机器人 / 具身智能

Blindfolded Experts Generalize Better: Insights from Robotic Manipulation and Videogames

Ev Zisselman, Mirco Mutti, Shelly Francis-Meretzki, Elisei Shafer, Aviv Tamar

机构 * Technion – Israel Institute of Technology（技术学院-以色列理工学院） 纠错

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

The Rosario Dataset v2: Multimodal Dataset for Agricultural Robotics

Nicolas Soncini, Javier Cremona, Erica Vidal, Maximiliano García, Gastón Castro, Taihú Pire

机构 * CIFASIS (CONICET-UNR)（CIFASIS（CONICET-UNR）） ； Universidad de San Andrés (UDESA-CONICET)（Universidad de San Andrés（UDESA-CONICET）） 纠错

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

Comments First published on The International Journal of Robotics Research: https://journals.sagepub.com/doi/10.1177/02783649251368909

Journal ref The Rosario dataset v2: Multi-modal dataset for agricultural robotics. The International Journal of Robotics Research. 2025;0(0)

RVN-Bench: A Benchmark for Reactive Visual Navigation

RVN-Bench: 一种用于反应式视觉导航的基准测试

Jaewon Lee, Jaeseok Heo, Gunmin Lee, Howoong Jun, Jeongwoo Oh, Songhwai Oh

机构 * Department of Electrical and Computer Engineering, Seoul National University (SNU) and Automation and Systems Research Institute (ASRI) and Sequor Robotics Inc.（电气与计算机工程系，首尔国立大学（SNU）和自动化与系统研究所（ASRI）以及Sequor机器人公司） ； Department of Electrical and Computer Engineering, Seoul National University (SNU) and Automation and Systems Research Institute (ASRI)（电气与计算机工程系，首尔国立大学（SNU）和自动化与系统研究所（ASRI）） ； Interdisciplinary Program in Artificial Intelligence, Seoul National University (SNU) and Automation and Systems Research Institute (ASRI) and Sequor Robotics Inc.（人工智能跨学科项目，首尔国立大学（SNU）和自动化与系统研究所（ASRI）以及Sequor机器人公司） ； Sequor Robotics Inc.（Sequor机器人公司） 纠错

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

AI总结 RVN-Bench是一种针对室内移动机器人安全视觉导航的碰撞感知基准测试，通过高保真度场景和标准化工具，支持在线和离线学习，提升导航任务的泛化能力。

The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research

ACRV 摘取基准 (APB)：一个促进可重复研究的机器人货架摘取基准

Jürgen Leitner, Adam W. Tow, Jake E. Dean, Niko Suenderhauf, Joseph W. Durham, Matthew Cooper, Markus Eich, Christopher Lehnert, Ruben Mangels, Christopher McCool, Peter Kujala, Lachlan Nicholson, Trung Pham, James Sergeant, Liao Wu, Fangyi Zhang, Ben Upcroft, Peter Corke

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

AI总结 本文提出ACRV摘取基准(APB)，通过42个常见物品、广泛可用的货架和精确的物品排列指南，提供可重复的机器人摘取基准，支持完整机器人系统的比较。

Comments 8 pages, submitted to RA:Letters

Modeling Robotics Dataset Construction as an Artifact-Based Build Process

将机器人数据集构建建模为基于工件的构建过程

Leon Pohl, Lukas Beer, George Sebastian, Mirko Maehlisch

机构 * Institute for Autonomous Driving, University of the Bundeswehr Munich（自主驾驶研究所，联邦国防军 Munich 大学） 纠错

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

AI总结 本文提出将机器人数据集构建建模为基于工件的构建过程，并实现开源工具Bagzel，通过依赖图管理和增量构建显著降低数据集更新延迟，实验表明在迭代工作流中速度提升高达386倍。

Comments Accepted 2026 IEEE 22nd International Conference on Automation Science and Engineering (CASE 2026), 6 pages, 6 figures, 2 tables

Beyond Binary Success: A Diagnostic Meta-Evaluation Framework for Fine-Grained Manipulation

超越二元成功：一种用于细粒度操控的诊断元评估框架

He-Yang Xu, Pengyuan Zhang, Zongyuan Ge, Xiaoshuai Hao, Serge Belongie, Xin Geng, Yuxin Peng, Xiu-Shen Wei

机构 * Southeast University（东南大学） ； Monash University（墨尔本大学） ； Xiaomi EV（小米电动车） ； University of Copenhagen（哥本哈根大学） ； Peking University（北京大学） 纠错

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

AI总结 本文提出MetaFine框架，通过分解理解、感知和受控行为三个维度，诊断细粒度操控中的能力瓶颈，并通过因果干预识别视觉编码器在保持局部空间结构方面的关键限制，从而提升操控精度。

Comments Project page: https://metafine.github.io/

AmaraSpatial-10K: A Spatially and Semantically Aligned 3D Dataset for Spatial Computing and Embodied AI

AmaraSpatial-10K：一个空间和语义对齐的3D数据集用于空间计算和具身AI

Mohammad Sadegh Salehi, Alex Perkins, Igor Maurell, Ashkan Dabbagh, Raymond Wong

机构 * Zero One Creative（Zero One创意） 纠错

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

AI总结 本文提出AmaraSpatial-10K数据集，包含10000多个合成3D资产，优化零样本部署，通过精确锚点、PBR贴图和文本元数据提升CLIP召回率和物理稳定性。

Out-of-Sight Embodied Agents: Multimodal Tracking, Sensor Fusion, and Trajectory Forecasting

视线外的具身智能体：多模态跟踪、传感器融合与轨迹预测

Haichao Zhang, Yi Xu, Yun Fu

机构 * Department of Electrical and Computer Engineering, Northeastern University（东北大学电气与计算机工程系） ； Khoury College of Computer Sciences, Northeastern University（东北大学库里计算机科学学院） 纠错

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

AI总结 本文提出改进的视线外轨迹预测方法，通过视觉定位去噪模块提升轨迹预测性能，实验表明在Vi-Fi和JRDB数据集上达到最优效果，为自动驾驶、机器人和监控提供新方向。

Comments Published in IEEE Transactions on Pattern Analysis and Machine Intelligence (Early Access), pp. 1-14, March 23, 2026

Journal ref IEEE Transactions on Pattern Analysis and Machine Intelligence, 2026

Squint: Fast Visual Reinforcement Learning for Sim-to-Real Robotics

Squint：用于机器人仿真到现实的高效视觉强化学习

Abdulaziz Almuzairee, Henrik I. Christensen

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

AI总结 Squint通过并行仿真、分布性批评者等方法，实现了在实际时间中比现有视觉强化学习方法更快的训练速度，成功实现了从仿真到现实的机器人任务迁移。

Comments For website and code, see https://aalmuzairee.github.io/squint

RoboSafe: Safeguarding Embodied Agents via Executable Safety Logic

RoboSafe: 通过可执行的安全逻辑保障具身智能体

Le Wang, Zonghao Ying, Xiao Yang, Quanchen Zou, Zhenfei Yin, Tianlin Li, Jian Yang, Yaodong Yang, Aishan Liu, Xianglong Liu

机构 * Beihang University（北航大学） ； AI Security Lab（360AI安全实验室） ； The University of Sydney（悉尼大学） ； Nanyang Technological University（南洋理工大学） ； Peking University（北京大学） ； Beijing Academy of Artificial Intelligence（北京人工智能研究院） 纠错

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

AI总结 RoboSafe通过可执行的安全逻辑保障具身智能体，减少危险行为并保持任务性能。

Comments 11 pages, 6 figures

Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions

Kaifeng Zhang, Shuo Sha, Hanxiao Jiang, Matthew Loper, Hyunjong Song, Guangyan Cai, Zhuo Xu, Xiaochen Hu, Changxi Zheng, Yunzhu Li

机构 * Columbia University（哥伦比亚大学） ； SceniX Inc.（SceniX公司） ； Google DeepMind（谷歌DeepMind） 纠错

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

Comments The first two authors contributed equally. Website: https://real2sim-eval.github.io/

Neural Brain: A Neuroscience-inspired Framework for Embodied Agents

Jian Liu, Xiongtao Shi, Thai Duy Nguyen, Haitian Zhang, Tianxiang Zhang, Wei Sun, Yanjie Li, Athanasios V. Vasilakos, Giovanni Iacca, Arshad Ali Khan, Arvind Kumar, Jae Won Cho, Ajmal Mian, Lihua Xie, Erik Cambria, Lin Wang

机构 * School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院） ； School of Artificial Intelligence and Robotics, Hunan University（湖南大学人工智能与机器人学院） ； School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳）智能科学与工程学院） ； Department of Information and Communication Technology, University of Agder（阿格德大学信息与通信技术系） ； Department of Information Engineering and Computer Science, University of Trento（特伦特大学信息工程与计算机科学系） ； Elm Company（Elm公司） ； Division of Computational Science and Technology, KTH Royal Institute of Technology（皇家理工学院计算科学与技术系） ； School of Artificial Intelligence and Data Science, Sejong University（世宗大学人工智能与数据科学学院） ； Department of Computer Science of the University of Western Australia（西澳大学计算机科学系） ； College of Computing and Data Science, Nanyang Technological University（南洋理工大学计算与数据科学学院） 纠错

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

Comments 51 pages, 17 figures, 9 tables

PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation Policies

Jesse Zhang, Marius Memmel, Kevin Kim, Dieter Fox, Jesse Thomason, Fabio Ramos, Erdem Bıyık, Abhishek Gupta, Anqi Li

机构 * University of Washington（华盛顿大学） ； NVIDIA（NVIDIA公司） ； University of Southern California（南加州大学） ； Allen Institute for AI（人工智能研究所） 纠错

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

Comments 11 pages

A Navigation Framework Utilizing Vision-Language Models

Yicheng Duan, Kaiyu tang

机构 * Computer and Data Sciences, School of Engineering（计算机与数据科学系，工程学院） 纠错

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

SD-OVON: A Semantics-aware Dataset and Benchmark Generation Pipeline for Open-Vocabulary Object Navigation in Dynamic Scenes

Dicong Qiu, Jiadi You, Zeying Gong, Ronghe Qiu, Hui Xiong, Junwei Liang

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） 纠错

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

Comments Preprint. 21 pages

Phoenix: A Motion-based Self-Reflection Framework for Fine-grained Robotic Action Correction

Wenke Xia, Ruoxuan Feng, Dong Wang, Di Hu

机构 * Gaoling School of Artificial Intelligence, Renmin University of China（中国人民大学北京耿丽人工智能学院） ； Shanghai AI Laboratory（上海人工智能实验室） 纠错

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

Comments Accepted by CVPR2025

Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Making

Manling Li, Shiyu Zhao, Qineng Wang, Kangrui Wang, Yu Zhou, Sanjana Srivastava, Cem Gokmen, Tony Lee, Li Erran Li, Ruohan Zhang, Weiyu Liu, Percy Liang, Li Fei-Fei, Jiayuan Mao, Jiajun Wu

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

Comments Accepted for oral presentation at NeurIPS 2024 in the Datasets and Benchmarks track. Final Camera version

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Abhishek Joshi, Kevin Lin, Abhiram Maddukuri, Soroush Nasiriany, Yifeng Zhu

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

Comments For more information, please visit https://robosuite.ai

GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation

Haoran Lu, Ruihai Wu, Yitong Li, Sijie Li, Ziyu Zhu, Chuanruo Ning, Yan Shen, Longzan Luo, Yuanpei Chen, Hao Dong

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

Comments NeurIPS 2024

Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation

Marcel Torne, Anthony Simeonov, Zechu Li, April Chan, Tao Chen, Abhishek Gupta, Pulkit Agrawal

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

Comments Project page: https://real-to-sim-to-real.github.io/RialTo/

Evaluating Real-World Robot Manipulation Policies in Simulation

Xuanlin Li, Kyle Hsu, Jiayuan Gu, Karl Pertsch, Oier Mees, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, Ted Xiao

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

Holodeck: Language Guided Generation of 3D Embodied AI Environments

Yue Yang, Fan-Yun Sun, Luca Weihs, Eli VanderBilt, Alvaro Herrasti, Winson Han, Jiajun Wu, Nick Haber, Ranjay Krishna, Lingjie Liu, Chris Callison-Burch, Mark Yatskar, Aniruddha Kembhavi, Christopher Clark

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

Comments Published in CVPR 2024, 21 pages, 27 figures, 2 tables

RoboScript: Code Generation for Free-Form Manipulation Tasks across Real and Simulation

Junting Chen, Yao Mu, Qiaojun Yu, Tianming Wei, Silang Wu, Zhecheng Yuan, Zhixuan Liang, Chao Yang, Kaipeng Zhang, Wenqi Shao, Yu Qiao, Huazhe Xu, Mingyu Ding, Ping Luo

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

Comments 10 pages of main paper, 4 pages of appendix; 10 figures in main paper, 3 figures in appendix

Online Foundation Model Selection in Robotics

Po-han Li, Oyku Selin Toprak, Aditya Narayanan, Ufuk Topcu, Sandeep Chinchali

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

EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AI

Tai Wang, Xiaohan Mao, Chenming Zhu, Runsen Xu, Ruiyuan Lyu, Peisen Li, Xiao Chen, Wenwei Zhang, Kai Chen, Tianfan Xue, Xihui Liu, Cewu Lu, Dahua Lin, Jiangmiao Pang

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

Comments A multi-modal, ego-centric 3D perception dataset and benchmark for holistic 3D scene understanding. Project page: http://tai-wang.github.io/embodiedscan

RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot

Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, Cewu Lu

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

Comments RSS 2023 workshop on LTAMP. The project page is at rh20t.github.io

VIMA: General Robot Manipulation with Multimodal Prompts

Yunfan Jiang, Agrim Gupta, Zichen Zhang, Guanzhi Wang, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu, Linxi Fan

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

Comments ICML 2023 Camera-ready version. Project website: https://vimalabs.github.io/

On the Limits of Evaluating Embodied Agent Model Generalization Using Validation Sets

Hyounghun Kim, Aishwarya Padmakumar, Di Jin, Mohit Bansal, Dilek Hakkani-Tur

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

Comments ACL 2022 Insights Workshop (6 pages)

VesNet-RL: Simulation-based Reinforcement Learning for Real-World US Probe Navigation

Yuan Bi, Zhongliang Jiang, Yuan Gao, Thomas Wendler, Angelos Karlas, Nassir Navab

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

Comments Directly accepted by IEEE RAL after the first round of review. Video: https://www.youtube.com/watch?v=bzCO07Hquj8 Codes: https://github.com/yuan-12138/VesNet-RL

SafeAPT: Safe Simulation-to-Real Robot Learning using Diverse Policies Learned in Simulation

Rituraj Kaushik, Karol Arndt, Ville Kyrki

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

Comments Under review. For video of the paper http://tiny.cc/safeAPT