史上最全robot manipulation综述，多达1200篇！八家机构联合发布

Core Insights - The article discusses the rapid advancements in artificial intelligence, particularly in embodied intelligence, which connects cognition and action, emphasizing the importance of robot manipulation in achieving general artificial intelligence (AGI) [5][9]. Summary by Sections Overview of Robot Manipulation - The paper titled "Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey" provides a comprehensive overview of the field of robot manipulation, detailing the evolution from rule-based control to intelligent control systems that integrate reinforcement learning and large models [6][10]. Key Challenges in Embodied Intelligence - Robot manipulation is identified as a core challenge in embodied intelligence due to its requirement for seamless integration of perception, planning, and control, which is essential for real-world interactions in diverse and unstructured environments [9][10]. Unified Framework - A unified understanding framework is proposed, which expands the traditional high-level planning and low-level control paradigm to include language, code, motion, affordance, and 3D representation, enhancing the semantic decision-making role of high-level planning [11][21]. Classification of Learning Control - A novel classification method for low-level learning control is introduced, dividing it into input modeling, latent learning, and policy learning, providing a systematic perspective for research in low-level control [24][22]. Bottlenecks in Robot Manipulation - The article identifies two major bottlenecks in robot manipulation: data collection and utilization, and system generalization capabilities, summarizing existing research progress and solutions for these challenges [27][28]. Future Directions - Four key future directions are highlighted: building a true "robot brain" for general cognition and control, breaking data bottlenecks for scalable data generation and utilization, enhancing multimodal perception for complex object interactions, and ensuring human-robot coexistence safety [35][33].