机器人 / 具身智能 - arXivDaily 专题

2505.08548 2026-04-07 cs.RO cs.AI cs.LG 89%

From Seeing to Doing: Bridging Reasoning and Decision for Robotic Manipulation

从感知到行动：弥合推理与决策以实现机器人操作

Yifu Yuan, Haiqin Cui, Yibin Chen, Zibin Dong, Fei Ni, Longxin Kou, Jinyi Liu, Pengyi Li, Yan Zheng, Jianye Hao

机构 * Tianjin University（天津大学）

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

AI总结本文提出FSD模型，通过空间关系推理生成中间表示，提升机器人操作的泛化能力，在8个基准测试中表现优异，且在零样本任务中实现显著性能提升。

Comments Published as a conference paper at ICLR 2026. Our project homepage: https://embodied-fsd.github.io/

2510.00726 2026-03-10 cs.RO cs.AI cs.LG 89%

CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation

CroSTAta: 用于机器人操作的跨状态转换注意力变换器

Giovanni Minelli, Giulio Turrisi, Victor Barasuol, Claudio Semini

机构 * Istituto Italiano di Tecnologia（意大利技术研究院）

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

AI总结 CroSTAta通过引入状态转换注意力机制提升机器人操作策略的鲁棒性和时间推理能力。

Comments Code and data available at https://github.com/iit-DLSLab/croSTAta

2512.08188 2025-12-10 cs.RO cs.AI cs.CV 89%

Embodied Tree of Thoughts: Deliberate Manipulation Planning with Embodied World Model

具身思维树：基于具身世界模型的 deliberative 操控规划

Wenjiang Xu, Cindy Wang, Rui Fang, Mingkang Zhang, Lusong Li, Jing Xu, Jiayuan Gu, Zecui Zeng, Rui Chen

机构 * University of Chinese Academy of Sciences (UCAS)（中国科学院大学）； Tsinghua University（清华大学）； JD Explore Academy（京东探索学院）； ShanghaiTech University（上海科技大学）； Nanjing University（南京大学）

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

AI总结 EToT通过基于物理的交互数字双胞胎实现具身世界模型，结合先验分支和反思分支机制，提升机器人操控规划的物理一致性和鲁棒性。

Comments Website at https://embodied-tree-of-thoughts.github.io

2511.22780 2025-12-01 cs.RO cs.AI cs.CV 89%

Distracted Robot: How Visual Clutter Undermine Robotic Manipulation

分心的机器人：视觉杂乱如何损害机器人操作

Amir Rasouli, Montgomery Alban, Sajjad Pakdamansavoji, Zhiyuan Li, Zhanguang Zhang, Aaron Wu, Xuan Zhao

机构 * Huawei Technologies Canada（华为技术加拿大）

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

AI总结本研究提出了一种评估协议，从心理学物理角度评估机器人操作在杂乱环境中的性能，发现杂乱度对性能影响显著，且不同策略对杂乱的敏感性不同。

Comments 12 figures, 2 tables

2511.18950 2025-11-25 cs.RO cs.CV cs.LG 89%

Compressor-VLA: Instruction-Guided Visual Token Compression for Efficient Robotic Manipulation

Compressor-VLA：基于指令的视觉标记压缩用于高效的机器人操作

Juntao Gao, Feiyang Ye, Jing Zhang, Wenjing Qian

机构 * School of Information Science and Technology, Beijing University of Technology（信息科学与技术学院，北京理工大学）； LiAuto Inc.（LiAuto公司）； Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing University of Technology（计算智能与智能系统北京市重点实验室，北京理工大学）

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

AI总结 Compressor-VLA通过指令引导的视觉标记压缩，提升机器人操作的效率与精度。

Comments 11 pages, 5 figures

2508.15874 2025-11-19 cs.RO cs.AI cs.CV 89%

Spatial Policy: Guiding Visuomotor Robotic Manipulation with Spatial-Aware Modeling and Reasoning

Yijun Liu, Yuwei Liu, Yuan Meng, Jieheng Zhang, Yuwei Zhou, Ye Li, Jiacheng Jiang, Kangye Ji, Shijia Ge, Zhi Wang, Wenwu Zhu

机构 * Tsinghua University（清华大学）； Beijing University of Technology（北京理工大学）； Guangzhou University（广州大学）

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

2509.05314 2025-11-14 cs.RO cs.AI cs.CV 89%

ManipDreamer3D : Synthesizing Plausible Robotic Manipulation Video with Occupancy-aware 3D Trajectory

Ying Li, Xiaobao Wei, Xiaowei Chi, Yuming Li, Zhongyu Zhao, Hao Wang, Ningning Ma, Ming Lu, Sirui Han, Shanghang Zhang

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

Comments 7pages; 7figures; 3 tables

2510.15530 2025-11-04 cs.RO cs.CV cs.LG 89%

VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulation

Zehao Ni, Yonghao He, Lingfeng Qian, Jilei Mao, Fa Fu, Wei Sui, Hu Su, Junran Peng, Zhipeng Wang, Bin He

机构 * D-Robotics（D机器人）； National Key Laboratory of Autonomous Intelligent Unmanned Systems（国家级自主智能无人机系统实验室）； University of Science and Technology Beijing（北京科技大学）； State Key Laboratory of Multimodal Artificial Intelligence System (MAIS) Institute of Automation of Chinese Academy of Sciences（多模态人工智能系统（MAIS）实验室，中国科学院自动化研究所）； Frontiers Science Center for Intelligent Autonomous Systems（智能自主系统前沿科学中心）； Shanghai Institute of Intelligent Science and Technology, Tongji University（上海智能科学技术研究院，同济大学）

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

2510.27558 2025-11-03 cs.RO cs.AI cs.LG 89%

Toward Accurate Long-Horizon Robotic Manipulation: Language-to-Action with Foundation Models via Scene Graphs

Sushil Samuel Dinesh, Shinkyu Park

机构 * Department of Electrical and Computer Engineering, King Abdullah University of Science and Technology (KAUST)（电气与计算机工程系，国王 Abdullah 科学与技术大学）

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

2510.24261 2025-10-29 cs.RO cs.AI cs.CV 89%

DynaRend: Learning 3D Dynamics via Masked Future Rendering for Robotic Manipulation

Jingyi Tian, Le Wang, Sanping Zhou, Sen Wang, Jiayi Li, Gang Hua

机构 * National Key Laboratory of Human-Machine Hybrid Augmented Intelligence（人机混合增强智能国家重点实验室）； National Engineering Research Center for Visual Information and Applications（视觉信息与应用国家工程研究中心）； Institute of Artificial Intelligence and Robotics（人工智能与机器人研究院）； Xi’an Jiaotong University（西安交通大学）

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

Comments Accepted to NeurIPS 2025

2510.20813 2025-10-24 cs.RO cs.AI cs.CV 89%

GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation

Guangqi Jiang, Haoran Chang, Ri-Zhao Qiu, Yutong Liang, Mazeyu Ji, Jiyue Zhu, Zhao Dong, Xueyan Zou, Xiaolong Wang

机构 * UC San Diego（加州大学圣迭戈分校）； UC Los Angeles（加州大学洛杉矶分校）； Meta

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

2509.18830 2025-09-24 cs.RO cs.CV cs.LG 89%

DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation

Suzannah Wistreich, Baiyu Shi, Stephen Tian, Samuel Clarke, Michael Nath, Chengyi Xu, Zhenan Bao, Jiajun Wu

机构 * Stanford University（斯坦福大学）； University of Alabama at Birmingham（阿拉巴马大学伯明翰分校）

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

Comments Accepted to CoRL 2025

2509.04441 2025-09-09 cs.RO cs.AI cs.CV cs.HC 89%

DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation

Hao-Shu Fang, Branden Romero, Yichen Xie, Arthur Hu, Bo-Ruei Huang, Juan Alvarez, Matthew Kim, Gabriel Margolis, Kavya Anbarasu, Masayoshi Tomizuka, Edward Adelson, Pulkit Agrawal

机构 * Improbable AI Lab ； Massachusetts Institute of Technology（麻省理工学院）； UC Berkeley（加州大学伯克利分校）

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://dex-op.github.io

2507.00435 2025-07-02 cs.RO cs.AI cs.CV 89%

RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation

Yi Ru Wang, Carter Ung, Grant Tannert, Jiafei Duan, Josephine Li, Amy Le, Rishabh Oswal, Markus Grotz, Wilbert Pumacay, Yuquan Deng, Ranjay Krishna, Dieter Fox, Siddhartha Srinivasa

机构 * University of Washington（华盛顿大学）； Allen Institute for Artificial Intelligence（人工智能研究所）

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://robo-eval.github.io

2506.11261 2025-06-16 cs.RO cs.AI cs.CV 89%

Gondola: Grounded Vision Language Planning for Generalizable Robotic Manipulation

Shizhe Chen, Ricardo Garcia, Paul Pacaud, 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

2505.03702 2025-05-20 cs.RO cs.CV cs.LG 89%

Self-Supervised Learning for Robotic Leaf Manipulation: A Hybrid Geometric-Neural Approach

Srecharan Selvam

机构 * Robotics Institute, Carnegie Mellon University（机器人研究所，卡内基梅隆大学）

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

Comments 15 pages, 9 figures

2505.10522 2025-05-16 cs.RO cs.AI cs.LG 89%

Knowledge capture, adaptation and composition (KCAC): A framework for cross-task curriculum learning in robotic manipulation

Xinrui Wang, Yan Jin

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

2503.23877 2025-04-01 cs.RO cs.CV cs.LG 89%

ZeroMimic: Distilling Robotic Manipulation Skills from Web Videos

Junyao Shi, Zhuolun Zhao, Tianyou Wang, Ian Pedroza, Amy Luo, Jie Wang, Jason Ma, Dinesh Jayaraman

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

Comments ICRA 2025. Project website: https://zeromimic.github.io/

2410.03132 2025-03-27 cs.RO cs.AI cs.LG 89%

Autoregressive Action Sequence Learning for Robotic Manipulation

Xinyu Zhang, Yuhan Liu, Haonan Chang, Liam Schramm, Abdeslam Boularias

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

Comments (RA-L 2025) Add a new figure to explain why chunking autoregression works. Put back the previous in-depth discussion for arxiv release

2503.19510 2025-03-26 cs.RO cs.AI cs.CV 89%

RoboFlamingo-Plus: Fusion of Depth and RGB Perception with Vision-Language Models for Enhanced Robotic Manipulation

Sheng Wang

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

2502.18842 2025-03-03 cs.RO cs.AI cs.CV 89%

Attention-Guided Integration of CLIP and SAM for Precise Object Masking in Robotic Manipulation

Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai, Domae Yukiyasu

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

2502.16707 2025-02-25 cs.RO cs.AI cs.LG 89%

Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation

Yunhai Feng, Jiaming Han, Zhuoran Yang, Xiangyu Yue, Sergey Levine, Jianlan Luo

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

2412.08261 2025-02-18 cs.RO cs.AI cs.LG 89%

FLIP: Flow-Centric Generative Planning as General-Purpose Manipulation World Model

Chongkai Gao, Haozhuo Zhang, Zhixuan Xu, Zhehao Cai, Lin Shao

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

2404.04219 2025-02-10 cs.RO cs.AI cs.LG 89%

Continual Policy Distillation of Reinforcement Learning-based Controllers for Soft Robotic In-Hand Manipulation

Lanpei Li, Enrico Donato, Vincenzo Lomonaco, Egidio Falotico

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

Comments Accepted for presentation at IEEE RoboSoft 2024

2412.11360 2024-12-17 cs.RO cs.AI cs.CV 89%

Visual IRL for Human-Like Robotic Manipulation

Ehsan Asali, Prashant Doshi

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

2406.11548 2024-11-19 cs.RO cs.AI cs.CV 89%

AIC MLLM: Autonomous Interactive Correction MLLM for Robust Robotic Manipulation

Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jeremy Liu, Ruiping Wang, Hao Dong

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

2409.01652 2024-11-13 cs.RO cs.AI cs.CV 89%

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, Li Fei-Fei

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

2410.04855 2024-10-08 cs.RO cs.AI cs.LG 89%

Unsupervised Skill Discovery for Robotic Manipulation through Automatic Task Generation

Paul Jansonnie, Bingbing Wu, Julien Perez, Jan Peters

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

Comments Accepted at the 2024 IEEE-RAS International Conference on Humanoid Robots

2407.07889 2024-07-11 cs.RO cs.CV cs.LG 89%

AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation

Kaifeng Zhang, Baoyu Li, Kris Hauser, Yunzhu Li

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

Comments Project page: https://robopil.github.io/adaptigraph/

2405.13178 2024-06-18 cs.RO cs.AI cs.LG 89%

One-Shot Imitation Learning with Invariance Matching for Robotic Manipulation

Xinyu Zhang, Abdeslam Boularias

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

Comments RSS 2024

1. 机器人操作 22146 篇

From Seeing to Doing: Bridging Reasoning and Decision for Robotic Manipulation

CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation

Embodied Tree of Thoughts: Deliberate Manipulation Planning with Embodied World Model

Distracted Robot: How Visual Clutter Undermine Robotic Manipulation

Compressor-VLA: Instruction-Guided Visual Token Compression for Efficient Robotic Manipulation

Spatial Policy: Guiding Visuomotor Robotic Manipulation with Spatial-Aware Modeling and Reasoning

ManipDreamer3D : Synthesizing Plausible Robotic Manipulation Video with Occupancy-aware 3D Trajectory

VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulation

Toward Accurate Long-Horizon Robotic Manipulation: Language-to-Action with Foundation Models via Scene Graphs

DynaRend: Learning 3D Dynamics via Masked Future Rendering for Robotic Manipulation

GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation

DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation

DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation

RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation

Gondola: Grounded Vision Language Planning for Generalizable Robotic Manipulation

Self-Supervised Learning for Robotic Leaf Manipulation: A Hybrid Geometric-Neural Approach

Knowledge capture, adaptation and composition (KCAC): A framework for cross-task curriculum learning in robotic manipulation

ZeroMimic: Distilling Robotic Manipulation Skills from Web Videos

Autoregressive Action Sequence Learning for Robotic Manipulation

RoboFlamingo-Plus: Fusion of Depth and RGB Perception with Vision-Language Models for Enhanced Robotic Manipulation

Attention-Guided Integration of CLIP and SAM for Precise Object Masking in Robotic Manipulation

Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation

FLIP: Flow-Centric Generative Planning as General-Purpose Manipulation World Model

Continual Policy Distillation of Reinforcement Learning-based Controllers for Soft Robotic In-Hand Manipulation

Visual IRL for Human-Like Robotic Manipulation

AIC MLLM: Autonomous Interactive Correction MLLM for Robust Robotic Manipulation

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Unsupervised Skill Discovery for Robotic Manipulation through Automatic Task Generation

AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation

One-Shot Imitation Learning with Invariance Matching for Robotic Manipulation