机器人 / 具身智能

Knowledge-Driven Imitation Learning: Enabling Generalization Across Diverse Conditions

Zhuochen Miao, Jun Lv, Hongjie Fang, Yang Jin, Cewu Lu

机构 * Shanghai Jiao Tong University（上海交通大学） ； Shanghai Innovation Institution（上海创新研究所） ； Shanghai Noematrix Intelligence Technology Ltd（上海Noematrix智能科技有限公司） 纠错

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

Comments IROS 2025

HOIverse: A Synthetic Scene Graph Dataset With Human Object Interactions

Mrunmai Vivek Phatak, Julian Lorenz, Nico Hörmann, Jörg Hähner, Rainer Lienhart

机构 * Computer Vision Lab Universität Augsburg（计算机视觉实验室，乌尔姆大学） ； Organic Computing Lab Universität Augsburg（有机计算实验室，乌尔姆大学） 纠错

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

InternSpatial: A Comprehensive Dataset for Spatial Reasoning in Vision-Language Models

Nianchen Deng, Lixin Gu, Shenglong Ye, Yinan He, Zhe Chen, Songze Li, Haomin Wang, Xingguang Wei, Tianshuo Yang, Min Dou, Tong He, Wenqi Shao, Kaipeng Zhang, Yi Wang, Botian Shi, Yanting Zhang, Jifeng Dai, Yu Qiao, Hongjie Zhang, Wenhai Wang

机构 * Shanghai AI Laboratory（上海人工智能实验室） ； The Chinese University of Hong Kong（香港中文大学） ； University of Science and Technology of China（中国科学技术大学） ； Shanghai Jiao Tong University（上海交通大学） ； Donghua University（东华大学） ； Nanjing University（南京大学） ； Tsinghua University（清华大学） 纠错

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

Back to Newton's Laws: Learning Vision-based Agile Flight via Differentiable Physics

Yuang Zhang, Yu Hu, Yunlong Song, Danping Zou, Weiyao Lin

机构 * Shanghai Jiao Tong University（上海交通大学） 纠错

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

Journal ref Nature Machine Intellegence 2025

Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control

Albert H. Li, Brandon Hung, Aaron D. Ames, Jiuguang Wang, Simon Le Cleac'h, Preston Culbertson

机构 * Caltech（加州理工学院） ； RAI Institute（RAI研究院） 纠错

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

Comments Accepted at the 2025 RSS Workshop on Fast Motion Planning and Control in the Era of Parallelism. 5 Pages

ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models

Puhao Li, Yingying Wu, Ziheng Xi, Wanlin Li, Yuzhe Huang, Zhiyuan Zhang, Yinghan Chen, Jianan Wang, Song-Chun Zhu, Tengyu Liu, Siyuan Huang

机构 * Tsinghua University（清华大学） ； State Key Lab of General Artificial Intelligence, BIGAI（通用人工智能国家重点实验室，BIGAI） ； Peking University（北京大学） ； Astribot Inc.（Astribot公司） 纠错

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

Comments Website: https://controlvla.github.io

LBAP: Improved Uncertainty Alignment of LLM Planners using Bayesian Inference

James F. Mullen, Dinesh Manocha

机构 * University of Maryland, College Park（马里兰大学学院公园分校） 纠错

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

RationalVLA: A Rational Vision-Language-Action Model with Dual System

Wenxuan Song, Jiayi Chen, Wenxue Li, Xu He, Han Zhao, Can Cui, Pengxiang Ding Shiyan Su, Feilong Tang, Xuelian Cheng, Donglin Wang, Zongyuan Ge, Xinhu Zheng, Zhe Liu, Hesheng Wang, Haoang Li

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） ； Westlake University（西湖大学） ； Monash University（墨尔本大学） ； Shanghai Jiao Tong University（上海交通大学） 纠错

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

Comments 14 pages

CHIP: A multi-sensor dataset for 6D pose estimation of chairs in industrial settings

Mattia Nardon, Mikel Mujika Agirre, Ander González Tomé, Daniel Sedano Algarabel, Josep Rueda Collell, Ana Paola Caro, Andrea Caraffa, Fabio Poiesi, Paul Ian Chippendale, Davide Boscaini

机构 * FBK-TeV ； Ikerlan ； Andreu World 纠错

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

Comments Technical report

Sim-to-Real Causal Transfer: A Metric Learning Approach to Causally-Aware Interaction Representations

Ahmad Rahimi, Po-Chien Luan, Yuejiang Liu, Frano Rajič, Alexandre Alahi

机构 * École Polytechnique Fédérale de Lausanne（瑞士联邦理工学院） ； Stanford University（斯坦福大学） ； ETH Zurich（苏黎世联邦理工学院） 纠错

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

Comments CVPR 2025

Dreamland: Controllable World Creation with Simulator and Generative Models

Sicheng Mo, Ziyang Leng, Leon Liu, Weizhen Wang, Honglin He, Bolei Zhou

机构 * University of California, Los Angeles（加州大学洛杉矶分校） 纠错

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

Comments Project Page: https://metadriverse.github.io/dreamland/

FLIP: Flowability-Informed Powder Weighing

Nikola Radulov, Alex Wright, Thomas Little, Andrew I. Cooper, Gabriella Pizzuto

机构 * University of Liverpool（利物浦大学） 纠错

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

Comments Paper video can be found at https://youtu.be/pVwqjzgT0Co

QueryCAD: Grounded Question Answering for CAD Models

Claudius Kienle, Benjamin Alt, Darko Katic, Rainer Jäkel, Jan Peters

机构 * ArtiMinds Robotics ； IAS Lab, Computer Science Department, TU Darmstadt（IAS实验室，计算机科学系，图腾斯泰特大学） ； AICOR Institute for Artificial Intelligence, University of Bremen（AICOR人工智能研究所，不莱梅大学） ； Stuttgart University of Applied Sciences（斯图加特应用科学大学） 纠错

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

SwitchVLA: Execution-Aware Task Switching for Vision-Language-Action Models

Meng Li, Zhen Zhao, Zhengping Che, Fei Liao, Kun Wu, Zhiyuan Xu, Pei Ren, Zhao Jin, Ning Liu, Jian Tang

机构 * Beijing Innovation Center of Humanoid Robotics（北京人形机器人创新中心） 纠错

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

Comments Website: https://switchvla.github.io

MVTD: A Benchmark Dataset for Maritime Visual Object Tracking

Ahsan Baidar Bakht, Muhayy Ud Din, Sajid Javed, Irfan Hussain

机构 * Khalifa University Center for Autonomous Robotic Systems (KUCARS)（卡利法大学自主机器人系统中心） ； Khalifa University（卡利法大学） 纠错

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

Comments Submited to Nature Scientific Data

MTevent: A Multi-Task Event Camera Dataset for 6D Pose Estimation and Moving Object Detection

Shrutarv Awasthi, Anas Gouda, Sven Franke, Jérôme Rutinowski, Frank Hoffmann, Moritz Roidl

机构 * TU Dortmund（图卢兹大学多特蒙德分校） ； Lamarr Institute for Machine Learning and Artificial Intelligence（拉玛尔机器学习与人工智能研究所） 纠错

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

Comments Accepted at 2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW); Fifth International Workshop on Event-Based Vision

Journal ref IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Nashville, 2025

MINDSTORES: Memory-Informed Neural Decision Synthesis for Task-Oriented Reinforcement in Embodied Systems

Anirudh Chari, Suraj Reddy, Aditya Tiwari, Richard Lian, Brian Zhou

机构 * Massachusetts Institute of Technology（麻省理工学院） ； Illinois Mathematics and Science Academy（伊利诺伊数学与科学学院） ； Harvard University（哈佛大学） 纠错

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

Category-Level 6D Object Pose Estimation in Agricultural Settings Using a Lattice-Deformation Framework and Diffusion-Augmented Synthetic Data

Marios Glytsos, Panagiotis P. Filntisis, George Retsinas, Petros Maragos

机构 * Robotics Institute, Athena Research and Innovation Center（机器人研究所，雅典研究与创新中心） 纠错

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

Comments 7 pages, 4 figures. Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025. This work has been submitted to the IEEE for possible publication

Classification of assembly tasks combining multiple primitive actions using Transformers and xLSTMs

Miguel Neves, Pedro Neto

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

CityEQA: A Hierarchical LLM Agent on Embodied Question Answering Benchmark in City Space

Yong Zhao, Kai Xu, Zhengqiu Zhu, Yue Hu, Zhiheng Zheng, Yingfeng Chen, Yatai Ji, Chen Gao, Yong Li, Jincai Huang

机构 * National University of Defense Technology（国防科技大学） ； Tsinghua University（清华大学） 纠错

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

Spatial-LLaVA: Enhancing Large Language Models with Spatial Referring Expressions for Visual Understanding

Xuefei Sun, Doncey Albin, Cecilia Mauceri, Dusty Woods, Christoffer Heckman

机构 * Autonomous Robotics and Perception Group in the Computer Science Department at the University of Colorado Boulder（科罗拉多大学波德分校计算机科学系自主机器人与感知小组） 纠错

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

Ethical Aspects of the Use of Social Robots in Elderly Care -- A Systematic Qualitative Review

Marianne Leineweber, Clara Victoria Keusgen, Marc Bubeck, Joschka Haltaufderheide, Robert Ranisch, Corinna Klingler

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

Comments 93 pages, 1 figure, 5 tables, 3 suplements

CAST: Component-Aligned 3D Scene Reconstruction from an RGB Image

Kaixin Yao, Longwen Zhang, Xinhao Yan, Yan Zeng, Qixuan Zhang, Wei Yang, Lan Xu, Jiayuan Gu, Jingyi Yu

机构 * ShanghaiTech University（上海科技大学） ； Deemos Technology Co., Ltd.（德摩斯科技有限公司） ； Huazhong University of Science and Technology（华中科技大学） 纠错

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

Comments Project Page: https://sites.google.com/view/cast4

Simulation Based Control Architecture Using Webots and Simulink

Harun Kurt, Ahmet Cayir, Kadir Erkan

机构 * Yıldız Technical University, Department of Mechatronics Engineering（Yıldız技术大学机械电子工程系） 纠错

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

Comments This work has been developed on Webots and Simulink Relationship

LMDepth: Lightweight Mamba-based Monocular Depth Estimation for Real-World Deployment

Jiahuan Long, Xin Zhou

机构 * Shanghai Jiao Tong University（上海交通大学） ； University of Electronic Science and Technology of China（电子科技大学） 纠错

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

BRIGHT-VO: Brightness-Guided Hybrid Transformer for Visual Odometry with Multi-modality Refinement Module

Dongzhihan Wang, Yang Yang, Liang Xu

机构 * Shanghai University（上海大学） 纠错

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

Detecting socially interacting groups using f-formation: A survey of taxonomy, methods, datasets, applications, challenges, and future research directions

Hrishav Bakul Barua, Theint Haythi Mg, Pradip Pramanick, Chayan Sarkar

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

Comments Preprint submitted for Review

Know Where You're Uncertain When Planning with Multimodal Foundation Models: A Formal Framework

Neel P. Bhatt, Yunhao Yang, Rohan Siva, Daniel Milan, Ufuk Topcu, Zhangyang Wang

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

Comments Fine-tuned models, code, and datasets are available at https://uncertainty-in-planning.github.io/

CleanMAP: Distilling Multimodal LLMs for Confidence-Driven Crowdsourced HD Map Updates

Ankit Kumar Shaw, Kun Jiang, Tuopu Wen, Chandan Kumar Sah, Yining Shi, Mengmeng Yang, Diange Yang, Xiaoli Lian

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

Comments Kun Jiang, Mengmeng Yang and Diange Yang are Corresponding Author. The main paper and supplementary material are both included here, total 23 pages (main paper is 10 pages and supplementary material is 13 pages), total 17 figures (6 figures in main paper and 11 figures in supplementary material), this paper is Accepted to CVPR WDFM-AD Workshop 2025, The code will be available at https://Ankit-Zefan.github.io/CleanMap/

Fast and Accurate Task Planning using Neuro-Symbolic Language Models and Multi-level Goal Decomposition

Minseo Kwon, Yaesol Kim, Young J. Kim

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