机器人 / 具身智能

3DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Model

Hongyan Zhi, Peihao Chen, Siyuan Zhou, Yubo Dong, Quanxi Wu, Lei Han, Mingkui Tan

机构 * South China University of Technology（南方科技大学） ； Tencent Robotics X（腾讯机器人实验室） ； Hong Kong University of Science and Technology（香港科学与技术大学） ； Pazhou Laboratory（琶洲实验室） 纠错

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

VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation

Hanzhi Chen, Boyang Sun, Anran Zhang, Marc Pollefeys, Stefan Leutenegger

机构 * Technical University of Munich（慕尼黑工业大学） ； ETH Zürich（苏黎世联邦理工学院） ； Microsoft（微软公司） 纠错

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

Comments Accepted to CVPR 2025

3D-MVP: 3D Multiview Pretraining for Robotic Manipulation

Shengyi Qian, Kaichun Mo, Valts Blukis, David F. Fouhey, Dieter Fox, Ankit Goyal

机构 * NVIDIA（英伟达） ； University of Michigan（密歇根大学） ； New York University（纽约大学） 纠错

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

Comments CVPR 2025

Disentangled Object-Centric Image Representation for Robotic Manipulation

David Emukpere, Romain Deffayet, Bingbing Wu, Romain Brégier, Michael Niemaz, Jean-Luc Meunier, Denys Proux, Jean-Michel Renders, Seungsu Kim

机构 * NAVER LABS Europe（NAVER LABS欧洲） 纠错

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

Look Before You Leap: Using Serialized State Machine for Language Conditioned Robotic Manipulation

Tong Mu, Yihao Liu, Mehran Armand

机构 * Johns Hopkins University（约翰斯·霍普金斯大学） ； University of Arkansas（阿肯色大学） ； The Institute for Integrative and Innovative Research（综合与创新研究院） 纠错

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

Comments 7 pages, 4 figures

Acoustic Wave Manipulation Through Sparse Robotic Actuation

Tristan Shah, Noam Smilovich, Feruza Amirkulova, Samer Gerges, Stas Tiomkin

机构 * Whitacre CoE, Texas Tech University（德克萨斯理工大学惠特科工程学院） ； Davidson CoE, San Jose State University（圣何塞州立大学戴维森工程学院） 纠错

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

Comments ICRA 2025

STEER: Flexible Robotic Manipulation via Dense Language Grounding

Laura Smith, Alex Irpan, Montserrat Gonzalez Arenas, Sean Kirmani, Dmitry Kalashnikov, Dhruv Shah, Ted Xiao

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

Comments Project website: https://lauramsmith.github.io/steer/

Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting

Ola Shorinwa, Johnathan Tucker, Aliyah Smith, Aiden Swann, Timothy Chen, Roya Firoozi, Monroe Kennedy, Mac Schwager

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

Comments https://splatmover.github.io

ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation

Guanxing Lu, Shiyi Zhang, Ziwei Wang, Changliu Liu, Jiwen Lu, Yansong Tang

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

Comments https://guanxinglu.github.io/ManiGaussian/

Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation

Teli Ma, Jiaming Zhou, Zifan Wang, Ronghe Qiu, Junwei Liang

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

Language-Conditioned Robotic Manipulation with Fast and Slow Thinking

Minjie Zhu, Yichen Zhu, Jinming Li, Junjie Wen, Zhiyuan Xu, Zhengping Che, Chaomin Shen, Yaxin Peng, Dong Liu, Feifei Feng, Jian Tang

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

Comments accepted to ICRA2024

RoboCat: A Self-Improving Generalist Agent for Robotic Manipulation

Konstantinos Bousmalis, Giulia Vezzani, Dushyant Rao, Coline Devin, Alex X. Lee, Maria Bauza, Todor Davchev, Yuxiang Zhou, Agrim Gupta, Akhil Raju, Antoine Laurens, Claudio Fantacci, Valentin Dalibard, Martina Zambelli, Murilo Martins, Rugile Pevceviciute, Michiel Blokzijl, Misha Denil, Nathan Batchelor, Thomas Lampe, Emilio Parisotto, Konrad Żołna, Scott Reed, Sergio Gómez Colmenarejo, Jon Scholz, Abbas Abdolmaleki, Oliver Groth, Jean-Baptiste Regli, Oleg Sushkov, Tom Rothörl, José Enrique Chen, Yusuf Aytar, Dave Barker, Joy Ortiz, Martin Riedmiller, Jost Tobias Springenberg, Raia Hadsell, Francesco Nori, Nicolas Heess

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

Comments Transactions on Machine Learning Research (12/2023)

N$^2$M$^2$: Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments

Daniel Honerkamp, Tim Welschehold, Abhinav Valada

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

Comments Project website: http://mobile-rl.cs.uni-freiburg.de; Accepted at T-RO

Active Exploration for Robotic Manipulation

Tim Schneider, Boris Belousov, Georgia Chalvatzaki, Diego Romeres, Devesh K. Jha, Jan Peters

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

Comments Published without appendix at "International Conference on Intelligent Robots and Systems (IROS)" 2022

Active Inference for Robotic Manipulation

Tim Schneider, Boris Belousov, Hany Abdulsamad, Jan Peters

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

Comments Published at "The Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM)" 2022

Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space

Maximilian Ulmer, Elie Aljalbout, Sascha Schwarz, Sami Haddadin

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

Parareal with a Learned Coarse Model for Robotic Manipulation

Wisdom Agboh, Oliver Grainger, Daniel Ruprecht, Mehmet Dogar

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

Comments Accepted to Computing and Visualization in Science (special issue on parallel-in-time)

Journal ref Computing and Visualization in Science 23(8), 2020

Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity

Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei

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

Comments Published at IROS 2019

The Curse of Precision: A Data Scaling Law for High-Precision Robotic Manipulation

精度的诅咒：高精度机器人操作的数据缩放定律

Cuijie Xu, Yuanfan Xu, Min Xue, Jianjie Lin, Jian Wang, Xudong Zhang, Yu Wang, Jincheng Yu

机构 * Tsinghua University（清华大学） ； OpenMind (WuHu) Robotics Co., Ltd.（芜湖悟灵机器人有限公司） 纠错

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

AI总结 研究机器人装配等封闭世界任务中数据与精度的关系，提出新缩放定律log(N) ∝ 1/(P - c)，揭示极限精度c是系统涌现属性，经实验验证，为精度提供理论框架和评估指标，指导高精度操作系统开发调试。

Comments 8 pages, 4 figures. Accepted to the 2026 IEEE International Conference on Robotics and Automation (ICRA 2026)

CLAMP: Contrastive Learning for 3D Multi-View Action-Conditioned Robotic Manipulation Pretraining

CLAMP: 基于对比学习的3D多视角动作条件机器人操控预训练

I-Chun Arthur Liu, Krzysztof Choromanski, Sandy Huang, Connor Schenck

机构 * Google DeepMind（谷歌DeepMind） ； University of Southern California（南加州大学） 纠错

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

AI总结 CLAMP通过3D点云和机器人动作进行预训练，利用对比学习提升机器人操控精度与效率，优于现有基线方法。

Comments Accepted to the Robotics: Science and Systems (RSS) 2026

MLA: A Multisensory Language-Action Model for Multimodal Understanding and Forecasting in Robotic Manipulation

MLA：一种多感官语言-动作模型，用于机器人操作中的多模态理解和预测

Zhuoyang Liu, Jiaming Liu, Jiadong Xu, Nuowei Han, Chenyang Gu, Hao Chen, Kaichen Zhou, Renrui Zhang, Kai Chin Hsieh, Kun Wu, Zhengping Che, Jian Tang, Shanghang Zhang

机构 * State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University（多媒体信息处理国家重点实验室，计算机科学学院，北京大学） ； Beijing Innovation Center of Humanoid Robotics (X-Humanoid)（北京类人机器人创新中心（X-Humanoid）） ； The Chinese University of Hong Kong (CUHK)（香港中文大学（CUHK）） 纠错

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

AI总结 本文提出MLA模型，通过多感官融合与未来目标预测，提升机器人在复杂接触任务中的操控能力，实验显示其在2D和3D任务中性能优于现有方法。

Comments Project page: https://robotic-mla.github.io/

Diff-DAgger: Uncertainty Estimation with Diffusion Policy for Robotic Manipulation

Sung-Wook Lee, Xuhui Kang, Yen-Ling Kuo

机构 * University of Virginia（弗吉尼亚大学） 纠错

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

Comments Project website: diffdagger.github.io 8 pages, 6 figures, accepted by International Conference on Robotics and Automation (ICRA) 2025

An Open Tele-Impedance Framework to Generate Data for Contact-Rich Tasks in Robotic Manipulation

Alberto Giammarino, Juan M. Gandarias, Arash Ajoudani

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

Comments 6 pages, 4 figures, submitted to IEEE International Conference on Advanced Robotics and Its Social Impacts 2023 (ARSO)

Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulation

Stephen James, Andrew J. Davison

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

Comments IEEE Robotics and Automation Letters, 2022 (+ presentation at ICRA 2022). Videos and code found at: https://sites.google.com/view/q-attention

Learning to Scaffold the Development of Robotic Manipulation Skills

Lin Shao, Toki Migimatsu, Jeannette Bohg

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

Comments Accepted to IEEE International Conference on Robotics and Automation (ICRA) 2020

Estimation and Exploitation of Objects' Inertial Parameters in Robotic Grasping and Manipulation: A Survey

Nikos Mavrakis, Rustam Stolkin

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

Comments To be published in Robotics and Autonomous Systems, Elsevier

Human-centered manipulation and navigation with Robot DE NIRO

Fabian Falck, Sagar Doshi, Nico Smuts, John Lingi, Kim Rants, Petar Kormushev

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

Comments In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) Workshop "Towards Robots that Exhibit Manipulation Intelligence", Madrid, Spain, Oct. 1, 2018

Contact-Rich Robotic Manipulation in Construction via Zero-Shot Learning: A Diffusion Policy-Guided Adaptive Control

基于零样本学习的建筑领域接触丰富型机器人操作：扩散策略引导的自适应控制

Roman Ibrahimov, Salma Mozaffari, Arash Adel

机构 * Princeton University（普林斯顿大学） 纠错

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

AI总结 本研究提出扩散策略与L1启发自适应控制器耦合的框架，实现建筑接触丰富型机器人装配的零样本仿真到真实迁移，在多类任务中取得高成功率，降低真实数据需求，推进多阶段装配自动化。

Dream2Reward: Transition-Alignment Reward Models from Positive Demonstrations for Robotic Manipulation

Dream2Reward：基于正演示的机器人操纵转换对齐奖励模型

Haoyu Zhang, Zecui Zeng, Bin Wang, Lusong Li, Liang Lin, Long Cheng

机构 * School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院） ； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） ； JD Explore Academy（京东探索学院） 纠错

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

AI总结 Dream2Reward从正演示学习成功潜在转换场，通过转换级比较生成密集因果奖励，可提升机器人操纵的成功-失败区分度与下游策略性能。

Comments 12 pages, 7 figures

Robotic Manipulation is Vision-to-Geometry Mapping: Vision-Geometry Backbones over Language and Video Models

机器人操作是视觉到几何映射（f(v)→G）：超越语言和视频模型的视觉-几何骨干

Zijian Song, Qichang Li, Jiawei Zhou, Zhenlong Yuan, Tianshui Chen, Liang Lin, Guangrun Wang

机构 * Sun Yat-sen University（中山大学） ； Guangdong Key Laboratory of Big Data Analysis（大数据分析与处理广东省重点实验室） ； X-Era AI Lab（X-Era人工智能实验室） ； AMAP, Alibaba（阿里妈妈实验室） ； Guangdong University of Technology（广东工业大学） 纠错

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

AI总结 本文提出基于视觉-几何骨干的机器人操作方法，通过直接利用预训练的3D表示生成动作，优于传统语言或视频模型，在精确操作和零样本泛化中表现更优。

Comments Accepted at ACM Multimedia 2026