EUPHORIA：通过混合优化实现鲁棒工业机器人装配的高效通用规划

Shih-Yu Lai, Chia-Ching Yen, Yang-Ting Shen, Peter Yichen Chen, Yu-Lun Liu, Bing-Yu Chen

2026

摘要

该论文提出EUPHORIA框架，通过元几何编码器和物理信息图变换器实现机器人装配的少样本适应与高效规划。混合优化策略克服了传统规划器需重新训练或效率低下的瓶颈。

robotic assemblyfew-shot adaptationgraph hypernetworksphysics-informed transformerhybrid optimization

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