cs.RO（2024-06-19）

📊 共 16 篇论文 | 🔗 2 篇有代码

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支柱一：机器人控制 (Robot Control) (13 🔗2) 支柱二：RL算法与架构 (RL & Architecture) (2) 支柱九：具身大模型 (Embodied Foundation Models) (1)

🔬 支柱一：机器人控制 (Robot Control) (13 篇)

#	题目	一句话要点	标签	🔗	⭐
1	Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP	提出HZD与HLIP闭环控制框架，实现类人机器人ADAM的动态行走	humanoid humanoid robot bipedal
2	An eight-neuron network for quadruped locomotion with hip-knee joint control	提出基于对称理论的八神经元网络，实现四足机器人髋膝关节协调控制和多种步态切换。	quadruped locomotion
3	The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots	提出Kinetics Observer，用于腿式机器人状态估计，实现高精度本体感知里程计	legged robot humanoid humanoid robot
4	SurgicAI: A Hierarchical Platform for Fine-Grained Surgical Policy Learning and Benchmarking	SurgicAI：用于精细化手术策略学习与评估的分层平台	manipulation dexterous manipulation reinforcement learning	✅
5	Tactile Aware Dynamic Obstacle Avoidance in Crowded Environment with Deep Reinforcement Learning	提出触觉感知的深度强化学习动态避障方法，提升拥挤环境移动机器人导航能力	trajectory optimization reinforcement learning deep reinforcement learning
6	Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks	提出可迁移触觉Transformer（T3），用于跨传感器和任务的表征学习。	manipulation representation learning zero-shot transfer
7	SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks	提出SRL-VIC以解决接触丰富机器人任务中的安全探索问题	manipulation reinforcement learning
8	Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA	提出基于强化学习的模型匹配方法，减小蛇形机器人COBRA的Sim-to-Real差距	sim-to-real reinforcement learning
9	Group-Control Motion Planning Framework for Microrobot Swarms in a Global Field	提出基于全局场的微型机器人集群分组控制运动规划框架	motion planning
10	Thruster-Assisted Incline Walking	提出推力器辅助四足机器人爬坡方法，模拟验证了其可行性	quadruped locomotion manipulation
11	Imagining In-distribution States: How Predictable Robot Behavior Can Enable User Control Over Learned Policies	提出IODA算法，使用户能够通过预测机器人行为来控制学习策略，提升人机协作性能。	teleoperation shared control reinforcement learning	✅
12	Tactical Game-theoretic Decision-making with Homotopy Class Constraints	提出基于同伦类的战术博弈决策框架，用于城市环境中的运动规划。	motion planning
13	Contrast Sets for Evaluating Language-Guided Robot Policies	提出对比集方法，用于高效评估语言引导的机器人策略	manipulation

🔬 支柱二：RL算法与架构 (RL & Architecture) (2 篇)

#	题目	一句话要点	标签	🔗	⭐
14	Reinforcement Learning to improve delta robot throws for sorting scrap metal	提出基于强化学习的Delta机器人抛掷分拣方法，提升废金属分拣效率。	reinforcement learning PPO SAC
15	Learning the Approach During the Short-loading Cycle Using Reinforcement Learning	利用强化学习优化短周期装载中的接近策略	reinforcement learning

🔬 支柱九：具身大模型 (Embodied Foundation Models) (1 篇)

#	题目	一句话要点	标签	🔗	⭐
16	LIT: Large Language Model Driven Intention Tracking for Proactive Human-Robot Collaboration -- A Robot Sous-Chef Application	提出LIT：基于大语言模型的意图跟踪，用于主动人机协作，应用于机器人厨师	large language model

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