cs.RO（2024-09-11）

📊 共 16 篇论文 | 🔗 4 篇有代码

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支柱一：机器人控制 (Robot Control) (12 🔗3) 支柱八：物理动画 (Physics-based Animation) (2 🔗1) 支柱九：具身大模型 (Embodied Foundation Models) (1) 支柱三：空间感知与语义 (Perception & Semantics) (1)

🔬 支柱一：机器人控制 (Robot Control) (12 篇)

#题目一句话要点标签🔗⭐
1 Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching 提出PointFlowMatch，结合点云与条件流匹配学习机器人操作策略，显著提升任务成功率。 manipulation policy learning imitation learning
2 Perceptive Pedipulation with Local Obstacle Avoidance 提出基于强化学习的足式操作方法，实现动态避障的足端位姿控制 quadruped legged robot manipulation
3 End-to-End and Highly-Efficient Differentiable Simulation for Robotics 提出高效可微机器人仿真方法，加速强化学习和轨迹优化收敛。 humanoid trajectory optimization reinforcement learning
4 Autonomous loading of ore piles with Load-Haul-Dump machines using Deep Reinforcement Learning 提出基于深度强化学习的LHD铲运机自主装载矿堆方法 teleoperation reinforcement learning deep reinforcement learning
5 Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models 提出Mamba Policy，利用混合选择性状态模型高效实现3D扩散策略，显著降低参数量并提升性能。 manipulation diffusion policy Mamba ✅
6 Robust Robot Walker: Learning Agile Locomotion over Tiny Traps 提出基于本体感受的四足机器人稳健行走方法，克服微小陷阱 quadruped locomotion implicit representation
7 An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild 提出一种开源的软体机器人平台，用于野外自主空中操作 manipulation mobile manipulation
8 MPPI-Generic: A CUDA Library for Stochastic Trajectory Optimization MPPI-Generic：用于随机轨迹优化的CUDA加速通用库 trajectory optimization ✅
9 Enabling Shared-Control for A Riding Ballbot System 针对骑行平衡球机器人，提出基于被动人工势场的共享控制避障方法 shared control
10 Physical synchronization of soft self-oscillating limbs for fast and autonomous locomotion 提出基于软体自激振荡肢体的物理同步运动方法，实现快速自主移动 locomotion
11 Learning Task Specifications from Demonstrations as Probabilistic Automata 提出基于概率自动机的任务规范学习方法，提升机器人任务学习效率 manipulation
12 SIS: Seam-Informed Strategy for T-shirt Unfolding 提出基于缝线的策略，用于T恤的抓取与展开 dual-arm ✅

🔬 支柱八：物理动画 (Physics-based Animation) (2 篇)

#题目一句话要点标签🔗⭐
13 iKalibr-RGBD: Partially-Specialized Target-Free Visual-Inertial Spatiotemporal Calibration For RGBDs via Continuous-Time Velocity Estimation iKalibr-RGBD：基于连续时间速度估计的RGBD相机无目标视觉惯性时空标定 spatiotemporal ✅
14 Control Pneumatic Soft Bending Actuator with Feedforward Hysteresis Compensation by Pneumatic Physical Reservoir Computing 提出基于气动物理储层计算的模糊前馈迟滞补偿方法，用于软体执行器控制。 motion tracking

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

#题目一句话要点标签🔗⭐
15 Collaborative Conversation in Safe Multimodal Human-Robot Collaboration 提出一种安全多模态人机协作对话框架，提升协作效率并降低风险。 multimodal

🔬 支柱三：空间感知与语义 (Perception & Semantics) (1 篇)

#题目一句话要点标签🔗⭐
16 Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry 提出Eq-LIO以解决紧耦合LiDAR-惯性测量的位姿估计问题 LIO

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