机器人 / 具身智能

Bayesian Inverse Physics for Neuro-Symbolic Robot Learning

Octavio Arriaga, Rebecca Adam, Melvin Laux, Lisa Gutzeit, Marco Ragni, Jan Peters, Frank Kirchner

机构 * Robotics Research Group University of Bremen（不莱梅大学机器人研究组） ； Robotics Innovation Center DFKI GmbH（DFKI机器人创新中心） ； Technical University of Chemnitz（化学工业大学） ； Technical University of Darmstadt（图尔恩技术大学） ； Systems AI for Robot Learning DFKI GmbH（DFKI机器人学习系统AI） ； Robotics Research Group, University of Bremen（不莱梅大学机器人研究组） ； Robotics Innovation Center, DFKI GmbH（DFKI机器人创新中心） 纠错

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

CARoL: Context-aware Adaptation for Robot Learning

Zechen Hu, Tong Xu, Xuesu Xiao, Xuan Wang

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

A Data-Centric Revisit of Pre-Trained Vision Models for Robot Learning

Xin Wen, Bingchen Zhao, Yilun Chen, Jiangmiao Pang, Xiaojuan Qi

机构 * The University of Hong Kong（香港大学） ； University of Edinburgh（爱丁堡大学） ； Shanghai AI Laboratory（上海人工智能实验室） 纠错

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

Comments Accepted by CVPR 2025

PoCo: Policy Composition from and for Heterogeneous Robot Learning

Lirui Wang, Jialiang Zhao, Yilun Du, Edward H. Adelson, Russ Tedrake

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

Comments R:SS 2024

SuPLE: Robot Learning with Lyapunov Rewards

Phu Nguyen, Daniel Polani, Stas Tiomkin

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

Comments 7 pages, 4 figures

Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning

Yixiao Wang, Yifei Zhang, Mingxiao Huo, Ran Tian, Xiang Zhang, Yichen Xie, Chenfeng Xu, Pengliang Ji, Wei Zhan, Mingyu Ding, Masayoshi Tomizuka

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

Comments Published at CoRL 2024

Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrations

Julen Urain, Ajay Mandlekar, Yilun Du, Mahi Shafiullah, Danfei Xu, Katerina Fragkiadaki, Georgia Chalvatzaki, Jan Peters

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

Comments 20 pages, 11 figures, submitted to TRO

ABNet: Attention BarrierNet for Safe and Scalable Robot Learning

Wei Xiao, Tsun-Hsuan Wang, Daniela Rus

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

Comments 18 pages

Non-parametric regression for robot learning on manifolds

P. C. Lopez-Custodio, K. Bharath, A. Kucukyilmaz, S. P. Preston

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

Comments 17 pages, 15 figures; added quantitative comparisons with baselines in the experiments Section; modified introduction; fixed typos; added Appendixes B and C; reordered sections for better understanding; changed the Section on adaptation of trajectories

Unraveling the Single Tangent Space Fallacy: An Analysis and Clarification for Applying Riemannian Geometry in Robot Learning

Noémie Jaquier, Leonel Rozo, Tamim Asfour

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

Comments Accepted for publication in ICRA'24. 8 pages, 5 figures, 3 tables

Robotic Handling of Compliant Food Objects by Robust Learning from Demonstration

Ekrem Misimi, Alexander Olofsson, Aleksander Eilertsen, Elling Ruud Øye, John Reidar Mathiassen

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

Comments 8 pages, 7 figures,IROS 2018

Contrastive Language, Action, and State Pre-training for Robot Learning

Krishan Rana, Andrew Melnik, Niko Sünderhauf

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

Tiny Robot Learning: Challenges and Directions for Machine Learning in Resource-Constrained Robots

Sabrina M. Neuman, Brian Plancher, Bardienus P. Duisterhof, Srivatsan Krishnan, Colby Banbury, Mark Mazumder, Shvetank Prakash, Jason Jabbour, Aleksandra Faust, Guido C. H. E. de Croon, Vijay Janapa Reddi

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

Comments 4 pages, 3 figures, 1 table, in IEEE AICAS 2022

From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence

Nicholas Roy, Ingmar Posner, Tim Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Dan Koditschek, Tomas Lozano-Perez, Vikash Mansinghka, Christopher Pal, Blake Richards, Dorsa Sadigh, Stefan Schaal, Gaurav Sukhatme, Denis Therien, Marc Toussaint, Michiel Van de Panne

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

Towards Deep Robot Learning with Optimizer applicable to Non-stationary Problems

Taisuke Kobayashi

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

Comments 6 pages, 4 figures

Journal ref IEEE/SICE International Symposium on System Integration, 2021

RMP2: A Structured Composable Policy Class for Robot Learning

Anqi Li, Ching-An Cheng, M. Asif Rana, Man Xie, Karl Van Wyk, Nathan Ratliff, Byron Boots

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

Gaussians on Riemannian Manifolds: Applications for Robot Learning and Adaptive Control

Sylvain Calinon

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

Bayesian Optimization Meets Riemannian Manifolds in Robot Learning

Noémie Jaquier, Leonel Rozo, Sylvain Calinon, Mathias Bürger

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

Comments Accepted in CoRL'19, 14 pages, 9 figures, 5 tables, 7 appendices

Physics Filtering Favors the Generalization of Robot Learning

物理滤波有利于机器人学习的泛化

Jindou Jia, Shixuan Han, Meng Wang, Gen Li, Zihan Yang, Sicheng Zhou, Kexin Guo, Jianfei Yang, Xiang Yu, Wei Wang, Lei Guo

机构 * Nanyang Technological University（南洋理工大学） ； Beihang University（北京航空航天大学） ； National University of Singapore（新加坡国立大学） ； Beijing Aerospace Control Instrument Research Institute（北京航天测控仪器研究所） 纠错

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

AI总结 该研究提出轻量、模型无关的 PhyFilter 反馈机制，无需海量训练数据，即可提升机器人在动态不确定性下的泛化能力，在四类机器人系统上验证了其有效性。

Comments Accepted by npj Robotics

Influence of Gripper Design on Human Demonstration Quality for Robot Learning

夹具设计对机器人学习中人类示范质量的影响

Gina L. Georgadarellis, Natalija Beslic, Seonhun Lee, Frank C. Sup, Meghan E. Huber

机构 * University of Massachusetts Amherst（马萨诸塞大学阿姆赫斯特分校） ； Department of Mechanical and Industrial Engineering（机械与工业工程系） ； Elaine Marieb Center for Nursing and Engineering Innovation（Elaine Marieb护理与工程创新中心） ； Center for Personalized Health Monitoring（个性化健康监测中心） ； Institute for Applied Life Sciences（应用生命科学研究所） 纠错

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

AI总结 研究评估了不同夹具设计对医疗包装打开任务示范效果的影响，发现集中负载夹具性能优于分散负载夹具，但不如双手，凸显了夹具人体工学和机械优化的重要性。

Comments To be published in proceedings of 2026 IEEE International Conference on Robotics & Automation

Quantifying Demonstration Quality for Robot Learning and Generalization

Maram Sakr, Zexi Jesse Li, H. F. Machiel Van der Loos, Dana Kulic, Elizabeth A. Croft

机构 * Faculty of Engineering, Monash University（莫纳什大学工程学院） ； University of British Columbia（不列颠哥伦比亚大学） 纠错

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

Journal ref IEEE Robotics and Automation Letters ( Volume: 7, Issue: 4, October 2022)

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg

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

Comments Conference on Robot Learning (CoRL), 2024. Project page: https://tidybot2.github.io

MOSAIC: Learning Unified Multi-Sensory Object Property Representations for Robot Learning via Interactive Perception

Gyan Tatiya, Jonathan Francis, Ho-Hsiang Wu, Yonatan Bisk, Jivko Sinapov

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

Comments Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA), May 13 to 17, 2024; Yokohama, Japan

MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations

Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, Dieter Fox

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

Comments Conference on Robot Learning (CoRL) 2023

Understanding Teacher Gaze Patterns for Robot Learning

Akanksha Saran, Elaine Schaertl Short, Andrea Thomaz, Scott Niekum

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

Comments Updated acknowledgements. Published in Conference on Robot Learning (CoRL), 2019

Journal ref PMLR (2019) 1247-1258

Learning to Act from Actionless Videos through Dense Correspondences

Po-Chen Ko, Jiayuan Mao, Yilun Du, Shao-Hua Sun, Joshua B. Tenenbaum

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

Comments Project page: https://flow-diffusion.github.io/

CoLI: A Reproducible Platform for Continuum Robot Learning via Monolithic 3D Printing and Isomorphic Teleoperation

CoLI: 通过整体3D打印和同构遥操作实现连续体机器人学习的可复现平台

Ziyuan Tang, Chenxi Xiao

机构 * School of Information Science and Technology at ShanghaiTech University（上海科技大学信息科学与技术学院） 纠错

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

AI总结 提出一种基于多材料3D打印和同构遥操作的连续体机器人平台，简化制造流程并实现无奇异映射控制，支持模仿学习自主控制，通过硬件表征和操作任务验证其可复现性和学习就绪性。

Comments 8 pages, 7 figures, 1 table, accepted by IROS2026

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning

遗留数据何时开始发挥作用？跨配置机器人学习中的涌现转移

Tao Wang, Hudson Hou, Yingdong Hu, Yufeng Liu, Qinghai Li, Yingjie Jiang, Yingzhi Wang, Cheng Ma, Richard Wang, Yang Gao

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

AI总结 研究跨配置机器人学习中遗留数据何时有益，发现存在类似顿悟的三阶段转变，即低能力时遗留数据无效，超阈值后收益剧增，高能力时收益递减，基于梯度对齐等给出理论解释和阶段感知规则并验证。

Nautilus: From One Prompt to Plug-and-Play Robot Learning

Nautilus：从一个提示到即插即用的机器人学习

Yufeng Jin, Jianfei Guo, Xiaogang Jia, Yu Deng, Zechu Li, Han Liu, Weiran Liao, Vignesh Prasad, Mathias Franzius, Gerhard Neumann, Georgia Chalvatzaki

机构 * TU Darmstadt（图宾根大学） ； KIT（卡尔斯鲁厄理工学院） ； FZI（弗劳恩霍夫研究所） ； Robotics Institute Germany（德国机器人研究所） ； Honda Research Institute Europe（本田欧洲研究院） 纠错

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

AI总结 Nautilus通过单个提示生成可复现、评估、微调和部署的机器人学习工作流程，提供即插即用的代理技能集和统一接口，减少跨家族验证的工程负担。

Safe Learning Predictive Control for Ego-World Robotic Systems

自我世界机器人系统的安全学习预测控制

Davide Valenti, Giuseppe Notarstefano

机构 * University of Bologna（博洛尼亚大学） 纠错

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

AI总结 针对自我世界机器人框架，提出SOWL-MPC策略，结合基于稀疏变分高斯过程的在线学习机制与滚动时域控制方案，依靠噪声测量推断潜在世界策略后验分布，经实验验证该策略可实现自我机器人安全机动。