cs.RO（2024-10-17）

📊 共 21 篇论文 | 🔗 4 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (15 🔗4) 支柱九：具身大模型 (Embodied Foundation Models) (2) 支柱八：物理动画 (Physics-based Animation) (2) 支柱二：RL算法与架构 (RL & Architecture) (1) 支柱三：空间感知与语义 (Perception & Semantics) (1)

🔬 支柱一：机器人控制 (Robot Control) (15 篇)

#题目一句话要点标签🔗⭐
1 Vision-Language-Action Model and Diffusion Policy Switching Enables Dexterous Control of an Anthropomorphic Hand 提出VLA模型与扩散模型切换控制方法，实现拟人手灵巧操作 manipulation dexterous manipulation diffusion policy
2 ALOHA Unleashed: A Simple Recipe for Robot Dexterity ALOHA Unleashed：基于大规模模仿学习实现机器人灵巧操作 manipulation dexterous manipulation bi-manual
3 Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control 提出偏好对齐扩散规划器，提升四足机器人运动控制在有限数据集下的鲁棒性。 quadruped locomotion Unitree ✅
4 Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation 提出基于引导强化学习的多接触Loco-Manipulation鲁棒控制方法 manipulation loco-manipulation reinforcement learning
5 Automatic Navigation and Voice Cloning Technology Deployment on a Humanoid Robot 在人形机器人Cruzr上部署自动导航与语音克隆技术 humanoid humanoid robot MPC
6 State Estimation Transformers for Agile Legged Locomotion 提出基于Transformer的状态估计器SET，提升四足机器人敏捷运动性能 quadruped legged locomotion locomotion
7 Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance V-GPS：通过价值引导提升通用机器人策略的部署性能 manipulation offline RL foundation model ✅
8 Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation 提出基于自适应非抓取移动操作的交互式导航框架，解决未知动力学物体操作问题。 manipulation mobile manipulation ✅
9 RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation RecoveryChaining：学习局部恢复策略以实现鲁棒操作 manipulation sim-to-real reinforcement learning
10 Jailbreaking LLM-Controlled Robots 提出RoboPAIR算法，成功破解LLM控制的机器人，引发安全风险关注。 locomotion manipulation Unitree
11 Whisker-Inspired Tactile Sensing: A Sim2Real Approach for Precise Underwater Contact Tracking 提出一种基于水下仿生触须的Sim2Real接触跟踪方法，实现精确水下物体定位。 sim-to-real sim2real
12 Just Add Force for Contact-Rich Robot Policies 提出力反馈扩散策略，提升机器人细腻抓取的泛化性和效率 manipulation diffusion policy foundation model ✅
13 Power in Numbers: Primitive Algorithm for Swarm Robot Navigation in Unknown Environments 提出一种基于群体数量的简单算法，用于未知环境中swarm机器人导航 sim-to-real reinforcement learning
14 SPF-EMPC Planner: A real-time multi-robot trajectory planner for complex environments with uncertainties 提出基于安全概率场的扩展状态模型预测控制，解决复杂不确定环境下多机器人实时轨迹规划问题 model predictive control
15 RAMPA: Robotic Augmented Reality for Machine Programming by DemonstrAtion RAMPA：基于机器人增强现实的示教式机器学习编程 manipulation

🔬 支柱九：具身大模型 (Embodied Foundation Models) (2 篇)

#题目一句话要点标签🔗⭐
16 BestMan: A Modular Mobile Manipulator Platform for Embodied AI with Unified Simulation-Hardware APIs BestMan：用于具身AI的模块化移动操作平台，具备统一的模拟-硬件API embodied AI
17 CLIMB: Language-Guided Continual Learning for Task Planning with Iterative Model Building CLIMB：基于语言引导的持续学习框架，用于迭代构建模型解决任务规划问题 foundation model

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

#题目一句话要点标签🔗⭐
18 Adaptive Compressive Tactile Subsampling: Enabling High Spatiotemporal Resolution in Scalable Robotic Skin 提出自适应压缩触觉子采样ACTS，实现可扩展机器人皮肤的高时空分辨率触觉感知。 spatiotemporal
19 GraphSCENE: On-Demand Critical Scenario Generation for Autonomous Vehicles in Simulation GraphSCENE：面向自动驾驶，按需生成关键场景的图神经网络方法 spatiotemporal

🔬 支柱二：RL算法与架构 (RL & Architecture) (1 篇)

#题目一句话要点标签🔗⭐
20 IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AI 提出IGOR，为具身智能中的通用模型学习图像目标表示作为原子控制单元 world model human-to-robot embodied AI

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

#题目一句话要点标签🔗⭐
21 Differentiable Robot Rendering 提出可微机器人渲染，实现视觉基础模型在机器人控制中的应用 splatting foundation model

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