cs.RO（2025-04-17）

📊 共 20 篇论文 | 🔗 3 篇有代码

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支柱一：机器人控制 (Robot Control) (16 🔗2) 支柱三：空间感知与语义 (Perception & Semantics) (2 🔗1) 支柱九：具身大模型 (Embodied Foundation Models) (1) 支柱八：物理动画 (Physics-based Animation) (1)

🔬 支柱一：机器人控制 (Robot Control) (16 篇)

#题目一句话要点标签🔗⭐
1 Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation RoboSplat：利用高斯溅射生成多样化演示，实现鲁棒的单样本操作 manipulation sim-to-real 3D gaussian splatting
2 A0: An Affordance-Aware Hierarchical Model for General Robotic Manipulation A0：一种可感知可供性的分层模型，用于通用机器人操作 manipulation affordance affordance-aware
3 Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration 提出Human2Sim2Robot框架，仅用单人演示视频实现机器人灵巧操作的Sim-to-Real强化学习。 manipulation dexterous manipulation sim-to-real
4 Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds 提出基于柔顺四足机器人的通用运动规划与控制框架，实现高动态、鲁棒性运动 quadruped locomotion trajectory optimization
5 Chain-of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-Models 提出Chain-of-Modality，利用多模态数据提升机器人操作任务学习能力 manipulation multimodal
6 RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins RoboTwin：基于生成式数字孪生的双臂机器人基准测试平台 manipulation dual-arm large language model
7 Krysalis Hand: A Lightweight, High-Payload, 18-DoF Anthropomorphic End-Effector for Robotic Learning and Dexterous Manipulation Krysalis Hand：轻量级、高负载、18自由度拟人化机械手，用于机器人学习和灵巧操作 manipulation dexterous manipulation teleoperation ✅
8 RUKA: Rethinking the Design of Humanoid Hands with Learning RUKA：通过学习重新设计人形手，实现高性价比和灵巧操作 humanoid manipulation dexterous manipulation ✅
9 Trajectory Adaptation using Large Language Models 提出基于大语言模型的轨迹自适应框架，实现更灵活的人机交互 manipulation large language model
10 ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation ViTa-Zero：基于视觉与触觉的零样本物体6D位姿估计 manipulation bi-manual 6D pose estimation
11 Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control 提出基于可微MPC的端到端自监督学习框架，用于无人机姿态控制 sim-to-real MPC model predictive control
12 Multi-Sensor Fusion-Based Mobile Manipulator Remote Control for Intelligent Smart Home Assistance 提出一种基于多传感器融合的可穿戴控制移动机械臂系统，用于智能家居辅助。 manipulation mobile manipulation
13 Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation Taccel：通过高性能GPU仿真扩展基于视觉的触觉机器人研究。 manipulation sim-to-real
14 Biasing the Driving Style of an Artificial Race Driver for Online Time-Optimal Maneuver Planning 提出一种基于MPC的自适应驾驶风格人工赛车手，用于在线时间最优轨迹规划。 MPC model predictive control
15 A Genetic Approach to Gradient-Free Kinodynamic Planning in Uneven Terrains 提出基于遗传算法的无梯度动力学规划以解决不平坦地形问题 trajectory optimization traversability
16 B*: Efficient and Optimal Base Placement for Fixed-Base Manipulators 提出B*框架以解决固定基座机械臂的最优基座放置问题 motion planning

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

#题目一句话要点标签🔗⭐
17 Explainable Scene Understanding with Qualitative Representations and Graph Neural Networks 提出基于图神经网络的定性可解释图模型，用于自动驾驶场景理解 scene understanding
18 Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps 提出长范围导航器（LRN）以解决机器人规划视野不足问题 affordance ✅

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

#题目一句话要点标签🔗⭐
19 Designing Empathetic Companions: Exploring Personality, Emotion, and Trust in Social Robots 提出基于个性模型的情感生成器以提升社交机器人陪伴体验 multimodal

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

#题目一句话要点标签🔗⭐
20 Embodied Neuromorphic Control Applied on a 7-DOF Robotic Manipulator 提出一种基于脉冲神经网络的具身神经形态控制框架，用于控制7自由度机器人 spatiotemporal

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