cs.RO（2025-05-16）

📊 共 25 篇论文 | 🔗 5 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (16 🔗4) 支柱九：具身大模型 (Embodied Foundation Models) (4) 支柱二：RL算法与架构 (RL & Architecture) (2) 支柱三：空间感知与语义 (Perception & Semantics) (2 🔗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 Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning 提出多专家蒸馏与强化学习结合的灵活步态控制框架 legged robot locomotion locomotion policy
2 Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models 提出统一框架以增强类人机器人在行走中的推力恢复能力 humanoid humanoid robot locomotion
3 GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets 提出GRoQ-LoCO以解决四足机器人通用运动控制问题 quadruped legged locomotion locomotion
4 Learning Multimodal AI Algorithms for Amplifying Limited User Input into High-dimensional Control Space 提出多模态AI算法以解决严重瘫痪患者的控制信号问题 manipulation dexterous manipulation sim-to-real
5 DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy 提出DexGarmentLab以解决服装灵巧操作的挑战 manipulation bi-manual sim-to-real ✅
6 Zero-Shot Visual Generalization in Robot Manipulation 提出解耦表示学习以解决机器人操作中的零-shot视觉泛化问题 manipulation domain randomization reinforcement learning
7 Grounded Task Axes: Zero-Shot Semantic Skill Generalization via Task-Axis Controllers and Visual Foundation Models 提出基于任务轴控制器的零-shot技能迁移方法以解决机器人操作中的技能转移问题 manipulation foundation model zero-shot transfer
8 SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics 提出SHIELD框架以解决人形机器人动态安全问题 humanoid locomotion Unitree
9 ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations 提出ReWiND框架以解决机器人任务学习中的演示依赖问题 manipulation bi-manual reinforcement learning ✅
10 X2C: A Dataset Featuring Nuanced Facial Expressions for Realistic Humanoid Imitation 提出X2C数据集以解决人形机器人面部表情模仿问题 humanoid humanoid robot human-to-humanoid ✅
11 Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space 提出R2S2以解决类人机器人大空间达成控制问题 humanoid whole-body control sim2real
12 Self-supervised perception for tactile skin covered dexterous hands 提出Sparsh-skin以解决机器人手部触觉感知问题 dexterous hand policy learning distillation
13 Exploiting Radiance Fields for Grasp Generation on Novel Synthetic Views 利用辐射场生成新视角抓取方案 manipulation gaussian splatting splatting
14 Object-Centric Representations Improve Policy Generalization in Robot Manipulation 提出对象中心表示以提升机器人操作策略的泛化能力 manipulation
15 Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization 提出混合学习与模型优化方法以解决变形工具的接触交互问题 manipulation dexterous manipulation ✅
16 Decoupling Collision Avoidance in and for Optimal Control using Least-Squares Support Vector Machines 提出基于最小二乘支持向量机的碰撞避免方法以优化控制问题 motion planning

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

#题目一句话要点标签🔗⭐
17 Unveiling the Potential of Vision-Language-Action Models with Open-Ended Multimodal Instructions 提出OE-VLA以解决多模态指令下的机器人交互问题 vision-language-action VLA foundation model
18 Search-TTA: A Multimodal Test-Time Adaptation Framework for Visual Search in the Wild 提出Search-TTA框架以解决户外视觉搜索中的信息不足问题 multimodal
19 Real-Time Verification of Embodied Reasoning for Generative Skill Acquisition 提出VERGSA框架以解决复杂3D环境中的技能学习效率问题 generalist agent
20 REI-Bench: Can Embodied Agents Understand Vague Human Instructions in Task Planning? 提出REI-Bench以解决机器人任务规划中的模糊人类指令问题 large language model

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

#题目一句话要点标签🔗⭐
21 Conditioning Matters: Training Diffusion Policies is Faster Than You Think 提出Cocos以解决条件扩散策略训练效率低下问题 diffusion policy flow matching vision-language-action
22 Counterfactual Behavior Cloning: Offline Imitation Learning from Imperfect Human Demonstrations 提出Counter-BC以解决人类示范不完美问题 imitation learning behavior cloning

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

#题目一句话要点标签🔗⭐
23 Planar Velocity Estimation for Fast-Moving Mobile Robots Using Event-Based Optical Flow 提出基于事件相机的平面速度估计方法以解决移动机器人速度估计问题 VIO optical flow
24 GrowSplat: Constructing Temporal Digital Twins of Plants with Gaussian Splats 提出GrowSplat框架以构建植物的时间数字双胞胎 3D gaussian splatting gaussian splatting splatting ✅

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

#题目一句话要点标签🔗⭐
25 Adaptive Ergodic Search with Energy-Aware Scheduling for Persistent Multi-Robot Missions 提出mEclares框架以解决多机器人任务中的信息收集与能量调度问题 spatiotemporal

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