机器人 / 具身智能

Object-centric 3D Motion Field for Robot Learning from Human Videos

Zhao-Heng Yin, Sherry Yang, Pieter Abbeel

机构 * BAIR, UC Berkeley EECS（伯克利大学电子工程与计算机科学系） ； Google DeepMind（谷歌DeepMind） 纠错

专题命中 机器人学习 ：robot learning(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Project: https://zhaohengyin.github.io/3DMF

CONTHER: Human-Like Contextual Robot Learning via Hindsight Experience Replay and Transformers without Expert Demonstrations

Maria Makarova, Qian Liu, Dzmitry Tsetserukou

专题命中 机器人学习 ：robot learning(title)；robotics(abstract)；manipulation(abstract)；robotic(abstract)

Comments Submitted to IROS 2025

The Ingredients for Robotic Diffusion Transformers

Sudeep Dasari, Oier Mees, Sebastian Zhao, Mohan Kumar Srirama, Sergey Levine

专题命中 机器人学习 ：robotic(title,abstract)；robot learning(abstract)；分类 cs.RO、cs.AI、cs.CV

Theia: Distilling Diverse Vision Foundation Models for Robot Learning

Jinghuan Shang, Karl Schmeckpeper, Brandon B. May, Maria Vittoria Minniti, Tarik Kelestemur, David Watkins, Laura Herlant

专题命中 机器人学习 ：robot learning(title,abstract)；robot policy(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments CoRL 2024

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation

Yufei Wang, Zhou Xian, Feng Chen, Tsun-Hsuan Wang, Yian Wang, Katerina Fragkiadaki, Zackory Erickson, David Held, Chuang Gan

专题命中 机器人学习 ：robot learning(title)；robotics(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments ICML 2024

Bootstrapping Robotic Skill Learning With Intuitive Teleoperation: Initial Feasibility Study

Xiangyu Chu, Yunxi Tang, Lam Him Kwok, Yuanpei Cai, Kwok Wai Samuel Au

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

Comments 10 pages, 4 figures, accepted by ISER2023

Human-in-the-loop Embodied Intelligence with Interactive Simulation Environment for Surgical Robot Learning

Yonghao Long, Wang Wei, Tao Huang, Yuehao Wang, Qi Dou

专题命中 机器人学习 ：robot learning(title,abstract)；embodied AI(abstract)；分类 cs.RO、cs.AI、cs.CV

Language-Driven Representation Learning for Robotics

Siddharth Karamcheti, Suraj Nair, Annie S. Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, Percy Liang

专题命中 机器人学习 ：robotics(title,abstract)；robot learning(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments 30 Pages, 15 Figures

MIRA: Mental Imagery for Robotic Affordances

Lin Yen-Chen, Pete Florence, Andy Zeng, Jonathan T. Barron, Yilun Du, Wei-Chiu Ma, Anthony Simeonov, Alberto Rodriguez Garcia, Phillip Isola

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

Comments CoRL 2022, webpage: https://yenchenlin.me/mira

Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness

Jiaqiang Zhang, Farhad Keramat, Xianjia Yu, Daniel Montero Hern, Jorge Peña Queralta, Tomi Westerlund

专题命中 机器人学习 ：robotic(title,abstract)；robotics(abstract)；robot learning(abstract)；分类 cs.RO

On-Robot Learning With Equivariant Models

Dian Wang, Mingxi Jia, Xupeng Zhu, Robin Walters, Robert Platt

专题命中 机器人学习 ：robot learning(title)；manipulation(abstract)；robot policy(abstract)；robotic(abstract)

Comments Published at CoRL 2022

Robot Learning via Human Adversarial Games

Jiali Duan, Qian Wang, Lerrel Pinto, C. -C. Jay Kuo, Stefanos Nikolaidis

专题命中 机器人学习 ：robot learning(title)；robotics(abstract)；manipulation(abstract)；robotic(abstract)

Journal ref 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment

Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu

专题命中 机器人学习 ：robot learning(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Robotics: Science and Systems (RSS), 2023

DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics

Ivan Kapelyukh, Vitalis Vosylius, Edward Johns

专题命中 机器人学习 ：robotics(title,abstract)；robot learning(abstract)；分类 cs.RO、cs.CV、cs.LG

Comments Webpage and videos: ( https://www.robot-learning.uk/dall-e-bot ) Published in IEEE Robotics and Automation Letters (RA-L)

Belief-Grounded Networks for Accelerated Robot Learning under Partial Observability

Hai Nguyen, Brett Daley, Xinchao Song, Christopher Amato, Robert Platt

专题命中 机器人学习 ：robot learning(title,comments)；robotics(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments Accepted at Conference on Robot Learning (CoRL) 2020

Deep Intrinsically Motivated Continuous Actor-Critic for Efficient Robotic Visuomotor Skill Learning

Muhammad Burhan Hafez, Cornelius Weber, Matthias Kerzel, Stefan Wermter

专题命中 机器人学习 ：robotic(title,abstract)；world model(abstract)；分类 cs.RO、cs.AI、cs.LG；robotics(journal_ref)

Journal ref Paladyn, Journal of Behavioral Robotics, Volume 10, Issue 1, Pages 14-29, 2019

RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation

Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, Li Fei-Fei

专题命中 机器人学习 ：robotic(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments Published at the Conference on Robot Learning (CoRL) 2018

Action Flow Matching for Continual Robot Learning

动作流匹配用于持续机器人学习

Alejandro Murillo-Gonzalez, Lantao Liu

机构 * Indiana University–Bloomington（印第安纳大学布卢明顿分校） 纠错

专题命中 机器人学习 ：robot learning(title,abstract)；robotics(abstract,comments)；分类 cs.RO、cs.AI

AI总结 通过动作流匹配方法提升机器人持续学习的效率与适应性，实现动态模型的在线对齐与高效学习。

Comments Robotics: Science and Systems 2025

Journal ref Proceedings of Robotics: Science and Systems, 2025

GRAPPA: Generalizing and Adapting Robot Policies via Online Agentic Guidance

Arthur Bucker, Pablo Ortega-Kral, Jonathan Francis, Jean Oh

专题命中 机器人学习 ：robotics(abstract)；robot learning(abstract)；manipulation(abstract)；robot policy(abstract)

Comments 21 pages, 12 figures, 4 tables

SymmGrid: Super-Scaling On-Robot Learning with Parallelized Symmetries and Egocentric-Exocentric Visual Perception

SymmGrid：基于并行对称性与自我-外部视觉感知的超规模机器人上学习框架

Gabe Everett, Brice Gunter, Ryan Vander Stelt, Cleiver Ruiz-Martinez, Blake Hull, Juan Rojas

机构 * Lipscomb University（利普斯科姆大学） 纠错

专题命中 机器人学习 ：robot learning(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.AI、cs.LG

AI总结 SymmGrid是一种并行对称性轨迹级增强框架，通过自我-外部视觉感知加速机器人上学习，在真实机器人操作任务上实现训练速度、成功率及nAUC比率提升，最快收敛时间低至10.9分钟。

Comments 9 pages, 7 figures, 1 table

Geometric Action Model for Robot Policy Learning

几何动作模型用于机器人策略学习

Jisang Han, Seonghu Jeon, Jaewoo Jung, René Zurbrügg, Honggyu An, Tifanny Portela, Marco Hutter, Marc Pollefeys, Seungryong Kim, Sunghwan Hong

机构 * KAIST AI（韩国科学技术院人工智能学院） ； ETH Zurich（苏黎世联邦理工学院） ； ETH AI Center（苏黎世联邦理工学院人工智能中心） 纠错

专题命中 机器人学习 ：robot policy(title)；manipulation(abstract)；world model(abstract)；分类 cs.RO、cs.CV、cs.LG

AI总结 提出几何动作模型(GAM)，通过重用预训练几何基础模型(GFM)作为共享骨干，实现语言条件下的操作策略，在仿真和真实机器人任务中优于现有方法。

Comments Project page: https://cvlab-kaist.github.io/Geometric-Action-Model/

VER: Vision Expert Transformer for Robot Learning via Foundation Distillation and Dynamic Routing

VER：基于基础蒸馏和动态路由的机器人学习视觉专家变换器

Yixiao Wang, Mingxiao Huo, Zhixuan Liang, Yushi Du, Lingfeng Sun, Haotian Lin, Jinghuan Shang, Chensheng Peng, Mohit Bansal, Mingyu Ding, Masayoshi Tomizuka

机构 * UC Berkeley（加州大学伯克利分校） ； Carnegie Mellon University（卡内基梅隆大学） ； University of Hong Kong（香港大学） ； Peking University（北京大学） ； Stony Brook University（石溪大学） ； UNC-Chapel Hill（北卡罗来纳大学教堂山分校） 纠错

专题命中 机器人学习 ：robot learning(title,abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.LG

AI总结 VER通过基础蒸馏和动态路由实现机器人学习，采用轻量路由网络动态选择专家，提升任务灵活性和精度，实现多任务高性能。

Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons

Robometer：通过轨迹比较扩展通用机器人奖励模型

Anthony Liang, Yigit Korkmaz, Jiahui Zhang, Minyoung Hwang, Abrar Anwar, Sidhant Kaushik, Aditya Shah, Alex S. Huang, Luke Zettlemoyer, Dieter Fox, Yu Xiang, Anqi Li, Andreea Bobu, Abhishek Gupta, Stephen Tu, Erdem Biyik, Jesse Zhang

机构 * Univ. of Southern California（南加州大学） ； UT Dallas（德克萨斯大学达拉斯分校） ； MIT（麻省理工学院） ； Indep. Researcher（独立研究员） ； Univ. of Washington（华盛顿大学） ； Ai2 ； NVIDIA（英伟达） 纠错

专题命中 机器人学习 ：robotic(title)；robotics(abstract)；robot learning(abstract)；分类 cs.RO、cs.AI、cs.LG

AI总结 Robometer通过结合轨迹内进步监督与轨迹间偏好监督，提升大规模机器人数据集中的奖励模型学习能力，实现更通用的奖励函数和更好的机器人学习性能。

Comments 33 pages, 17 figures

Journal ref RSS 2026

Embedding Morphology into Transformers for Cross-Robot Policy Learning

将形态学嵌入到变换器中以实现跨机器人策略学习

Kei Suzuki, Jing Liu, Ye Wang, Chiori Hori, Matthew Brand, Diego Romeres, Toshiaki Koike-Akino

机构 * Mitsubishi Electric Research Laboratories (MERL), Cambridge, Massachusetts, USA（三菱电机研究实验室（MERL），马萨诸塞州剑桥） 纠错

专题命中 机器人学习 ：robot policy(title,abstract)；robot learning(abstract)；分类 cs.RO、cs.AI、cs.LG

AI总结 本文提出一种机体感知的变换器策略，通过三种机制注入形态学以提升跨机器人策略学习的鲁棒性和性能。

Comments 17 pages, 8 figures (including appendix)

RoboCurate: Harnessing Diversity with Action-Verified Neural Trajectory for Robot Learning

RoboCurate: 利用动作验证的神经轨迹 harnessing 多样性以促进机器人学习

Seungku Kim, Suhyeok Jang, Byungjun Yoon, Dongyoung Kim, John Won, Jinwoo Shin

专题命中 机器人学习 ：robot learning(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结 RoboCurate通过动作验证的神经轨迹和图像编辑技术，提升机器人学习中合成数据的质量和多样性，显著提高任务成功率。

Comments 20 pages; 6 figures; Project page is available at https://seungkukim.github.io/robocurate/

Robot Learning from Any Images

Siheng Zhao, Jiageng Mao, Wei Chow, Zeyu Shangguan, Tianheng Shi, Rong Xue, Yuxi Zheng, Yijia Weng, Yang You, Daniel Seita, Leonidas Guibas, Sergey Zakharov, Vitor Guizilini, Yue Wang

机构 * University of Southern California（南加州大学） ； Stanford University（斯坦福大学） ； Toyota Research Institute（丰田研究院） 纠错

专题命中 机器人学习 ：robot learning(title,abstract)；robotic(abstract)；分类 cs.RO、cs.CV、cs.LG

Comments CoRL 2025 camera ready

Mobi-$π$: Mobilizing Your Robot Learning Policy

Jingyun Yang, Isabella Huang, Brandon Vu, Max Bajracharya, Rika Antonova, Jeannette Bohg

机构 * Stanford University（斯坦福大学） ； Toyota Research Institute（丰田研究院） ； University of Cambridge（剑桥大学） 纠错

专题命中 机器人学习 ：robot learning(title)；manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.CV、cs.LG

Comments CoRL 2025. Project website: https://mobipi.github.io/

Efficient Robotic Policy Learning via Latent Space Backward Planning

Dongxiu Liu, Haoyi Niu, Zhihao Wang, Jinliang Zheng, Yinan Zheng, Zhonghong Ou, Jianming Hu, Jianxiong Li, Xianyuan Zhan

专题命中 机器人学习 ：robotic(title,abstract)；world model(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Accepted by ICML 2025

A Comprehensive Survey of Cross-Domain Policy Transfer for Embodied Agents

Haoyi Niu, Jianming Hu, Guyue Zhou, Xianyuan Zhan

专题命中 机器人学习 ：embodied agent(title)；robot learning(abstract)；embodied AI(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments IJCAI 2024

DiffClone: Enhanced Behaviour Cloning in Robotics with Diffusion-Driven Policy Learning

Sabariswaran Mani, Sreyas Venkataraman, Abhranil Chandra, Adyan Rizvi, Yash Sirvi, Soumojit Bhattacharya, Aritra Hazra

专题命中 机器人学习 ：robotics(title)；robot learning(abstract)；manipulation(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments NeurIPS 2023 Train Offline Test Online Workshop and Competition (Best Paper Oral Presentation / Winning Competition Submission)