机器人 / 具身智能 - arXivDaily 专题

2512.21063 2025-12-25 eess.SY cs.SY 56%

LSTM-Based Modeling and Reinforcement Learning Control of a Magnetically Actuated Catheter

基于LSTM的磁致动导管建模与强化学习控制

Arya Rashidinejad Meibodi, Mahbod Gholamali Sinaki, Khalil Alipour

专题命中模仿学习与强化学习：navigation(abstract)；robotics(comments)

AI总结本研究利用LSTM建模磁性导管系统，并通过强化学习控制其路径跟随，actor-critic控制器在精度和性能上优于DQN。

Comments Presented at the 13th RSI International Conference on Robotics and Mechatronics (ICRoM 2025), Dec. 16-18, 2025, Tehran, Iran

2511.22415 2025-12-01 cs.CR 56%

Exposing Vulnerabilities in RL: A Novel Stealthy Backdoor Attack through Reward Poisoning

揭示强化学习中的漏洞：通过奖励污染的新型隐秘后门攻击

Bokang Zhang, Chaojun Lu, Jianhui Li, Junfeng Wu

专题命中模仿学习与强化学习：manipulation(abstract)；robot learning(comments)

AI总结本文提出通过奖励污染对强化学习代理进行隐秘后门攻击，展示了在不同环境中攻击的有效性和隐蔽性。

Comments Workshop on Safe and Robust Robot Learning for Operation in the Real World at CoRL 2025

2505.21851 2025-09-26 cs.RO cs.AI cs.LG 56%

Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories

Sunshine Jiang, Xiaolin Fang, Nicholas Roy, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Siddharth Ancha

机构 * Massachusetts Institute of Technology（麻省理工学院）

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments Conference on Robot Learning (CoRL) 2025

2504.17838 2025-08-22 cs.LG cs.AI cs.RO 56%

CaRL: Learning Scalable Planning Policies with Simple Rewards

Bernhard Jaeger, Daniel Dauner, Jens Beißwenger, Simon Gerstenecker, Kashyap Chitta, Andreas Geiger

机构 * University of Tübingen（图宾根大学）； Tübingen AI Center（图宾根人工智能中心）； NVIDIA Research（NVIDIA研究）

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments Accepted at the Conference on Robot Learning 2025

2506.14287 2025-06-18 cs.RO cs.AI cs.HC cs.LG 56%

Steering Robots with Inference-Time Interactions

Yanwei Wang

机构 * Department of Electrical Engineering and Computer Science（电气工程与计算机科学系）

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments MIT Robotics PhD Thesis

2409.13867 2025-04-29 cs.RO cs.AI cs.LG cs.SY eess.SY 56%

MAGICS: Adversarial RL with Minimax Actors Guided by Implicit Critic Stackelberg for Convergent Neural Synthesis of Robot Safety

Justin Wang, Haimin Hu, Duy Phuong Nguyen, Jaime Fernández Fisac

机构 * Department of Electrical and Computer Engineering, Princeton University, USA（电气与计算机工程系，普林斯顿大学）

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Algorithmic Foundations of Robotics (WAFR) XVI

2504.18160 2025-04-28 cs.LG cs.AI cs.RO 56%

Offline Learning of Controllable Diverse Behaviors

Mathieu Petitbois, Rémy Portelas, Sylvain Lamprier, Ludovic Denoyer

机构 * Ubisoft La Forge（育碧La Forge）； University of Angers（昂西大学）； H Company（H公司）

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments Generative Models for Robot Learning Workshop at ICLR 2025

2403.12203 2024-11-13 cs.RO cs.CV cs.LG 56%

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza

专题命中模仿学习与强化学习：分类 cs.RO、cs.CV、cs.LG；robot learning(comments)

Comments 8th Annual Conference on Robot Learning (CoRL)

2409.16882 2024-09-26 cs.LG cs.AI cs.RO 56%

Revisiting Space Mission Planning: A Reinforcement Learning-Guided Approach for Multi-Debris Rendezvous

Agni Bandyopadhyay, Guenther Waxenegger-Wilfing

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Accepted for publication at the 2024 International Conference on Space Robotics (iSpaRo)

2406.08805 2024-09-23 cs.LG cs.AI cs.RO 56%

A Dual Approach to Imitation Learning from Observations with Offline Datasets

Harshit Sikchi, Caleb Chuck, Amy Zhang, Scott Niekum

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments 8th Conference on Robot Learning (CoRL 2024), Munich, Germany. 23 pages

2404.05695 2024-05-21 cs.RO cs.AI cs.LG cs.SY eess.SY 56%

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

Xinyang Gu, Yen-Jen Wang, Jianyu Chen

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(journal_ref)

Journal ref ICRA 2024 Workshop on Agile Robotics

2306.10216 2024-05-02 cs.LG cs.AI cs.RO 56%

Vanishing Bias Heuristic-guided Reinforcement Learning Algorithm

Qinru Li, Hao Xiang

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Robotics;Reinforcement Learning;

2311.13081 2024-04-10 cs.RO cs.AI cs.LG cs.SY eess.SY 56%

Learning to Fly in Seconds

Jonas Eschmann, Dario Albani, Giuseppe Loianno

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Accepted for publication in IEEE Robotics and Automation Letters (RA-L)

2310.12077 2023-10-19 cs.RO cs.CV cs.LG 56%

One-Shot Imitation Learning: A Pose Estimation Perspective

Pietro Vitiello, Kamil Dreczkowski, Edward Johns

专题命中模仿学习与强化学习：分类 cs.RO、cs.CV、cs.LG；robot learning(comments)

Comments Published at the 7th Conference on Robot Learning (CoRL 2023). For more details please visit https://www.robot-learning.uk/pose-estimation-perspective

2202.00129 2023-07-13 cs.RO cs.AI cs.IT cs.LG math.IT math.OC 56%

Fundamental Limits for Sensor-Based Robot Control

Anirudha Majumdar, Zhiting Mei, Vincent Pacelli

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Extended version of paper presented at the 2022 Robotics: Science and Systems (RSS) conference

2305.04412 2023-05-09 cs.RO cs.AI cs.LG 56%

Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors

Letian Wang, Jie Liu, Hao Shao, Wenshuo Wang, Ruobing Chen, Yu Liu, Steven L. Waslander

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Robotics: Science and Systems (RSS 2023)

2303.04327 2023-03-09 cs.RO cs.AI cs.LG 56%

Using Memory-Based Learning to Solve Tasks with State-Action Constraints

Mrinal Verghese, Chris Atkeson

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments 8 pages, 3 figures, accepted to the International Conference on Robotics and Automation 2023

2302.13507 2023-02-28 cs.LG cs.AI cs.RO 56%

Active Reward Learning from Online Preferences

Vivek Myers, Erdem Bıyık, Dorsa Sadigh

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments 11 pages, 8 figures, 1 table. Published in the 2023 IEEE International Conference on Robotics and Automation (ICRA)

2302.13132 2023-02-28 cs.AI cs.LG cs.MA cs.RO cs.SY eess.SY 56%

Hierarchical Needs-driven Agent Learning Systems: From Deep Reinforcement Learning To Diverse Strategies

Qin Yang

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Accepted by the 37th AAAI Conference on Artificial Intelligence and Robotics Bridge Program. arXiv admin note: text overlap with arXiv:2208.06033

1909.06710 2022-12-29 cs.RO cs.AI cs.LG 56%

Driving in Dense Traffic with Model-Free Reinforcement Learning

Dhruv Mauria Saxena, Sangjae Bae, Alireza Nakhaei, Kikuo Fujimura, Maxim Likhachev

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020. Code available on Github at https://github.com/dhruvms/HighwayTraffic and https://github.com/dhruvms/DenseTrafficEval

2110.05415 2022-06-24 eess.SY cs.AI cs.LG cs.RO cs.SY 56%

Safe Reinforcement Learning Using Robust Control Barrier Functions

Yousef Emam, Gennaro Notomista, Paul Glotfelter, Zsolt Kira, Magnus Egerstedt

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Submitted to IEEE Robotics and Automation Letters (RA-L)

2205.02824 2022-05-06 cs.RO cs.AI cs.LG 56%

Rapid Locomotion via Reinforcement Learning

Gabriel B Margolis, Ge Yang, Kartik Paigwar, Tao Chen, Pulkit Agrawal

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Accepted for publication at Robotics: Science and Systems (RSS) 2022

2104.14912 2022-02-21 cs.RO cs.AI cs.LG 56%

Nearest-Neighbor-based Collision Avoidance for Quadrotors via Reinforcement Learning

Ramzi Ourari, Kai Cui, Ahmed Elshamanhory, Heinz Koeppl

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments Accepted to the 39th IEEE Conference on Robotics and Automation (ICRA). Fixed some typos

2201.07082 2022-01-19 cs.RO cs.AI cs.HC cs.LG 56%

Inducing Structure in Reward Learning by Learning Features

Andreea Bobu, Marius Wiggert, Claire Tomlin, Anca D. Dragan

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments 24 pages, 22 figures, accepted to the International Journal of Robotics Research. arXiv admin note: text overlap with arXiv:2006.13208

2112.12740 2021-12-24 cs.LG cs.AI cs.RO 56%

Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling

Benjamin Freed, Aditya Kapoor, Ian Abraham, Jeff Schneider, Howie Choset

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments in IEEE Robotics and Automation Letters

2112.10877 2021-12-22 cs.RO cs.AI cs.LG 56%

AGPNet -- Autonomous Grading Policy Network

Chana Ross, Yakov Miron, Yuval Goldfracht, Dotan Di Castro

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments 7 pages, paper submitted to IEEE International Conference on Robotics and Automation

2004.08646 2021-10-19 cs.LG cs.AI cs.RO 56%

Macro-Action-Based Deep Multi-Agent Reinforcement Learning

Yuchen Xiao, Joshua Hoffman, Christopher Amato

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robot learning(journal_ref)

Journal ref 3rd Conference on Robot Learning (CoRL 2019)

2110.00284 2021-10-04 cs.RO cs.AI cs.LG 56%

Learning Reward Functions from Scale Feedback

Nils Wilde, Erdem Bıyık, Dorsa Sadigh, Stephen L. Smith

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robot learning(comments)

Comments 16 pages, 15 figures, 3 tables. Published at Conference on Robot Learning (CoRL) 2021

2006.14091 2021-08-05 cs.RO cs.AI cs.LG 56%

Learning Reward Functions from Diverse Sources of Human Feedback: Optimally Integrating Demonstrations and Preferences

Erdem Bıyık, Dylan P. Losey, Malayandi Palan, Nicholas C. Landolfi, Gleb Shevchuk, Dorsa Sadigh

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(comments)

Comments 20 pages, 17 figures. Accepted for publication by The International Journal of Robotics Research (IJRR)

2004.11345 2021-02-03 cs.RO cs.AI cs.LG 56%

Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads

Suneel Belkhale, Rachel Li, Gregory Kahn, Rowan McAllister, Roberto Calandra, Sergey Levine

专题命中模仿学习与强化学习：分类 cs.RO、cs.AI、cs.LG；robotics(journal_ref)

Journal ref IEEE Robotics and Automation Letters 2021

1. 模仿学习与强化学习 4116 篇

LSTM-Based Modeling and Reinforcement Learning Control of a Magnetically Actuated Catheter

Exposing Vulnerabilities in RL: A Novel Stealthy Backdoor Attack through Reward Poisoning

Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories

CaRL: Learning Scalable Planning Policies with Simple Rewards

Steering Robots with Inference-Time Interactions

MAGICS: Adversarial RL with Minimax Actors Guided by Implicit Critic Stackelberg for Convergent Neural Synthesis of Robot Safety

Offline Learning of Controllable Diverse Behaviors

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

Revisiting Space Mission Planning: A Reinforcement Learning-Guided Approach for Multi-Debris Rendezvous

A Dual Approach to Imitation Learning from Observations with Offline Datasets

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

Vanishing Bias Heuristic-guided Reinforcement Learning Algorithm

Learning to Fly in Seconds

One-Shot Imitation Learning: A Pose Estimation Perspective

Fundamental Limits for Sensor-Based Robot Control

Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors

Using Memory-Based Learning to Solve Tasks with State-Action Constraints

Active Reward Learning from Online Preferences

Hierarchical Needs-driven Agent Learning Systems: From Deep Reinforcement Learning To Diverse Strategies

Driving in Dense Traffic with Model-Free Reinforcement Learning

Safe Reinforcement Learning Using Robust Control Barrier Functions

Rapid Locomotion via Reinforcement Learning

Nearest-Neighbor-based Collision Avoidance for Quadrotors via Reinforcement Learning

Inducing Structure in Reward Learning by Learning Features

Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling

AGPNet -- Autonomous Grading Policy Network

Macro-Action-Based Deep Multi-Agent Reinforcement Learning

Learning Reward Functions from Scale Feedback

Learning Reward Functions from Diverse Sources of Human Feedback: Optimally Integrating Demonstrations and Preferences

Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads