cs.RO（2025-05-15）

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支柱一：机器人控制 (Robot Control) (17 🔗3) 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 APEX: Action Priors Enable Efficient Exploration for Robust Motion Tracking on Legged Robots APEX：利用动作先验实现腿式机器人高效探索和鲁棒运动跟踪 legged robot locomotion manipulation ✅
2 SRT-H: A Hierarchical Framework for Autonomous Surgery via Language Conditioned Imitation Learning SRT-H：基于语言条件模仿学习的自主手术分层框架，实现复杂手术步骤的自动化。 manipulation dexterous manipulation imitation learning
3 FlowDreamer: A RGB-D World Model with Flow-based Motion Representations for Robot Manipulation FlowDreamer：基于光流运动表示的RGB-D世界模型，用于机器人操作 manipulation world model dreamer
4 NVSPolicy: Adaptive Novel-View Synthesis for Generalizable Language-Conditioned Policy Learning NVSPolicy：面向通用语言条件策略学习的自适应新视角合成方法 manipulation policy learning language conditioned
5 EmbodiedMAE: A Unified 3D Multi-Modal Representation for Robot Manipulation EmbodiedMAE：用于机器人操作的统一3D多模态表征学习框架 manipulation policy learning masked autoencoder
6 Evaluating Robustness of Deep Reinforcement Learning for Autonomous Surface Vehicle Control in Field Tests 评估深度强化学习在自主水面船只控制中应对真实扰动的鲁棒性 domain randomization MPC reinforcement learning
7 Towards Safe Robot Foundation Models Using Inductive Biases 利用归纳偏置，为机器人基础模型构建安全层，保障安全状态转移 manipulation behavior cloning foundation model
8 Knowledge capture, adaptation and composition (KCAC): A framework for cross-task curriculum learning in robotic manipulation 提出KCAC框架，通过跨任务课程学习提升机器人操作中的强化学习效率 manipulation reinforcement learning curriculum learning
9 IN-RIL: Interleaved Reinforcement and Imitation Learning for Policy Fine-Tuning 提出IN-RIL，通过交错强化学习与模仿学习提升机器人策略微调的稳定性与效率。 locomotion manipulation reinforcement learning ✅
10 pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams 提出pc-dbCBS算法，解决物理耦合机器人团队的运动规划问题 trajectory optimization motion planning
11 Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots 提出集成控制器，提升四足机器人敏捷性，实现多样自然行为 quadruped imitation learning
12 Context-aware collaborative pushing of heavy objects using skeleton-based intention prediction 提出基于骨骼的意图预测方法，用于重物协同推拉场景中的人机协作 manipulation human motion
13 Procedural Generation of Articulated Simulation-Ready Assets Infinigen-Articulated：用于机器人仿真的程序化生成可动资产工具包 sim-to-real reinforcement learning imitation learning
14 Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning FORTRESS：基于多模态推理的实时OOD失效预防框架 ANYmal foundation model ✅
15 TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation TartanGround：用于地面机器人感知与导航的大规模数据集 legged robot optical flow
16 Loop closure grasping: Topological transformations enable strong, gentle, and versatile grasps 提出闭环抓取，通过拓扑变换实现强力、轻柔、多功能的机器人抓取 manipulation
17 AORRTC: Almost-Surely Asymptotically Optimal Planning with RRT-Connect AORRTC：结合RRT-Connect的几乎必然渐近最优运动规划算法 motion planning

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

#题目一句话要点标签🔗⭐
18 Learning Hierarchical Domain Models Through Environment-Grounded Interaction 提出LODGE框架以解决开放世界任务建模问题 large language model

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