机器人 / 具身智能

Foundational World Models Accurately Detect Bimanual Manipulator Failures

基础世界模型准确检测双臂机械臂故障

Isaac R. Ward, Michelle Ho, Houjun Liu, Aaron Feldman, Joseph Vincent, Liam Kruse, Sean Cheong, Duncan Eddy, Mykel J. Kochenderfer, Mac Schwager

机构 * Stanford University（斯坦福大学） ； Watney Robotics（Watney机器人公司） 纠错

专题命中 机器人操作 ：world model(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.AI；robotics(comments)

AI总结 本文提出基于视觉基础模型的双臂机械臂故障检测方法，通过压缩潜在空间中的世界模型提升检测精度，相比传统方法在参数效率和故障检测率上均表现更优。

Comments 8 pages, 5 figures, accepted at the 2026 IEEE International Conference on Robotics and Automation

PRISM: Personalized Refinement of Imitation Skills for Manipulation via Human Instructions

PRISM：通过人类指令个性化模仿技能的细化

Arnau Boix-Granell, Alberto San-Miguel-Tello, Magí Dalmau-Moreno, Néstor García

机构 * Eurecat, Centre Tecnològic Catalunya, Robotics & Automation Unit（Eurecat，加泰罗尼亚技术中心，机器人与自动化单位） 纠错

专题命中 机器人操作 ：manipulation(title,abstract)；robotic(abstract)；分类 cs.RO、cs.AI；robotics(comments)

AI总结 PRISM通过人类指令优化机器人操作中的模仿策略，提升任务执行的鲁棒性和数据效率。

Comments 10 pages, 3 figures, Accepted for publication at European Robotics Forum 2026

ROPES: Robotic Pose Estimation via Score-Based Causal Representation Learning

Pranamya Kulkarni, Puranjay Datta, Burak Varıcı, Emre Acartürk, Karthikeyan Shanmugam, Ali Tajer

机构 * Google DeepMind（谷歌DeepMind） ； Carnegie Mellon University（卡内基梅隆大学） ； Rensselaer Polytechnic Institute（伦塞拉尔理工学院） 纠错

专题命中 机器人操作 ：robotic(title,abstract)；robotics(abstract)；分类 cs.RO、cs.LG；world model(comments)

Comments A preliminary version of this paper appeared at NeurIPS 2025 Workshop on Embodied World Models for Decision Making

Probabilistic Human Intent Prediction for Mobile Manipulation: An Evaluation with Human-Inspired Constraints

Cesar Alan Contreras, Manolis Chiou, Alireza Rastegarpanah, Michal Szulik, Rustam Stolkin

机构 * United Kingdom National Nuclear Laboratory Ltd.（英国国家核实验室有限公司） 纠错

专题命中 机器人操作 ：manipulation(title,abstract)；navigation(abstract)；分类 cs.RO、cs.CV；robotic(comments)

Comments Submitted to Journal of Intelligent & Robotic Systems (Under Review)

Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction

Yiting Zhang, Shichen Li

机构 * Department of Robotics, University of Michigan（机器人学系，密歇根大学） ； Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign（机械科学与工程系，伊利诺伊大学厄巴纳-香槟分校） 纠错

专题命中 机器人操作 ：manipulation(title,abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments Accepted to ICRA 2025 Workshop on Learning Meets Model-Based Methods for Contact-Rich Manipulation

Category-Level and Open-Set Object Pose Estimation for Robotics

Peter Hönig, Matthias Hirschmanner, Markus Vincze

机构 * Automation and Control Institute, Faculty of Electrical Engineering, TU Wien（自动化与控制研究所，电气工程学院，维也纳技术大学） 纠错

专题命中 机器人操作 ：robotics(title,abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments Accepted at Austrian Robotics Workshop 2025

CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World

Yankai Fu, Qiuxuan Feng, Ning Chen, Zichen Zhou, Mengzhen Liu, Mingdong Wu, Tianxing Chen, Shanyu Rong, Jiaming Liu, Hao Dong, Shanghang Zhang

机构 * State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University（多媒体信息处理国家重点实验室，计算机学院，北京大学） ； The University of Hong Kong（香港大学） ； Beijing Academy of Artificial Intelligence（北京人工智能研究院） 纠错

专题命中 机器人操作 ：manipulation(title,abstract)；robotic(abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Robotics: Science and Systems (RSS) 2025. Videos, code: https://aureleopku.github.io/CordViP

Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation using Parallelizable Physics Simulators

Fabian Baumeister, Lukas Mack, Joerg Stueckler

专题命中 机器人操作 ：manipulation(title,abstract)；world model(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA), 2025

RAMPA: Robotic Augmented Reality for Machine Programming by DemonstrAtion

Fatih Dogangun, Serdar Bahar, Yigit Yildirim, Bora Toprak Temir, Emre Ugur, Mustafa Doga Dogan

专题命中 机器人操作 ：robotic(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.LG；robotics(journal_ref)

Comments This work is the final version submitted to the IEEE RA-L

Journal ref IEEE Robotics and Automation Letters (RA-L), 2025

Attribute-Based Robotic Grasping with Data-Efficient Adaptation

Yang Yang, Houjian Yu, Xibai Lou, Yuanhao Liu, Changhyun Choi

专题命中 机器人操作 ：robotic(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.AI；robotics(journal_ref)

Comments Project page: https://z.umn.edu/attr-grasp. arXiv admin note: substantial text overlap with arXiv:2104.02271

Journal ref IEEE Transactions on Robotics, vol. 40, pp. 1566-1579, 2024

Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions

Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar

专题命中 机器人操作 ：manipulation(title,abstract)；robotic(abstract)；分类 cs.RO、cs.LG；robot learning(comments)

Comments Conference on Robot Learning (CoRL 2024)

A Cranial-Feature-Based Registration Scheme for Robotic Micromanipulation Using a Microscopic Stereo Camera System

Xiaofeng Lin, Saúl Alexis Heredia Pérez, Kanako Harada

专题命中 机器人操作 ：robotic(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.CV；robotics(comments)

Comments Accepted by Advanced Robotics, Vol. 38, Issue 21

GPT-4V(ision) for Robotics: Multimodal Task Planning from Human Demonstration

Naoki Wake, Atsushi Kanehira, Kazuhiro Sasabuchi, Jun Takamatsu, Katsushi Ikeuchi

专题命中 机器人操作 ：robotics(title,comments)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments 8 pages, 10 figures, 3 tables. Published in IEEE Robotics and Automation Letters (RA-L) (in press). Last updated on September 26th, 2024

Challenges for Monocular 6D Object Pose Estimation in Robotics

Stefan Thalhammer, Dominik Bauer, Peter Hönig, Jean-Baptiste Weibel, José García-Rodríguez, Markus Vincze

专题命中 机器人操作 ：robotics(title,abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Comments Accepted for publication in Transactions on Robotics: https://ieeexplore.ieee.org/document/10609560 arXiv admin note: substantial text overlap with arXiv:2302.11827

Visual-Policy Learning through Multi-Camera View to Single-Camera View Knowledge Distillation for Robot Manipulation Tasks

Cihan Acar, Kuluhan Binici, Alp Tekirdağ, Yan Wu

专题命中 机器人操作 ：manipulation(title,abstract)；robotic(abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments IEEE Robotics and Automation Letters

Robotic Fabric Flattening with Wrinkle Direction Detection

Yulei Qiu, Jihong Zhu, Cosimo Della Santina, Michael Gienger, Jens Kober

专题命中 机器人操作 ：robotic(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.CV；robotics(comments)

Comments Accepted by the 18th International Symposium on Experimental Robotics (ISER 2023)

Fine-Tuning Generative Models as an Inference Method for Robotic Tasks

Orr Krupnik, Elisei Shafer, Tom Jurgenson, Aviv Tamar

专题命中 机器人操作 ：robotic(title,abstract)；robotics(abstract)；分类 cs.RO、cs.LG；robot learning(comments)

Comments 7th Conference on Robot Learning, 2023. Project website at https://www.orrkrup.com/mace

Multi-Phase Multi-Objective Dexterous Manipulation with Adaptive Hierarchical Curriculum

Lingfeng Tao, Jiucai Zhang, Xiaoli Zhang

专题命中 机器人操作 ：manipulation(title,abstract)；robot learning(abstract)；分类 cs.RO、cs.AI；robotic(comments)

Comments Accepted by the Journal of Intelligent & Robotic Systems

Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps

Sudeep Dasari, Abhinav Gupta, Vikash Kumar

专题命中 机器人操作 ：manipulation(title,abstract)；robotics(abstract,comments)；分类 cs.RO、cs.AI

Comments An abridged version of this paper was presented in IEEE International Conference on Robotics and Automation (ICRA) 2023

Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulation

Myung-Hwan Jeon, Jeongyun Kim, Jee-Hwan Ryu, Ayoung Kim

专题命中 机器人操作 ：manipulation(title,abstract)；robotics(abstract,comments)；分类 cs.RO、cs.CV

Comments IEEE Robotics and Automation Letters

Partially Observable Markov Decision Processes in Robotics: A Survey

Mikko Lauri, David Hsu, Joni Pajarinen

专题命中 机器人操作 ：robotics(title,comments)；manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.AI

Comments 20 pages, 10 figures. Author version of paper. Accepted for publication in IEEE Transactions on Robotics

Self-Supervised Drivable Area and Road Anomaly Segmentation using RGB-D Data for Robotic Wheelchairs

Hengli Wang, Yuxiang Sun, Ming Liu

专题命中 机器人操作 ：robotic(title,abstract)；navigation(abstract)；分类 cs.RO、cs.CV；robotics(comments)

Comments Published in IEEE Robotics and Automation Letters (RA-L); 8 pages, 8 figures and 3 tables

Attribute-Based Robotic Grasping with One-Grasp Adaptation

Yang Yang, Yuanhao Liu, Hengyue Liang, Xibai Lou, Changhyun Choi

专题命中 机器人操作 ：robotic(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Accepted to the IEEE International Conference on Robotics and Automation (ICRA 2021). Project page: https://sites.google.com/umn.edu/attributes-grasping

SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation

Xingyu Lin, Yufei Wang, Jake Olkin, David Held

专题命中 机器人操作 ：manipulation(title,abstract)；robotics(abstract)；分类 cs.RO、cs.LG；robot learning(comments)

Comments Conference on Robot Learning, 2020

Self-Supervised Damage-Avoiding Manipulation Strategy Optimization via Mental Simulation

Tobias Doernbach

专题命中 机器人操作 ：manipulation(title,abstract)；robotics(abstract,journal_ref)；分类 cs.RO、cs.AI

Journal ref Intelligent Service Robotics, August 2019

Towards Robotic Eye Surgery: Marker-free, Online Hand-eye Calibration using Optical Coherence Tomography Images

Mingchuan Zhou, Mahdi Hamad, Jakob Weiss, Abouzar Eslami, Kai Huang, Mathias Maier, Chris P. Lohmann, Nassir Navab, Alois Knoll, M. Ali Nasseri

专题命中 机器人操作 ：robotic(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.CV；robotics(comments)

Comments *The first two authors contributed equally to this paper. Accepted by IEEE Robotics and Automation Letters (RA-L), 2018

NativeMEM: Native Memory Compression for Long-Horizon Robotic Manipulation

NativeMEM：用于长期机器人操作的原生内存压缩

Ziye Wang, Modi Shi, Chaojun Ni, Jiazhi Yang, Mengdi Li, Zhizhong Su, Tianwei Lin, Hongyang Li

机构 * The University of Hong Kong（香港大学） ； Beihang University（北京航空航天大学） ； Peking University（北京大学） ； The Chinese University of Hong Kong（香港中文大学） ； Horizon Robotics（地平线机器人） 纠错

专题命中 机器人操作 ：manipulation(title)；robotic(title)；分类 cs.RO

AI总结 研究如何让预训练VLA模型高频更新时保留长期视觉历史且高效。提出NativeMEM策略，用原生内存压缩编码，通过开发分词器对齐内存令牌与策略，该方法在模拟和真实机器人实验中效果好，数据效率高。

Dive into the Scene: Breaking the Perceptual Bottleneck in Vision-Language Decision Making via Focus Plan Generation

深入场景：通过焦点计划生成打破视觉-语言决策中的感知瓶颈

Boyuan Xiao, Bohong Chen, Yumeng Li, Ji Feng, Yao-Xiang Ding, Kun Zhou

机构 * University of Science and Technology of China（中国科学技术大学） ； Tsinghua University（清华大学） 纠错

专题命中 机器人操作 ：embodied AI(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

AI总结 提出SceneDiver方法，通过从粗到细的焦点计划生成，逐步构建场景图并分解任务，减少视觉幻觉，提升视觉-语言模型和视觉-语言-动作模型在具身决策任务中的表现。

Comments Accepted at ICML 2026

SceneFoundry: Generating Interactive Infinite 3D Worlds

SceneFoundry: 生成交互式无限3D世界

ChunTeng Chen, YiChen Hsu, YiWen Liu, WeiFang Sun, TsaiChing Ni, ChunYi Lee, Min Sun, YuanFu Yang

机构 * National Yang Ming Chiao Tung University（国家阳明交通大学） ； National Tsing Hua University（国立清华大学） ； NVIDIA AI Technology Center（NVIDIA AI技术中心） ； National Taiwan University（国立台湾大学） 纠错

专题命中 机器人操作 ：embodied AI(abstract)；manipulation(abstract)；navigation(abstract)；robotic(abstract)

AI总结 SceneFoundry通过语言引导的扩散框架生成功能性强的3D环境，用于机器人训练和具身智能研究。

Comments 15 pages

Differentiable Skill Optimisation for Powder Manipulation in Laboratory Automation

实验室自动化中粉末操作的可微技能优化

Minglun Wei, Xintong Yang, Yu-Kun Lai, Ze Ji

机构 * Cardiff University（卡地夫大学） 纠错

专题命中 机器人操作 ：manipulation(title,abstract)；robotic(abstract)；分类 cs.RO；robotics(comments)

AI总结 本研究提出了一种基于可微物理模拟和课程学习的粉末运输轨迹优化方法，提升实验室自动化中粉末操作的精度和稳定性。

Comments Accepted by IROS 2025 Workshop on Embodied AI and Robotics for Future Scientific Discovery