cs.RO（2025-05-01）

📊 共 17 篇论文 | 🔗 4 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (13 🔗2) 支柱二：RL算法与架构 (RL & Architecture) (2 🔗1) 支柱九：具身大模型 (Embodied Foundation Models) (2 🔗1)

🔬 支柱一：机器人控制 (Robot Control) (13 篇)

#题目一句话要点标签🔗⭐
1 MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion 提出基于自适应强化学习的四足机器人控制框架，解决多地形和未知负载下的稳定运动问题 quadruped locomotion MPC
2 A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI 综述性研究：具身智能时代物理仿真器在机器人导航与操作中的应用 manipulation sim-to-real world model
3 Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulations 提出INR-DOM，用于弹性可变形物体操作的隐式神经表示学习 manipulation reinforcement learning policy learning
4 DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation DeCo：通过任务分解与技能组合实现长时程3D操作中的零样本泛化 manipulation imitation learning language conditioned
5 Reconfigurable legged metamachines that run on autonomous modular legs 提出基于自主模块化腿的重构型腿式超机械体，实现快速重构与适应性运动。 quadruped legged robot bipedal
6 Multi-segment Soft Robot Control via Deep Koopman-based Model Predictive Control 提出基于深度Koopman算子的模型预测控制，解决软体机器人多段精确控制难题 MPC model predictive control
7 TeLoGraF: Temporal Logic Planning via Graph-encoded Flow Matching TeLoGraF：利用图编码流匹配学习时序逻辑规划，提升复杂任务解决能力。 quadruped flow matching ✅
8 IK Seed Generator for Dual-Arm Human-like Physicality Robot with Mobile Base 针对双臂移动机器人，提出基于遗传算法的IK种子生成方法，提高IK求解成功率。 dual-arm
9 Design, Integration, and Evaluation of a Dual-Arm Robotic System for High Throughput Tissue Sampling from Potato Tubers 设计并集成双臂机器人系统，实现马铃薯块茎组织的高通量采样 dual-arm
10 GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty GeoDEx：力不确定性下触觉灵巧操作和外力操作的统一几何框架 manipulation
11 Robotic Visual Instruction 提出RoVI：一种通过手绘视觉指令引导机器人任务的新范式，解决自然语言交互的空间精度不足问题。 manipulation
12 Optimal Interactive Learning on the Job via Facility Location Planning 提出COIL，通过设施选址规划优化人机协作机器人多任务交互学习。 manipulation
13 J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators J-PARSE：一种基于雅可比矩阵投影的串联机械臂逆运动学奇异性规避算法 teleoperation ✅

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

#题目一句话要点标签🔗⭐
14 SmallPlan: Leverage Small Language Models for Sequential Path Planning with Simulation-Powered, LLM-Guided Distillation SmallPlan：利用小语言模型进行序列路径规划，通过模拟和LLM引导的蒸馏实现 reinforcement learning distillation large language model ✅
15 Multi-Constraint Safe Reinforcement Learning via Closed-form Solution for Log-Sum-Exp Approximation of Control Barrier Functions 提出基于闭式解的控制屏障函数安全强化学习方法，解决多约束下的安全问题。 reinforcement learning

🔬 支柱九：具身大模型 (Embodied Foundation Models) (2 篇)

#题目一句话要点标签🔗⭐
16 HMCF: A Human-in-the-loop Multi-Robot Collaboration Framework Based on Large Language Models 提出人机协作的多机器人框架以解决多样性与安全性问题 large language model
17 LightEMMA: Lightweight End-to-End Multimodal Model for Autonomous Driving LightEMMA：用于自动驾驶的轻量级端到端多模态模型 multimodal ✅

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