cs.RO（2024-11-21）

📊 共 25 篇论文 | 🔗 1 篇有代码

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支柱一：机器人控制 (Robot Control) (17 🔗1) 支柱二：RL算法与架构 (RL & Architecture) (5) 支柱三：空间感知与语义 (Perception & Semantics) (2) 支柱九：具身大模型 (Embodied Foundation Models) (1)

🔬 支柱一：机器人控制 (Robot Control) (17 篇)

#题目一句话要点标签🔗⭐
1 Learning Humanoid Locomotion with Perceptive Internal Model 提出基于感知内部模型的类人机器人运动控制方法，提升复杂地形适应性。 quadruped humanoid humanoid robot
2 Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots 提出基于持续学习和Koopman动态提升的线性控制方法，用于腿式机器人控制。 quadruped legged robot humanoid
3 Conjugate momentum based thruster force estimate in dynamic multimodal robot 提出基于共轭动量的推力器力估计方法，用于动态多模态机器人Harpy的推力辅助步态。 legged locomotion bipedal biped
4 Learning Two-agent Motion Planning Strategies from Generalized Nash Equilibrium for Model Predictive Control 提出IGT-MPC算法，通过学习广义纳什均衡策略解决多智能体运动规划问题 MPC model predictive control motion planning
5 Contact Tooling Manipulation Control for Robotic Repair Platform 针对机器人维修平台，研究接触工具操作的多种机器人操作控制方法 manipulation teleoperation shared control
6 Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy 提出基于推力器动力学和QP优化的增强型捕获点控制，用于Harpy双足机器人。 legged locomotion bipedal biped
7 Learning thin deformable object manipulation with a multi-sensory integrated soft hand 提出一种多传感器融合的软手控制方法，用于操作薄而易变形物体。 manipulation dexterous manipulation reinforcement learning
8 Path-Tracking Hybrid A* and Hierarchical MPC Framework for Autonomous Agricultural Vehicles 提出路径跟踪混合A*规划与分层MPC框架以优化农业车辆路径跟踪 MPC model predictive control
9 Dual-Arm Telerobotic Platform for Robotic Hotbox Operations for Nuclear Waste Disposition in EM Sites 提出一种双臂遥操作机器人平台，用于核废料处理中的热室操作。 manipulation dual-arm
10 Arm Robot: AR-Enhanced Embodied Control and Visualization for Intuitive Robot Arm Manipulation Arm Robot：基于AR增强的具身控制与可视化，实现直观的机械臂操作 manipulation teleoperation
11 Data-Driven Multi-step Nonlinear Model Predictive Control for Industrial Heavy Load Hydraulic Robot 提出数据驱动的多步非线性模型预测控制，用于工业重载液压机器人。 model predictive control predictive model
12 Learning Autonomous Surgical Irrigation and Suction with the da Vinci Research Kit Using Reinforcement Learning 提出基于强化学习的达芬奇手术机器人自主灌注与抽吸方法 domain randomization reinforcement learning ✅
13 Cooperative Grasping and Transportation using Multi-agent Reinforcement Learning with Ternary Force Representation 提出基于三元力表示的多智能体强化学习，实现鲁棒的协同抓取与搬运 sim2real reinforcement learning
14 ETA-IK: Execution-Time-Aware Inverse Kinematics for Dual-Arm Systems ETA-IK：面向双臂系统的执行时间感知逆运动学方法 dual-arm
15 Soft Manipulation Surface With Reduced Actuator Density For Heterogeneous Object Manipulation 提出一种低密度驱动的软操作表面，用于异构物体操作 manipulation
16 Breadboarding the European Moon Rover System: discussion and results of the analogue field test campaign 欧洲月球车系统原型测试：评估模块化设计的性能与优势 locomotion
17 Joint-repositionable Inner-wireless Planar Snake Robot 提出一种关节可重定位的内无线平面蛇形机器人，实现低功耗高灵活性的运动。 locomotion

🔬 支柱二：RL算法与架构 (RL & Architecture) (5 篇)

#题目一句话要点标签🔗⭐
18 SplatR : Experience Goal Visual Rearrangement with 3D Gaussian Splatting and Dense Feature Matching SplatR：利用3D高斯溅射和稠密特征匹配实现具身智能中的视觉重排列任务 world model 3D gaussian splatting gaussian splatting
19 A Systematic Study of Multi-Agent Deep Reinforcement Learning for Safe and Robust Autonomous Highway Ramp Entry 提出基于多智能体深度强化学习的高速公路匝道安全汇入方法 reinforcement learning deep reinforcement learning DRL
20 Maximum Solar Energy Tracking Leverage High-DoF Robotics System with Deep Reinforcement Learning 提出基于深度强化学习的高自由度机器人太阳能追踪系统，提升追踪精度与鲁棒性 reinforcement learning deep reinforcement learning
21 Generalizing End-To-End Autonomous Driving In Real-World Environments Using Zero-Shot LLMs 提出一种基于零样本LLM的端到端自动驾驶框架，提升真实环境泛化能力 imitation learning large language model multimodal
22 23 DoF Grasping Policies from a Raw Point Cloud 提出基于神经几何结构的模仿学习方法，从点云预测23自由度机械臂抓取轨迹 policy learning imitation learning

🔬 支柱三：空间感知与语义 (Perception & Semantics) (2 篇)

#题目一句话要点标签🔗⭐
23 EdgeFlowNet: 100FPS@1W Dense Optical Flow For Tiny Mobile Robots EdgeFlowNet：为微型移动机器人设计的100FPS@1W稠密光流算法 optical flow
24 InCrowd-VI: A Realistic Visual-Inertial Dataset for Evaluating SLAM in Indoor Pedestrian-Rich Spaces for Human Navigation InCrowd-VI：用于人群密集室内环境SLAM评估的真实视觉惯性数据集 visual odometry

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

#题目一句话要点标签🔗⭐
25 GPT versus Humans: Uncovering Ethical Concerns in Conversational Generative AI-empowered Multi-Robot Systems 对比GPT与人类专家，揭示LLM赋能多机器人系统中的伦理挑战 large language model

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