机器人 / 具身智能 - arXivDaily 专题

2304.03535 2025-08-19 cs.LG 77%

CRISP: Curriculum Inducing Primitive Informed Subgoal Prediction for Hierarchical Reinforcement Learning

Utsav Singh, Vinay P. Namboodiri

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.LG

2508.08707 2025-08-13 cs.RO 77%

Towards Safe Imitation Learning via Potential Field-Guided Flow Matching

Haoran Ding, Anqing Duan, Zezhou Sun, Leonel Rozo, Noémie Jaquier, Dezhen Song, Yoshihiko Nakamura

机构 * Department of Robotics, Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（机器人系，Mohamed bin Zayed大学人工智能学院）； Bosch Center for Artificial Intelligence（博世人工智能中心）； Division of Robotics, Perception, and Learning, KTH Royal Institute of Technology（机器人、感知与学习 division，皇家理工学院）

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO

Comments 8 pages, 6 figures, Accepted to IROS 2025

2507.09167 2025-07-15 cs.RO 77%

PRAG: Procedural Action Generator

Michal Vavrecka, Radoslav Skoviera, Gabriela Sejnova, Karla Stepanova

机构 * CIIRC, Czech Technical University in Prague（捷克技术大学布拉格分校计算机科学与信息检索中心）

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO

2507.04789 2025-07-08 cs.RO 77%

Training-free Generation of Temporally Consistent Rewards from VLMs

Yinuo Zhao, Jiale Yuan, Zhiyuan Xu, Xiaoshuai Hao, Xinyi Zhang, Kun Wu, Zhengping Che, Chi Harold Liu, Jian Tang

专题命中模仿学习与强化学习：embodied AI(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO

2505.10010 2025-05-16 cs.LG 77%

ImagineBench: Evaluating Reinforcement Learning with Large Language Model Rollouts

Jing-Cheng Pang, Kaiyuan Li, Yidi Wang, Si-Hang Yang, Shengyi Jiang, Yang Yu

机构 * National Key Laboratory for Novel Software Technology Nanjing University China（南京大学新型软件技术国家重点实验室）； School of Artificial Intelligence Nanjing University China（南京大学人工智能学院）； The University of Hong Kong（香港大学）

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.LG

2505.08361 2025-05-14 cs.AI 77%

Modeling Unseen Environments with Language-guided Composable Causal Components in Reinforcement Learning

Xinyue Wang, Biwei Huang

机构 * University of California San Diego（加州大学圣地亚哥分校）

专题命中模仿学习与强化学习：manipulation(abstract)；world model(abstract)；robotic(abstract)；分类 cs.AI

Comments Published as a conference paper at ICLR 2025

2410.09505 2025-04-15 cs.LG cs.NE 77%

HG2P: Hippocampus-inspired High-reward Graph and Model-Free Q-Gradient Penalty for Path Planning and Motion Control

Haoran Wang, Yaoru Sun, Zeshen Tang, Haibo Shi, Chenyuan Jiao

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.LG

2503.10177 2025-03-20 cs.CL cs.RO 77%

PRISM: Preference Refinement via Implicit Scene Modeling for 3D Vision-Language Preference-Based Reinforcement Learning

Yirong Sun, Yanjun Chen

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO

Comments I withdraw arXiv:2503.10177 due to critical computational errors invalidating its conclusions and the withdrawal of consent from co-author Yanjun Chen

2502.20630 2025-03-03 cs.RO cs.AI cs.CV cs.LG 77%

Subtask-Aware Visual Reward Learning from Segmented Demonstrations

Changyeon Kim, Minho Heo, Doohyun Lee, Jinwoo Shin, Honglak Lee, Joseph J. Lim, Kimin Lee

专题命中模仿学习与强化学习：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Project webpage: https://changyeon.site/reds/

2412.12089 2025-03-03 cs.LG cs.AI cs.CV cs.RO 77%

Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation

Eliot Xing, Vernon Luk, Jean Oh

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

Comments 34 pages, 13 figures, 18 tables. Accepted to ICLR 2025 (Spotlight)

2410.15994 2024-10-22 cs.RO 77%

ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning

Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir

专题命中模仿学习与强化学习：robotics(abstract)；robot learning(abstract)；manipulation(abstract)；分类 cs.RO

2410.10834 2024-10-16 cs.CV cs.AI cs.LG cs.RO 77%

Focus On What Matters: Separated Models For Visual-Based RL Generalization

Di Zhang, Bowen Lv, Hai Zhang, Feifan Yang, Junqiao Zhao, Hang Yu, Chang Huang, Hongtu Zhou, Chen Ye, Changjun Jiang

专题命中模仿学习与强化学习：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

2408.15593 2024-08-29 cs.LG 77%

Skills Regularized Task Decomposition for Multi-task Offline Reinforcement Learning

Minjong Yoo, Sangwoo Cho, Honguk Woo

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.LG

Comments 12 pages, 5 figures, acceepted in NeurIPS 2022

2310.12972 2024-06-05 cs.RO 77%

CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning

Liyiming Ke, Yunchu Zhang, Abhay Deshpande, Siddhartha Srinivasa, Abhishek Gupta

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.RO

2404.14735 2024-04-24 cs.RO 77%

Rank2Reward: Learning Shaped Reward Functions from Passive Video

Daniel Yang, Davin Tjia, Jacob Berg, Dima Damen, Pulkit Agrawal, Abhishek Gupta

专题命中模仿学习与强化学习：robot learning(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO

Comments ICRA 2024

2401.17698 2024-02-01 cs.RO 77%

Bi-ACT: Bilateral Control-Based Imitation Learning via Action Chunking with Transformer

Thanpimon Buamanee, Masato Kobayashi, Yuki Uranishi, Haruo Takemura

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO

2310.07393 2023-10-12 cs.RO 77%

RANS: Highly-Parallelised Simulator for Reinforcement Learning based Autonomous Navigating Spacecrafts

Matteo El-Hariry, Antoine Richard, Miguel Olivares-Mendez

专题命中模仿学习与强化学习：robotics(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO

2210.00030 2023-03-08 cs.RO cs.AI cs.CV cs.LG 77%

VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training

Yecheng Jason Ma, Shagun Sodhani, Dinesh Jayaraman, Osbert Bastani, Vikash Kumar, Amy Zhang

专题命中模仿学习与强化学习：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments ICLR 2023, Notable-Top-25% (Spotlight). Project website: https://sites.google.com/view/vip-rl

2204.10419 2023-01-23 cs.LG cs.AI cs.CV cs.RO 77%

Learning Sequential Latent Variable Models from Multimodal Time Series Data

Oliver Limoyo, Trevor Ablett, Jonathan Kelly

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

Comments In: Petrovic, I., Menegatti, E., Marković, I. (eds) Intelligent Autonomous Systems 17. IAS 2022. Lecture Notes in Networks and Systems, vol 577. Springer, Cham

2206.11251 2022-10-13 cs.LG cs.AI cs.CV cs.RO 77%

Behavior Transformers: Cloning $k$ modes with one stone

Nur Muhammad Mahi Shafiullah, Zichen Jeff Cui, Ariuntuya Altanzaya, Lerrel Pinto

专题命中模仿学习与强化学习：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Code and data available at https://github.com/notmahi/bet

2101.06521 2022-08-10 cs.LG 77%

Hierarchical Reinforcement Learning By Discovering Intrinsic Options

Jesse Zhang, Haonan Yu, Wei Xu

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.LG

Comments ICLR 2021. 19 pages, 9 figures. Code at https://www.github.com/jesbu1/hidio

2204.05618 2022-04-13 cs.LG 77%

When Should We Prefer Offline Reinforcement Learning Over Behavioral Cloning?

Aviral Kumar, Joey Hong, Anikait Singh, Sergey Levine

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.LG

Comments ICLR 2022. First two authors contributed equally

2203.08949 2022-03-18 cs.LG 77%

Latent-Variable Advantage-Weighted Policy Optimization for Offline RL

Xi Chen, Ali Ghadirzadeh, Tianhe Yu, Yuan Gao, Jianhao Wang, Wenzhe Li, Bin Liang, Chelsea Finn, Chongjie Zhang

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.LG

2012.02788 2020-12-07 cs.LG cs.AI cs.CV cs.RO stat.ML 77%

Neural Dynamic Policies for End-to-End Sensorimotor Learning

Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak

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

Comments NeurIPS 2020 (Spotlight). Code and videos at https://shikharbahl.github.io/neural-dynamic-policies/

2002.01963 2020-06-16 cs.LG stat.ML 77%

Mutual Information-based State-Control for Intrinsically Motivated Reinforcement Learning

Rui Zhao, Yang Gao, Pieter Abbeel, Volker Tresp, Wei Xu

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.LG

Comments 15 pages, 8 figures

1807.01425 2018-07-05 cs.AI 77%

Region Growing Curriculum Generation for Reinforcement Learning

Artem Molchanov, Karol Hausman, Stan Birchfield, Gaurav Sukhatme

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.AI

2503.15629 2025-03-21 cs.RO cs.AI cs.CG cs.LG 76%

Neural Lyapunov Function Approximation with Self-Supervised Reinforcement Learning

Luc McCutcheon, Bahman Gharesifard, Saber Fallah

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

Comments Accepted at IEEE International Conference on Robotics and Automation (ICRA)

2311.01248 2025-01-28 cs.RO cs.AI cs.LG 76%

Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor

Trevor Ablett, Oliver Limoyo, Adam Sigal, Affan Jilani, Jonathan Kelly, Kaleem Siddiqi, Francois Hogan, Gregory Dudek

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

Comments 14 pages, 22 figures

Journal ref IEEE Transactions on Robotics (T-RO), Vol. 41, pp. 946-959, Jan. 2025

2412.12237 2024-12-18 cs.RO cs.AI cs.LG 76%

Equivariant Action Sampling for Reinforcement Learning and Planning

Linfeng Zhao, Owen Howell, Xupeng Zhu, Jung Yeon Park, Zhewen Zhang, Robin Walters, Lawson L. S. Wong

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

Comments Published at International Workshop on the Algorithmic Foundations of Robotics (WAFR) 2024. Website: http://lfzhao.com/EquivSampling

2408.14336 2024-08-27 cs.RO cs.AI cs.CV 76%

Equivariant Reinforcement Learning under Partial Observability

Hai Nguyen, Andrea Baisero, David Klee, Dian Wang, Robert Platt, Christopher Amato

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

Comments Conference on Robot Learning, 2023

1. 模仿学习与强化学习 4106 篇

CRISP: Curriculum Inducing Primitive Informed Subgoal Prediction for Hierarchical Reinforcement Learning

Towards Safe Imitation Learning via Potential Field-Guided Flow Matching

PRAG: Procedural Action Generator

Training-free Generation of Temporally Consistent Rewards from VLMs

ImagineBench: Evaluating Reinforcement Learning with Large Language Model Rollouts

Modeling Unseen Environments with Language-guided Composable Causal Components in Reinforcement Learning

HG2P: Hippocampus-inspired High-reward Graph and Model-Free Q-Gradient Penalty for Path Planning and Motion Control

PRISM: Preference Refinement via Implicit Scene Modeling for 3D Vision-Language Preference-Based Reinforcement Learning

Subtask-Aware Visual Reward Learning from Segmented Demonstrations

Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation

ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning

Focus On What Matters: Separated Models For Visual-Based RL Generalization

Skills Regularized Task Decomposition for Multi-task Offline Reinforcement Learning

CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning

Rank2Reward: Learning Shaped Reward Functions from Passive Video

Bi-ACT: Bilateral Control-Based Imitation Learning via Action Chunking with Transformer

RANS: Highly-Parallelised Simulator for Reinforcement Learning based Autonomous Navigating Spacecrafts

VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training

Learning Sequential Latent Variable Models from Multimodal Time Series Data

Behavior Transformers: Cloning $k$ modes with one stone

Hierarchical Reinforcement Learning By Discovering Intrinsic Options

When Should We Prefer Offline Reinforcement Learning Over Behavioral Cloning?

Latent-Variable Advantage-Weighted Policy Optimization for Offline RL

Neural Dynamic Policies for End-to-End Sensorimotor Learning

Mutual Information-based State-Control for Intrinsically Motivated Reinforcement Learning

Region Growing Curriculum Generation for Reinforcement Learning

Neural Lyapunov Function Approximation with Self-Supervised Reinforcement Learning

Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor

Equivariant Action Sampling for Reinforcement Learning and Planning

Equivariant Reinforcement Learning under Partial Observability