cs.RO（2024-03-15）

📊 共 23 篇论文 | 🔗 5 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (14 🔗2) 支柱二：RL算法与架构 (RL & Architecture) (4 🔗2) 支柱九：具身大模型 (Embodied Foundation Models) (3 🔗1) 支柱三：空间感知与语义 (Perception & Semantics) (2)

🔬 支柱一：机器人控制 (Robot Control) (14 篇)

#题目一句话要点标签🔗⭐
1 HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation 提出HumanoidBench以解决类人机器人运动与操作的研究瓶颈 humanoid humanoid robot locomotion
2 Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness 提出TAMPURA以解决不确定性和风险意识的任务与运动规划问题 manipulation motion planning reinforcement learning
3 Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objects 提出离线目标条件强化学习以解决可变形线性物体的形状控制问题 manipulation reinforcement learning TD3
4 H-MaP: An Iterative and Hybrid Sequential Manipulation Planner 提出H-MaP以解决复杂序列操作规划问题 manipulation bi-manual motion planning
5 Revolutionizing Packaging: A Robotic Bagging Pipeline with Constraint-aware Structure-of-Interest Planning 提出自适应结构关注的机器人装袋系统以解决复杂包装问题 manipulation dual-arm MPC
6 Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness 提出运动各向异性感知的四足机器人导航框架以提升安全性与灵活性 quadruped model predictive control trajectory optimization ✅
7 Autonomous Monitoring of Pharmaceutical R&D Laboratories with 6 Axis Arm Equipped Quadruped Robot and Generative AI: A Preliminary Study 提出基于生成AI与移动机器人技术的药品研发实验室自主监控方案 quadruped foundation model
8 SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy 提出SculptDiff以解决机器人对可变形物体操控问题 manipulation imitation learning diffusion policy
9 Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands 提出软机器人手设计与控制协同优化以实现自动化设计迭代 manipulation dexterous manipulation sim-to-real
10 Stackelberg Meta-Learning Based Shared Control for Assistive Driving 提出基于Stackelberg元学习的共享控制以解决辅助驾驶问题 shared control
11 Reconfigurable Robot Identification from Motion Data 提出自我建模方法以解决机器人对物理形态理解不足的问题 legged robot large language model
12 Latent Object Characteristics Recognition with Visual to Haptic-Audio Cross-modal Transfer Learning 提出跨模态迁移学习以识别机器人操作中的潜在物体特征 humanoid humanoid robot
13 GeoPro-VO: Dynamic Obstacle Avoidance with Geometric Projector Based on Velocity Obstacle 提出GeoPro-VO以解决动态障碍物规避问题 MPC model predictive control
14 Interactive Distance Field Mapping and Planning to Enable Human-Robot Collaboration 提出交互式距离场映射与规划框架以解决人机协作问题 motion planning ✅

🔬 支柱二：RL算法与架构 (RL & Architecture) (4 篇)

#题目一句话要点标签🔗⭐
15 HeR-DRL:Heterogeneous Relational Deep Reinforcement Learning for Decentralized Multi-Robot Crowd Navigation 提出HeR-DRL以解决多机器人群体导航中的异质性问题 reinforcement learning deep reinforcement learning DRL ✅
16 Riemannian Flow Matching Policy for Robot Motion Learning 提出Riemannian流匹配策略以提升机器人运动学习 diffusion policy flow matching multimodal
17 Grasp Anything: Combining Teacher-Augmented Policy Gradient Learning with Instance Segmentation to Grasp Arbitrary Objects 提出教师增强策略梯度学习以解决杂乱环境中的抓取问题 reinforcement learning distillation zero-shot transfer ✅
18 Belief Aided Navigation using Bayesian Reinforcement Learning for Avoiding Humans in Blind Spots 提出BNBRL+算法以解决盲区人机交互导航问题 reinforcement learning

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

#题目一句话要点标签🔗⭐
19 Mind the Error! Detection and Localization of Instruction Errors in Vision-and-Language Navigation 提出新基准以检测和定位视觉语言导航中的指令错误 embodied AI VLN ✅
20 Language to Map: Topological map generation from natural language path instructions 提出基于自然语言路径指令的拓扑地图生成方法以降低用户解释成本 VLN large language model
21 Advancing Object Goal Navigation Through LLM-enhanced Object Affinities Transfer 提出LLM增强的物体亲和力转移框架以解决目标导航问题 large language model

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

#题目一句话要点标签🔗⭐
22 Do Visual-Language Grid Maps Capture Latent Semantics? 提出一种分析视觉语言网格地图质量的方法以解决语义表示问题 scene understanding open-vocabulary open vocabulary
23 CLOSURE: Fast Quantification of Pose Uncertainty Sets 提出CLOSURE以快速量化6D姿态估计的不确定性 6D pose estimation

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