标题： 灵巧和具身机器人操作的发展与挑战：一项综述 显示英文标题

标题： The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey

摘要： 实现类人的灵巧机器人操作仍然是机器人学中的一个核心目标和关键挑战。人工智能（AI）的发展使得机器人操作取得了快速进展。本综述总结了机器人操作从机械编程到具身智能的演变，以及从简单夹具到多指灵巧手的转变，概述了关键特征和主要挑战。聚焦于当前的具身灵巧操作阶段，我们重点介绍了两个关键领域的最新进展：灵巧操作数据收集（通过仿真、人类演示和远程操作）和技能学习框架（模仿学习和强化学习）。然后，基于现有数据收集范式和学习框架的概述，总结并讨论了三个限制灵巧机器人操作发展的关键挑战。 显示英文摘要

摘要： Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the evolution of robotic manipulation from mechanical programming to embodied intelligence, alongside the transition from simple grippers to multi-fingered dexterous hands, outlining key characteristics and main challenges. Focusing on the current stage of embodied dexterous manipulation, we highlight recent advances in two critical areas: dexterous manipulation data collection (via simulation, human demonstrations, and teleoperation) and skill-learning frameworks (imitation and reinforcement learning). Then, based on the overview of the existing data collection paradigm and learning framework, three key challenges restricting the development of dexterous robotic manipulation are summarized and discussed.