机器人 / 具身智能

Learning Quadrotor Control From Visual Features Using Differentiable Simulation

通过可微模拟学习四旋翼控制的视觉特征

Johannes Heeg, Yunlong Song, Davide Scaramuzza

机构 * Robotics and Perception Group, Department of Informatics, University of Zurich（机器人感知组，信息学院，苏黎世大学） 纠错

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

AI总结 本研究通过可微模拟方法高效学习四旋翼控制，显著提升样本效率和训练速度，实现快速恢复四旋翼性能。

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

Optimization-Driven Design of Monolithic Soft-Rigid Grippers

基于优化的单体软-刚性夹持器设计

Pierluigi Mansueto, Mihai Dragusanu, Anjum Saeed, Monica Malvezzi, Matteo Lapucci, Gionata Salvietti

机构 * Department of Information Engineering University of Florence（信息工程系佛罗伦萨大学） ； Department of Information Engineering and Mathematics, University of Siena（信息工程与数学系锡耶纳大学） ； Humanoids & Human Centered Mechatronics, Istituto Italiano di Tecnologia（人形与以人为中心的机电一体化，意大利技术研究所） 纠错

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

AI总结 本研究提出一种结合快速原型和优化策略的方法，以提高软机器人夹持器的制造效率和现实适应性。

Journal ref Soft Robotics, 2025

Trends in Motion Prediction Toward Deployable and Generalizable Autonomy: A Revisit and Perspectives

Letian Wang, Marc-Antoine Lavoie, Sandro Papais, Barza Nisar, Yuxiao Chen, Wenhao Ding, Boris Ivanovic, Hao Shao, Abulikemu Abuduweili, Evan Cook, Yang Zhou, Peter Karkus, Jiachen Li, Changliu Liu, Marco Pavone, Steven Waslander

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

Comments (Book) To Appear in Foundation and Trends in Robotics. 163 pages, 40 figures, 13 tables

IMD: A 6-DoF Pose Estimation Benchmark for Industrial Metallic Objects

Ruimin Ma, Sebastian Zudaire, Zhen Li, Chi Zhang

机构 * KTH Royal Institute of Technology（皇家理工学院） ； ABB Corporate Research（ABB企业研究） 纠错

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

Comments 8 pages, 19 figures, 2 tables. Accepted in 2025 8th International Conference on Robotics, Control and Automation Engineering (RCAE 2025)

Sim2Val: Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation

Rachel Luo, Heng Yang, Michael Watson, Apoorva Sharma, Sushant Veer, Edward Schmerling, Marco Pavone

机构 * NVIDIA ； Harvard University（哈佛大学） ； Stanford University（斯坦福大学） 纠错

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

Comments Conference on Robot Learning (CoRL) 2025

SimShear: Sim-to-Real Shear-based Tactile Servoing

Kipp McAdam Freud, Yijiong Lin, Nathan F. Lepora

机构 * School of Engineering Mathematics and Technology, University of Bristol（工程数学与技术学院，布里斯托尔大学） ； Bristol Robotics Laboratory, University of Bristol（布里斯托尔机器人实验室，布里斯托尔大学） 纠错

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

Comments 2025 Conference on Robot Learning (CoRL)

Modular Robot Control with Motor Primitives

Moses C. Nah, Johannes Lachner, Neville Hogan

机构 * Massachusetts Institute of Technology（麻省理工学院） 纠错

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

Comments 38 pages, 9 figures, Submitted to International Journal of Robotics Research for Review

DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories

Jean-Baptiste Bouvier, Kanghyun Ryu, Kartik Nagpal, Qiayuan Liao, Koushil Sreenath, Negar Mehr

机构 * ICON Lab and Hybrid Robotics Lab , University of California Berkeley（ICON实验室和混合机器人实验室，加州大学伯克利分校） 纠错

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

Journal ref Robotics: Science and Systems (RSS) 2025

Night-Voyager: Consistent and Efficient Nocturnal Vision-Aided State Estimation in Object Maps

Tianxiao Gao, Mingle Zhao, Chengzhong Xu, Hui Kong

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

Comments IEEE Transactions on Robotics (T-RO), 2025

An Active Learning Framework with a Class Balancing Strategy for Time Series Classification

Shemonto Das

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

Comments Master's thesis accepted by Memorial University of Newfoundland. Chapter 3 published in the Journal of Frontiers in Robotics and AI. Chapter 4 published in the IEEE Systems Conference 2024

VPRTempo: A Fast Temporally Encoded Spiking Neural Network for Visual Place Recognition

Adam D. Hines, Peter G. Stratton, Michael Milford, Tobias Fischer

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

Comments 8 pages, 3 figures, accepted to the IEEE International Conference on Robotics and Automation (ICRA) 2024

SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Driving

Lu Zhang, Peiliang Li, Sikang Liu, Shaojie Shen

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

Comments Code is available at https://github.com/HKUST-Aerial-Robotics/SIMPL

Robust Body Exposure (RoBE): A Graph-based Dynamics Modeling Approach to Manipulating Blankets over People

Kavya Puthuveetil, Sasha Wald, Atharva Pusalkar, Pratyusha Karnati, Zackory Erickson

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

Comments published in IEEE Robotics and Automation Letters, 8 pages, 9 figures, 2 tables

Bin-picking of novel objects through category-agnostic-segmentation: RGB matters

Prem Raj, Sachin Bhadang, Gaurav Chaudhary, Laxmidhar Behera, Tushar Sandhan

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

Comments Presented at IEEE International Conference on Robotic Computing (IRC), 2023

Multi Actor-Critic DDPG for Robot Action Space Decomposition: A Framework to Control Large 3D Deformation of Soft Linear Objects

Mélodie Daniel, Aly Magassouba, Miguel Aranda, Laurent Lequièvre, Juan Antonio Corrales Ramon, Roberto Iglesias Rodriguez, Youcef Mezouar

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

Comments 9 pages, 7 figures, 5 tables, Accepted for IEEE Robotics and Automation Letters (RA-L)

Simultaneous Learning of Contact and Continuous Dynamics

Bibit Bianchini, Mathew Halm, Michael Posa

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

Comments 13 pages, 5 figures. Accepted to Conference on Robot Learning (CoRL) 2023. Project webpage with code, datasets, media, and OpenReview link at https://sites.google.com/view/continuous-contact-nets/home

Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator

Yuquan Wang, Niels Dehio, Abderrahmane Kheddar

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

Journal ref IEEE Robotics and Automation Letters (2022)

NimbRo wins ANA Avatar XPRIZE Immersive Telepresence Competition: Human-Centric Evaluation and Lessons Learned

Christian Lenz, Max Schwarz, Andre Rochow, Bastian Pätzold, Raphael Memmesheimer, Michael Schreiber, Sven Behnke

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

Comments C. Lenz and M. Schwarz contributed equally. Accepted for International Journal of Social Robotics (SORO), Springer, to appear 2023

IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality

Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj Narang

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

Comments Accepted to Robotics: Science and Systems (RSS) 2023

Learning to Estimate 3-D States of Deformable Linear Objects from Single-Frame Occluded Point Clouds

Kangchen Lv, Mingrui Yu, Yifan Pu, Xin Jiang, Gao Huang, Xiang Li

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

Comments Accepted by International Conference on Robotics and Automation (ICRA) 2023

Close the Optical Sensing Domain Gap by Physics-Grounded Active Stereo Sensor Simulation

Xiaoshuai Zhang, Rui Chen, Ang Li, Fanbo Xiang, Yuzhe Qin, Jiayuan Gu, Zhan Ling, Minghua Liu, Peiyu Zeng, Songfang Han, Zhiao Huang, Tongzhou Mu, Jing Xu, Hao Su

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

Comments The paper will appear in the IEEE Transactions on Robotics. 20 pages, 14 figures, 10 tables

Point Cloud Change Detection With Stereo V-SLAM:Dataset, Metrics and Baseline

Zihan Lin, Jincheng Yu, Lipu Zhou, Xudong Zhang, Jian Wang, Yu Wang

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

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 12443-12450, Oct. 2022

Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach

Mingrui Yu, Kangchen Lv, Hanzhong Zhong, Shiji Song, Xiang Li

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

Comments Accepted by IEEE Transactions on Robotics. Project website: https://mingrui-yu.github.io/shape_control_DLO_2 . Journal version of arXiv:2109.11091

Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory

Glen Chou, Necmiye Ozay, Dmitry Berenson

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

Comments Workshop on the Algorithmic Foundations of Robotics (WAFR) XV, 2022, College Park, MD, USA

What's in the Black Box? The False Negative Mechanisms Inside Object Detectors

Dimity Miller, Peyman Moghadam, Mark Cox, Matt Wildie, Raja Jurdak

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

Comments 8 pages, 5 figures. Contact emails: d24.miller@qut.edu.au, peyman.moghadam@data61.csiro.au, mark.cox@data61.csiro.au, matt.wildie@data61.csiro.au, r.jurdak@qut.edu.au

Journal ref IEEE Robotics and Automation Letters (July 2022), Volume 7, Issue 3, pages 8510-8517

Adaptive CLF-MPC With Application To Quadrupedal Robots

Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter

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

Journal ref IEEE Robotics and Automation Letters (Volume: 7, Issue: 1, Jan. 2022)

MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets

Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E. Kavraki

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

Comments accepted in IEEE Robotics and Automation Letters (RAL), 2022. Supplementary video: https://youtu.be/t96Py0QX0NI Code: https://github.com/KavrakiLab/motion_bench_maker

Air-Releasable Soft Robots for Explosive Ordnance Disposal

Tyler C. Looney, Nathan M. Savard, Gus T. Teran, Archie G. Milligan, Ryley I. Wheelock, Michael Scalise, Daniel P. Perno, Gregory C. Lewin, Carlo Pinciroli, Cagdas D. Onal, Markus P. Nemitz

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

Comments Accepted manuscript: IEEE Soft Robotics Conference, Edinburgh, 2022

Uncertainty for Identifying Open-Set Errors in Visual Object Detection

Dimity Miller, Niko Sünderhauf, Michael Milford, Feras Dayoub

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

Journal ref IEEE Robotics and Automation Letters (January 2022), Volume 7, Issue 1, pages 215-222, ISSN 2377-3766

RetinaGAN: An Object-aware Approach to Sim-to-Real Transfer

Daniel Ho, Kanishka Rao, Zhuo Xu, Eric Jang, Mohi Khansari, Yunfei Bai

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

Comments International Conference on Robotics and Automation (ICRA) 2021