cs.RO（2024-12-04）

📊 共 18 篇论文 | 🔗 4 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (10 🔗1) 支柱三：空间感知与语义 (Perception & Semantics) (4 🔗2) 支柱二：RL算法与架构 (RL & Architecture) (2) 支柱九：具身大模型 (Embodied Foundation Models) (1) 支柱七：动作重定向 (Motion Retargeting) (1 🔗1)

🔬 支柱一：机器人控制 (Robot Control) (10 篇)

#题目一句话要点标签🔗⭐
1 MOVE: Multi-skill Omnidirectional Legged Locomotion with Limited View in 3D Environments MOVE：一种基于有限视野的多技能全向腿式机器人运动框架 quadruped legged robot legged locomotion
2 Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator 提出基于强化学习的奖励融合模块，解决轮式四足操作臂机器人末端执行器位姿精确跟踪问题。 quadruped manipulation loco-manipulation ✅
3 Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation 提出一种基于MuJoCo的软体自适应足模型，提升腿式机器人在复杂地形的运动能力 legged robot humanoid humanoid robot
4 Multi-Momentum Observer Contact Estimation for Bipedal Robots 提出基于多动量观测器的双足机器人接触估计方法，无需接触传感器。 humanoid bipedal biped
5 AffordDP: Generalizable Diffusion Policy with Transferable Affordance AffordDP：利用可迁移的 affordance 实现通用扩散策略，提升机器人操作泛化性 manipulation diffusion policy affordance
6 Rotograb: Combining Biomimetic Hands with Industrial Grippers using a Rotating Thumb Rotograb：结合仿生手与工业夹爪，利用旋转拇指实现灵巧操作 manipulation in-hand manipulation teleoperation
7 Variable-Speed Teaching-Playback as Real-World Data Augmentation for Imitation Learning 提出基于变速示教回放的真实世界数据增强方法，用于力控模仿学习。 manipulation imitation learning
8 A Teleoperation System with Impedance Control and Disturbance Observer for Robot-Assisted Rehabilitation 提出基于阻抗控制与扰动观测器的机器人辅助康复遥操作系统 teleoperation
9 Remote Manipulation of Multiple Objects with Airflow Field Using Model-Based Learning Control 提出基于模型的学习控制方法，利用气流场实现多物体远程操控 manipulation
10 Resilient Timed Elastic Band Planner for Collision-Free Navigation in Unknown Environments 提出RTEB规划器，解决未知环境下机器人导航的轨迹重规划与优化问题 model predictive control motion planning

🔬 支柱三：空间感知与语义 (Perception & Semantics) (4 篇)

#题目一句话要点标签🔗⭐
11 NeRF and Gaussian Splatting SLAM in the Wild 评估NeRF与高斯溅射SLAM在户外环境下的性能，揭示不同方法的优劣与权衡。 3DGS gaussian splatting splatting ✅
12 MCVO: A Generic Visual Odometry for Arbitrarily Arranged Multi-Cameras MCVO：一种通用的任意多相机视觉里程计，提升了位姿估计的精度和泛化能力。 visual odometry visual SLAM ✅
13 IRisPath: Enhancing Costmap for Off-Road Navigation with Robust IR-RGB Fusion for Improved Day and Night Traversability IRisPath：通过稳健的红外-RGB融合增强越野导航的Costmap，提升昼夜可通行性 traversability
14 An indoor DSO-based ceiling-vision odometry system for indoor industrial environments 提出基于DSO的室内天花板视觉里程计系统，用于室内工业环境。 visual odometry

🔬 支柱二：RL算法与架构 (RL & Architecture) (2 篇)

#题目一句话要点标签🔗⭐
15 Diffusion-VLA: Generalizable and Interpretable Robot Foundation Model via Self-Generated Reasoning 提出DiffusionVLA，通过自生成推理实现通用且可解释的机器人基础模型 policy learning VLA foundation model
16 Incorporating System-level Safety Requirements in Perception Models via Reinforcement Learning 提出基于强化学习的感知模型训练方法，提升自动驾驶系统级安全性 reinforcement learning

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

#题目一句话要点标签🔗⭐
17 Touch and Tell: Multimodal Decoding of Human Emotions and Social Gestures for Robots 提出一种基于触觉和听觉多模态融合的情感与社交手势识别方法，用于提升人机交互中机器人理解能力。 multimodal

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

#题目一句话要点标签🔗⭐
18 QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitives QuadricsReg：利用二次曲面基元的大规模点云配准方法 geometric consistency ✅

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