cs.RO（2024-03-19）

📊 共 33 篇论文 | 🔗 4 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (20 🔗1) 支柱九：具身大模型 (Embodied Foundation Models) (4) 支柱三：空间感知与语义 (Perception & Semantics) (3 🔗1) 支柱二：RL算法与架构 (RL & Architecture) (3) 支柱四：生成式动作 (Generative Motion) (2 🔗2) 支柱七：动作重定向 (Motion Retargeting) (1)

🔬 支柱一：机器人控制 (Robot Control) (20 篇)

#题目一句话要点标签🔗⭐
1 FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting 提出FootstepNet以解决双足机器人快速步态规划问题 humanoid humanoid robot humanoid locomotion
2 Humanoid Robots and Humanoid AI: Review, Perspectives and Directions 综述人形机器人与人形人工智能的研究现状与未来方向 humanoid humanoid robot large language model
3 Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation 提出Subgoal Diffuser以解决长时间机器人操作规划问题 manipulation MPC model predictive control
4 Dynamic Manipulation of Deformable Objects using Imitation Learning with Adaptation to Hardware Constraints 提出动态操作可变形物体的模仿学习框架以应对硬件限制 manipulation bi-manual imitation learning
5 User-customizable Shared Control for Robot Teleoperation via Virtual Reality 提出用户可定制的共享控制以改善机器人遥操作体验 teleoperation shared control
6 Wearable Roller Rings to Augment In-Hand Manipulation through Active Surfaces 提出可穿戴滚轮环以增强手中物体操控能力 manipulation in-hand manipulation
7 Theoretical Modeling and Bio-inspired Trajectory Optimization of A Multiple-locomotion Origami Robot 提出生物启发的轨迹优化方法以提升多运动模式折纸机器人性能 locomotion trajectory optimization
8 Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy 提出教师-学生学习方法以解决灵巧功能预抓取操作问题 manipulation diffusion policy teacher-student
9 Yell At Your Robot: Improving On-the-Fly from Language Corrections 提出通过语言纠正提升机器人长时间任务表现的方法 manipulation dexterous manipulation teleoperation ✅
10 Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing 提出一种模块化机器人系统以解决军事跨越障碍问题 manipulation teleoperation
11 DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset 提出DROID数据集以解决机器人操作数据匮乏问题 manipulation policy learning
12 Vid2Robot: End-to-end Video-conditioned Policy Learning with Cross-Attention Transformers 提出Vid2Robot以解决机器人学习人类操作意图的问题 manipulation policy learning
13 Adaptive Visual Imitation Learning for Robotic Assisted Feeding Across Varied Bowl Configurations and Food Types 提出自适应视觉模仿学习以解决机器人辅助喂食问题 manipulation imitation learning
14 D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation 提出D-Cubed以解决灵巧可变形物体操控问题 manipulation
15 Interactive Robot-Environment Self-Calibration via Compliant Exploratory Actions 提出基于顺应性探索行为的机器人环境自校准方法 manipulation spatial relationship
16 In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing 提出一种基于触觉感知的灵巧手以实现变形线性物体的手内跟随 manipulation dexterous hand
17 Multi-Object RANSAC: Efficient Plane Clustering Method in a Clutter 提出Multi-Object RANSAC以解决杂乱场景中的平面聚类问题 manipulation scene understanding
18 LAVA: Long-horizon Visual Action based Food Acquisition 提出LAVA以解决半固体和变形食品的机器人喂食问题 manipulation behavior cloning
19 PE-Planner: A Performance-Enhanced Quadrotor Motion Planner for Autonomous Flight in Complex and Dynamic Environments 提出PE-Planner以解决复杂动态环境下四旋翼自主飞行问题 trajectory optimization
20 Teaching Robots Where To Go And How To Act With Human Sketches via Spatial Diagrammatic Instructions 提出空间图示指令以解决移动操控器基座放置问题 manipulation

🔬 支柱九：具身大模型 (Embodied Foundation Models) (4 篇)

#题目一句话要点标签🔗⭐
21 FlexiFly: Interfacing the Physical World with Foundation Models Empowered by Reconfigurable Drone Systems 提出FlexiFly以解决物理世界与基础模型交互问题 foundation model
22 LBAP: Improved Uncertainty Alignment of LLM Planners using Bayesian Inference 提出LBAP以解决LLM规划中的不确定性对齐问题 large language model
23 BTGenBot: Behavior Tree Generation for Robotic Tasks with Lightweight LLMs 提出BTGenBot以生成机器人任务的行为树 large language model
24 To Help or Not to Help: LLM-based Attentive Support for Human-Robot Group Interactions 提出基于LLM的关注支持以解决人机群体互动问题 large language model

🔬 支柱三：空间感知与语义 (Perception & Semantics) (3 篇)

#题目一句话要点标签🔗⭐
25 High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization 提出基于高斯点云的RGBD SLAM以解决精度与重建质量问题 3D gaussian splatting gaussian splatting splatting
26 On Designing Consistent Covariance Recovery from a Deep Learning Visual Odometry Engine 提出基于隐式层的因子图以解决视觉里程计的不确定性估计问题 visual odometry
27 TON-VIO: Online Time Offset Modeling Networks for Robust Temporal Alignment in High Dynamic Motion VIO 提出TON-VIO以解决高动态运动下的时间偏移问题 VIO ✅

🔬 支柱二：RL算法与架构 (RL & Architecture) (3 篇)

#题目一句话要点标签🔗⭐
28 Bin Packing Optimization via Deep Reinforcement Learning 提出深度强化学习方法以优化箱子装箱问题 reinforcement learning deep reinforcement learning DRL
29 Graph Neural Network-based Multi-agent Reinforcement Learning for Resilient Distributed Coordination of Multi-Robot Systems 提出基于图神经网络的多智能体强化学习以解决多机器人系统的协调问题 reinforcement learning PPO
30 Digital Twin-Driven Reinforcement Learning for Obstacle Avoidance in Robot Manipulators: A Self-Improving Online Training Framework 提出数字双胞胎驱动的强化学习框架以解决机器人避障问题 reinforcement learning

🔬 支柱四：生成式动作 (Generative Motion) (2 篇)

#题目一句话要点标签🔗⭐
31 Driving Animatronic Robot Facial Expression From Speech 提出基于线性混合蒙皮的语音驱动仿生机器人面部表情生成方法 motion synthesis motion generation ✅
32 Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstration 提出基于变阻抗控制和虚拟势场的人机协作框架以解决复杂任务 motion generation ✅

🔬 支柱七：动作重定向 (Motion Retargeting) (1 篇)

#题目一句话要点标签🔗⭐
33 Semantic Layering in Room Segmentation via LLMs 提出SeLRoS以解决室内语义分割中的信息不足问题 spatial relationship large language model

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