机器人 / 具身智能

Generating Stable Placements via Physics-guided Diffusion Models

Philippe Nadeau, Miguel Rogel, Ivan Bilić, Ivan Petrović, Jonathan Kelly

机构 * STARS Laboratory, University of Toronto Institute for Aerospace Studies（多伦多大学航空航天研究所STARS实验室） ； Laboratory for Autonomous Systems and Mobile Robotics（自主系统与移动机器人实验室） ； University of Zagreb Faculty of Electrical Engineering and Computing（Zagreb大学电气工程与计算学院） 纠错

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

Comments Submitted to the IEEE International Conference on Robotics and Automation 2026, Vienna, Austria, June 1-5, 2026

Learn Fast, Segment Well: Fast Object Segmentation Learning on the iCub Robot

Federico Ceola, Elisa Maiettini, Giulia Pasquale, Giacomo Meanti, Lorenzo Rosasco, Lorenzo Natale

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

Comments ©2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Journal ref IEEE Transactions on Robotics, Volume 38, Issue 5, October 2022

Articulated Object Estimation in the Wild

Abdelrhman Werby, Martin Büchner, Adrian Röfer, Chenguang Huang, Wolfram Burgard, Abhinav Valada

机构 * University of Freiburg（弗赖堡大学） ； University of Stuttgart（斯图加特大学） ； University of Technology Nuremberg（纽伦堡技术大学） 纠错

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

Comments 9th Conference on Robot Learning (CoRL), 2025

ROVER: A Multi-Season Dataset for Visual SLAM

Fabian Schmidt, Julian Daubermann, Marcel Mitschke, Constantin Blessing, Stefan Meyer, Markus Enzweiler, Abhinav Valada

机构 * Institute for Intelligent Systems, Esslingen University of Applied Sciences（智能系统研究所，埃斯林根应用科学大学） ； Department of Computer Science, University of Freiburg（计算机科学系，弗赖堡大学） ； ANDREAS STIHL AG & Co. KG（安德烈亚斯·施塔尔有限公司） 纠错

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

Comments Copyright 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 4005-4022, 2025

Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick Success

Che Wang, Jeroen van Baar, Chaitanya Mitash, Shuai Li, Dylan Randle, Weiyao Wang, Sumedh Sontakke, Kostas E. Bekris, Kapil Katyal

机构 * Amazon Robotics（亚马逊机器人技术） 纠错

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

Comments Accepted to Robotics: Science and Systems (RSS 2025), 15 pages

Domain Randomization for Object Detection in Manufacturing Applications using Synthetic Data: A Comprehensive Study

Xiaomeng Zhu, Jacob Henningsson, Duruo Li, Pär Mårtensson, Lars Hanson, Mårten Björkman, Atsuto Maki

机构 * Scania CV AB（斯堪尼亚公司） ； Skövde University（斯德哥尔摩大学） ； KTH Royal Institute of Technology（皇家理工学院） 纠错

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

Comments This is accepted by 2025 IEEE International Conference on Robotics & Automation (ICRA), waiting for publication. 14 pages, 14 figures

Are Open-Vocabulary Models Ready for Detection of MEP Elements on Construction Sites

Abdalwhab Abdalwhab, Ali Imran, Sina Heydarian, Ivanka Iordanova, David St-Onge

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

Comments 4 pages, 3 figures, Accepted for presentation at the 42nd International Symposium on Automation and Robotics in Construction

FisheyeDepth: A Real Scale Self-Supervised Depth Estimation Model for Fisheye Camera

Guoyang Zhao, Yuxuan Liu, Weiqing Qi, Fulong Ma, Ming Liu, Jun Ma

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

Journal ref ICRA 2025 IEEE International Conference on Robotics and Automation

FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy

David Čapek, Jan Hrnčíř, Tomáš Báča, Jakub Jirkal, Vojtěch Vonásek, Robert Pěnička, Martin Saska

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

Comments 7 pages, 8 figures, Accepted to 2025 IEEE International Conference on Robotics & Automation (ICRA 2025)

Close the Sim2real Gap via Physically-based Structured Light Synthetic Data Simulation

Kaixin Bai, Lei Zhang, Zhaopeng Chen, Fang Wan, Jianwei Zhang

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

Comments 7 pages, 2024 IEEE International Conference on Robotics and Automation

Domain Adaptive Sim-to-Real Segmentation of Oropharyngeal Organs Towards Robot-assisted Intubation

Guankun Wang, Tian-Ao Ren, Jiewen Lai, Long Bai, Hongliang Ren

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

Comments Extended abstract in IEEE ICRA 2023 Workshop (New Evolutions in Surgical Robotics: Embracing Multimodal Imaging Guidance, Intelligence, and Bio-inspired Mechanisms). arXiv admin note: text overlap with arXiv:2305.10883

Eiffel Tower: A Deep-Sea Underwater Dataset for Long-Term Visual Localization

Clémentin Boittiaux, Claire Dune, Maxime Ferrera, Aurélien Arnaubec, Ricard Marxer, Marjolaine Matabos, Loïc Van Audenhaege, Vincent Hugel

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

Comments The International Journal of Robotics Research, In press

Zero-Shot Transfer of Haptics-Based Object Insertion Policies

Samarth Brahmbhatt, Ankur Deka, Andrew Spielberg, Matthias Müller

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

Comments Accepted for publication at 2023 IEEE International Conference on Robotics and Automation (ICRA)

LEARNEST: LEARNing Enhanced Model-based State ESTimation for Robots using Knowledge-based Neural Ordinary Differential Equations

Kong Yao Chee, M. Ani Hsieh

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

Comments 7 pages, 3 figures, 1 table. Accepted at 2023 IEEE International Conference on Robotics and Automation (ICRA)

TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline

Hongjie Fang, Hao-Shu Fang, Sheng Xu, Cewu Lu

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

Comments project page: www.graspnet.net/transcg

Journal ref IEEE Robotics and Automation Letters 7.3 (2022)

DialFRED: Dialogue-Enabled Agents for Embodied Instruction Following

Xiaofeng Gao, Qiaozi Gao, Ran Gong, Kaixiang Lin, Govind Thattai, Gaurav S. Sukhatme

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

Comments 8 pages, 5 figures, accepted by RA-L

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10049-10056, Oct. 2022

RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks

Haochen Shi, Huazhe Xu, Zhiao Huang, Yunzhu Li, Jiajun Wu

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

Comments Accepted by Robotics: Science and Systems 2022; Project page: http://hxu.rocks/robocraft/

Active Learning of Abstract Plan Feasibility

Michael Noseworthy, Caris Moses, Isaiah Brand, Sebastian Castro, Leslie Kaelbling, Tomás Lozano-Pérez, Nicholas Roy

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

Comments To appear in Robotics: Science and Systems 2021

Image simulation for space applications with the SurRender software

Jérémy Lebreton, Roland Brochard, Matthieu Baudry, Grégory Jonniaux, Adrien Hadj Salah, Keyvan Kanani, Matthieu Le Goff, Aurore Masson, Nicolas Ollagnier, Paolo Panicucci, Amsha Proag, Cyril Robin

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

Comments 11th International ESA Conference on Guidance, Navigation & Control Systems, 22 - 25 June 2021 16 pages, 8 figures

Generalization Guarantees for Imitation Learning

Allen Z. Ren, Sushant Veer, Anirudha Majumdar

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

Comments Presented at the Conference on Robot Learning (CoRL), 2020

Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control

Julian Nubert, Johannes Köhler, Vincent Berenz, Frank Allgöwer, Sebastian Trimpe

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

Comments 8 pages, 4 figures,

Journal ref Robotics and Automation Letters, 2020

Meta-Learning Priors for Efficient Online Bayesian Regression

James Harrison, Apoorva Sharma, Marco Pavone

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

Comments Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018

Robotic Fabric Alignment System for Sewing Using Global Local Weighted ICP

采用全局局部加权迭代最近点（GLW-ICP）的缝纫用机器人布料对位系统

Wenbo Dong, Dipankar Bhattacharya Member, Kai Tang, Akinari Kobayashi, Fuyuki Tokuda, Akira Seino, Norman C. Tien, Kazuhiro Kosuge

机构 * The University of Hong Kong（香港大学） ； Imperial College London（帝国理工学院） ； Tohoku University（东北大学） ； Fukushima University（福岛大学） ； City University of Hong Kong（香港城市大学） 纠错

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

AI总结 该研究提出采用GLW-ICP方法的机器人布料对位系统，可实现布料全局边缘与局部缝纫线的精准对齐，在有无遮挡下均达毫米级精度，适用于自动缝纫场景。

Comments 16 pages, 10 figures, https://bhattner143.github.io/rfas-glwicp.github.io/

Journal ref IEEE Transactions on Automation Science and Engineering, vol. 23, pp. 13391-13406, July 2026

Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats

具有安全保障的自重构机器人船分布式运动规划

Alejandro Gonzalez-Garcia, Wei Wang, Wei Xiao, Wilm Decre, Jan Swevers, Carlo Ratti, Daniela Rus

机构 * KU Leuven（鲁汶大学） ； University of Wisconsin-Madison（威斯康星大学麦迪逊分校） ； Nanyang Technological University（南洋理工大学） ； SMART（新加坡制造技术研究院） ； SENSEable City Laboratory, Massachusetts Institute of Technology（麻省理工学院可感知城市实验室） ； Computer Science and Artificial Intelligence Lab (CSAIL), Massachusetts Institute of Technology（麻省理工学院计算机科学与人工智能实验室） 纠错

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

AI总结 研究水生自重构机器人多智能体形状形成与重构问题，提出将分布式MPC与CBF相结合的混合框架，利用ADMM求解MPC方案，通过局部优化和信息交换计算轨迹，并应用基于CBF的滤波器保障安全，经仿真和实验验证了框架的有效性与可扩展性。

Comments Submitted to IEEE

MemoBench: Benchmarking World Modeling in Dynamically Changing Environments

MemoBench: 动态变化环境中的世界建模基准测试

Haoyu Chen, Kaichen Zhou, Hang Hua, Kaile Zhang, Jingwen Qian, Wufei Ma, Haonan Chen, Chunjiang Liu, Yizhou Zhao, Xiaoyuan Wang, Weiyue Li, Alan Yuille, Paul Pu Liang, Yilun Du

机构 * Harvard University（哈佛大学） ； MIT（麻省理工学院） ； MIT-IBM Watson AI Lab（MIT-IBM沃森人工智能实验室） ； Boston University（波士顿大学） ； Google（谷歌） ； JHU（约翰霍普金斯大学） ； CMU（卡内基梅隆大学） ； Kempner Institute（肯普纳研究所） 纠错

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

AI总结 提出MemoBench基准，通过目标消失-重现范式评估视频生成模型在动态环境中的记忆一致性，涵盖合成与真实场景，揭示现有模型的关键挑战。

ShotcreteDepth: A Bi-modal Dataset for Robust Robotic Depth Perception in Shotcrete Construction Environments

ShotcreteDepth：用于喷射混凝土施工环境中鲁棒机器人深度感知的双模态数据集

Jakub Gregorek, Lars Arnold Dethlefsen, Patrick Schmidt, Mads Essenbæk, Jonas Flink Bentzen, Lazaros Nalpantidis

机构 * Technical University of Denmark, Department of Electrical and Photonics Engineering（丹麦技术大学电气与光子工程系） ； Pioneer Centre for AI（人工智能先锋中心） ； Christiansen & Essenbæk A/S（Christiansen & Essenbæk 公司） 纠错

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

AI总结 针对喷射混凝土施工环境中的感知挑战，提出双模态数据集ShotcreteDepth，包含立体RGB图像和LiDAR点云，并附带轻量级标注工具，支持立体匹配、深度补全和深度估计研究。

IMPACTeen: Intentions, Manipulation, Persuasion, Annotations, and Consequences in Teen Communication Dataset

IMPACTeen：青少年沟通数据集中的意图、操纵、说服、标注与后果

Aleksander Szczęsny, Wiktoria Mieleszczenko-Kowszewicz, Maciej Markiewicz, Beata Bajcar, Tomasz Adamczyk, Jolanta Babiak, Grzegorz Chodak, Przemysław Kazienko

机构 * Wrocław University of Science and Technology（弗罗茨瓦夫理工大学） 纠错

专题命中 机器人数据与评测 ：manipulation(title)；分类 cs.AI

AI总结 构建IMPACTeen数据集，包含1021个青少年社交影响场景文本，从五个视角标注，支持社交影响检测、标注者分歧及跨语言建模研究。

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators

基于SE(3)的机器人统一力-阻抗控制的几何公式化

Joohwan Seo, Nikhil Potu Surya Prakash, Soomi Lee, Arvind Kruthiventy, Megan Teng, Jongeun Choi, Roberto Horowitz

机构 * University of California, Berkeley, USA（加州大学伯克利分校） 纠错

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

AI总结 提出一种在SE(3)流形上的阻抗控制框架，通过能量罐增强实现力跟踪与无源性，并解决非因果实现问题，继承SE(3)不变性以提高学习效率。

Done, But Not Sure: Disentangling World Completion from Self-Termination in Embodied Agents

完成，但不确定：具身智能体中世界完成与自我终止的解耦

Ying Chen, Lihuang Fang, Rui Jiang, Mingxu Wang, Zhifeng Gu, Lei Yi, Jie Chen

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

AI总结 提出VIGIL评估框架，通过分离世界状态完成和终端报告正确性，独立衡量智能体的终止承诺能力，并揭示不同模型在相似完成率下终端报告准确性的显著差异。

Path Following Control System of Line-of-Sight Guidance for Robotic Dolphin with Multi-Link Mechanism in Underwater Simulator

水下模拟器中多连杆机构仿生海豚的视线导引路径跟踪控制系统

Takumi Asada, Takao Oki, Hideo Furuhashi, Kenta Tabata, Renato Miyagusuku, Koichi Ozaki

机构 * Utsunomiya University（乌山大学） ； Aichi Institute of Technology（爱知技术大学） 纠错

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

AI总结 针对多连杆仿生自主水下航行器（BAUV），提出了一种基于视线导引的路径跟踪控制系统，并在水下模拟器中进行了参数确定和控制方法评估。

Journal ref 2026 IEEE/SICE International Symposium on System Integration (SII). IEEE, 2026. p. 844-849