机器人 / 具身智能

Latent Action Diffusion for Cross-Embodiment Manipulation

潜在动作扩散用于跨躯体操控

Erik Bauer, Elvis Nava, Robert K. Katzschmann

机构 * mimic robotics ； ETH AI Center ； Soft Robotics Lab ； Institute of Neuroinformatics 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 本文提出通过潜在动作空间学习实现跨躯体操控，利用对比损失训练编码器统一不同末端执行器动作，提升多机器人控制效率和技能迁移效果。

Comments 8 pages, 5 figures. Accepted to the 2026 IEEE International Conference on Robotics & Automation (ICRA). Website: https://mimicrobotics.github.io/lad/

World In Your Hands: A Large-Scale and Open-Source Ecosystem for Learning Human-Centric Manipulation in the Wild

世界在你手中：一个大规模且开源的生态系统，用于在真实世界中学习以人类为中心的操纵

Yupeng Zheng, Jichao Peng, Weize Li, Yuhang Zheng, Xiang Li, Yujie Jin, Julong Wei, Guanhua Zhang, Ruiling Zheng, Ming Cao, Songen Gu, Zhenhong Zou, Kaige Li, Ke Wu, Mingmin Yang, Jiahao Liu, Pengfei Li, Hengjie Si, Feiyu Zhu, Wang Fu, Likun Wang, Ruiwen Yao, Jieru Zhao, Yilun Chen, Wenchao Ding

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

AI总结 本文提出World In Your Hands，一个包含1000小时真实人类操纵数据的开源生态系统，通过高精度运动捕捉和多模态数据提升机器人在杂乱环境中的操作成功率。

Comments This dataset represents the first large-scale collection of real-world, human-centric multimodal data integrating vision, language, tactile sensing, and action (VLTA) Github: https://github.com/tars-robotics/World-In-Your-Hands

Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance

具有学习能量感知指导的鲁棒工具选择与操作规划

Yifei Dong, Yan Zhang, Sylvain Calinon, Florian T. Pokorny

机构 * division of Robotics, Perception and Learning, KTH Royal Institute of Technology（机器人、感知与学习系，皇家理工学院） ； Idiap Research Institute（Idiap研究机构） ； EPFL（瑞士联邦理工学院） 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 本文提出了一种基于学习能量感知指导的鲁棒工具选择与操作规划方法，通过分层优化流程提升工具使用在外部干扰下的鲁棒性。

Comments IEEE International Conference on Robotics and Automation (ICRA), 2026

ADM-DP: Adaptive Dynamic Modality Diffusion Policy through Vision-Tactile-Graph Fusion for Multi-Agent Manipulation

ADM-DP: 通过视觉-触觉-图融合的自适应动态模态扩散策略用于多智能体操作

Enyi Wang, Wen Fan, Dandan Zhang

机构 * Department of Bioengineering, Imperial-X Initiative, Imperial College London（生物工程系、Imperial-X计划、帝国理工学院伦敦分校） 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 ADM-DP通过视觉-触觉-图融合的自适应动态模态扩散策略，提升多智能体操作的协调性、抓取稳定性和碰撞避免性能。

Comments Accepted to IEEE International Conference on Robotics and Automation (ICRA 2026)

The Price Is Not Right: Neuro-Symbolic Methods Outperform VLAs on Structured Long-Horizon Manipulation Tasks with Significantly Lower Energy Consumption

价格并不合理：神经符号方法在结构化长周期操作任务中优于VLA，且能耗显著更低

Timothy Duggan, Pierrick Lorang, Hong Lu, Matthias Scheutz

机构 * Human-Robot Interaction Lab, Tufts University（Tufts大学人机交互实验室） ； AIT Austrian Institute of Technology GmbH（奥地利技术研究所） 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 神经符号方法在结构化长周期操作任务中表现优于VLA，且能耗更低。

Comments Accepted at the 2026 IEEE International Conference on Robotics & Automation (ICRA 2026)

Postural Virtual Fixtures for Ergonomic Physical Interactions with Supernumerary Robotic Bodies

姿态虚拟障碍物用于人机交互中的人体工程学物理互动

Theodora Kastritsi, Marta Lagomarsino, Arash Ajoudani

机构 * Human-Robot Interfaces and Interaction Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy（人机交互实验室，意大利理工学院，热那亚，意大利） 纠错

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

AI总结 本文提出一种基于虚拟障碍物的人体工程学控制框架，通过触觉反馈促进用户形成正确的物理交互姿势。

Comments Published in The International Journal of Robotics Research

Surface-Based Manipulation with Modular Foldable Robots

基于模块化可折叠机器人的表面操控

Ziqiao Wang, Serhat Demirtas, Fabio Zuliani, Jamie Paik

机构 * Swiss Federal Institute of Technology Lausanne (EPFL)（瑞士联邦理工学院洛桑分校） 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 本文提出了一种基于模块化可折叠机器人的表面操控方法，通过调整表面位置和方向实现物体的稳定操控，适用于各种形状和刚度的物体。

Comments This manuscript has been published in npj Robotics. Supplementary video: https://www.youtube.com/watch?v=2TPTBqp84BY

Journal ref npj Robot 4, 3 (2026)

Optimizing Grasping in Legged Robots: A Deep Learning Approach to Loco-Manipulation

为四足机器人优化抓取：一种深度学习的移动-操作方法

Dilermando Almeida, Guilherme Lazzarini, Juliano Negri, Thiago H. Segreto, Ricardo V. Godoy, Marcelo Becker

机构 * College of Mechanical Engineering, Federal University of Uberlândia（联邦大学伯南迪亚学院机械工程学院） ； Department of Mechanical Engineering, University of São Paulo（圣保罗大学机械工程系） 纠错

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

AI总结 本文提出一种深度学习方法，通过模拟训练提升四足机器人抓取精度和适应性，实现自主导航与精准抓取。

Journal ref 2025 Latin American Robotics Symposium (LARS)

Fast Functionally Redundant Inverse Kinematics for Robotic Toolpath Optimisation in Manufacturing Tasks

快速功能冗余逆运动学用于制造任务中机器人工具路径优化

Andrew Razjigaev, Hans Lohr, Alejandro Vargas-Uscategui, Peter King, Tirthankar Bandyopadhyay

机构 * CSIRO（澳大利亚联邦科学与工业研究组织） 纠错

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

AI总结 本文提出了一种利用任务空间分解方法和阻尼最小二乘法的快速功能冗余逆运动学算法，用于优化机器人在非平面表面的冷喷涂工具路径。

Comments Published at the Australasian Conference on Robotics and Automation (ACRA 2025) https://ssl.linklings.net/conferences/acra/acra2025_proceedings/views/includes/files/pap149s2.pdf

Geometric Algebra for Optimal Control with Applications in Manipulation Tasks

Tobias Löw, Sylvain Calinon

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

Comments 16 pages, 13 figuress

Journal ref Transactions on Robotics, 2023

Hoecken-D Hand: A Novel Robotic Hand for Linear Parallel Pinching and Self-Adaptive Grasping

Wentao Guo, Wenzeng Zhang

机构 * Computer Science and Technology, Beijing Institute of Technology, China（计算机科学与技术，北京理工大学，中国） ； Laboratory of Robotics, X-Institute（机器人实验室，X研究所） ； Dept. of Mechanical Engineering, Tsinghua University, Beijing, China（机械工程系，清华大学，北京，中国） 纠错

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

Comments Accepted by IEEE International Conference on Robotics and Biomimetics (ROBIO) 2025, Chengdu, China. This version includes updated contact information

A Benchmarking Study of Vision-Based Robotic Grasping Algorithms: A Comparative Analysis

Bharath K Rameshbabu, Sumukh S Balakrishna, Brian Flynn, Vinayak Kapoor, Adam Norton, Holly Yanco, Berk Calli

机构 * Robotics Engineering Department, Worcester Polytechnic Institute（沃斯特理工学院机器人工程系） ； New England Robotics Validation and Experimentation (NERVE) Center, University of Massachusetts Lowell（马萨诸塞大学洛厄尔分校新英格兰机器人验证与实验中心） 纠错

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

Comments Accepted in IEEE Robotics and Automation Magazine 2025. Previously this version with slight modifications appeared as arXiv:2503.11163, which was submitted as a new work by accident. We have requested for removal of arXiv:2503.11163 from the other account, while simultaneously submitting this version as a revision to arXiv:2307.11622. We are stressing that this submission is intentional

RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm

Hao Cheng, Feitian Zhang

机构 * Robotics and Control Laboratory, School of Advanced Manufacturing and Robotics, and the State Key Laboratory of Turbulence and Complex Systems, Peking University（机器人与控制实验室，先进制造与机器人学院，湍流与复杂系统国家重点实验室，北京大学） 纠错

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

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 5097-5116, 2025

Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects

Zihang Zhao, Yuyang Li, Wanlin Li, Zhenghao Qi, Lecheng Ruan, Yixin Zhu, Kaspar Althoefer

机构 * Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院） ； Beijing Institute for General Artificial Intelligence（北京人工智能研究院） ； Department of Automation, Tsinghua University（清华大学自动化系） ； College of Engineering, Peking University（北京大学工程学院） ； PKU-Wuhan Institute for Artificial Intelligence（北大-武汉人工智能研究院） 纠错

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

Comments Accepted for publication in the IEEE Transactions on Robotics (T-RO)

ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly

Jiankai Sun, Aidan Curtis, Yang You, Yan Xu, Michael Koehle, Qianzhong Chen, Suning Huang, Leonidas Guibas, Sachin Chitta, Mac Schwager, Hui Li

机构 * Stanford University（斯坦福大学） ； MIT（麻省理工学院） ； University of Michigan（密歇根大学） ； Autodesk Research（Autodesk研究） 纠错

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

Comments The Conference on Robot Learning (CoRL) 2025

Avatarm: an Avatar With Manipulation Capabilities for the Physical Metaverse

Alberto Villani, Giovanni Cortigiani, Bernardo Brogi, Nicole D'Aurizio, Tommaso Lisini Baldi, Domenico Prattichizzo

机构 * Department of Information Engineering and Mathematics, University of Siena（信息工程与数学系，锡耶纳大学） ； department of Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia（人形与以人为中心的机电系，意大利理工学院） 纠错

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

Journal ref 2023 IEEE International Conference on Robotics and Automation (ICRA)

DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting

Ce Hao, Kelvin Lin, Zhiwei Xue, Siyuan Luo, Harold Soh

机构 * School of Computing, National University of Singapore（新加坡国立大学计算机学院） ； Smart Systems Institute, NUS（NUS智能系统研究所） 纠错

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

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 10, October 2025)

CLASS: Contrastive Learning via Action Sequence Supervision for Robot Manipulation

Sung-Wook Lee, Xuhui Kang, Brandon Yang, Yen-Ling Kuo

机构 * University of Virginia（弗吉尼亚大学） 纠错

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

Comments To appear in Proceedings of the Conference on Robot Learning (CoRL) 2025

Phase-Independent Dynamic Movement Primitives With Applications to Human-Robot Co-manipulation and Time Optimal Planning

Giovanni Braglia, Davide Tebaldi, Luigi Biagiotti

机构 * University of Modena and Reggio Emilia, Department of Engineering Enzo Ferrari（莫德纳和雷吉奥艾米利亚大学工程学院） 纠错

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

Comments 18 pages, 18 figures

Journal ref Robotics and Autonomous Systems (2025)

MPC-based Coarse-to-Fine Motion Planning for Robotic Object Transportation in Cluttered Environments

Chen Cai, Ernesto Dickel Saraiva, Ya-jun Pan, Steven Liu

机构 * Department of Electrical and Computer Engineering, University of Kaiserslautern Landau（电气与计算机工程系，凯撒斯劳滕大学） ； Department of Mechanical Engineering, Dalhousie University（机械工程系，达尔豪斯大学） 纠错

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

Comments 10 pages, 5 figures, submitted to IEEE Robotics and Automation Letters (RA-L)

Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation

Yiting Chen, Kenneth Kimble, Howard H. Qian, Podshara Chanrungmaneekul, Robert Seney, Kaiyu Hang

机构 * Department of Computer Science, Rice University（计算机科学系， Rice大学） ； U.S. National Institute of Standards and Technology（美国国家标准与技术研究院） 纠错

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

Comments Accepted to Robotics: Science and Systems (RSS) 2025; 16 pages, 10 figures

Kinematic Model Optimization via Differentiable Contact Manifold for In-Space Manipulation

Abhay Negi, Omey M. Manyar, Satyandra K. Gupta

机构 * Realization of Robotic Systems Lab, University of Southern California（机器人系统实现实验室，南加州大学） 纠错

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

Comments Accepted and presented in RSS 2025 Space Robotics Workshop (https://albee.github.io/space-robotics-rss/). 3 pages with 1 figure

PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands

Pei Lin, Yuzhe Huang, Wanlin Li, Jianpeng Ma, Chenxi Xiao, Ziyuan Jiao

机构 * Beijing Institute for General Artificial Intelligence（北京通用人工智能研究院） ； ShanghaiTech University（上海科技大学） ； Beihang University（北航） 纠错

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

Comments accepted by Robotics: Science and Systems(RSS) 2025 url: https://peilin-666.github.io/projects/PP-Tac/

A Robot Simulation Environment for Virtual Reality Enhanced Underwater Manipulation and Seabed Intervention Tasks

Sumey El-Muftu, Berke Gur

机构 * Graduate School, Bahçeşehir University（巴切希尔大学研究生学院） 纠错

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

Comments 7 pages with 8 figures; presented in the AQ2UASIM: Advancing Quantitative and Qualitative SIMulators for Marine Applications workshop held as a part of the IEEE International Conference on Robotics and Automation (ICRA) 2025

A High-Fidelity Simulation Framework for Grasping Stability Analysis in Human Casualty Manipulation

Qianwen Zhao, Rajarshi Roy, Chad Spurlock, Kevin Lister, Long Wang

机构 * Corvid Technologies 纠错

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

Comments 10 pages, submitted to IEEE T-MRB, under review

Journal ref IEEE Transactions on Medical Robotics and Bionics, vol. 7, no. 1, pp. 281-289, Feb. 2025

Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking

Yongpeng Jiang, Mingrui Yu, Xinghao Zhu, Masayoshi Tomizuka, Xiang Li

机构 * Department of Automation, Tsinghua University, Beijing, China（自动化系，清华大学，北京，中国） ； Department of Mechanical Engineering, University of California, Berkeley, CA, USA（机械工程系，加州大学伯克利分校，CA，美国） 纠错

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

Comments Submitted to the International Journal of Robotics Research (IJRR)

Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation

Wanxin Jin

机构 * Arizona State University（亚利桑那州立大学） 纠错

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

Comments Accepted to Robotics: Science and Systems (RSS) 2025. Video demo: https://youtu.be/NsL4hbSXvFg

Shear-based Grasp Control for Multi-fingered Underactuated Tactile Robotic Hands

Christopher J. Ford, Haoran Li, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora

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

Comments 16 pages. 10 figures. Accepted in IEEE Transactions on Robotics, Special Section on Tactile Robotics

Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation

Sun Zhaole, Xiao Gao, Xiaofeng Mao, Jihong Zhu, Aude Billard, Robert B. Fisher

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

Comments 17 pages, 14 figures, Project Link:https://sites.google.com/view/dexterous-cable-manipulation/home

Underactuated dexterous robotic grasping with reconfigurable passive joints

Marek Kopicki, Sainul Islam Ansary, Simone Tolomei, Franco Angelini, Manolo Garabini, Piotr Skrzypczyński

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

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 1, pp. 48-55, Jan. 2025