cs.RO（2025-06-16）

📊 共 25 篇论文 | 🔗 4 篇有代码

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支柱一：机器人控制 (Robot Control) (20 🔗4) 支柱二：RL算法与架构 (RL & Architecture) (2) 支柱九：具身大模型 (Embodied Foundation Models) (2) 支柱三：空间感知与语义 (Perception & Semantics) (1)

🔬 支柱一：机器人控制 (Robot Control) (20 篇)

#题目一句话要点标签🔗⭐
1 CEED-VLA: Consistency Vision-Language-Action Model with Early-Exit Decoding 提出CEED-VLA以解决多模态决策中的推理速度瓶颈问题 manipulation dexterous manipulation distillation ✅
2 LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction 提出LeVERB以解决人形机器人全身控制中的视觉语言指令问题 humanoid whole-body control WBC
3 Touch begins where vision ends: Generalizable policies for contact-rich manipulation 提出ViTaL框架以解决接触丰富的操控任务 manipulation reinforcement learning policy learning
4 Multimodal "Puppeteer": Exploring Robot Teleoperation Via Virtual Counterpart with LLM-Driven Voice and Gesture Interaction in Augmented Reality 提出多模态“操控者”框架以提升机器人遥控体验 teleoperation large language model multimodal
5 VLM-SFD: VLM-Assisted Siamese Flow Diffusion Framework for Dual-Arm Cooperative Manipulation 提出VLM-SFD框架以解决双臂协作操控中的适应性问题 manipulation bi-manual dual-arm
6 Prompting with the Future: Open-World Model Predictive Control with Interactive Digital Twins 提出基于交互数字双胞胎的开放世界模型预测控制方法以解决低级机器人控制问题 manipulation model predictive control world model
7 A Survey on Imitation Learning for Contact-Rich Tasks in Robotics 综述模仿学习在接触丰富任务中的应用以应对机器人挑战 manipulation imitation learning foundation model
8 HARMONI: Haptic-Guided Assistance for Unified Robotic Tele-Manipulation and Tele-Navigation 提出统一的触觉引导共享控制框架以提升遥操作效率 manipulation mobile manipulation teleoperation
9 Adaptive Model-Base Control of Quadrupeds via Online System Identification using Kalman Filter 提出基于卡尔曼滤波的四足机器人自适应模型控制方法 quadruped legged robot MPC
10 ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning 提出ATK以解决视觉环境变化带来的策略学习挑战 manipulation sim-to-real policy learning ✅
11 What Matters in Learning from Large-Scale Datasets for Robot Manipulation 提出数据生成框架以优化机器人操作数据集的学习效果 manipulation policy learning imitation learning
12 Observability-Aware Active Calibration of Multi-Sensor Extrinsics for Ground Robots via Online Trajectory Optimization 提出一种基于可观测性的主动校准方法以解决多传感器外参问题 trajectory optimization multimodal ✅
13 Learning Swing-up Maneuvers for a Suspended Aerial Manipulation Platform in a Hierarchical Control Framework 提出基于层次控制框架的悬挂空中操作平台摆动提升策略 manipulation reinforcement learning
14 TUM Teleoperation: Open Source Software for Remote Driving and Assistance of Automated Vehicles 提出模块化开源遥控软件以解决自动驾驶车辆远程操作问题 teleoperation
15 Sequence Modeling for Time-Optimal Quadrotor Trajectory Optimization with Sampling-based Robustness Analysis 提出基于学习的模型以加速四旋翼时间最优轨迹生成 trajectory optimization ✅
16 Edge Nearest Neighbor in Sampling-Based Motion Planning 提出边缘最近邻算法以优化采样基础运动规划 motion planning
17 Quadrotor Morpho-Transition: Learning vs Model-Based Control Strategies 提出基于强化学习的四旋翼变形控制策略以解决复杂过渡问题 actuator dynamics MPC reinforcement learning
18 A Point Cloud Completion Approach for the Grasping of Partially Occluded Objects and Its Applications in Robotic Strawberry Harvesting 提出点云补全方法以解决部分遮挡物体抓取问题 motion planning
19 Disturbance-aware minimum-time planning strategies for motorsport vehicles with probabilistic safety certificates 提出一种考虑干扰的最小时间规划策略以优化赛车轨迹 trajectory optimization
20 IKDiffuser: A Generative Inverse Kinematics Solver for Multi-arm Robots via Diffusion Model 提出IKDiffuser以解决多臂机器人逆向运动学问题 manipulation

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

#题目一句话要点标签🔗⭐
21 GRaD-Nav++: Vision-Language Model Enabled Visual Drone Navigation with Gaussian Radiance Fields and Differentiable Dynamics 提出GRaD-Nav++以解决无人机语言指令导航问题 reinforcement learning 3D gaussian splatting 3DGS
22 A Novel ViDAR Device With Visual Inertial Encoder Odometry and Reinforcement Learning-Based Active SLAM Method 提出ViDAR设备与视觉惯性编码器结合的主动SLAM方法以提升定位精度 reinforcement learning deep reinforcement learning DRL

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

#题目一句话要点标签🔗⭐
23 ROSA: Harnessing Robot States for Vision-Language and Action Alignment 提出ROSA以解决视觉语言与机器人动作对齐问题 vision-language-action VLA
24 Diffusion-based Inverse Observation Model for Artificial Skin 提出基于扩散模型的逆观察模型以解决人工皮肤的接触姿态估计问题 multimodal

🔬 支柱三：空间感知与语义 (Perception & Semantics) (1 篇)

#题目一句话要点标签🔗⭐
25 Uncertainty-Informed Active Perception for Open Vocabulary Object Goal Navigation 提出语义不确定性感知方法以解决开放词汇目标导航问题 semantic map open-vocabulary open vocabulary

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