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논문

새로 나온 로봇, 피지컬 AI 논문과, 각 논문이 업계에 갖는 의미.

논문 2편
주제전체Manipulation 27VLA 22Perception 12Robotics 11Navigation 10Humanoid 9Learning 8Safety 5World Action Models 4Simulation 3Aerial manipulation 2Dexterous manipulation 2Sim-to-Real Manipulation 2Social Navigation 2Vision-Language Navigation 2World models 2World-action model 23D Assembly 13DGS dataset 15G Simulation 1AMR Operations 1Active vision manipulation 1Adaptive MPC 1Adaptive action horizons 1Adaptive intervention 1Aerial 1Aerial Manipulation 1Aerial navigation 1Agricultural Robotics 1Articulation Estimation 1Autonomous Driving 1Autonomous Exploration 1Battery-aware RL 1Belief-space planning 1Bimanual Manipulation 1Byzantine localization 1Canal inspection 1Co-speech Humanoid 1Compositional Manipulation 1Construction navigation 1Contact-Rich Manipulation 1Contact-rich Manipulation 1Continuum sensing 1Curriculum RL 1Dexterous Manipulation 1Distributed Manipulation 1Distribution Shift 1Driving Simulation 1Efficient VIO 1Egocentric data 1Egocentric video 1Embodied Agents 1Embodied policy 1Empowerment MPC 1Endoscopic navigation 1Endovascular robotics 1Event-camera VO 1Exoskeletons 1Failure recovery 1Federated 3D Perception 1Fisheye detection 1Floorplan SLAM 1Geometry-aware manipulation 1Grasping 1Grounding 1Humanoid Control 1Humanoid RL 1Humanoid Tool Use 1Humanoid control 1Humanoid loco-manipulation 1Humanoid safety 1Imitation Learning 1JEPA World Models 1Lab automation 1Laboratory Manipulation 1Latent World Models 1Legged Manipulation 1LiDAR Security 1Lifelong RL 1Locomotion 1MAPF 1MAV guidance 1Manipulation LfD 1Manipulation Safety 1Marine simulation 1Memory-centric VLA 1Miniature Locomotion 1Mining Perception 1Mobile manipulation 1Model-based RL 1Monocular SSC 1Motion Planning 1Multi-Agent RL 1Multi-Robot Exploration 1Multi-Robot Manipulation 1Multi-UAV Exploration 1Multi-UAV State Estimation 1Multi-agent RL 1Multi-agent motion planning 1Multi-camera odometry 1Multi-fidelity RL 1Multi-robot manipulation 1Multi-skill Manipulation 1Multi-view perception 1Multimodal simulation 1Navigation & Mapping 1Object Pose Estimation 1Object Search 1Panoramic 3D Detection 1Panoramic segmentation 1Pedestrian tracking 1PersonNav 1Planning 1Policy 1Policy Optimization 1Preference Learning 1Quadruped locomotion 1Real-time VLA 1Real-to-sim 1Representation alignment 1Robot-Use Agents 1Runtime Verification 1Safe Generative Planning 1Safe RL-MPC 1Safe VLA 1Safety monitoring 1Safety-critical control 1Sim-to-real Navigation 1Sim-to-real manipulation 1Simulation geometry 1Skill Discovery 1Social navigation 1Soft Pneumatic Actuators 1Soft manipulation 1Sonar SLAM 1Streaming 3D reconstruction 1Submovement decomposition 1Surgical robotics 1Tactile 1Tactile Exploration 1Tactile VLA 1Temporal manipulation 1Terrain traversability 1Text-to-3D Policy 1Tool Co-Design 1Trajectory Correction 1Traversability 1UAV Navigation 1UAV Swarms 1UAV traffic monitoring 1Underwater Robotics 1Underwater active mapping 1Underwater perception 1Unified world-action model 1VLA Conditioning 1VLA Defense 1VLA Robustness 1VLA evaluation 1VLA manipulation 1VLA robustness 1Video world models 1Visual Generalization 1Visual Grounding 1Visual Reward Models 1Visuomotor Fusion 1Visuotactile manipulation 1World Models 1World-Action Models 1
난이도전체입문중급전문가
arXiv
World-action model중급

SkeleWAM, 로봇 관절, 물체 중심, 상호작용 점만으로 희소 3D 골격 세계-행동 모델링

Juyi Sheng, Hua Wang, Mengyuan Liu

SkeleWAM은 로봇 조작 장면을 로봇 관절, 물체 중심, 상호작용 점으로 이뤄진 희소 3D 골격으로 표현하고 동작 생성과 미래 골격 예측을 함께 학습하는 세계-행동 모델이다. 이 프리프린트는 LIBERO-Plus 전체에서 57.1M 파라미터로 85.9% 성공률을 기록해 Cosmos-Policy(82.2%)보다 3.7%포인트 높았고, 실물 로봇 5개 과제 평균 89%로 Cosmos-Policy(87%)를 넘었다. 미래 골격 예측은 훈련 보조 지도로만 쓰고 추론에서 생략해 파라미터와 연산 효율을 높였다.

논문 전문 읽기 (PDF)
arXiv
World-action model전문가

Magic-W0, 구조화된 세계 전이와 행동 생성을 결합한 로봇 기반 모델

Xuhua Chen, Zhenhan Yin, Yuan Zhang, Lingfeng Zhang, He Zheng, Tong Mu, Shun Zuo, Dian Zhou, Di Wu, Xuan Zhou, Shaojie Wan, Rongtian Shen, Qiulong Xu, Yiduo Li, Yinglong Wang, Yanqian Wang, Kun Wang, Tao Zhang

Magic-W0는 현재 3D 지오메트리, 3D 모션, 미래 의미 표현으로 세계 상태 전이를 구조화하고 연속 행동 생성을 층 정렬 주의로 결합한 세계-행동 기반 모델이다. RoboDojo-Sim에서 평균 Score 27.10으로 비교된 WAM 중 1위를 기록했고, 실물 로봇 5개 과제 평균 성공률 94.6%로 pi0.5의 91.8%를 넘었다. 이 논문은 아직 동료 심사를 거치지 않은 프리프린트다.

Physical Intelligence
논문 전문 읽기 (PDF)

주제별 논문

매니퓰레이션 8VLA 4World Action Models 5Aerial manipulation 3Dexterous manipulation 3Sim-to-Real Manipulation 3Social Navigation 3

논문은 arXiv 로봇 피드에서 가져옵니다. 요약이 아직 작성되지 않은 논문은 초록의 첫 부분을 보여줍니다.