机器人 / 具身智能 - arXivDaily 专题

2409.01326 2024-09-04 cs.RO cs.AI cs.LG 85%

Grounding Language Models in Autonomous Loco-manipulation Tasks

Jin Wang, Nikos Tsagarakis

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

Comments Summit to ICRA@40. arXiv admin note: substantial text overlap with arXiv:2406.14655

2406.14655 2024-08-19 cs.RO cs.AI cs.LG 85%

HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation

Jin Wang, Rui Dai, Weijie Wang, Luca Rossini, Francesco Ruscelli, Nikos Tsagarakis

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

Comments Project page: https://hy-motion.github.io/

2408.08282 2024-08-16 cs.RO cs.AI cs.LG 85%

Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model

Jin Wang, Arturo Laurenzi, Nikos Tsagarakis

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

Comments Paper accepted by IROS 2024

2407.09986 2024-07-16 cs.RO cs.AI cs.LG 85%

Curriculum Is More Influential Than Haptic Information During Reinforcement Learning of Object Manipulation Against Gravity

Pegah Ojaghi, Romina Mir, Ali Marjaninejad, Andrew Erwin, Michael Wehner, Francisco J Valero-Cueva

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

2407.08585 2024-07-12 cs.RO cs.AI cs.LG 85%

HACMan++: Spatially-Grounded Motion Primitives for Manipulation

Bowen Jiang, Yilin Wu, Wenxuan Zhou, Chris Paxton, David Held

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

2406.08545 2024-06-14 cs.RO cs.AI cs.CV 85%

RVT-2: Learning Precise Manipulation from Few Demonstrations

Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, Dieter Fox

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

Comments Accepted to RSS 2024

2404.13652 2024-04-23 cs.RO cs.AI cs.CE cs.LG 85%

BANSAI: Towards Bridging the AI Adoption Gap in Industrial Robotics with Neurosymbolic Programming

Benjamin Alt, Julia Dvorak, Darko Katic, Rainer Jäkel, Michael Beetz, Gisela Lanza

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

Comments 6 pages, 3 figures, accepted at the 2024 CIRP International Conference on Manufacturing Systems (CMS)

2404.12524 2024-04-22 cs.CV cs.LG cs.RO 85%

DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects

Dominik Bauer, Zhenjia Xu, Shuran Song

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

Comments Under review. 17 pages, 14 figures

2404.01220 2024-04-02 cs.RO cs.CV cs.LG 85%

Entity-Centric Reinforcement Learning for Object Manipulation from Pixels

Dan Haramati, Tal Daniel, Aviv Tamar

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

Comments ICLR 2024 Spotlight. Videos and code are available on the project website: https://sites.google.com/view/entity-centric-rl

2403.07869 2024-03-25 cs.RO cs.AI cs.LG 85%

TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation

Shivin Dass, Wensi Ai, Yuqian Jiang, Samik Singh, Jiaheng Hu, Ruohan Zhang, Peter Stone, Ben Abbatematteo, Roberto Martín-Martín

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

2402.16836 2024-02-27 cs.RO cs.AI cs.CL cs.CV 85%

PhyGrasp: Generalizing Robotic Grasping with Physics-informed Large Multimodal Models

Dingkun Guo, Yuqi Xiang, Shuqi Zhao, Xinghao Zhu, Masayoshi Tomizuka, Mingyu Ding, Wei Zhan

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

2305.17027 2024-02-09 quant-ph physics.app-ph 85%

Robotic vectorial field alignment for spin-based quantum sensors

Joe A. Smith, Dandan Zhang, Krishna C. Balram

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

Comments 11 pages, 4 figures. Small correction in first paragraph

Journal ref Advanced Science 2024, 11, 2, 2304449

2312.12444 2023-12-21 cs.CV cs.AI cs.RO 85%

What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?

Kaylee Burns, Zach Witzel, Jubayer Ibn Hamid, Tianhe Yu, Chelsea Finn, Karol Hausman

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

Comments 20 pages, 12 figures

2312.00775 2023-12-04 cs.RO cs.CV cs.LG 85%

Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Plans

Homanga Bharadhwaj, Abhinav Gupta, Vikash Kumar, Shubham Tulsiani

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

Comments Preprint. Under Review

2310.01404 2023-10-16 cs.LG cs.CV cs.RO 85%

H-InDex: Visual Reinforcement Learning with Hand-Informed Representations for Dexterous Manipulation

Yanjie Ze, Yuyao Liu, Ruizhe Shi, Jiaxin Qin, Zhecheng Yuan, Jiashun Wang, Huazhe Xu

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

Comments NeurIPS 2023. Code and videos: https://yanjieze.com/H-InDex

2309.03322 2023-09-08 cs.LG cs.AI cs.RO 85%

REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation

Zheyuan Hu, Aaron Rovinsky, Jianlan Luo, Vikash Kumar, Abhishek Gupta, Sergey Levine

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

Comments Accepted at CORL 2023. The first two authors contributed equally

2307.05959 2023-07-13 cs.RO cs.AI cs.LG 85%

Giving Robots a Hand: Learning Generalizable Manipulation with Eye-in-Hand Human Video Demonstrations

Moo Jin Kim, Jiajun Wu, Chelsea Finn

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

Comments 21 pages, 7 figures, project webpage at https://giving-robots-a-hand.github.io/

2301.08556 2023-01-23 cs.LG cs.CV cs.RO 85%

NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis

Allan Zhou, Moo Jin Kim, Lirui Wang, Pete Florence, Chelsea Finn

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

2212.02126 2022-12-06 cs.RO cs.AI cs.LG 85%

Accelerating Interactive Human-like Manipulation Learning with GPU-based Simulation and High-quality Demonstrations

Malte Mosbach, Kara Moraw, Sven Behnke

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

Journal ref 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) 435-441

2206.08686 2022-10-12 cs.RO cs.AI cs.LG cs.MA 85%

Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning

Yuanpei Chen, Tianhao Wu, Shengjie Wang, Xidong Feng, Jiechuang Jiang, Stephen Marcus McAleer, Yiran Geng, Hao Dong, Zongqing Lu, Song-Chun Zhu, Yaodong Yang

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

Comments 38 pages, 8 figures

2208.00386 2022-10-06 cs.RO cs.AI cs.CV 85%

Robotic Dough Shaping

Jan Ondras, Di Ni, Xi Deng, Zeqi Gu, Henry Zheng, Tapomayukh Bhattacharjee

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

Comments To be published in International Conference on Control, Automation and Systems (ICCAS), 2022

2209.07459 2022-09-19 cs.RO cs.CV cs.LG 85%

A Robotic Visual Grasping Design: Rethinking Convolution Neural Network with High-Resolutions

Zhangli Zhou, Shaochen Wang, Ziyang Chen, Mingyu Cai, Zhen Kan

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

2205.05963 2022-09-16 cs.RO cs.AI cs.CV 85%

Economical Precise Manipulation and Auto Eye-Hand Coordination with Binocular Visual Reinforcement Learning

Yiwen Chen, Sheng Guo, Zedong Zhang, Lei Zhou, Xian Yao Ng, Marcelo H. Ang

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

Comments 12 pages, 16 figures

2108.05877 2022-07-07 cs.LG cs.CV cs.RO 85%

DexMV: Imitation Learning for Dexterous Manipulation from Human Videos

Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, Xiaolong Wang

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

Comments https://yzqin.github.io/dexmv

2204.02320 2022-06-30 cs.RO cs.CV cs.LG 85%

Learning Generalizable Dexterous Manipulation from Human Grasp Affordance

Yueh-Hua Wu, Jiashun Wang, Xiaolong Wang

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

Comments project page: https://kristery.github.io/ILAD/

2206.06289 2022-06-14 cs.CV cs.LG cs.MM cs.RO 85%

Silver-Bullet-3D at ManiSkill 2021: Learning-from-Demonstrations and Heuristic Rule-based Methods for Object Manipulation

Yingwei Pan, Yehao Li, Yiheng Zhang, Qi Cai, Fuchen Long, Zhaofan Qiu, Ting Yao, Tao Mei

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

Comments Accepted by ICLR 2022 Workshop on Generalizable Policy Learning in Physical World. Top-performing systems for both no interaction and no restriction tracks in SAPIEN ManiSkill Challenge 2021. The source code and model are publicly available at: https://github.com/caiqi/Silver-Bullet-3D/

2205.06714 2022-05-16 cs.RO cs.AI cs.LG 85%

Learning Keypoints from Synthetic Data for Robotic Cloth Folding

Thomas Lips, Victor-Louis De Gusseme, Francis wyffels

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

Comments Published on the ICRA 2022 Workshop on Representing and Manipulating Deformable Objects

2203.08277 2022-03-17 cs.RO cs.AI cs.LG 85%

Bi-Manual Manipulation and Attachment via Sim-to-Real Reinforcement Learning

Satoshi Kataoka, Seyed Kamyar Seyed Ghasemipour, Daniel Freeman, Igor Mordatch

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

Comments Our accompanying project webpage can be found at: https://sites.google.com/view/bimanual-attachment

2203.08141 2022-03-16 cs.CV cs.LG cs.RO 85%

Object Manipulation via Visual Target Localization

Kiana Ehsani, Ali Farhadi, Aniruddha Kembhavi, Roozbeh Mottaghi

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

2112.05251 2021-12-13 cs.RO cs.AI cs.LG 85%

Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation

Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, Roberto Martín-Martín

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

Comments CoRL 2021

1. 机器人操作 22080 篇

Grounding Language Models in Autonomous Loco-manipulation Tasks

HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation

Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model

Curriculum Is More Influential Than Haptic Information During Reinforcement Learning of Object Manipulation Against Gravity

HACMan++: Spatially-Grounded Motion Primitives for Manipulation

RVT-2: Learning Precise Manipulation from Few Demonstrations

BANSAI: Towards Bridging the AI Adoption Gap in Industrial Robotics with Neurosymbolic Programming

DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects

Entity-Centric Reinforcement Learning for Object Manipulation from Pixels

TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation

PhyGrasp: Generalizing Robotic Grasping with Physics-informed Large Multimodal Models

Robotic vectorial field alignment for spin-based quantum sensors

What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?

Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Plans

H-InDex: Visual Reinforcement Learning with Hand-Informed Representations for Dexterous Manipulation

REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation

Giving Robots a Hand: Learning Generalizable Manipulation with Eye-in-Hand Human Video Demonstrations

NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis

Accelerating Interactive Human-like Manipulation Learning with GPU-based Simulation and High-quality Demonstrations

Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning

Robotic Dough Shaping

A Robotic Visual Grasping Design: Rethinking Convolution Neural Network with High-Resolutions

Economical Precise Manipulation and Auto Eye-Hand Coordination with Binocular Visual Reinforcement Learning

DexMV: Imitation Learning for Dexterous Manipulation from Human Videos

Learning Generalizable Dexterous Manipulation from Human Grasp Affordance

Silver-Bullet-3D at ManiSkill 2021: Learning-from-Demonstrations and Heuristic Rule-based Methods for Object Manipulation

Learning Keypoints from Synthetic Data for Robotic Cloth Folding

Bi-Manual Manipulation and Attachment via Sim-to-Real Reinforcement Learning

Object Manipulation via Visual Target Localization

Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation