机器人 / 具身智能

MVL-Loc: Leveraging Vision-Language Model for Generalizable Multi-Scene Camera Relocalization

Zhendong Xiao, Wu Wei, Shujie Ji, Shan Yang, Changhao Chen

机构 * School of Automation Science and Engineering, South China University of Technology（自动化科学与工程学院，华南理工大学） ； Thrust of Artificial Intelligence, The Hong Kong University of Science and Technology (Guangzhou)（人工智能方向，香港科学与技术大学（广州）） 纠错

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

Comments PRCV

Anyview: Generalizable Indoor 3D Object Detection with Variable Frames

Zhenyu Wu, Xiuwei Xu, Ziwei Wang, Chong Xia, Linqing Zhao, Jiwen Lu, Haibin Yan

机构 * School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications（智能工程与自动化学院，北京邮电大学） ； Department of Automation, Tsinghua University（自动化系，清华大学） ； School of Electrical and Electronic Engineering, Nanyang Technological University（电子与电气工程学院，南洋理工大学） 纠错

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

Comments 11 pages, 7 figures

An Open-Source Software Toolkit & Benchmark Suite for the Evaluation and Adaptation of Multimodal Action Models

Pranav Guruprasad, Yangyue Wang, Sudipta Chowdhury, Jaewoo Song, Harshvardhan Sikka

机构 * Metarch ； Manifold Research ； Georgia Institute of Technology（佐治亚理工学院） 纠错

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

Comments ICML CodeML Workshop, 13 Pages, 6 Figures, 2 Tables

EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence

Xinjie Wang, Liu Liu, Yu Cao, Ruiqi Wu, Wenkang Qin, Dehui Wang, Wei Sui, Zhizhong Su

机构 * Horizon Robotics ； GigaAI ； D-Robotics ； Shanghai Jiao Tong University（上海交通大学） ； VCIP, CS, Nankai University（VCIP, CS, 南开大学） 纠错

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

Robust Flower Cluster Matching Using The Unscented Transform

Andy Chu, Rashik Shrestha, Yu Gu, Jason N. Gross

机构 * Department of Mechanical, Materials, and Aerospace Engineering, West Virginia University（机械、材料与航空航天工程系，西弗吉尼亚大学） ； Lane Department of Computer Science and Electrical Engineering, West Virginia University（计算机科学与电气工程系，西弗吉尼亚大学） 纠错

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

Comments *CASE2025 Accepted*

From Intention to Execution: Probing the Generalization Boundaries of Vision-Language-Action Models

Irving Fang, Juexiao Zhang, Shengbang Tong, Chen Feng

机构 * New York University（纽约大学） 纠错

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

Comments Under review

From Virtual Agents to Robot Teams: A Multi-Robot Framework Evaluation in High-Stakes Healthcare Context

Yuanchen Bai, Zijian Ding, Angelique Taylor

机构 * Cornell University（康奈尔大学） ； University of Maryland, College Park（马里兰大学学院公园分校） 纠错

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

CAP-Net: A Unified Network for 6D Pose and Size Estimation of Categorical Articulated Parts from a Single RGB-D Image

Jingshun Huang, Haitao Lin, Tianyu Wang, Yanwei Fu, Xiangyang Xue, Yi Zhu

机构 * Fudan University（复旦大学） ； Huawei, Noah’s Ark Lab（华为诺亚实验室） 纠错

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

Comments To appear in CVPR 2025 (Highlight)

TrajEvo: Designing Trajectory Prediction Heuristics via LLM-driven Evolution

Zhikai Zhao, Chuanbo Hua, Federico Berto, Kanghoon Lee, Zihan Ma, Jiachen Li, Jinkyoo Park

机构 * KAIST（韩国科学技术院） ； OMELET ； UC Riverside（加州大学河滨分校） 纠错

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

$π_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Manuel Y. Galliker, Dibya Ghosh, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Devin LeBlanc, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Allen Z. Ren, Lucy Xiaoyang Shi, Laura Smith, Jost Tobias Springenberg, Kyle Stachowicz, James Tanner, Quan Vuong, Homer Walke, Anna Walling, Haohuan Wang, Lili Yu, Ury Zhilinsky

机构 * Physical Intelligence 纠错

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

DRAWER: Digital Reconstruction and Articulation With Environment Realism

Hongchi Xia, Entong Su, Marius Memmel, Arhan Jain, Raymond Yu, Numfor Mbiziwo-Tiapo, Ali Farhadi, Abhishek Gupta, Shenlong Wang, Wei-Chiu Ma

机构 * University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） ； University of Washington（华盛顿大学） ； Allen Institute for AI（人工智能研究院） ； Cornell University（康奈尔大学） 纠错

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

Comments Project page: https://drawer-art.github.io/

MARVIS: Motion & Geometry Aware Real and Virtual Image Segmentation

Jiayi Wu, Xiaomin Lin, Shahriar Negahdaripour, Cornelia Fermüller, Yiannis Aloimonos

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

IRef-VLA: A Benchmark for Interactive Referential Grounding with Imperfect Language in 3D Scenes

Haochen Zhang, Nader Zantout, Pujith Kachana, Ji Zhang, Wenshan Wang

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

Comments Accepted to ICRA 2025. Code available at https://github.com/HaochenZ11/IRef-VLA. arXiv admin note: text overlap with arXiv:2411.03540

Efficient Training of Generalizable Visuomotor Policies via Control-Aware Augmentation

Yinuo Zhao, Kun Wu, Tianjiao Yi, Zhiyuan Xu, Xiaozhu Ju, Zhengping Che, Chi Harold Liu, Jian Tang

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

Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

Jian Liu, Wei Sun, Hui Yang, Pengchao Deng, Chongpei Liu, Nicu Sebe, Hossein Rahmani, Ajmal Mian

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

Comments 17 pages, 13 figures

Journal ref IEEE Transactions on Pattern Analysis and Machine Intelligence, 2025

Fast LiDAR Data Generation with Rectified Flows

Kazuto Nakashima, Xiaowen Liu, Tomoya Miyawaki, Yumi Iwashita, Ryo Kurazume

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

Comments ICRA 2025

TRACE: A Self-Improving Framework for Robot Behavior Forecasting with Vision-Language Models

Gokul Puthumanaillam, Paulo Padrao, Jose Fuentes, Pranay Thangeda, William E. Schafer, Jae Hyuk Song, Karan Jagdale, Leonardo Bobadilla, Melkior Ornik

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

ColorDynamic: Generalizable, Scalable, Real-time, End-to-end Local Planner for Unstructured and Dynamic Environments

Jinghao Xin, Zhichao Liang, Zihuan Zhang, Peng Wang, Ning Li

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

Comments 18 pages

Learning to Double Guess: An Active Perception Approach for Estimating the Center of Mass of Arbitrary Objects

Shengmiao Jin, Yuchen Mo, Wenzhen Yuan

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

Comments Accepted to ICRA 25; 7 pages, 5 figures

HIPPo: Harnessing Image-to-3D Priors for Model-free Zero-shot 6D Pose Estimation

Yibo Liu, Zhaodong Jiang, Binbin Xu, Guile Wu, Yuan Ren, Tongtong Cao, Bingbing Liu, Rui Heng Yang, Amir Rasouli, Jinjun Shan

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

Temporal Representation Alignment: Successor Features Enable Emergent Compositionality in Robot Instruction Following

Vivek Myers, Bill Chunyuan Zheng, Anca Dragan, Kuan Fang, Sergey Levine

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

Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning

Patrick Yin, Tyler Westenbroek, Simran Bagaria, Kevin Huang, Ching-an Cheng, Andrey Kobolov, Abhishek Gupta

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

POLAR-Sim: Augmenting NASA's POLAR Dataset for Data-Driven Lunar Perception and Rover Simulation

Bo-Hsun Chen, Peter Negrut, Thomas Liang, Nevindu Batagoda, Harry Zhang, Dan Negrut

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

Comments 11 pages, 9 figures. This work has been submitted to the IEEE for possible publication

Sim-to-Real Transfer for Mobile Robots with Reinforcement Learning: from NVIDIA Isaac Sim to Gazebo and Real ROS 2 Robots

Sahar Salimpour, Jorge Peña-Queralta, Diego Paez-Granados, Jukka Heikkonen, Tomi Westerlund

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

GR-MG: Leveraging Partially Annotated Data via Multi-Modal Goal-Conditioned Policy

Peiyan Li, Hongtao Wu, Yan Huang, Chilam Cheang, Liang Wang, Tao Kong

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

Comments 8 pages, 5 figures, RA-L

SplatR : Experience Goal Visual Rearrangement with 3D Gaussian Splatting and Dense Feature Matching

Arjun P S, Andrew Melnik, Gora Chand Nandi

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

Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice

William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames

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

Comments Submitted to ICRA 2025

Free Energy Projective Simulation (FEPS): Active inference with interpretability

Joséphine Pazem, Marius Krumm, Alexander Q. Vining, Lukas J. Fiderer, Hans J. Briegel

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

Comments 26 pages (including 5 pages appendix), 6 figures

GSL-PCD: Improving Generalist-Specialist Learning with Point Cloud Feature-based Task Partitioning

Xiu Yuan

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

FactorSim: Generative Simulation via Factorized Representation

Fan-Yun Sun, S. I. Harini, Angela Yi, Yihan Zhou, Alex Zook, Jonathan Tremblay, Logan Cross, Jiajun Wu, Nick Haber

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

Comments neurips 2024, project website: https://cs.stanford.edu/~sunfanyun/factorsim/