cs.RO（2025-09-30）

📊 共 29 篇论文 | 🔗 1 篇有代码

🎯 兴趣领域导航

支柱一：机器人控制 (Robot Control) (22 🔗1) 支柱九：具身大模型 (Embodied Foundation Models) (3) 支柱二：RL算法与架构 (RL & Architecture) (2) 支柱三：空间感知与语义 (Perception & Semantics) (2)

🔬 支柱一：机器人控制 (Robot Control) (22 篇)

#题目一句话要点标签🔗⭐
1 OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction OmniRetarget：交互保持的人形机器人全身运动操作与场景交互数据生成引擎 humanoid humanoid robot locomotion
2 A Systematic Study of Large Language Models for Task and Motion Planning With PDDLStream 提出基于LLM的TAMP系统以解决复杂机器人任务规划问题 motion planning large language model task and motion planning
3 MLA: A Multisensory Language-Action Model for Multimodal Understanding and Forecasting in Robotic Manipulation 提出MLA多感官语言-动作模型，增强机器人操作中多模态理解与预测能力 manipulation world model vision-language-action
4 Reinforced Embodied Planning with Verifiable Reward for Real-World Robotic Manipulation REVER：基于可验证奖励的强化具身规划，用于真实世界机器人操作 manipulation physically plausible embodied AI
5 ISyHand: A Dexterous Multi-finger Robot Hand with an Articulated Palm ISyHand：一种具有铰接式手掌的高灵巧度多指机器人手 humanoid humanoid robot manipulation
6 Learning Human Reaching Optimality Principles from Minimal Observation Inverse Reinforcement Learning 提出基于最小观测逆强化学习的人体手臂运动最优性建模方法 humanoid humanoid robot reinforcement learning
7 SAC Flow: Sample-Efficient Reinforcement Learning of Flow-Based Policies via Velocity-Reparameterized Sequential Modeling 提出SAC Flow算法，通过速度重参数化序列建模实现Flow-Based策略高效强化学习 manipulation reinforcement learning SAC
8 Kinodynamic Motion Planning for Mobile Robot Navigation across Inconsistent World Models 针对不一致环境模型的移动机器人运动规划方法GEGRH motion planning world model
9 Anomaly detection for generic failure monitoring in robotic assembly, screwing and manipulation 提出基于自编码器的异常检测方法，用于机器人装配、拧螺丝和操作中的通用故障监控。 manipulation diffusion policy multimodal
10 Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance 提出EA-CoRL框架，解决人型机器人协同设计中控制策略对硬件的持续适应问题。 humanoid humanoid robot reinforcement learning
11 Act to See, See to Act: Diffusion-Driven Perception-Action Interplay for Adaptive Policies 提出Action-Guided Diffusion Policy，通过扩散模型驱动的感知-动作交互实现自适应策略。 manipulation policy learning imitation learning
12 TGPO: Temporal Grounded Policy Optimization for Signal Temporal Logic Tasks TGPO：时序约束下的策略优化，解决机器人复杂时序逻辑任务 quadruped locomotion manipulation ✅
13 RoboPilot: Generalizable Dynamic Robotic Manipulation with Dual-thinking Modes RoboPilot：双重思维模式实现通用动态机器人操作 manipulation chain-of-thought
14 Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization 提出可微碰撞检测解析条件，加速轨迹优化中的非穿透约束 trajectory optimization penetration
15 The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization 提出轨迹束方法，统一序列凸规划与采样轨迹优化，解决无导数轨迹优化问题。 trajectory optimization motion planning
16 Best of Sim and Real: Decoupled Visuomotor Manipulation via Learning Control in Simulation and Perception in Real 提出解耦的视觉运动操作框架，提升Sim-to-Real迁移性能 manipulation sim-to-real
17 On the Conic Complementarity of Planar Contacts 提出平面Signorini条件，统一离散与连续接触模型，扩展压力中心概念。 locomotion manipulation penetration
18 A Robotic Stirring Method with Trajectory Optimization and Adaptive Speed Control for Accurate Pest Counting in Water Traps 提出基于轨迹优化和自适应速度控制的机器人搅拌方法，用于水体陷阱中害虫的精确计数。 trajectory optimization
19 Hierarchical Diffusion Motion Planning with Task-Conditioned Uncertainty-Aware Priors 提出层级扩散运动规划方法，利用任务条件的不确定性感知先验提升规划效果。 motion planning
20 A Novel Robust Control Method Combining DNN-Based NMPC Approximation and PI Control: Application to Exoskeleton Squat Movements 提出基于DNN-NMPC近似与PI控制的混合控制方法，提升外骨骼机器人下蹲运动的鲁棒性。 model predictive control
21 Learning from Hallucinating Critical Points for Navigation in Dynamic Environments 提出LfH-CP框架，通过幻觉关键点学习动态环境导航 motion planning
22 State Estimation for Compliant and Morphologically Adaptive Robots 针对柔顺和形态自适应机器人，提出一种基于神经网络的状态估计方法。 locomotion

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

#题目一句话要点标签🔗⭐
23 dVLA: Diffusion Vision-Language-Action Model with Multimodal Chain-of-Thought 提出dVLA：基于扩散模型和多模态CoT的视觉-语言-动作机器人控制 vision-language-action VLA multimodal
24 LLM-MCoX: Large Language Model-based Multi-robot Coordinated Exploration and Search LLM-MCoX：基于大语言模型的多机器人协同探索与搜索框架 large language model multimodal
25 TacRefineNet: Tactile-Only Grasp Refinement Between Arbitrary In-Hand Object Poses TacRefineNet：提出一种仅 tactile 的多指灵巧手末端位姿精确调整方法 vision-language-action VLA

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

#题目一句话要点标签🔗⭐
26 DiSA-IQL: Offline Reinforcement Learning for Robust Soft Robot Control under Distribution Shifts DiSA-IQL：面向分布偏移下柔性机器人鲁棒控制的离线强化学习方法 reinforcement learning deep reinforcement learning DRL
27 VLA Model Post-Training via Action-Chunked PPO and Self Behavior Cloning 提出基于动作块PPO和自行为克隆的VLA模型后训练方法 reinforcement learning PPO behavior cloning

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

#题目一句话要点标签🔗⭐
28 MUVLA: Learning to Explore Object Navigation via Map Understanding MUVLA：通过地图理解学习物体导航，提升探索能力 semantic map vision-language-action
29 Terrain-Awared LiDAR-Inertial Odometry for Legged-Wheel Robots Based on Radial Basis Function Approximation 提出基于径向基函数近似的地形感知激光惯性里程计，用于腿轮机器人。 LIO

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