cs.RO（2025-05-18）

📊 共 15 篇论文 | 🔗 1 篇有代码

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支柱一：机器人控制 (Robot Control) (9 🔗1) 支柱三：空间感知与语义 (Perception & Semantics) (3) 支柱二：RL算法与架构 (RL & Architecture) (1) 支柱九：具身大模型 (Embodied Foundation Models) (1) 支柱四：生成式动作 (Generative Motion) (1)

🔬 支柱一：机器人控制 (Robot Control) (9 篇)

#题目一句话要点标签🔗⭐
1 Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning 提出感知灵巧控制框架以解决视觉驱动的机器人任务 humanoid whole-body control manipulation
2 Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing 提出基于强化学习的稳健步态控制以解决资源受限四足机器人在复杂地形中的行走问题 quadruped locomotion reinforcement learning
3 Adaptive MPC-based quadrupedal robot control under periodic disturbances 提出自适应MPC控制方法以应对四足机器人周期性干扰问题 quadruped locomotion MPC ✅
4 Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots 设计了一种3自由度跳跃机器人以推动双足机器人发展 bipedal biped reinforcement learning
5 PartDexTOG: Generating Dexterous Task-Oriented Grasping via Language-driven Part Analysis 提出PartDexTOG以解决灵巧任务导向抓取问题 manipulation dexterous hand penetration
6 Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study 提出基于质心速度奖励的框架以解决动态旋转行为学习问题 sim-to-real centroidal dynamics reinforcement learning
7 RoboFAC: A Comprehensive Framework for Robotic Failure Analysis and Correction 提出RoboFAC框架以解决机器人操作中的失败分析与修正问题 manipulation vision-language-action VLA
8 A Robot Simulation Environment for Virtual Reality Enhanced Underwater Manipulation and Seabed Intervention Tasks 提出(MARUN)2水下机器人模拟器以提升水下操作能力 manipulation
9 Scene-Adaptive Motion Planning with Explicit Mixture of Experts and Interaction-Oriented Optimization 提出EMoE-Planner以解决复杂城市环境中的轨迹规划问题 motion planning

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

#题目一句话要点标签🔗⭐
10 Spatial-LLaVA: Enhancing Large Language Models with Spatial Referring Expressions for Visual Understanding 提出Spatial-LLaVA以解决视觉理解中的空间关系问题 scene understanding spatial relationship large language model
11 Is Semantic SLAM Ready for Embedded Systems ? A Comparative Survey 比较不同语义SLAM方法在嵌入式系统中的适用性 visual SLAM 3D gaussian splatting gaussian splatting
12 Structureless VIO 提出无结构视觉惯性里程计以解决传统方法的效率问题 visual odometry VIO

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

#题目一句话要点标签🔗⭐
13 MTIL: Encoding Full History with Mamba for Temporal Imitation Learning 提出MTIL以解决长时间序列模仿学习中的历史编码问题 imitation learning diffusion policy world model

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

#题目一句话要点标签🔗⭐
14 BadNAVer: Exploring Jailbreak Attacks On Vision-and-Language Navigation 提出BadNAVer以解决多模态大语言模型的监狱突破攻击问题 VLN large language model multimodal

🔬 支柱四：生成式动作 (Generative Motion) (1 篇)

#题目一句话要点标签🔗⭐
15 Behavior Synthesis via Contact-Aware Fisher Information Maximization 通过接触感知的费舍尔信息最大化合成机器人行为 contact-aware

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