If you split the filename on underscore and dot, you get an array of 3 strings. Join the first and third string, i.e. with index 0 and 2
$x = '237801_201011221155.xml'
( $x.split('_.')[0] , $x.split('_.')[2] ) -join '.'
Another way to do the same thing:
'237801_201011221155.xml'.split('_.')[0,2] -join '.'