机器人 / 具身智能

Mask2IV: Interaction-Centric Video Generation via Mask Trajectories

Mask2IV: 通过遮罩轨迹实现以交互为中心的视频生成

Gen Li, Bo Zhao, Jianfei Yang, Laura Sevilla-Lara

专题命中 机器人数据与评测 ：robot learning(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

AI总结 Mask2IV通过遮罩轨迹实现以交互为中心的视频生成，提供灵活的交互控制和高真实感的视频生成。

Comments AAAI 2026. Project page: https://reagan1311.github.io/mask2iv

Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifolds

Xianhui Meng, Yukang Huo, Li Zhang, Liu Liu, Haonan Jiang, Yan Zhong, Pingrui Zhang, Cewu Lu, Jun Liu

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.AI、cs.CV

How Do VLAs Effectively Inherit from VLMs?

Chuheng Zhang, Rushuai Yang, Xiaoyu Chen, Kaixin Wang, Li Zhao, Yi Chen, Jiang Bian

机构 * Microsoft Research（微软研究院） ； The Hong Kong University of Science（香港科学大学） ； Tsinghua University（清华大学） 纠错

专题命中 机器人数据与评测 ：robotics(abstract)；embodied AI(abstract)；manipulation(abstract)；分类 cs.RO、cs.AI

URDF-Anything: Constructing Articulated Objects with 3D Multimodal Language Model

Zhe Li, Xiang Bai, Jieyu Zhang, Zhuangzhe Wu, Che Xu, Ying Li, Chengkai Hou, 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，计算机学院，北京大学） ； University of Washington（华盛顿大学） 纠错

专题命中 机器人数据与评测 ：embodied AI(abstract)；world model(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Accepted to the 39th Conference on Neural Information Processing Systems (NeurIPS 2025)

Articulate3D: Holistic Understanding of 3D Scenes as Universal Scene Description

Anna-Maria Halacheva, Yang Miao, Jan-Nico Zaech, Xi Wang, Luc Van Gool, Danda Pani Paudel

机构 * ETH Zurich（苏黎世联邦理工学院） ； TU Munich（慕尼黑技术大学） 纠错

专题命中 机器人数据与评测 ：embodied AI(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Unified Vision-Language-Action Model

Yuqi Wang, Xinghang Li, Wenxuan Wang, Junbo Zhang, Yingyan Li, Yuntao Chen, Xinlong Wang, Zhaoxiang Zhang

机构 * CASIA（中国科学院自动化研究所） ； BAAI（阿里巴巴人工智能研究院） ； THU（清华大学） ； HKISI（香港理工大学） 纠错

专题命中 机器人数据与评测 ：manipulation(abstract)；world model(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments technical report

EnerVerse-AC: Envisioning Embodied Environments with Action Condition

Yuxin Jiang, Shengcong Chen, Siyuan Huang, Liliang Chen, Pengfei Zhou, Yue Liao, Xindong He, Chiming Liu, Hongsheng Li, Maoqing Yao, Guanghui Ren

专题命中 机器人数据与评测 ：manipulation(abstract)；world model(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments Website: https://annaj2178.github.io/EnerverseAC.github.io

RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins

Yao Mu, Tianxing Chen, Zanxin Chen, Shijia Peng, Zhiqian Lan, Zeyu Gao, Zhixuan Liang, Qiaojun Yu, Yude Zou, Mingkun Xu, Lunkai Lin, Zhiqiang Xie, Mingyu Ding, Ping Luo

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments CVPR 2025 Highlight. 22 pages. Project page: https://robotwin-benchmark.github.io/

RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)

Yao Mu, Tianxing Chen, Shijia Peng, Zanxin Chen, Zeyu Gao, Yude Zou, Lunkai Lin, Zhiqiang Xie, Ping Luo

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Project page: https://robotwin-benchmark.github.io/early-version/

SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes

Min Liu, Gang Yang, Siyuan Luo, Lin Shao

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Accepted to IROS 2024

GS-LTS: 3D Gaussian Splatting-Based Adaptive Modeling for Long-Term Service Robots

Bin Fu, Jialin Li, Bin Zhang, Ruiping Wang, Xilin Chen

专题命中 机器人数据与评测 ：robotics(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Manipulate-Anything: Automating Real-World Robots using Vision-Language Models

Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments Project page: https://robot-ma.github.io/. All supplementary material, prompts and code can be found on the project page

GRUtopia: Dream General Robots in a City at Scale

Hanqing Wang, Jiahe Chen, Wensi Huang, Qingwei Ben, Tai Wang, Boyu Mi, Tao Huang, Siheng Zhao, Yilun Chen, Sizhe Yang, Peizhou Cao, Wenye Yu, Zichao Ye, Jialun Li, Junfeng Long, Zirui Wang, Huiling Wang, Ying Zhao, Zhongying Tu, Yu Qiao, Dahua Lin, Jiangmiao Pang

专题命中 机器人数据与评测 ：embodied AI(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.CV

URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images

Zoey Chen, Aaron Walsman, Marius Memmel, Kaichun Mo, Alex Fang, Karthikeya Vemuri, Alan Wu, Dieter Fox, Abhishek Gupta

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Accepted at RSS2024

Towards Real-World Aerial Vision Guidance with Categorical 6D Pose Tracker

Jingtao Sun, Yaonan Wang, Danwei Wang

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

General-purpose foundation models for increased autonomy in robot-assisted surgery

Samuel Schmidgall, Ji Woong Kim, Alan Kuntz, Ahmed Ezzat Ghazi, Axel Krieger

专题命中 机器人数据与评测 ：robotics(abstract)；robot learning(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Sonicverse: A Multisensory Simulation Platform for Embodied Household Agents that See and Hear

Ruohan Gao, Hao Li, Gokul Dharan, Zhuzhu Wang, Chengshu Li, Fei Xia, Silvio Savarese, Li Fei-Fei, Jiajun Wu

专题命中 机器人数据与评测 ：embodied AI(abstract)；embodied agent(abstract)；navigation(abstract)；分类 cs.RO、cs.CV

Comments In ICRA 2023. Project page: https://ai.stanford.edu/~rhgao/sonicverse/. Code: https://github.com/StanfordVL/sonicverse. Gao and Li contributed equally to this work and are in alphabetical order

Context-aware 6D Pose Estimation of Known Objects using RGB-D data

Ankit Kumar, Priya Shukla, Vandana Kushwaha, G. C. Nandi

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.CV

Open Arms: Open-Source Arms, Hands & Control

David Hanson, Alishba Imran, Gerardo Morales, Vytas Krisciunas, Aditya Sagi, Aman Malali, Rushali Mohbe, Raviteja Upadrashta

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Submitted to 36th Conference on Neural Information Processing Systems (NeurIPS 2022)

Learning Real-World Robot Policies by Dreaming

AJ Piergiovanni, Alan Wu, Michael S. Ryoo

专题命中 机器人数据与评测 ：robotics(abstract)；robot learning(abstract)；world model(abstract)；分类 cs.RO、cs.CV

Journal ref IROS 2019

Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World

Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, Pieter Abbeel

专题命中 机器人数据与评测 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments 8 pages, 7 figures. Submitted to 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)

Compositional Motion Generation from Demonstration with Object-Centric Neural Fields

基于以对象为中心的神经场的示范组合运动生成

Ahmet Ercan Tekden, Yasemin Bekiroglu

机构 * Chalmers University of Technology（查尔姆斯理工大学） ； University College London（伦敦大学学院） 纠错

专题命中 机器人数据与评测 ：robot learning(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO

AI总结 提出基于以对象为中心神经场的示范组合运动生成框架，通过时空组合性连接感知与运动，结合规范神经场与潜在条件变形渲染场景，用时间混合专家生成轨迹，在模拟和实际实验中展现良好性能。

Comments Accepted by IEEE Robotics and Automation Letters (RAL)

COFFAIL: A Dataset of Successful and Anomalous Robot Skill Executions in the Context of Coffee Preparation

COFFAIL：咖啡准备情境中成功与异常机器人技能执行数据集

Alex Mitrevski, Ayush Salunke

机构 * Division of Systems and Control, Chalmers University of Technology（系统与控制系，楚姆勒斯理工大学） ； Bonn-Rhein-Sieg University of Applied Sciences（波恩-莱茵-西弗大学） ； Autonomous Systems Group, Bonn-Rhein-Sieg University of Applied Sciences（自主系统组，波恩-莱茵-西弗大学） 纠错

专题命中 机器人数据与评测 ：robot learning(abstract)；manipulation(abstract)；robot policy(abstract)；分类 cs.RO

AI总结 本文提出COFFAIL数据集，包含厨房环境中机器人成功与异常咖啡制作技能执行数据，用于通过模仿学习训练机器人策略。

Comments Presented as an extended abstract at the 2nd German Robotics Conference (GRC)

AetherVision-Bench: An Open-Vocabulary RGB-Infrared Benchmark for Multi-Angle Segmentation across Aerial and Ground Perspectives

Aniruddh Sikdar, Aditya Gandhamal, Suresh Sundaram

机构 * Robert Bosch Centre for Cyber Physical Systems, Indian Institute of Science, Bengaluru, India（罗伯特·博世协同物理系统中心，印度科学研究院，班加罗尔） ； Kotak IISc AI-ML Centre, Indian Institute of Science, Bengaluru, India（Kotak IISc AI-ML 中心，印度科学研究院，班加罗尔） ； Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India（航空航天工程系，印度科学研究院，班加罗尔） 纠错

专题命中 机器人数据与评测 ：embodied AI(abstract)；navigation(abstract)；world model(abstract)；分类 cs.CV

Comments Accepted at Workshop on Foundation Models Meet Embodied Agents at CVPR 2025 (Non-archival Track)

Robot Skill Generalization via Keypoint Integrated Soft Actor-Critic Gaussian Mixture Models

Iman Nematollahi, Kirill Yankov, Wolfram Burgard, Tim Welschehold

专题命中 机器人数据与评测 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV；robotics(comments)

Comments Accepted at the International Symposium on Experimental Robotics (ISER) 2023. Videos at http://kis-gmm.cs.uni-freiburg.de/

Grounding Language with Visual Affordances over Unstructured Data

Oier Mees, Jessica Borja-Diaz, Wolfram Burgard

专题命中 机器人数据与评测 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV；robotics(comments)

Comments Accepted at the 2023 IEEE International Conference on Robotics and Automation (ICRA). Project website: http://hulc2.cs.uni-freiburg.de

Arena-Bench: A Benchmarking Suite for Obstacle Avoidance Approaches in Highly Dynamic Environments

Linh Kästner, Teham Bhuiyan, Tuan Anh Le, Elias Treis, Johannes Cox, Boris Meinardus, Jacek Kmiecik, Reyk Carstens, Duc Pichel, Bassel Fatloun, Niloufar Khorsandi, Jens Lambrecht

专题命中 机器人数据与评测 ：robotics(abstract,comments)；navigation(abstract)；robotic(abstract)；分类 cs.RO

Comments Robotics and Automation Letters (RA-L), 2022, 8 pages, 6 figures

RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment

Mingxin Yu, Lin Shao, Zhehuan Chen, Tianhao Wu, Qingnan Fan, Kaichun Mo, Hao Dong

专题命中 机器人数据与评测 ：robotics(abstract,comments)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Submitted to IEEE International Conference on Robotics and Automation (ICRA) 2022

Inverting the Pose Forecasting Pipeline with SPF2: Sequential Pointcloud Forecasting for Sequential Pose Forecasting

Xinshuo Weng, Jianren Wang, Sergey Levine, Kris Kitani, Nicholas Rhinehart

专题命中 机器人数据与评测 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV；robot learning(comments)

Comments Published in Conference on Robot Learning (CoRL), 2020. Project webpage: http://www.xinshuoweng.com/projects/SPF2/

SHOP-VRB: A Visual Reasoning Benchmark for Object Perception

Michal Nazarczuk, Krystian Mikolajczyk

专题命中 机器人数据与评测 ：robotics(abstract,comments)；manipulation(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments International Conference on Robotics and Automation (ICRA) 2020