Embodied Intelligence for Flexible Manufacturing: A Survey
Kai Xu, Hang Zhao, Ruizhen Hu, Min Yang, Hao Liu, Hui Zhang, Haibin Yu
TL;DR
本论文聚焦柔性制造中的具身智能，提出以工业之眼/工业之手/工业之脑构建感知、控制与决策的闭环。通过对三大层级的深入梳理，系统总结了受限感知下的工艺建模、低精度硬件条件下的自适应控制、以及多工序全局调度与数字孪生驱动的智能制造等关键技术与案例。论文提出“认知增强—技能跃迁—系统进化”的三阶段演进模型，并在跨模态感知、世界模型、可微物理与仿真迁移等方面给出理论框架与发展方向，指向工业级数据平台、高保真仿真器、通用控制大模型与安全标准化等未来研究重点。其实际贡献在于将具身智能的通用理论与工业具体需求结合，揭示感知-决策-执行三层次协同对实现柔性制造高效、稳健运行的关键作用，具有重要的工业应用与学术示范意义。
Abstract
Driven by breakthroughs in next-generation artificial intelligence, embodied intelligence is rapidly advancing into industrial manufacturing. In flexible manufacturing, industrial embodied intelligence faces three core challenges: accurate process modeling and monitoring under limited perception, dynamic balancing between flexible adaptation and high-precision control, and the integration of general-purpose skills with specialized industrial operations. Accordingly, this survey reviews existing work from three viewpoints: Industrial Eye, Industrial Hand, and Industrial Brain. At the perception level (Industrial Eye), multimodal data fusion and real-time modeling in complex dynamic settings are examined. At the control level (Industrial Hand), flexible, adaptive, and precise manipulation for complex manufacturing processes is analyzed. At the decision level (Industrial Brain), intelligent optimization methods for process planning and line scheduling are summarized. By considering multi-level collaboration and interdisciplinary integration, this work reveals the key technological pathways of embodied intelligence for closed-loop optimization of perception-decision-execution in manufacturing systems. A three-stage evolution model for the development of embodied intelligence in flexible manufacturing scenarios, comprising cognition enhancement, skill transition, and system evolution, is proposed, and future development trends are examined, to offer both a theoretical framework and practical guidance for the interdisciplinary advancement of industrial embodied intelligence in the context of flexible manufacturing.