结 本文通过比较人类手与机器人手的生物力学、感知和控制机制，探讨机器人是否需要拟人化手，发现复杂的手部设计并非所有任务所必需，而手部机制的复杂性与执行任务的广度相关，同时指出传感器集成和智能操作策略仍需进一步研究。

Journal ref Journal of Intelligent and Robotic Systems 112 (2026)

Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation Planning

Ziyuan Jiao, Yida Niu, Zeyu Zhang, Yangyang Wu, Yao Su, Yixin Zhu, Hangxin Liu, Song-Chun Zhu

机构 * State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing（国家一般人工智能重点实验室，北京一般人工智能研究院（BIGAI），北京） ； Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院） ； Institute for Artificial Intelligence and School of Artificial Intelligence, Peking University（北京大学人工智能研究院和人工智能学院） ； 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)；navigation(abstract)；robotic(abstract)；分类 cs.RO

Comments 20 pages, 13 figures; accepted by Transactions on Robotics

RAPTAR: Radar Radiation Pattern Acquisition through Automated Collaborative Robotics

Maaz Qureshi, Mohammad Omid Bagheri, Abdelrahman Elbadrawy, William Melek, George Shaker

机构 * Department of Mechanical and Mechatronics Engineering, University of Waterloo（滑铁卢大学机械与机电工程系） ； Department of Electrical and Computer Engineering, University of Waterloo（滑铁卢大学电气与计算机工程系） 纠错

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

Comments 8 Pages, IEEE Journal

Journal ref IEEE Robotics and Automation Letters 2025

SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes

Tomoya Takahashi, Cristian C. Beltran-Hernandez, Yuki Kuroda, Kazutoshi Tanaka, Masashi Hamaya, Yoshitaka Ushiku

机构 * OMRON SINIC X Corporation（OMRON SINIC X公司） 纠错

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

Comments 2025 IEEE International Conference on Robotics and Automation (ICRA2025). Preprint. Accepted January 2025

ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation

Wenhai Liu, Junbo Wang, Yiming Wang, Weiming Wang, Cewu Lu

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

Comments 8 pages, 7 figures, accepted by 2025 IEEE International Conference on Robotics and Automation (ICRA 2025), the first three authors contribute equally, project website at https://forcemimic.github.io

Comparison of Motion Encoding Frameworks on Human Manipulation Actions

Lennart Jahn, Florentin Wörgötter, Tomas Kulvicius

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

Journal ref Robotics and Autonomous Systems, 2024

VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation

I-Chun Arthur Liu, Sicheng He, Daniel Seita, Gaurav Sukhatme

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

Comments Accepted to the Conference on Robot Learning (CoRL) 2024

Sim-To-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgery

Paul Maria Scheikl, Eleonora Tagliabue, Balázs Gyenes, Martin Wagner, Diego Dall'Alba, Paolo Fiorini, Franziska Mathis-Ullrich

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

Journal ref IEEE Robotics and Automation Letters 8 (2023) 560-567

Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation

William Shen, Ge Yang, Alan Yu, Jansen Wong, Leslie Pack Kaelbling, Phillip Isola

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

Comments Project website at https://f3rm.csail.mit.edu, Accepted at the 7th Annual Conference on Robot Learning (CoRL), 2023 in Atlanta, US

A Modular Bio-inspired Robotic Hand with High Sensitivity

Chao Liu, Andrea Moncada, Hanna Matusik, Deniz Irem Erus, Daniela Rus

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

Comments 7 pages, 13 figures, IEEE RoboSoft 2023

Journal ref 2023 IEEE International Conference on Soft Robotics (RoboSoft), Singapore, Singapore, 2023, pp. 1-7

Borinot: an agile torque-controlled robot for hybrid flying and contact loco-manipulation (workshop version)

Josep Marti-Saumell, Joan Sola, Angel Santamaria-Navarro, Hugo Duarte

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

Comments 2 pages + references. Workshop on agile robotics, ICRA 2023. v2: add ref to the full text in the web abstract. This is a very short version of the full work available here arXiv:2307.14686

MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control

Mattia Leonori, Juan M. Gandarias, Arash Ajoudani

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

Comments 8 pages, 7 figures, submitted to IEEE Robotics and Automation Letters and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). Video: https://youtu.be/IX6fn8ODSt8

Design and Motion Planning for a Reconfigurable Robotic Base

Johannes Pankert, Giorgio Valsecchi, Davide Baret, Jon Zehnder, Lukasz L. Pietrasik, Marko Bjelonic, Marco Hutter

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

Comments 8 pages, accepted for RA-L and IROS 2022

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9012-9019, Oct. 2022

Synthesizing Adversarial Visual Scenarios for Model-Based Robotic Control

Shubhankar Agarwal, Sandeep P. Chinchali

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

Comments Conference on Robot Learning, 2022

R3M: A Universal Visual Representation for Robot Manipulation

Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, Abhinav Gupta

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

Comments Conference on Robot Learning (CoRL) 2022

Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube

Aravind Sivakumar, Kenneth Shaw, Deepak Pathak

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

Comments RSS 2022 final version. Website and demos at https://robotic-telekinesis.github.io/

Household Cloth Object Set: Fostering Benchmarking in Deformable Object Manipulation

Irene Garcia-Camacho, Júlia Borràs, Berk Calli, Adam Norton, Guillem Alenyà

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

Comments Submitted

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 5866-5873, July 2022

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation

Niklas Funk, Charles Schaff, Rishabh Madan, Takuma Yoneda, Julen Urain De Jesus, Joe Watson, Ethan K. Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S. Srinivasa, Tapomayukh Bhattacharjee, Matthew R. Walter, Jan Peters

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

Journal ref IEEE Robotics and Automation Letters 7 (2022) 478-485

Cartman: The low-cost Cartesian Manipulator that won the Amazon Robotics Challenge

D. Morrison, A. W. Tow, M. McTaggart, R. Smith, N. Kelly-Boxall, S. Wade-McCue, J. Erskine, R. Grinover, A. Gurman, T. Hunn, D. Lee, A. Milan, T. Pham, G. Rallos, A. Razjigaev, T. Rowntree, K. Vijay, Z. Zhuang, C. Lehnert, I. Reid, P. Corke, J. Leitner

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

Comments To appear at the IEEE International Conference on Robotics and Automation (ICRA) 2018. 8 pages

MSG: Multi-Stream Generative Policies for Sample-Efficient Robotic Manipulation

MSG：多流生成策略用于样本高效的机器人操作

Jan Ole von Hartz, Lukas Schweizer, Joschka Boedecker, Abhinav Valada

机构 * University of Freiburg（弗莱堡大学） 纠错

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

AI总结 本文提出MSG多流生成策略，通过结合多个对象中心策略提升泛化能力和样本效率，实现在五次演示下学习高质量生成策略，性能提升89%。

Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation

Martin Huber, John Bason Mitchell, Ross Henry, Sébastien Ourselin, Tom Vercauteren, Christos Bergeles

专题命中 机器人操作 ：robotic(title,abstract)；manipulation(title)

Comments Accepted as conference paper at ISMR 2021

S3K: Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistency

Mel Vecerik, Jean-Baptiste Regli, Oleg Sushkov, David Barker, Rugile Pevceviciute, Thomas Rothörl, Christopher Schuster, Raia Hadsell, Lourdes Agapito, Jonathan Scholz

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

Comments 11 pages, supplementary material available at: https://sites.google.com/view/2020-s3k/home

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, Sergey Levine

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

Comments Accepted for presentation at Robotics: Science and Systems (RSS) 2018. Project page: https://sites.google.com/view/deeprl-dexterous-manipulation

Fine Robotic Manipulation without Force/Torque Sensor

Shilin Shan, Quang-Cuong Pham

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

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