机器人 / 具身智能

Structured Task Solving via Modular Embodied Intelligence: A Case Study on Rubik's Cube

Chongshan Fan, Shenghai Yuan

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

A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation

Chang Yu, Wenxin Du, Zeshun Zong, Alejandro Castro, Chenfanfu Jiang, Xuchen Han

机构 * UCLA ； Toyota Research Institute（丰田研究院） 纠错

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

Comments The supplemental video is available at https://youtu.be/bJNdMXDq4AE. The implementation is available in the open-source toolkit Drake at https://github.com/g1n0st/drake

Comparative Evaluation of 3D Reconstruction Methods for Object Pose Estimation

Varun Burde, Assia Benbihi, Pavel Burget, Torsten Sattler

机构 * Czech Institute of Informatics, Robotics and Cybernetics（捷克信息学、机器人学与自动化研究所） ； Czech Technical University in Prague（布拉格捷克技术大学） 纠错

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

Articulate-Anything: Automatic Modeling of Articulated Objects via a Vision-Language Foundation Model

Long Le, Jason Xie, William Liang, Hung-Ju Wang, Yue Yang, Yecheng Jason Ma, Kyle Vedder, Arjun Krishna, Dinesh Jayaraman, Eric Eaton

机构 * University of Pennsylvania（宾夕法尼亚大学） 纠错

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

Comments ICLR 2025. Project website and open-source code: https://articulate-anything.github.io/

Master Rules from Chaos: Learning to Reason, Plan, and Interact from Chaos for Tangram Assembly

Chao Zhao, Chunli Jiang, Lifan Luo, Guanlan Zhang, Hongyu Yu, Michael Yu Wang, Qifeng Chen

机构 * Hong Kong University of Science and Technology（香港科技大学） 纠错

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

Comments 7 pages, accepted by ICRA 2025

PointArena: Probing Multimodal Grounding Through Language-Guided Pointing

Long Cheng, Jiafei Duan, Yi Ru Wang, Haoquan Fang, Boyang Li, Yushan Huang, Elvis Wang, Ainaz Eftekhar, Jason Lee, Wentao Yuan, Rose Hendrix, Noah A. Smith, Fei Xia, Dieter Fox, Ranjay Krishna

机构 * University of Washington（华盛顿大学） ； Allen Institute for Artificial Intelligence（人工智能 Allen 机构） ； Anderson Collegiate Vocational Institute（安德森职业学院） 纠错

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

Comments 10 Pages, Dataset and code:https://pointarena.github.io/

PartRM: Modeling Part-Level Dynamics with Large Cross-State Reconstruction Model

Mingju Gao, Yike Pan, Huan-ang Gao, Zongzheng Zhang, Wenyi Li, Hao Dong, Hao Tang, Li Yi, Hao Zhao

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

Comments Accepted to CVPR 2025. Project Page: https://partrm.c7w.tech/

3D-GRAND: A Million-Scale Dataset for 3D-LLMs with Better Grounding and Less Hallucination

Jianing Yang, Xuweiyi Chen, Nikhil Madaan, Madhavan Iyengar, Shengyi Qian, David F. Fouhey, Joyce Chai

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

Comments CVPR 2025. Project website: https://3d-grand.github.io

S2O: Static to Openable Enhancement for Articulated 3D Objects

Denys Iliash, Hanxiao Jiang, Yiming Zhang, Manolis Savva, Angel X. Chang

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

Predicate Hierarchies Improve Few-Shot State Classification

Emily Jin, Joy Hsu, Jiajun Wu

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

Comments ICLR 2025. First two authors contributed equally. Project page: https://emilyzjin.github.io/projects/phier.html

CoL3D: Collaborative Learning of Single-view Depth and Camera Intrinsics for Metric 3D Shape Recovery

Chenghao Zhang, Lubin Fan, Shen Cao, Bojian Wu, Jieping Ye

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

Comments Accepted at ICRA 2025

PhysBench: Benchmarking and Enhancing Vision-Language Models for Physical World Understanding

Wei Chow, Jiageng Mao, Boyi Li, Daniel Seita, Vitor Guizilini, Yue Wang

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

Comments ICLR 2025. Project page: https://physbench.github.io/ Dataset: https://huggingface.co/datasets/USC-GVL/PhysBench

P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policies

Mara Levy, Siddhant Haldar, Lerrel Pinto, Abhinav Shirivastava

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

InfiniteWorld: A Unified Scalable Simulation Framework for General Visual-Language Robot Interaction

Pengzhen Ren, Min Li, Zhen Luo, Xinshuai Song, Ziwei Chen, Weijia Liufu, Yixuan Yang, Hao Zheng, Rongtao Xu, Zitong Huang, Tongsheng Ding, Luyang Xie, Kaidong Zhang, Changfei Fu, Yang Liu, Liang Lin, Feng Zheng, Xiaodan Liang

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

Comments 8 pages, 5 figures

Evaluating Text-to-Image Diffusion Models for Texturing Synthetic Data

Thomas Lips, Francis wyffels

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

Comments Submitted to RA-L

NeuronsGym: A Hybrid Framework and Benchmark for Robot Tasks with Sim2Real Policy Learning

Haoran Li, Shasha Liu, Mingjun Ma, Guangzheng Hu, Yaran Chen, Dongbin Zhao

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

Comments 16 pages, 10 figures

GHIL-Glue: Hierarchical Control with Filtered Subgoal Images

Kyle B. Hatch, Ashwin Balakrishna, Oier Mees, Suraj Nair, Seohong Park, Blake Wulfe, Masha Itkina, Benjamin Eysenbach, Sergey Levine, Thomas Kollar, Benjamin Burchfiel

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

Comments Code, model checkpoints and videos can be found at https://ghil-glue.github.io

Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

Yafei Hu, Quanting Xie, Vidhi Jain, Jonathan Francis, Jay Patrikar, Nikhil Keetha, Seungchan Kim, Yaqi Xie, Tianyi Zhang, Hao-Shu Fang, Shibo Zhao, Shayegan Omidshafiei, Dong-Ki Kim, Ali-akbar Agha-mohammadi, Katia Sycara, Matthew Johnson-Roberson, Dhruv Batra, Xiaolong Wang, Sebastian Scherer, Chen Wang, Zsolt Kira, Fei Xia, Yonatan Bisk

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

Learning Interactive Real-World Simulators

Sherry Yang, Yilun Du, Kamyar Ghasemipour, Jonathan Tompson, Leslie Kaelbling, Dale Schuurmans, Pieter Abbeel

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

Comments https://universal-simulator.github.io

What do we learn from a large-scale study of pre-trained visual representations in sim and real environments?

Sneha Silwal, Karmesh Yadav, Tingfan Wu, Jay Vakil, Arjun Majumdar, Sergio Arnaud, Claire Chen, Vincent-Pierre Berges, Dhruv Batra, Aravind Rajeswaran, Mrinal Kalakrishnan, Franziska Meier, Oleksandr Maksymets

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

Comments Project website https://pvrs-sim2real.github.io/

Generative Camera Dolly: Extreme Monocular Dynamic Novel View Synthesis

Basile Van Hoorick, Rundi Wu, Ege Ozguroglu, Kyle Sargent, Ruoshi Liu, Pavel Tokmakov, Achal Dave, Changxi Zheng, Carl Vondrick

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

Comments Accepted to ECCV 2024. Project webpage is available at: https://gcd.cs.columbia.edu/

A3VLM: Actionable Articulation-Aware Vision Language Model

Siyuan Huang, Haonan Chang, Yuhan Liu, Yimeng Zhu, Hao Dong, Peng Gao, Abdeslam Boularias, Hongsheng Li

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

Efficient Physically-based Simulation of Soft Bodies in Embodied Environment for Surgical Robot

Zhenya Yang, Yonghao Long, Kai Chen, Wang Wei, Qi Dou

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

Comments 8 pages

Semantic Mechanical Search with Large Vision and Language Models

Satvik Sharma, Huang Huang, Kaushik Shivakumar, Lawrence Yunliang Chen, Ryan Hoque, Brian Ichter, Ken Goldberg

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

Egocentric Planning for Scalable Embodied Task Achievement

Xiaotian Liu, Hector Palacios, Christian Muise

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

SoftZoo: A Soft Robot Co-design Benchmark For Locomotion In Diverse Environments

Tsun-Hsuan Wang, Pingchuan Ma, Andrew Everett Spielberg, Zhou Xian, Hao Zhang, Joshua B. Tenenbaum, Daniela Rus, Chuang Gan

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

Comments ICLR 2023. Project page: https://sites.google.com/view/softzoo-iclr-2023

Fully neuromorphic vision and control for autonomous drone flight

Federico Paredes-Vallés, Jesse Hagenaars, Julien Dupeyroux, Stein Stroobants, Yingfu Xu, Guido de Croon

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

Analysis of Executional and Procedural Errors in Dry-lab Robotic Surgery Experiments

Kay Hutchinson, Zongyu Li, Leigh A. Cantrell, Noah S. Schenkman, Homa Alemzadeh

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

Comments 18 pages, 14 figures, 6 tables. Submitted to The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS). Code and supplementary video files are available at https://github.com/UVA-DSA/ExecProc_Error_Analysis

Journal ref The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), 2022, Volume 18, Issue 3, e2375

Pose Estimation of Specific Rigid Objects

Tomas Hodan

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

Comments Tomas Hodan's PhD thesis defended on July 7, 2021. Supervisor: Prof. Jiri Matas. Reviewers: Prof. Vincent Lepetit, Prof. Markus Vincze, Dr. Slobodan Ilic. A recording of the defense: https://youtu.be/WAQmubEXCRM

ALFWorld: Aligning Text and Embodied Environments for Interactive Learning

Mohit Shridhar, Xingdi Yuan, Marc-Alexandre Côté, Yonatan Bisk, Adam Trischler, Matthew Hausknecht

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

Comments ICLR 2021; Data, code, and videos are available at alfworld.github.io