9 embodied-AI and robotics papers accepted at CoRL 2025, 7 with code.9 篇被 CoRL 2025 接收的具身智能与机器人论文，其中 7 篇附代码。
arXiv papers are listed when their arXiv comment says they were accepted (e.g. 'Accepted to CoRL 2026'); papers that do not say so are missing, and the list grows as authors post camera-ready versions. Curated entries carry a hand-checked venue. For CoRL 2026 the official program is used as well.arXiv 论文仅在其 arXiv 备注写明已被接收（如 “Accepted to CoRL 2026”）时列入；未注明的论文不会出现，列表会随作者上传终稿而增加。精选条目的会议/期刊信息经过人工核对。CoRL 2026 另依据官方日程。
Exoskeleton demos are converted into pseudo-robot demonstrations; the paper reports its RISE-2 policy trained on them alone, with no robot data, performs comparably to one trained on teleoperated robot data.将外骨骼示教转换为“伪机器人”示教；论文报告仅用这些数据（无任何机器人数据）训练的 RISE-2 策略，效果与用遥操作机器人数据训练的策略相当。
@misc{fang2025airexo,
title = {{AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons}},
author = {Hongjie Fang and Chenxi Wang and Yiming Wang and Jingjing Chen and Shangning Xia and Jun Lv and Zihao He and Xiyan Yi and Yunhan Guo and Xinyu Zhan and Lixin Yang and Weiming Wang and Cewu Lu and Hao-Shu Fang},
year = {2025},
eprint = {2503.03081},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2503.03081},
}
DexUMI — an exoskeleton matched to the robot hand's fingertip workspace, plus inpainting that swaps the human hand for the robot's; reports 86% average success (Inspire, XHand) and ~3.2× faster collection than teleop.DexUMI：按目标机器人手的指尖工作空间设计的可穿戴手部外骨骼，再用视频修补把画面中的人手换成机器人手；论文报告在 Inspire 与 XHand 上平均成功率 86%，采集效率约为遥操作的 3.2 倍。
@misc{xu2025dexumi,
title = {{DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation}},
author = {Mengda Xu and Han Zhang and Yifan Hou and Zhenjia Xu and Linxi Fan and Manuela Veloso and Shuran Song},
year = {2025},
eprint = {2505.21864},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2505.21864},
}
Pairs a 2B Qwen2-VL with a ~1B plug-in diffusion action expert with one head per robot, trained in three stages (cross-embodiment, alignment, task); reports shirt folding without task-specific tuning and 97.3 on LIBERO.将 2B 的 Qwen2-VL 与约 1B 参数、按机器人分头输出的可插拔扩散动作专家结合，分三阶段训练（跨本体预训练、本体对齐、任务适配）；报告无需任务专门微调即可叠衬衫，LIBERO 平均 97.3。
@misc{wen2025dexvla,
title = {{DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control}},
author = {Junjie Wen and Yichen Zhu and Jinming Li and Zhibin Tang and Chaomin Shen and Feifei Feng},
year = {2025},
eprint = {2502.05855},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2502.05855},
}
Fine-tunes video world models on a robot to dream new demos, labels them with latent actions or an inverse dynamics model, and trains policies on them; a humanoid learns 20+ new behaviors from one-scene teleop data.把视频世界模型微调到目标机器人上“做梦”生成新示范，再用隐动作或逆动力学模型补上动作标签用于训练策略；人形机器人仅凭单一场景的遥操作数据学会 20 多种新行为。
@misc{jang2025dreamgen,
title = {{DreamGen: Unlocking Generalization in Robot Learning through Video World Models}},
author = {Joel Jang and Seonghyeon Ye and Zongyu Lin and Jiannan Xiang and Johan Bjorck and Yu Fang and Fengyuan Hu and Spencer Huang and Kaushil Kundalia and Yen-Chen Lin and Loic Magne and Ajay Mandlekar and Avnish Narayan and You Liang Tan and Guanzhi Wang and Jing Wang and Qi Wang and Yinzhen Xu and Xiaohui Zeng and Kaiyuan Zheng and Ruijie Zheng and Ming-Yu Liu and Luke Zettlemoyer and Dieter Fox and Jan Kautz and Scott Reed and Yuke Zhu and Linxi Fan},
year = {2025},
eprint = {2505.12705},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2505.12705},
}
Pretrains a grasping VLA almost only on SynGrasp-1B, a billion-frame photorealistic sim dataset, co-trained with web data; reports zero-shot sim-to-real open-vocabulary grasping and few-shot adaptation.几乎只用十亿帧级的照片级仿真抓取数据集 SynGrasp-1B（并联合网络语义数据）预训练抓取 VLA；论文报告可零样本从仿真迁移到真实开放词汇抓取，并支持少样本适配。
@misc{deng2025graspvla,
title = {{GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data}},
author = {Shengliang Deng and Mi Yan and Songlin Wei and Haixin Ma and Yuxin Yang and Jiayi Chen and Zhiqi Zhang and Taoyu Yang and Xuheng Zhang and Wenhao Zhang and Heming Cui and Zhizheng Zhang and He Wang},
year = {2025},
eprint = {2505.03233},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2505.03233},
}
Tackles balance-heavy skills such as one-leg stands and high kicks, where motion tracking usually fails because of reference errors. Oral at CoRL 2025.攻克单脚站立、高踢腿等强平衡技能，这类动作常因参考动作误差导致跟踪失败。CoRL 2025 Oral。
@misc{zhang2025hub,
title = {{HuB: Learning Extreme Humanoid Balance}},
author = {Tong Zhang and Boyuan Zheng and Ruiqian Nai and Yingdong Hu and Yen-Jen Wang and Geng Chen and Fanqi Lin and Jiongye Li and Chuye Hong and Koushil Sreenath and Yang Gao},
year = {2025},
eprint = {2505.07294},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2505.07294},
}
A high-density tactile sensor across a quadruped's back lets it carry unsecured cylinders over long distances, a task that usually needs mounting hardware.在四足机器人背部铺设高密度触觉传感器，无需固定装置即可长距离运输未固定的圆柱物体。
@misc{lin2025locotouch,
title = {{LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing}},
author = {Changyi Lin and Yuxin Ray Song and Boda Huo and Mingyang Yu and Yikai Wang and Shiqi Liu and Yuxiang Yang and Wenhao Yu and Tingnan Zhang and Jie Tan and Yiyue Luo and Ding Zhao},
year = {2025},
eprint = {2505.23175},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2505.23175},
}
DSRL — adapts a frozen diffusion policy by running RL over its input noise, not its weights; needs only forward passes, works with π0, and reports real-robot success rising from 20% to 90% in under 50 online episodes.DSRL：不改扩散策略的权重，而是对其输入的初始噪声做强化学习来"引导"输出动作；只需前向推理、可用于 π0，论文报告真机任务在不到 50 次在线交互内成功率从 20% 升至 90%。
@misc{wagenmaker2025steering,
title = {{Steering Your Diffusion Policy with Latent Space Reinforcement Learning}},
author = {Andrew Wagenmaker and Mitsuhiko Nakamoto and Yunchu Zhang and Seohong Park and Waleed Yagoub and Anusha Nagabandi and Abhishek Gupta and Sergey Levine},
year = {2025},
eprint = {2506.15799},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2506.15799},
}
Tests 'embodiment scaling laws' on about 1,000 generated robots: does training on more bodies improve generalization to unseen ones?在约 1000 个生成的机器人形态上检验“形态缩放定律”：用更多形态训练能否提升对未见形态的泛化？
@misc{ai2025towards,
title = {{Towards Embodiment Scaling Laws in Robot Locomotion}},
author = {Bo Ai and Liu Dai and Nico Bohlinger and Dichen Li and Tongzhou Mu and Zhanxin Wu and K. Fay and Henrik I. Christensen and Jan Peters and Hao Su},
year = {2025},
eprint = {2505.05753},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2505.05753},
}