世界模型 - arXivDaily 专题

2510.22699 2025-10-28 cs.RO 50%

RL-AVIST: Reinforcement Learning for Autonomous Visual Inspection of Space Targets

Matteo El-Hariry, Andrej Orsula, Matthieu Geist, Miguel Olivares-Mendez

机构 * Earth Species Project（地球物种计划）

专题命中具身与机器人：model-based RL(abstract)；分类 cs.RO

2510.08568 2025-10-10 cs.RO cs.AI cs.CV 50%

NovaFlow: Zero-Shot Manipulation via Actionable Flow from Generated Videos

Hongyu Li, Lingfeng Sun, Yafei Hu, Duy Ta, Jennifer Barry, George Konidaris, Jiahui Fu

机构 * Robotics and AI Institute（机器人与人工智能研究所）； Brown University（布朗大学）

专题命中具身与机器人：分类 cs.AI、cs.CV、cs.RO；dynamics model(abstract)

2510.04171 2025-10-07 cs.RO 50%

VBM-NET: Visual Base Pose Learning for Mobile Manipulation using Equivariant TransporterNet and GNNs

Lakshadeep Naik, Adam Fischer, Daniel Duberg, Danica Kragic

机构 * KTH Royal Institute of Technology（皇家理工学院）

专题命中具身与机器人：environment model(abstract)；分类 cs.RO

2509.19041 2025-09-24 cs.HC 50%

Position: Human-Robot Interaction in Embodied Intelligence Demands a Shift From Static Privacy Controls to Dynamic Learning

Shuning Zhang, Hong Jia, Simin Li, Ting Dang, Yongquan `Owen' Hu, Xin Yi, Hewu Li

专题命中具身与机器人：world model(comments)；world models(comments)；world model(comments)；world models(comments)

Comments To be published in NeurIPS 2025 Workshop on Bridging Language, Agent, and World Models for Reasoning and Planning

2509.06714 2025-09-09 cs.LG 50%

RT-HCP: Dealing with Inference Delays and Sample Efficiency to Learn Directly on Robotic Platforms

Zakariae El Asri, Ibrahim Laiche, Clément Rambour, Olivier Sigaud, Nicolas Thome

机构 * Sorbonne Université, CNRS, ISIR（索邦大学、法国国家科学研究中心、ISIR研究所）； Institut Universitaire de France (IUF)（法国大学机构（IUF））

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.LG

Comments IROS 2025

2508.17070 2025-08-26 cs.RO 50%

LaGarNet: Goal-Conditioned Recurrent State-Space Models for Pick-and-Place Garment Flattening

Halid Abdulrahim Kadi, Kasim Terzić

机构 * School of Computer Science, University of St Andrews（计算机科学学院，圣安德鲁大学）

专题命中具身与机器人：latent dynamics(abstract)；分类 cs.RO

Comments 20 pages, 11 figures and 3 tables

2508.15755 2025-08-22 cs.RO cs.AI cs.GR cs.LG 50%

Neural Robot Dynamics

Jie Xu, Eric Heiden, Iretiayo Akinola, Dieter Fox, Miles Macklin, Yashraj Narang

机构 * NVIDIA（NVIDIA公司）； University of Washington（华盛顿大学）

专题命中具身与机器人：分类 cs.AI、cs.LG、cs.RO；dynamics model(abstract)

2507.12768 2025-07-18 cs.CV cs.LG cs.RO 50%

AnyPos: Automated Task-Agnostic Actions for Bimanual Manipulation

Hengkai Tan, Yao Feng, Xinyi Mao, Shuhe Huang, Guodong Liu, Zhongkai Hao, Hang Su, Jun Zhu

机构 * Dept. of Comp. Sci. and Tech.（计算机科学与技术系）； Institute for AI（人工智能研究院）； BNRist Center（BNRist中心）； THBI Lab（THBI实验室）； Tsinghua-Bosch Joint ML Center（清华大学-博世联合机器学习中心）； Tsinghua University（清华大学）

专题命中具身与机器人：分类 cs.LG、cs.CV、cs.RO；dynamics model(abstract)

2411.18562 2025-06-18 cs.RO cs.CV cs.LG 50%

DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation

Zhixuan Liang, Yao Mu, Yixiao Wang, Tianxing Chen, Wenqi Shao, Wei Zhan, Masayoshi Tomizuka, Ping Luo, Mingyu Ding

专题命中具身与机器人：分类 cs.LG、cs.CV、cs.RO；dynamics model(abstract)

Comments Accepted by CVPR 2025. Camera ready version. Previous DexDiffuser. Project page: https://dexdiffuser.github.io/

2505.12450 2025-05-20 cs.RO 50%

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）

专题命中具身与机器人：environment model(abstract)；分类 cs.RO

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

2504.08604 2025-04-14 cs.RO cs.AI cs.LG cs.SY eess.SY 50%

Neural Fidelity Calibration for Informative Sim-to-Real Adaptation

Youwei Yu, Lantao Liu

专题命中具身与机器人：分类 cs.AI、cs.LG、cs.RO；simulation model(abstract)

2412.16346 2025-03-24 cs.RO cs.CV cs.LG cs.SY eess.SY 50%

SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum

JunEn Low, Maximilian Adang, Javier Yu, Keiko Nagami, Mac Schwager

专题命中具身与机器人：分类 cs.LG、cs.CV、cs.RO；dynamics model(abstract)

2403.01529 2025-02-28 cs.RO cs.SY eess.SY 50%

Deep Incremental Model Informed Reinforcement Learning for Continuous Robotic Control

Cong Li

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.RO

2502.15162 2025-02-24 cs.RO 50%

Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles

Ruofei Bai, Shenghai Yuan, Kun Li, Hongliang Guo, Wei-Yun Yau, Lihua Xie

专题命中具身与机器人：environment model(abstract)；分类 cs.RO

Comments 8 pages, 9 figures, accepted by IEEE ICRA 2025

2502.00543 2025-02-04 cs.RO cs.CV cs.LG 50%

VertiFormer: A Data-Efficient Multi-Task Transformer for Off-Road Robot Mobility

Mohammad Nazeri, Anuj Pokhrel, Alexandyr Card, Aniket Datar, Garrett Warnell, Xuesu Xiao

专题命中具身与机器人：分类 cs.LG、cs.CV、cs.RO；dynamics model(abstract)

Comments 9 figures, url: https://github.com/mhnazeri/VertiFormer

2412.13729 2024-12-25 cs.RO cs.HC cs.LG 50%

THÖR-MAGNI Act: Actions for Human Motion Modeling in Robot-Shared Industrial Spaces

Tiago Rodrigues de Almeida, Tim Schreiter, Andrey Rudenko, Luigi Palmieiri, Johannes A. Stork, Achim J. Lilienthal

专题命中具身与机器人：分类 cs.LG、cs.RO；predictive model(abstract)；predictive models(abstract)

Comments This paper has been accepted to the the 20th edition of the IEEE/ACM International Conference on Human-Robot Interaction (HRI'25), which will be held in Melbourne, Australia on March 4-6, 2025. Code: https://github.com/tmralmeida/thor-magni-actions

2412.11360 2024-12-17 cs.RO cs.AI cs.CV 50%

Visual IRL for Human-Like Robotic Manipulation

Ehsan Asali, Prashant Doshi

专题命中具身与机器人：分类 cs.AI、cs.CV、cs.RO；dynamics model(abstract)

2409.08222 2024-10-01 cs.GT cs.RO 50%

Multi-Robot Coordination Induced in an Adversarial Graph-Traversal Game

James Berneburg, Xuan Wang, Xuesu Xiao, Daigo Shishika

专题命中具身与机器人：environment model(abstract)；分类 cs.RO

Comments 8 pages, 8 figures

2407.14758 2024-07-23 cs.CV 50%

DISCO: Embodied Navigation and Interaction via Differentiable Scene Semantics and Dual-level Control

Xinyu Xu, Shengcheng Luo, Yanchao Yang, Yong-Lu Li, Cewu Lu

专题命中具身与机器人：environment model(abstract)；分类 cs.CV

Comments ECCV 2024

2402.18866 2024-06-05 cs.LG 50%

Dr. Strategy: Model-Based Generalist Agents with Strategic Dreaming

Hany Hamed, Subin Kim, Dongyeong Kim, Jaesik Yoon, Sungjin Ahn

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.LG

Comments First two authors contributed equally

2310.08602 2024-04-30 cs.RO cs.AI cs.LG 50%

Safe Deep Policy Adaptation

Wenli Xiao, Tairan He, John Dolan, Guanya Shi

专题命中具身与机器人：分类 cs.AI、cs.LG、cs.RO；dynamics model(abstract)

Comments ICRA 2024

2404.08006 2024-04-15 cs.RO cs.AI cs.LG math.OC 50%

Learning Efficient and Fair Policies for Uncertainty-Aware Collaborative Human-Robot Order Picking

Igor G. Smit, Zaharah Bukhsh, Mykola Pechenizkiy, Kostas Alogariastos, Kasper Hendriks, Yingqian Zhang

专题命中具身与机器人：分类 cs.AI、cs.LG、cs.RO；simulation model(abstract)

2310.17552 2024-03-11 cs.RO cs.AI cs.LG 50%

Model-Based Runtime Monitoring with Interactive Imitation Learning

Huihan Liu, Shivin Dass, Roberto Martín-Martín, Yuke Zhu

专题命中具身与机器人：分类 cs.AI、cs.LG、cs.RO；dynamics model(abstract)

2308.14947 2024-03-01 cs.RO cs.LG cs.MA 50%

Improving Generalization in Reinforcement Learning Training Regimes for Social Robot Navigation

Adam Sigal, Hsiu-Chin Lin, AJung Moon

专题命中具身与机器人：分类 cs.LG、cs.RO、cs.MA；dynamics model(abstract)

Comments NeurIPS 2023 Workshop on Generalization in Planning, 2023

2210.01426 2024-02-08 cs.AI cs.LG cs.RO 50%

Continuous Monte Carlo Graph Search

Kalle Kujanpää, Amin Babadi, Yi Zhao, Juho Kannala, Alexander Ilin, Joni Pajarinen

专题命中具身与机器人：分类 cs.AI、cs.LG、cs.RO；dynamics model(abstract)

Comments Accepted at AAMAS 2024 (full paper & oral)

2312.01473 2023-12-05 cs.LG 50%

Regularity as Intrinsic Reward for Free Play

Cansu Sancaktar, Justus Piater, Georg Martius

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.LG

Comments NeurIPS 2023 camera-ready version. Project webpage at http://sites.google.com/view/rair-project

2307.14272 2023-07-27 cs.RO 50%

Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing

Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A. W. Barton, Nathan F. Lepora

专题命中具身与机器人：model-based RL(abstract)；分类 cs.RO

Comments Accepted by IEEE Robotics and Automation Letters (RA-L)

2303.03675 2023-07-27 cs.RO 50%

End-to-End Learning of Deep Visuomotor Policy for Needle Picking

Hongbin Lin, Bin Li, Xiangyu Chu, Qi Dou, Yunhui Liu, Kwok Wai Samuel Au

专题命中具身与机器人：model-based reinforcement learning(abstract)；分类 cs.RO

Comments Accepted by IROS 2023

2306.16700 2023-07-03 cs.RO cs.CV cs.LG 50%

Dynamic-Resolution Model Learning for Object Pile Manipulation

Yixuan Wang, Yunzhu Li, Katherine Driggs-Campbell, Li Fei-Fei, Jiajun Wu

专题命中具身与机器人：分类 cs.LG、cs.CV、cs.RO；dynamics model(abstract)

Comments Accepted to Robotics: Science and Systems (RSS) 2023. The first two authors contributed equally. Project Page: https://robopil.github.io/dyn-res-pile-manip

2306.14601 2023-06-27 cs.RO cs.CV cs.LG 50%

Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception

Junwon Seo, Jungwi Mun, Taekyung Kim

专题命中具身与机器人：分类 cs.LG、cs.CV、cs.RO；dynamics model(abstract)

Comments RSS 2023 Workshop on Inference and Decision Making for Autonomous Vehicles (IDMAV)

1. 具身与机器人 510 篇

RL-AVIST: Reinforcement Learning for Autonomous Visual Inspection of Space Targets

NovaFlow: Zero-Shot Manipulation via Actionable Flow from Generated Videos

VBM-NET: Visual Base Pose Learning for Mobile Manipulation using Equivariant TransporterNet and GNNs

Position: Human-Robot Interaction in Embodied Intelligence Demands a Shift From Static Privacy Controls to Dynamic Learning

RT-HCP: Dealing with Inference Delays and Sample Efficiency to Learn Directly on Robotic Platforms

LaGarNet: Goal-Conditioned Recurrent State-Space Models for Pick-and-Place Garment Flattening

Neural Robot Dynamics

AnyPos: Automated Task-Agnostic Actions for Bimanual Manipulation

DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation

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

Neural Fidelity Calibration for Informative Sim-to-Real Adaptation

SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum

Deep Incremental Model Informed Reinforcement Learning for Continuous Robotic Control

Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles

VertiFormer: A Data-Efficient Multi-Task Transformer for Off-Road Robot Mobility

THÖR-MAGNI Act: Actions for Human Motion Modeling in Robot-Shared Industrial Spaces

Visual IRL for Human-Like Robotic Manipulation

Multi-Robot Coordination Induced in an Adversarial Graph-Traversal Game

DISCO: Embodied Navigation and Interaction via Differentiable Scene Semantics and Dual-level Control

Dr. Strategy: Model-Based Generalist Agents with Strategic Dreaming

Safe Deep Policy Adaptation

Learning Efficient and Fair Policies for Uncertainty-Aware Collaborative Human-Robot Order Picking

Model-Based Runtime Monitoring with Interactive Imitation Learning

Improving Generalization in Reinforcement Learning Training Regimes for Social Robot Navigation

Continuous Monte Carlo Graph Search

Regularity as Intrinsic Reward for Free Play

Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing

End-to-End Learning of Deep Visuomotor Policy for Needle Picking

Dynamic-Resolution Model Learning for Object Pile Manipulation

Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception