cs.RO（2023-12-14）

📊 共 16 篇论文 | 🔗 2 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (11 🔗2) 支柱九：具身大模型 (Embodied Foundation Models) (3) 支柱二：RL算法与架构 (RL & Architecture) (1) 支柱三：空间感知与语义 (Perception & Semantics) (1)

🔬 支柱一：机器人控制 (Robot Control) (11 篇)

#题目一句话要点标签🔗⭐
1 UniTeam: Open Vocabulary Mobile Manipulation Challenge 提出UniTeam以解决开放词汇移动操控挑战问题 manipulation mobile manipulation open-vocabulary
2 Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control 提出基于全质心非线性模型预测控制的Tachyon 3多地形伸缩轮腿运动方法 legged robot legged locomotion locomotion
3 Safe Motion Planning for Quadruped Robots Using Density Functions 提出基于密度函数的四足机器人安全运动规划方法 quadruped legged locomotion locomotion ✅
4 Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories 提出Contact-Implicit MPC，无需预定义接触模式实现四足机器人多样运动控制 quadruped MPC model predictive control
5 Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method 利用搭配法实现四足机器人在倾斜表面上的运动控制 quadruped legged robot locomotion
6 How to Raise a Robot -- A Case for Neuro-Symbolic AI in Constrained Task Planning for Humanoid Assistive Robots 探索神经符号AI在人型辅助机器人受限任务规划中的应用 humanoid humanoid robot large language model
7 Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions 提出基于前向可达集控制屏障函数的分层控制器，实现腿足机器人安全协同 legged robot locomotion
8 Optimal Motion Planning using Finite Fourier Series in a Learning-based Collision Field 提出基于学习的碰撞场优化方法，利用有限傅里叶级数进行机器人最优运动规划 motion planning
9 A Sim-to-Real Deep Learning-based Framework for Autonomous Nano-drone Racing 提出基于Sim-to-Real深度学习的自主纳米无人机竞速框架，解决资源受限环境下的视觉导航问题 sim-to-real
10 Efficient Online Learning of Contact Force Models for Connector Insertion 提出基于线性模型学习的接触力模型，用于连接器插入等高接触力操作。 manipulation ✅
11 Bayes Net based highbrid Monte Carlo Optimization for Redundant Manipulator 提出基于贝叶斯网络的蒙特卡洛优化方法，用于冗余机械臂的运动规划 motion planning

🔬 支柱九：具身大模型 (Embodied Foundation Models) (3 篇)

#题目一句话要点标签🔗⭐
12 LLM-MARS: Large Language Model for Behavior Tree Generation and NLP-enhanced Dialogue in Multi-Agent Robot Systems LLM-MARS：利用大语言模型实现多智能体机器人系统的行为树生成与自然语言增强对话 large language model multimodal
13 Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis 综述：基于通用模型构建通用机器人，探讨现有模型应用及机器人专用模型构建 foundation model
14 A Computationally Efficient Maximum A Posteriori Sequence Estimation via Stein Variational Inference 提出Stein-MAP-Seq以解决机器人系统中的多模态状态估计问题 multimodal

🔬 支柱二：RL算法与架构 (RL & Architecture) (1 篇)

#题目一句话要点标签🔗⭐
15 HiER: Highlight Experience Replay for Boosting Off-Policy Reinforcement Learning Agents HiER：通过高亮经验回放提升离线强化学习智能体性能 reinforcement learning curriculum learning

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

#题目一句话要点标签🔗⭐
16 Zoom in on the Plant: Fine-grained Analysis of Leaf, Stem and Vein Instances 提出植物叶片、茎和叶脉实例分割模型，并构建细粒度数据集RumexLeaves scene understanding

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