机器人 / 具身智能

EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning

Jingyun Yang, Zi-ang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg

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

Comments CoRL 2024. The first two authors contributed equally. Project page: https://equi-bot.github.io

One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation

Zhendong Wang, Zhaoshuo Li, Ajay Mandlekar, Zhenjia Xu, Jiaojiao Fan, Yashraj Narang, Linxi Fan, Yuke Zhu, Yogesh Balaji, Mingyuan Zhou, Ming-Yu Liu, Yu Zeng

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

Physical Simulation for Multi-agent Multi-machine Tending

Abdalwhab Abdalwhab, Giovanni Beltrame, David St-Onge

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

Comments 3 pages, one figure, an extended abstract presented at the 7th edition of the Montreal AI symposium (MAIS) 2024

Prompt a Robot to Walk with Large Language Models

Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath

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

Comments Conference on Decision and Control (CDC), 2024

Grounded Curriculum Learning

Linji Wang, Zifan Xu, Peter Stone, Xuesu Xiao

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

Comments 8 pages, 4 figures

Generalizing monocular colonoscopy image depth estimation by uncertainty-based global and local fusion network

Sijia Du, Chengfeng Zhou, Suncheng Xiang, Jianwei Xu, Dahong Qian

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

DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots

Maria Bauza, Jose Enrique Chen, Valentin Dalibard, Nimrod Gileadi, Roland Hafner, Murilo F. Martins, Joss Moore, Rugile Pevceviciute, Antoine Laurens, Dushyant Rao, Martina Zambelli, Martin Riedmiller, Jon Scholz, Konstantinos Bousmalis, Francesco Nori, Nicolas Heess

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

Comments 15 pages total with 7 pages of appendix. 9 Figures, 4 in the main text and 5 in the appendix

ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching

Niklas Funk, Julen Urain, Joao Carvalho, Vignesh Prasad, Georgia Chalvatzaki, Jan Peters

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

Boosting Generalizability towards Zero-Shot Cross-Dataset Single-Image Indoor Depth by Meta-Initialization

Cho-Ying Wu, Yiqi Zhong, Junying Wang, Ulrich Neumann

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

Comments IROS 2024. The version supersedes 2305.07269. arXiv admin note: text overlap with arXiv:2305.07269

RobocupGym: A challenging continuous control benchmark in Robocup

Michael Beukman, Branden Ingram, Geraud Nangue Tasse, Benjamin Rosman, Pravesh Ranchod

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

Collision Avoidance Metric for 3D Camera Evaluation

Vage Taamazyan, Alberto Dall'olio, Agastya Kalra

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

MetaFruit Meets Foundation Models: Leveraging a Comprehensive Multi-Fruit Dataset for Advancing Agricultural Foundation Models

Jiajia Li, Kyle Lammers, Xunyuan Yin, Xiang Yin, Long He, Renfu Lu, Zhaojian Li

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

Comments 14 pages, 5 figures, 7 tables

neuROSym: Deployment and Evaluation of a ROS-based Neuro-Symbolic Model for Human Motion Prediction

Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto

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

Comments 6 pages, paper accepted to IEEE CIS-RAM 2024 conference (https://www.cis-ram.org/2024/). arXiv admin note: text overlap with arXiv:2304.11740

From Perfect to Noisy World Simulation: Customizable Embodied Multi-modal Perturbations for SLAM Robustness Benchmarking

Xiaohao Xu, Tianyi Zhang, Sibo Wang, Xiang Li, Yongqi Chen, Ye Li, Bhiksha Raj, Matthew Johnson-Roberson, Xiaonan Huang

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

Comments 50 pages. arXiv admin note: substantial text overlap with arXiv:2402.08125

Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following

Motoya Ohnishi, Iretiayo Akinola, Jie Xu, Ajay Mandlekar, Fabio Ramos

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

Comments 48 pages, 21 figures

Journal ref 6th Annual Conference on Learning for Dynamics and Control (2024)

The Empirical Impact of Forgetting and Transfer in Continual Visual Odometry

Paolo Cudrano, Xiaoyu Luo, Matteo Matteucci

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

Comments Accepted to CoLLAs 2024

Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation

Mario A. V. Saucedo, Akash Patel, Akshit Saradagi, Christoforos Kanellakis, George Nikolakopoulos

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

Comments Accepted at ICRA 2024

Online Distribution Shift Detection via Recency Prediction

Rachel Luo, Rohan Sinha, Yixiao Sun, Ali Hindy, Shengjia Zhao, Silvio Savarese, Edward Schmerling, Marco Pavone

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

Creation of Novel Soft Robot Designs using Generative AI

Wee Kiat Chan, PengWei Wang, Raye Chen-Hua Yeow

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

Leveraging YOLO-World and GPT-4V LMMs for Zero-Shot Person Detection and Action Recognition in Drone Imagery

Christian Limberg, Artur Gonçalves, Bastien Rigault, Helmut Prendinger

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

Comments 4 pages

SAID-NeRF: Segmentation-AIDed NeRF for Depth Completion of Transparent Objects

Avinash Ummadisingu, Jongkeum Choi, Koki Yamane, Shimpei Masuda, Naoki Fukaya, Kuniyuki Takahashi

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

Comments 8 pages. An accompanying video is available at https://www.youtube.com/watch?v=S4NCoUq4bmE

Lamarckian Inheritance Improves Robot Evolution in Dynamic Environments

Jie Luo, Karine Miras, Carlo Longhi, Oliver Weissl, Agoston E. Eiben

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

Comments Nature. arXiv admin note: substantial text overlap with arXiv:2309.13099; text overlap with arXiv:2303.12594, arXiv:2309.14387

Domain Randomization via Entropy Maximization

Gabriele Tiboni, Pascal Klink, Jan Peters, Tatiana Tommasi, Carlo D'Eramo, Georgia Chalvatzaki

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

Comments Published as a conference paper at ICLR 2024. Project website at https://gabrieletiboni.github.io/doraemon/

TrackDiffusion: Tracklet-Conditioned Video Generation via Diffusion Models

Pengxiang Li, Kai Chen, Zhili Liu, Ruiyuan Gao, Lanqing Hong, Guo Zhou, Hua Yao, Dit-Yan Yeung, Huchuan Lu, Xu Jia

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

Learning Dynamical Systems Encoding Non-Linearity within Space Curvature

Bernardo Fichera, Aude Billard

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

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Vaios Papaspyros, Guy Theraulaz, Clément Sire, Francesco Mondada

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

PCA-Bench: Evaluating Multimodal Large Language Models in Perception-Cognition-Action Chain

Liang Chen, Yichi Zhang, Shuhuai Ren, Haozhe Zhao, Zefan Cai, Yuchi Wang, Peiyi Wang, Xiangdi Meng, Tianyu Liu, Baobao Chang

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

Comments Code and Data released at https://github.com/pkunlp-icler/PCA-EVAL. Leaderboard at: https://docs.qq.com/sheet/DVUd4WUpGRHRqUnNV. This article supersedes its workshop version arxiv: 2310.02071. arXiv admin note: text overlap with arXiv:2310.02071

Gazebo Plants: Simulating Plant-Robot Interaction with Cosserat Rods

Junchen Deng, Samhita Marri, Jonathan Klein, Wojtek Pałubicki, Sören Pirk, Girish Chowdhary, Dominik L. Michels

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

Comments Upon request, we are happy to share our GazeboPlants plugin open-source (MPL 2.0)

Cesium Tiles for High-realism Simulation and Comparing SLAM Results in Corresponding Virtual and Real-world Environments

Chris Beam, Jincheng Zhang, Nicholas Kakavitsas, Collin Hague, Artur Wolek, Andrew Willis

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

Towards Transferring Tactile-based Continuous Force Control Policies from Simulation to Robot

Luca Lach, Robert Haschke, Davide Tateo, Jan Peters, Helge Ritter, Júlia Borràs, Carme Torras

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