cs.RO（2024-11-18）

📊 共 18 篇论文 | 🔗 3 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (12 🔗2) 支柱九：具身大模型 (Embodied Foundation Models) (4 🔗1) 支柱七：动作重定向 (Motion Retargeting) (1) 支柱八：物理动画 (Physics-based Animation) (1)

🔬 支柱一：机器人控制 (Robot Control) (12 篇)

#题目一句话要点标签🔗⭐
1 RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator RoboGSim：基于高斯溅射的Real2Sim2Real机器人仿真器，提升策略学习的真实性与效率。 manipulation sim2real real2sim ✅
2 Differentiable GPU-Parallelized Task and Motion Planning 提出基于GPU并行和可微优化的任务与运动规划算法，高效解决复杂机器人操作问题。 manipulation motion planning task and motion planning
3 Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation 提出基于约束移动 horizon 估计的地面反作用力和状态同步估计方法 quadruped legged robot humanoid
4 HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads 提出HPA-MPC以解决四旋翼悬挂负载的控制挑战 manipulation MPC model predictive control
5 Joint-Space Control of a Structurally Elastic Humanoid Robot 针对结构弹性人形机器人，提出基于扰动观测器的关节空间控制策略 humanoid humanoid robot
6 Semantic-Geometric-Physical-Driven Robot Manipulation Skill Transfer via Skill Library and Tactile Representation 提出基于知识图谱和触觉表示的机器人操作技能迁移框架，提升非结构化环境适应性。 manipulation large language model chain-of-thought ✅
7 High-Speed Cornering Control and Real-Vehicle Deployment for Autonomous Electric Vehicles 提出基于强化学习和模型预测控制融合的高速漂移动作自主电动车控制框架 MPC model predictive control trajectory optimization
8 TrojanRobot: Physical-world Backdoor Attacks Against VLM-based Robotic Manipulation TrojanRobot：针对基于VLM的机器人操作的物理世界后门攻击 manipulation large language model
9 Robust State Estimation for Legged Robots with Dual Beta Kalman Filter 提出双Beta卡尔曼滤波，用于解决腿足机器人状态估计中足底滑移和腿部形变问题 legged robot Unitree
10 cHyRRT and cHySST: Two Motion Planning Tools for Hybrid Dynamical Systems 提出cHyRRT和cHySST，用于混合动力系统的运动规划，兼容ROS并注重效率。 motion planning
11 Enabling steep slope walking on Husky using reduced order modeling and quadratic programming 提出基于降阶模型和二次规划的控制方法，使Husky能够在陡坡上行走 manipulation MPC
12 Assistive Control of Knee Exoskeletons for Human Walking on Granular Terrains 提出基于刚度模型预测控制的膝关节外骨骼辅助方法，提升沙地行走性能。 locomotion model predictive control

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

#题目一句话要点标签🔗⭐
13 InstruGen: Automatic Instruction Generation for Vision-and-Language Navigation Via Large Multimodal Models InstruGen：利用大型多模态模型自动生成视觉-语言导航指令，提升泛化性。 VLN multimodal ✅
14 Exploring the Adversarial Vulnerabilities of Vision-Language-Action Models in Robotics 揭示视觉-语言-动作模型在机器人领域的对抗性漏洞并提出评估方法。 vision-language-action VLA
15 Optimization free control and ground force estimation with momentum observer for a multimodal legged aerial robot 针对多模态腿式飞行机器人，提出基于动量观测器的无优化控制与地面力估计方法 multimodal
16 SayComply: Grounding Field Robotic Tasks in Operational Compliance through Retrieval-Based Language Models SayComply：通过检索式语言模型实现机器人任务在操作规范中的对齐 large language model

🔬 支柱七：动作重定向 (Motion Retargeting) (1 篇)

#题目一句话要点标签🔗⭐
17 VLN-Game: Vision-Language Equilibrium Search for Zero-Shot Semantic Navigation VLN-Game：面向零样本语义导航的视觉-语言均衡搜索框架 spatial relationship VLN

🔬 支柱八：物理动画 (Physics-based Animation) (1 篇)

#题目一句话要点标签🔗⭐
18 Conjugate Momentum-Based Estimation of External Forces for Bio-Inspired Morphing Wing Flight 提出基于共轭动量的观测器，用于仿生扑翼飞行器外部力估计 PULSE

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