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标签: manipulation
此标签下有46条笔记。
2026年7月16日
具身智能技术演进调研（2017 → 2026）· 主汇总
embodied-ai
vla
manipulation
humanoid
locomotion
navigation
robot-learning
simulation
teleoperation
survey
2026年7月16日
RLBench: The Robot Learning Benchmark & Learning Environment
robot-learning
manipulation
benchmark
simulation
few-shot
imitation-learning
coppeliasim
pyrep
franka-panda
ra-l
2026年7月16日
SAPIEN: A SimulAted Part-based Interactive ENvironment
simulator
articulated-objects
partnet-mobility
physx
ros
manipulation
sim-to-real
embodied-ai
part-level
benchmark
类别
模型
可动部件
2026年7月16日
CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks
benchmark
language-conditioned
manipulation
long-horizon
imitation-learning
play-data
pybullet
franka
2026年7月16日
Implicit Behavioral Cloning (IBC)
imitation-learning
behavioral-cloning
energy-based-model
implicit-policy
multimodal
manipulation
d4rl
corl2021
2026年7月16日
ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations
sim-infra
manipulation
benchmark
sapien
partnet-mobility
point-cloud
learning-from-demonstrations
reinforcement-learning
generalization
2026年7月16日
Behavior Transformers: Cloning k modes with one stone
behavior-cloning
imitation-learning
multimodal-action
action-discretization
transformer
minGPT
offline-learning
k-means
manipulation
2026年7月16日
PerAct: Perceiver-Actor, a Multi-Task Transformer for Robotic Manipulation
manipulation
voxel-action
keyframe
perceiver-transformer
behavior-cloning
language-conditioned
6-dof
rlbench
2026年7月16日
Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation
manipulation
3d-feature-field
keypose-detection
ghost-points
coarse-to-fine
relative-attention
rotary-position-embedding
clip-backbone
rlbench
action-detection
2026年7月16日
ChainedDiffuser: Unifying Trajectory Diffusion and Keypose Prediction for Robotic Manipulation
manipulation
trajectory-diffusion
keypose-prediction
act3d
ddpm
rlbench
hierarchical-policy
imitation-learning
corl2023
2026年7月16日
cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
motion-generation
trajectory-optimization
inverse-kinematics
gpu-parallel
cuda
collision-checking
l-bfgs
geometric-planning
manipulation
nvidia-isaac
2026年7月16日
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
diffusion-policy
imitation-learning
behavior-cloning
action-diffusion
ddpm
action-chunking
receding-horizon
multimodal-action
visuomotor
manipulation
D-Params
V-Params
PH
2026年7月16日
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
imitation-learning
data-generation
manipulation
robomimic
object-centric
synthetic-data
behavioral-cloning
robosuite
2026年7月16日
RoboCat: A Self-Improving Foundation Agent for Robotic Manipulation
robocat
self-improvement
goal-conditioned
gato
vq-gan
decision-transformer
multi-embodiment
cross-embodiment
hindsight-goals
foundation-agent
manipulation
2026年7月16日
Robot Learning in the Era of Foundation Models: A Survey
survey
foundation-models
robot-learning
manipulation
navigation
task-planning
reasoning
embodied-ai
taxonomy
simulators
datasets
2026年7月16日
RVT: Robotic View Transformer for 3D Object Manipulation
manipulation
multi-view-transformer
orthographic-rendering
point-cloud
virtual-views
keypose-prediction
rlbench
behavior-cloning
language-conditioned
view-based-policy
2026年7月16日
Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition
llm-planning
data-generation
diffusion-policy
language-conditioned
sampling-based-planning
verify-and-retry
sim2real
multi-task
manipulation
2026年7月16日
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
manipulation
diffusion-policy
3d-scene-representation
relative-attention
rope
keypose
rlbench
calvin
imitation-learning
embodied-ai
2026年7月16日
AdaFlow: Imitation Learning with Variance-Adaptive Flow-Based Policies
manipulation
imitation-learning
flow-matching
rectified-flow
diffusion-policy
adaptive-inference
variance-estimation
ode-solver
behavioral-cloning
neurips-2024
2026年7月16日
GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation
vla
video-generation
generative-pretraining
world-model
manipulation
cvae
action-chunking
calvin
bin-picking
bytedance
2026年7月16日
Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation
manipulation
diffusion-policy
consistency-models
consistency-distillation
edm
ctm
low-latency-inference
action-chunking
imitation-learning
rss-2024
2026年7月16日
Data Scaling Laws in Imitation Learning for Robotic Manipulation
imitation-learning
data-scaling-laws
diffusion-policy
umi
manipulation
generalization
dinov2
embodied-ai
iclr-2025
2026年7月16日
3D Diffusion Policy (DP3): Generalizable Visuomotor Policy Learning via Simple 3D Representations
diffusion-policy
imitation-learning
point-cloud
manipulation
dexterous-hand
3d-representation
visuomotor
sample-efficiency
RSS2024
任务
演示/任务
2026年7月16日
DPPO: Diffusion Policy Policy Optimization
manipulation
diffusion-policy
reinforcement-learning
ppo
policy-gradient
rl-finetuning
sim-to-real
action-chunking
ddim
embodied-ai
2026年7月16日
Equivariant Diffusion Policy
diffusion-policy
equivariance
SO2-symmetry
imitation-learning
manipulation
sample-efficiency
escnn
mimicgen
CoRL2024
2026年7月16日
Generative Image as Action Models
manipulation
diffusion-model
controlnet
stable-diffusion
action-representation
act
behavior-cloning
rlbench
visuomotor
image-generation
2026年7月16日
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation
manipulation
diffusion-policy
hierarchical-policy
differentiable-kinematics
next-best-pose
rlbench
perceiver-actor
real-robot
imitation-learning
embodied-ai
2026年7月16日
iDP3: Generalizable Humanoid Manipulation with 3D Diffusion Policies
humanoid
manipulation
3d-diffusion-policy
imitation-learning
point-cloud
egocentric
teleoperation
generalization
2026年7月16日
ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation
consistency-model
diffusion-policy
distillation
point-cloud
real-time-control
imitation-learning
manipulation
one-step-inference
2026年7月16日
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
sim-infra
gpu-simulation
parallel-rendering
robot-learning
manipulation
sim2real
real2sim
sapien
benchmark
rl
2026年7月16日
Efficient Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask Learning
manipulation
diffusion-policy
mixture-of-experts
noise-conditioned-routing
expert-caching
calvin
libero
imitation-learning
iclr-2025
embodied-ai
2026年7月16日
Octo: An Open-Source Generalist Robot Policy
generalist-robot-policy
cross-embodiment
diffusion-policy
transformer-policy
open-x-embodiment
action-chunking
goal-conditioning
imitation-learning
manipulation
open-source
2026年7月16日
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
manipulation
keypoint-constraints
vlm
gpt-4o
dinov2
constrained-optimization
training-free
closed-loop
bimanual
code-as-policy
2026年7月16日
RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective
manipulation
imitation-learning
point-cloud
sparse-convolution
minkowski-engine
diffusion-policy
transformer
real-world-robot
iros2024
2026年7月16日
RVT-2: Learning Precise Manipulation from Few Demonstrations
manipulation
multi-view-transformer
coarse-to-fine
point-renderer
keypose-prediction
rlbench
few-shot
precision-manipulation
behavior-cloning
2026年7月16日
SAM-E: Leveraging Visual Foundation Model with Sequence Imitation for Embodied Manipulation
manipulation
segment-anything
visual-foundation-model
lora
multi-view-transformer
action-chunking
rlbench
few-shot-adaptation
behavior-cloning
keypose-prediction
2026年7月16日
Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation
manipulation
predictive-inverse-dynamics
visual-foresight
end-to-end
droid
calvin
libero
imitation-learning
scalability
embodied-ai
2026年7月16日
SGRv2: Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation
manipulation
action-locality
point-wise-features
sample-efficiency
imitation-learning
rlbench
maniskill2
mimicgen
keyframe-control
dense-control
2026年7月16日
Evaluating Real-World Robot Manipulation Policies in Simulation (SIMPLER)
benchmark
real2sim
manipulation
vla
policy-evaluation
sapien
maniskill
google-robot
widowx
bridge
2026年7月16日
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning
manipulation
diffusion-policy
mixture-of-experts
multitask-learning
continual-learning
task-transfer
catastrophic-forgetting
imitation-learning
corl-2024
2026年7月16日
Streaming Diffusion Policy: Fast Policy Synthesis with Variable Noise Diffusion Models
manipulation
diffusion-policy
action-buffer
per-token-noise
low-latency-inference
closed-loop-control
imitation-learning
action-chunking
icra-2025
tedi
2026年7月16日
MuJoCo Playground: An Open-Source Framework for GPU-Accelerated Robot Learning and Sim-to-Real Transfer
sim-infra
mjx
mujoco
gpu-simulation
sim-to-real
reinforcement-learning
madrona
batch-rendering
locomotion
manipulation
2026年7月16日
UniVLA: Learning to Act Anywhere with Task-centric Latent Actions
vla
latent-action
vq-vae
cross-embodiment
dinov2
prismatic-vlm
navigation
manipulation
human-video
libero
calvin
r2r
rss-2025
2026年7月16日
A Comprehensive Survey on World Models for Embodied AI
survey
world-models
embodied-ai
taxonomy
autonomous-driving
manipulation
navigation
occupancy-forecasting
evaluation-metrics
dataset
2026年7月16日
操作策略族（Diffusion Policy · ACT/ALOHA · 3D 策略 · 流匹配 · 动作表征）
manipulation
diffusion-policy
action-chunking
3d-policy
flow-matching
consistency-model
action-representation
imitation-learning
deep-dive
2026年7月16日
具身智能评测（LIBERO/SimplerEnv/CALVIN/Meta-World · 真机成功率 · 泛化）
embodied
benchmark
evaluation
manipulation
generalization
sim-to-real
real2sim
libero
calvin
simpler-env
metaworld
maniskill
reproducibility