cs.RO（2024-09-23）

📊 共 35 篇论文 | 🔗 3 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (24 🔗2) 支柱九：具身大模型 (Embodied Foundation Models) (4 🔗1) 支柱三：空间感知与语义 (Perception & Semantics) (3) 支柱二：RL算法与架构 (RL & Architecture) (3) 支柱四：生成式动作 (Generative Motion) (1)

🔬 支柱一：机器人控制 (Robot Control) (24 篇)

#题目一句话要点标签🔗⭐
1 Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks 提出地形感知MPC，用于异构双足与无人机协同搜救任务 humanoid humanoid robot bipedal
2 Whole-Body Teleoperation for Mobile Manipulation at Zero Added Cost MoMa-Teleop：零成本实现移动机械臂全身遥操作，提升数据效率和泛化性 whole-body control manipulation mobile manipulation
3 Safe Navigation of Bipedal Robots via Koopman Operator-Based Model Predictive Control 提出基于Koopman算子的模型预测控制，实现双足机器人安全导航 bipedal biped locomotion
4 XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning 提出XMoP，实现零样本跨机械臂神经运动规划的全身控制策略。 whole-body control sim-to-real motion planning
5 Bimanual In-hand Manipulation using Dual Limit Surfaces 提出基于双重极限表面的双手掌内灵巧操作方法 manipulation dexterous manipulation in-hand manipulation
6 Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing DIAL-MPC：基于扩散退火的力矩级腿足机器人全身动力学采样MPC quadruped legged robot locomotion
7 Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation 利用触觉感知弥合协作操作中不同机器人间的能力差异 manipulation behavior cloning cross-embodiment
8 KARMA: Augmenting Embodied AI Agents with Long-and-short Term Memory Systems 提出KARMA以解决具身AI代理的记忆不足问题 manipulation mobile manipulation embodied AI ✅
9 DiSPo: Diffusion-SSM based Policy Learning for Coarse-to-Fine Action Discretization 提出基于Diffusion-SSM的策略学习DiSPo，用于粗细粒度动作离散化 manipulation policy learning Mamba
10 A Modular Robotic System for Autonomous Exploration and Semantic Updating in Large-Scale Indoor Environments 提出一种模块化机器人系统，用于大规模室内环境的自主探索和语义地图更新。 teleoperation semantic mapping semantic map
11 In the Wild Ungraspable Object Picking with Bimanual Nonprehensile Manipulation 提出一种基于双臂非抓取操作的复杂环境下物体拾取方法 manipulation bi-manual
12 Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile Manipulators 提出一种运动学约束下的多移动机械臂协同搬运运动规划方法 locomotion manipulation motion planning
13 MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining MEVIUS：一种易于通过电商构建的金属焊接加工四足机器人 quadruped sim2real reinforcement learning ✅
14 RACER: Rich Language-Guided Failure Recovery Policies for Imitation Learning 提出RACER，利用富语言指导的模仿学习策略提升机器人操作的容错性。 manipulation imitation learning language conditioned
15 Toward a Predictive eXtended Reality Teleoperation System with Duo-Virtual Spaces 提出基于双虚拟空间的预测性扩展现实遥操作系统，优化延迟问题。 manipulation teleoperation
16 Observe Then Act: Asynchronous Active Vision-Action Model for Robotic Manipulation 提出异步主动视觉-动作模型，解决机器人操作中受限视野下的操作问题 manipulation reinforcement learning
17 Beyond Humanoid Prosthetic Hands: Modular Terminal Devices That Improve User Performance 针对特定任务，模块化非人形假肢手显著提升用户性能 humanoid
18 MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies 提出MATCH POLICY，通过点云配准实现高精度操作策略，无需训练。 manipulation
19 Robust Continuous Motion Strategy Against Muscle Rupture using Online Learning of Redundant Intersensory Networks for Musculoskeletal Humanoids 针对肌肉骨骼人形机器人，提出基于在线学习冗余跨感官网络的抗肌肉断裂运动策略 humanoid
20 Safe Expeditious Whole-Body Control of Mobile Manipulators for Collision Avoidance 提出ACI方法，解决移动机械臂全身控制中的伪平衡问题和动态避障难题 whole-body control
21 Investigating Robot Dogs for Construction Monitoring: A Comparative Analysis of Specifications and On-site Requirements 研究机器人狗在建筑工地监控中的应用潜力与规范要求 quadruped
22 Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers 提出基于几何力学的软体连续游泳机器人设计与控制协同优化框架 locomotion
23 DRAPER: Towards a Robust Robot Deployment and Reliable Evaluation for Quasi-Static Pick-and-Place Cloth-Shaping Neural Controllers DRAPER框架：提升类静态抓取放置布料塑形神经控制器的鲁棒部署与可靠评估 manipulation
24 Automatic Geometric Decomposition for Analytical Inverse Kinematics 提出一种自动几何分解方法，实现亚毫秒级解析逆运动学求解 manipulation

🔬 支柱九：具身大模型 (Embodied Foundation Models) (4 篇)

#题目一句话要点标签🔗⭐
25 Examining the physical and psychological effects of combining multimodal feedback with continuous control in prosthetic hands 提出结合多模态反馈的连续控制肌电假肢手，提升用户控制精度与感知能力。 multimodal
26 Discovering Object Attributes by Prompting Large Language Models with Perception-Action APIs 提出基于感知-动作API提示大型语言模型发现物体属性的方法 large language model
27 COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models COHERENT：基于大语言模型的多异构机器人协同任务规划框架 large language model ✅
28 CON: Continual Object Navigation via Data-Free Inter-Agent Knowledge Transfer in Unseen and Unfamiliar Places 提出CON框架，通过无数据跨智能体知识迁移实现未知环境下的持续目标导航。 large language model

🔬 支柱三：空间感知与语义 (Perception & Semantics) (3 篇)

#题目一句话要点标签🔗⭐
29 Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models 提出基于文本标签地图的LLM机器人导航方法，解决场景上下文理解问题 open-vocabulary open vocabulary large language model
30 AgriNeRF: Neural Radiance Fields for Agriculture in Challenging Lighting Conditions AgriNeRF：针对农业恶劣光照条件下的神经辐射场重建与果实检测 NeRF neural radiance field scene reconstruction
31 Skills Made to Order: Efficient Acquisition of Robot Cooking Skills Guided by Multiple Forms of Internet Data 利用多源互联网数据，高效获取机器人烹饪技能 optical flow large language model foundation model

🔬 支柱二：RL算法与架构 (RL & Architecture) (3 篇)

#题目一句话要点标签🔗⭐
32 Deep Reinforcement Learning-based Obstacle Avoidance for Robot Movement in Warehouse Environments 提出基于深度强化学习的仓库机器人避障算法，提升复杂环境下避障能力。 reinforcement learning deep reinforcement learning
33 Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance 提出基于运动学约束梯度引导的扩散模型，用于学习多样化的机器人击打动作。 reinforcement learning imitation learning
34 A novel agent with formal goal-reaching guarantees: an experimental study with a mobile robot 提出基于Lyapunov函数的强化学习智能体CALF，保障移动机器人稳定到达目标点。 reinforcement learning PPO

🔬 支柱四：生成式动作 (Generative Motion) (1 篇)

#题目一句话要点标签🔗⭐
35 Efficient Collision Detection Framework for Enhancing Collision-Free Robot Motion 提出基于SDF的机器人高效碰撞检测框架，加速无碰撞运动规划。 motion generation reactive motion

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