机器人 / 具身智能 - arXivDaily 专题

2504.08438 2025-07-15 cs.RO stat.ML 89%

Diffusion Models for Robotic Manipulation: A Survey

Rosa Wolf, Yitian Shi, Sheng Liu, Rania Rayyes

机构 * Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院）

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

Comments 26 pages, 2 figure, 9 tables

2506.08296 2025-06-12 cs.RO 89%

HiBerNAC: Hierarchical Brain-emulated Robotic Neural Agent Collective for Disentangling Complex Manipulation

Hongjun Wu, Heng Zhang, Pengsong Zhang, Jin Wang, Cong Wang

机构 * Johns Hopkins University（约翰霍普金斯大学）； Italian Institute of Technology（意大利理工学院）； University of Toronto（多伦多大学）； Massachusetts General Hospital, Harvard University（哈佛大学麻省总医院）

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

Comments 31 pages,5 figures

2505.14819 2025-05-22 cs.RO 89%

DORA: Object Affordance-Guided Reinforcement Learning for Dexterous Robotic Manipulation

Lei Zhang, Soumya Mondal, Zhenshan Bing, Kaixin Bai, Diwen Zheng, Zhaopeng Chen, Alois Christian Knoll, Jianwei Zhang

机构 * TAMS (Technical Aspects of Multimodal Systems), Department of Informatics, Universität Hamburg（技术多模态系统（TAMS），信息学院，汉堡大学）； Agile Robots AG（敏捷机器人公司）； Technical University of Munich（慕尼黑技术大学）

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

Comments 8 pages

2505.06919 2025-05-13 cs.RO 89%

The First WARA Robotics Mobile Manipulation Challenge -- Lessons Learned

David Cáceres Domínguez, Marco Iannotta, Abhishek Kashyap, Shuo Sun, Yuxuan Yang, Christian Cella, Matteo Colombo, Martina Pelosi, Giuseppe F. Preziosa, Alessandra Tafuro, Isacco Zappa, Finn Busch, Yifei Dong, Alberta Longhini, Haofei Lu, Rafael I. Cabral Muchacho, Jonathan Styrud, Sebastiano Fregnan, Marko Guberina, Zheng Jia, Graziano Carriero, Sofia Lindqvist, Silvio Di Castro, Matteo Iovino

机构 * Center for Applied Autonomous Sensor Systems (AASS)（应用自主传感系统中心）； Politecnico di Milano（米兰理工学院）； Division of Robotics, Perception and Learning, Royal Institute of Technology (KTH)（机器人、感知与学习 division，皇家理工学院）； Lund Technical University (LTH)（卢恩技术大学）； University of Basilicata（巴塞拉塔大学）； Pharmaceutical Technology & Development, R&D, AstraZeneca（制药技术与开发，研发，阿斯利康）； ABB Corporate Research（ABB企业研究）

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

2505.06628 2025-05-13 cs.RO 89%

ACORN: Adaptive Contrastive Optimization for Safe and Robust Fine-Grained Robotic Manipulation

Zhongquan Zhou, Shuhao Li, Zixian Yue

机构 * School of Information Science & Engineering, Lanzhou University（信息科学与工程学院，兰州大学）

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

Comments 6 pages,4 figures

2411.14950 2025-05-02 cs.RO cs.SY eess.SY 89%

Trajectory Planning and Control for Robotic Magnetic Manipulation

Ogulcan Isitman, Gokhan Alcan, Ville Kyrki

机构 * Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University（电气工程与自动化系，电气工程学院，阿alto大学）； Faculty of Engineering and Natural Sciences, Automation Technology and Mechanical Engineering, Tampere University（工程与自然科学学院，自动化技术与机械工程，塔尔基大学）

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

Comments 8 pages, 6 figures

2503.13913 2025-03-19 cs.RO 89%

Project URSULA: Design of a Robotic Squid for Underwater Manipulation

Berke Gur

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

Comments Presented during the IEEE OES AUV 2024 Symposium held in Boston, MA, USA between the dates 18-20 September, 2024. 6 pages, 7 pages, 17 references

2503.08622 2025-03-12 cs.RO 89%

Cross-Embodiment Robotic Manipulation Synthesis via Guided Demonstrations through CycleVAE and Human Behavior Transformer

Apan Dastider, Hao Fang, Mingjie Lin

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

Comments Under Review in IROS 2025

2503.07087 2025-03-11 cs.RO 89%

iManip: Skill-Incremental Learning for Robotic Manipulation

Zexin Zheng, Jia-Feng Cai, Xiao-Ming Wu, Yi-Lin Wei, Yu-Ming Tang, Wei-Shi Zheng

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

2503.02748 2025-03-05 cs.RO 89%

Bridging VLM and KMP: Enabling Fine-grained robotic manipulation via Semantic Keypoints Representation

Junjie Zhu, Huayu Liu, Jin Wang, Bangrong Wen, Kaixiang Huang, Xiaofei Li, Haiyun Zhan, Guodong Lu

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

2409.11925 2025-03-04 cs.RO 89%

Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR

Kelin Li, Shubham M Wagh, Nitish Sharma, Saksham Bhadani, Wei Chen, Chang Liu, Petar Kormushev

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

Comments This work has been submitted to the IEEE for possible publication

2410.11013 2024-12-19 cs.RO 89%

Incorporating Task Progress Knowledge for Subgoal Generation in Robotic Manipulation through Image Edits

Xuhui Kang, Yen-Ling Kuo

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

Comments WACV2025, 12 pages, 11 figures

2411.19650 2024-12-02 cs.RO cs.AI cs.CL cs.CV cs.LG 89%

CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation

Qixiu Li, Yaobo Liang, Zeyu Wang, Lin Luo, Xi Chen, Mozheng Liao, Fangyun Wei, Yu Deng, Sicheng Xu, Yizhong Zhang, Xiaofan Wang, Bei Liu, Jianlong Fu, Jianmin Bao, Dong Chen, Yuanchun Shi, Jiaolong Yang, Baining Guo

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

Comments Project Webpage: https://cogact.github.io/

2405.14406 2024-11-28 cs.RO cs.CE 89%

A Unification Between Deep-Learning Vision, Compartmental Dynamical Thermodynamics, and Robotic Manipulation for a Circular Economy

Federico Zocco, Wassim M. Haddad, Andrea Corti, Monica Malvezzi

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

Comments To be submitted

Journal ref IEEE Access ( Volume: 12), 2024, pp. 173502 - 173516

2409.09016 2024-10-17 cs.RO 89%

Closed-Loop Visuomotor Control with Generative Expectation for Robotic Manipulation

Qingwen Bu, Jia Zeng, Li Chen, Yanchao Yang, Guyue Zhou, Junchi Yan, Ping Luo, Heming Cui, Yi Ma, Hongyang Li

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

Comments Accepted at NeurIPS 2024. Code and models: https://github.com/OpenDriveLab/CLOVER

2402.15487 2024-10-10 cs.RO cs.AI cs.CV cs.LG 89%

RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation

Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg, Hooshang Nayyeri, Shenlong Wang, Yunzhu Li

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

Comments Project Page: https://jianghanxiao.github.io/roboexp-web/

2406.10615 2024-09-27 cs.RO cs.AI cs.CV cs.LG 89%

Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation

Tong Zhang, Yingdong Hu, Jiacheng You, Yang Gao

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

Comments CoRL 2024. Project website: http://sgrv2-robot.github.io

2409.14365 2024-09-26 cs.RO 89%

D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation

Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Wenbo Cui, Chengyang Zhao, Xiaomeng Fang, Leonidas Guibas, He Wang

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

2407.07868 2024-09-10 cs.RO cs.AI cs.CV cs.LG 89%

Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation

Eugene Teoh, Sumit Patidar, Xiao Ma, Stephen James

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

Comments Project website: https://greenaug.github.io/

2405.03865 2024-06-07 cs.RO cs.AI cs.CV cs.LG 89%

Information-driven Affordance Discovery for Efficient Robotic Manipulation

Pietro Mazzaglia, Taco Cohen, Daniel Dijkman

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

Comments arXiv admin note: substantial text overlap with arXiv:2308.14915

2309.14236 2024-05-14 cs.RO cs.AI cs.CV cs.LG 89%

MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation

Patrick Lancaster, Nicklas Hansen, Aravind Rajeswaran, Vikash Kumar

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

Comments 10 pages, 8 figures

2403.07870 2024-03-13 cs.RO 89%

OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, Lerrel Pinto

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

2403.03890 2024-03-07 cs.RO cs.AI cs.CV cs.LG 89%

Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation

Xiao Ma, Sumit Patidar, Iain Haughton, Stephen James

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

Comments Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2024). Videos and code: https://yusufma03.github.io/projects/hdp/

2401.09038 2024-01-18 cs.RO 89%

Visual Robotic Manipulation with Depth-Aware Pretraining

Wanying Wang, Jinming Li, Yichen Zhu, Zhiyuan Xu, Zhengping Che, Yaxin Peng, Chaomin Shen, 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

Comments submitted to ICRA2024

2312.06129 2023-12-12 cs.RO 89%

Household navigation and manipulation for everyday object rearrangement tasks

Shrutheesh R. Iyer, Anwesan Pal, Jiaming Hu, Akanimoh Adeleye, Aditya Aggarwal, Henrik I. Christensen

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

Comments Paper accepted at IEEE IRC-2023

2310.03023 2023-10-05 cs.RO cs.AI cs.CV cs.LG 89%

Human-oriented Representation Learning for Robotic Manipulation

Mingxiao Huo, Mingyu Ding, Chenfeng Xu, Thomas Tian, Xinghao Zhu, Yao Mu, Lingfeng Sun, Masayoshi Tomizuka, Wei Zhan

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

2210.12386 2023-05-24 cs.RO 89%

Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning

Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Erez Karpas, Marc Toussaint

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

Comments Submitted to ICRA 2023

2304.10595 2023-04-24 cs.RO 89%

The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing

Leonel Rozo, Andras G. Kupcsik, Philipp Schillinger, Meng Guo, Robert Krug, Niels van Duijkeren, Markus Spies, Patrick Kesper, Sabrina Hoppe, Hanna Ziesche, Mathias Bürger, Kai O. Arras

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

2211.09019 2023-03-08 cs.RO cs.AI cs.CV cs.LG 89%

Learning Reward Functions for Robotic Manipulation by Observing Humans

Minttu Alakuijala, Gabriel Dulac-Arnold, Julien Mairal, Jean Ponce, Cordelia Schmid

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

2209.05451 2022-11-14 cs.RO cs.AI cs.CL cs.CV cs.LG 89%

Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation

Mohit Shridhar, Lucas Manuelli, Dieter Fox

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

Comments CoRL 2022. Project Website: https://peract.github.io/

1. 机器人操作 22146 篇

Diffusion Models for Robotic Manipulation: A Survey

HiBerNAC: Hierarchical Brain-emulated Robotic Neural Agent Collective for Disentangling Complex Manipulation

DORA: Object Affordance-Guided Reinforcement Learning for Dexterous Robotic Manipulation

The First WARA Robotics Mobile Manipulation Challenge -- Lessons Learned

ACORN: Adaptive Contrastive Optimization for Safe and Robust Fine-Grained Robotic Manipulation

Trajectory Planning and Control for Robotic Magnetic Manipulation

Project URSULA: Design of a Robotic Squid for Underwater Manipulation

Cross-Embodiment Robotic Manipulation Synthesis via Guided Demonstrations through CycleVAE and Human Behavior Transformer

iManip: Skill-Incremental Learning for Robotic Manipulation

Bridging VLM and KMP: Enabling Fine-grained robotic manipulation via Semantic Keypoints Representation

Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR

Incorporating Task Progress Knowledge for Subgoal Generation in Robotic Manipulation through Image Edits

CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation

A Unification Between Deep-Learning Vision, Compartmental Dynamical Thermodynamics, and Robotic Manipulation for a Circular Economy

Closed-Loop Visuomotor Control with Generative Expectation for Robotic Manipulation

RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation

Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation

D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation

Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation

Information-driven Affordance Discovery for Efficient Robotic Manipulation

MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation

OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation

Visual Robotic Manipulation with Depth-Aware Pretraining

Household navigation and manipulation for everyday object rearrangement tasks

Human-oriented Representation Learning for Robotic Manipulation

Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning

The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing

Learning Reward Functions for Robotic Manipulation by Observing Humans

Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation