机器人 / 具身智能

Hybrid Training for Vision-Language-Action Models

视觉-语言-动作模型的混合训练

Pietro Mazzaglia, Cansu Sancaktar, Markus Peschl, Daniel Dijkman

机构 * Qualcomm AI Research（高通AI研究） 纠错

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

AI总结 本文提出混合训练框架，旨在使视觉-语言-动作模型在推理时能够根据需要生成思考过程或直接预测动作，从而在保持性能提升的同时提高推理效率。

Comments Published as a conference paper at ICLR 2026

LLMPhy: Parameter-Identifiable Physical Reasoning Combining Large Language Models and Physics Engines

LLMPhy: 结合大语言模型和物理引擎的参数可识别物理推理

Anoop Cherian, Radu Corcodel, Siddarth Jain, Diego Romeres

机构 * Mitsubishi Electric Research Labs (MERL)（三菱电机研究实验室） 纠错

专题命中 机器人操作 ：manipulation(abstract)；world model(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结 LLMPhy通过整合大语言模型与物理引擎，解决复杂物理推理中参数识别问题，提出数字孪生构建方法，引入新数据集验证性能，实现更准确的参数恢复与稳定收敛。

Comments Accepted at AISTATS 2026

RePose-NeRF: Robust Radiance Fields for Mesh Reconstruction under Noisy Camera Poses

Sriram Srinivasan, Gautam Ramachandra

机构 * Bellatrix Aerospace（贝尔拉克斯航空航天） 纠错

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

Comments Several figures are included to illustrate the reconstruction and rendering quality of the proposed method, which is why the submission exceeds the 50MB file size limit. > Several figures are included to illustrate the reconstruction and rendering quality of the proposed method, which is why the submission exceeds the 50,000 KB file size limit (Now this has been resolved)

Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation

Akshaya Agrawal, Parker Mayer, Zachary Kingston, Geoffrey A. Hollinger

机构 * Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University（协作机器人与智能系统研究所，俄勒冈州立大学） ； Department of Computer Science, Purdue University（计算机科学系，普渡大学） 纠错

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

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

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA), pp. 7726-7732, 2025

Image-Based Visual Servoing for Enhanced Cooperation of Dual-Arm Manipulation

Zizhe Zhang, Yuan Yang, Wenqiang Zuo, Guangming Song, Aiguo Song, Yang Shi

机构 * Department of Electrical and System Engineering, University of Pennsylvania（电气与系统工程系，宾夕法尼亚大学） ； School of Instrument Science and Engineering, Southeast University（仪器科学与工程学院，东南大学） ； School of Materials Science and Engineering, Southeast University（材料科学与工程学院，东南大学） ； Department of Mechanical Engineering, University of Victoria（机械工程系，维多利亚大学） 纠错

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

Comments 8 pages, 7 figures. Project website: https://zizhe.io/ral-ibvs-enhanced/. This work has been accepted to the IEEE Robotics and Automation Letters in Feb 2025

Journal ref IEEE Robotics and Automation Letters 10 (2025) 3374-3381

Generalizing Multi-Objective Search via Objective-Aggregation Functions

Hadar Peer, Eyal Weiss, Ron Alterovitz, Oren Salzman

机构 * Technion, Israel Institute of Technology（技术学院，以色列理工学院） ； University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校） 纠错

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

EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos

Ruihan Yang, Qinxi Yu, Yecheng Wu, Rui Yan, Borui Li, An-Chieh Cheng, Xueyan Zou, Yunhao Fang, Xuxin Cheng, Ri-Zhao Qiu, Hongxu Yin, Sifei Liu, Song Han, Yao Lu, Xiaolong Wang

机构 * UC San Diego（加州大学圣地亚哥分校） ； UIUC（伊利诺伊大学香槟分校） ； MIT（麻省理工学院） ； NVIDIA（英伟达） 纠错

专题命中 机器人操作 ：manipulation(abstract)；robot policy(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments More videos can be found on our website: https://rchalyang.github.io/EgoVLA

IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion

Hongming Chen, Yiyang Lin, Ziliang Li, Biyu Ye, Yuying Zhang, Ximin Lyu

机构 * School of Intelligent Systems Engineering, Sun Yat-sen University（智能系统工程学院，中山大学） 纠错

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

OVAL-Prompt: Open-Vocabulary Affordance Localization for Robot Manipulation through LLM Affordance-Grounding

Edmond Tong, Anthony Opipari, Stanley Lewis, Zhen Zeng, Odest Chadwicke Jenkins

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

Comments Accepted to Vision-Language Models for Navigation and Manipulation (VLMNM) Workshop (ICRA 2024)

RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation

Guanrui Li, Xinyang Liu, Giuseppe Loianno

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

Comments This paper has been accepted for publication in the IEEE Transactions on Robotics (T-RO), 2024. Please cite the paper using appropriate formats

Journal ref IEEE Transactions on Robotics (T-RO), 2024

On Bringing Robots Home

Nur Muhammad Mahi Shafiullah, Anant Rai, Haritheja Etukuru, Yiqian Liu, Ishan Misra, Soumith Chintala, Lerrel Pinto

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

Comments Project website and videos are available at https://dobb-e.com, technical documentation for getting started is available at https://docs.dobb-e.com, and code is released at https://github.com/notmahi/dobb-e

Robots as AI Double Agents: Privacy in Motion Planning

Rahul Shome, Zachary Kingston, Lydia E. Kavraki

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

Comments To be published at at 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems

Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation

Teng Xue, Hakan Girgin, Teguh Santoso Lembono, Sylvain Calinon

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

Comments This paper has been accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA), London, 2023

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

Human-Multirobot Collaborative Mobile Manipulation: the Omnid Mocobots

Matthew L. Elwin, Billie Strong, Randy A. Freeman, Kevin M. Lynch

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

Comments 8 pages, 10 figures. Videos available at https://www.youtube.com/watch?v=SEuFfONryL0. Submitted to IEEE Robotics and Automation Letters (RA-L)

Journal ref IEEE Robotics and Automation Letters (RA-L), January 2023, Volume 8, Issue 1, Pages 376-383, ISSN 2377-3766

A Survey of Robot Manipulation in Contact

Markku Suomalainen, Yiannis Karayiannidis, Ville Kyrki

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

Comments Accepted for publication in Robotics and Autonomous Systems

Journal ref Robotics and Autonomous Systems, Volume 156, 2022, 104224, ISSN 0921-8890,

RBO Hand 3 -- A Platform for Soft Dexterous Manipulation

Steffen Puhlmann, Jason Harris, Oliver Brock

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

Comments This paper is currently under revision in IEEE Transactions on Robotics

Journal ref IEEE Transactions on Robotics, 2022

Certifiable Robot Design Optimization using Differentiable Programming

Charles Dawson, Chuchu Fan

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

Comments Accepted for RSS 2022

A Holistic Approach to Reactive Mobile Manipulation

Jesse Haviland, Niko Sünderhauf, Peter Corke

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

Comments IEEE Robotics and Automation Letters (RA-L). Preprint Version. Accepted January, 2022. The code and videos can be found at https://jhavl.github.io/holistic/

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3122-3129, April 2022

CLASH WRIST -- A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration

Werner Friedl, Maximo A. Roa

专题命中 机器人操作 ：robotics(abstract)；manipulation(abstract)；world model(abstract)；robotic(abstract)

Comments IROS 2019, Factory of the Future

Motion Control Simulations for a Magnetically-Coupled Bacterium and Robotic Arm

Ahmet Fatih Tabak

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

Comments International Conference on Manipulation, Automation and Robotics at Small Scales, 2020, Toronto, Canada (Submitted, Accepted, Corrected, to be submitted to MARSS2021)

An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

Karen Bodie, Maximilian Brunner, Michael Pantic, Stefan Walser, Patrick Pfändler, Ueli Angst, Roland Siegwart, Juan Nieto

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

Comments Accepted submission to Robotics: Science and Systems conference 2019. 9 pages, 12 figures

Journal ref Proceedings of Robotics: Science and Systems, 2019

Multimodal Sensing and Interaction for a Robotic Hand Orthosis

Sangwoo Park, Cassie Meeker, Lynne M. Weber, Lauri Bishop, Joel Stein, Matei Ciocarlie

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

Comments 8 pages. 9 Figures. IEEE Robotics and Automation Letters. Preprint version. Accepted Dec, 2018

Journal ref IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 315 - 322, April 2019

Learning Contact-Rich Manipulation Skills with Guided Policy Search

Sergey Levine, Nolan Wagener, Pieter Abbeel

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

Journal ref S. Levine, N. Wagener, P. Abbeel, "Learning Contact-Rich Manipulation Skills with Guided Policy Search," in International Conference on Robotics and Automation (ICRA), 2015

Manipulation in Clutter with Whole-Arm Tactile Sensing

Advait Jain, Marc D. Killpack, Aaron Edsinger, Charles C. Kemp

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

Comments This is the first version of a paper that we submitted to the International Journal of Robotics Research on December 31, 2011 and uploaded to our website on January 16, 2012

Journal ref The International Journal of Robotics Research April 2013 vol. 32 no. 4 pg. 458-482

GIRA: Gaussian Mixture Models for Inference and Robot Autonomy

Kshitij Goel, Wennie Tabib

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

Comments 2024 IEEE International Conference on Robotics and Automation (ICRA)

Using Local Experiences for Global Motion Planning

Constantinos Chamzas, Anshumali Shrivastava, Lydia E. Kavraki

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

Comments 6 pages, to appear in International Conference on Robotics and Automation (ICRA), 2019

Grasp2Vec: Learning Object Representations from Self-Supervised Grasping

Eric Jang, Coline Devin, Vincent Vanhoucke, Sergey Levine

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

Comments CoRL 2018. Eric Jang and Coline Devin contributed equally to this work

Journal ref Proceedings of The 2nd Conference on Robot Learning, in PMLR 87:99-112 (2018)

Reproducible Vision-Guided 6-DoF Robotic Manipulator with a Mixed Stepper-Driver Architecture and Browser-Native Control

可复现的视觉引导6自由度机械臂：混合步进电机驱动器架构与浏览器原生控制

Lasan Perera, Deneth Priyadarshana, Dulana Pitiwaduge, Isitha Dinujaya, Mokshan Colambage

机构 * University of Moratuwa（莫拉图瓦大学） 纠错

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

AI总结 该研究推出开源低成本6自由度机械臂NeuralNexus Arm，采用混合步进驱动器架构与浏览器原生控制，具备视觉引导自主抓取能力，所有设计开源且可复现。

Comments 13 pages, 16 figures, 7 tables. Design files and firmware: https://github.com/Lasan-Perera/6-dof-arm-neuralnexus

EMPIRE: Explicit Manipulation Planning as a Learnable Intermediate Representation for Egocentric Hand-Motion Forecasting

EMPIRE：将显式操作规划作为可学习中间表征用于自我中心视角下手运动预测

Wen Wang, Ruibing Hou, Hong Chang, Shiguang Shan, Xilin Chen

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

AI总结 该研究针对现有手运动预测方法忽略操作过程、梯度干扰的问题，提出两阶段框架EMPIRE，构建EMPIRE-651K数据集，实现了更优的手运动预测精度。

Comments 14 pages, 10 figures, 18 tables

WaveVerif: Acoustic Side-Channel based Verification of Robotic Workflows

WaveVerif：基于声学侧信道的机器人工作流验证

Zeynep Yasemin Erdogan, Shishir Nagaraja, Chuadhry Mujeeb Ahmed, Ryan Shah

机构 * Newcastle University（新castle大学） 纠错

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

AI总结 该研究提出WaveVerif框架，利用声学侧信道分析开发机器学习验证系统，可实时低成本无源验证机器人工作流，准确率超80%且无需硬件修改。

Comments 11 pages, 3 figures, Corresponding Author: Zeynep Yasemin Erdogan (z.y.erdogan2@newcastle.ac.uk)