机器人 / 具身智能 - arXivDaily 专题

2410.18065 2024-10-24 cs.RO cs.AI cs.CV cs.LG 86%

SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation

Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Garrett, Ajay Mandlekar

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

Comments Conference on Robot Learning (CoRL) 2024

1903.01066 2019-03-21 cs.RO 86%

Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly

Jianlan Luo, Eugen Solowjow, Chengtao Wen, Juan Aparicio Ojea, Alice M. Agogino, Aviv Tamar, Pieter Abbeel

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

Comments ICRA 2019. More video results at https://sites.google.com/berkeley.edu/rl-robotic-assembly/home

2406.01501 2024-07-25 q-bio.NC 86%

Reinforcement Learning as a Robotics-Inspired Framework for Insect Navigation: From Spatial Representations to Neural Implementation

Stephan Lochner, Daniel Honerkamp, Abhinav Valada, Andrew D. Straw

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

Comments 26 pages, 5 figures; submitted to Frontiers in Computational Neuroscience

2509.25358 2026-04-28 cs.RO 85%

SARM: Stage-Aware Reward Modeling for Long Horizon Robot Manipulation

SARM：面向长时间 horizon 的机器人操控阶段感知奖励建模

Qianzhong Chen, Justin Yu, Mac Schwager, Pieter Abbeel, Yide Shentu, Philipp Wu

机构 * Stanford University（斯坦福大学）； UC Berkeley（加州大学伯克利分校）

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

AI总结本文提出一种基于视频的阶段感知奖励建模框架，通过自然语言子任务标注实现一致标签，提升长horizon任务的鲁棒性和泛化能力，实验表明其在真实世界和人类验证中表现优异。

2602.18856 2026-02-24 cs.LG 85%

Issues with Measuring Task Complexity via Random Policies in Robotic Tasks

通过随机策略测量机器人任务复杂性的问题

Reabetswe M. Nkhumise, Mohamed S. Talamali, Aditya Gilra

机构 * University of Sheffield（谢菲尔德大学）

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

AI总结本文指出基于随机权重猜测的指标在测量机器人任务复杂性时存在矛盾，需发展更可靠的度量方法。

Comments 16 pages, 9 figures, The 25th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2026)

2512.01952 2026-02-10 cs.CV cs.AI cs.LG cs.RO 85%

GrndCtrl: Grounding World Models via Self-Supervised Reward Alignment

GrndCtrl: 通过自监督奖励对齐实现世界模型的 grounding

Haoyang He, Jay Patrikar, Dong-Ki Kim, Max Smith, Daniel McGann, Ali-akbar Agha-mohammadi, Shayegan Omidshafiei, Sebastian Scherer

专题命中模仿学习与强化学习：world model(title,abstract)；navigation(abstract)；分类 cs.RO、cs.AI、cs.CV

AI总结 GrndCtrl通过自监督奖励对齐提升世界模型的几何 grounding，实现更稳定的空间一致性与导航性能。

2601.00675 2026-01-09 cs.RO 85%

RoboReward: General-Purpose Vision-Language Reward Models for Robotics

RoboReward: 通用视觉-语言奖励模型用于机器人学

Tony Lee, Andrew Wagenmaker, Karl Pertsch, Percy Liang, Sergey Levine, Chelsea Finn

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

AI总结 RoboReward通过构建机器人奖励数据集和基准，训练视觉-语言奖励模型，验证了其在机器人学习中的有效性，并展示了改进策略学习和缩小与人工奖励差距的成果。

2507.04661 2025-12-24 cs.RO 85%

DRAE: Dynamic Retrieval-Augmented Expert Networks for Lifelong Learning and Task Adaptation in Robotics

DRAE：动态检索增强专家网络用于机器人终身学习与任务适应

Yayu Long, Kewei Chen, Long Jin, Mingsheng Shang

机构 * Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences（重庆绿色智能技术研究所，中国科学院）

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

AI总结 DRAE通过动态检索增强专家网络实现机器人终身学习和任务适应，显著提升长期任务保留和知识重用能力。

Comments Accepted to the main conference of the Annual Meeting of the Association for Computational Linguistics (ACL 2025)

2506.21732 2025-11-17 cs.RO cs.AI cs.CV cs.LG cs.SY eess.SY 85%

Experimental investigation of pose informed reinforcement learning for skid-steered visual navigation

Ameya Salvi, Venkat Krovi

机构 * Department of Automotive Engineering at the Clemson University International Center for Automotive Research (CU-ICAR)（汽车工程系（克莱姆森大学国际汽车研究中心））

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

2505.03238 2025-09-03 cs.RO 85%

RobotxR1: Enabling Embodied Robotic Intelligence on Large Language Models through Closed-Loop Reinforcement Learning

Liam Boyle, Nicolas Baumann, Paviththiren Sivasothilingam, Michele Magno, Luca Benini

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

2508.10399 2025-08-15 cs.RO 85%

Large Model Empowered Embodied AI: A Survey on Decision-Making and Embodied Learning

Wenlong Liang, Rui Zhou, Yang Ma, Bing Zhang, Songlin Li, Yijia Liao, Ping Kuang

机构 * University of Electronic Science and Technology of China（电子科技大学）

专题命中模仿学习与强化学习：embodied AI(title,abstract)；embodied agent(abstract)；world model(abstract)；分类 cs.RO

2507.23172 2025-08-04 cs.RO 85%

Benchmarking Massively Parallelized Multi-Task Reinforcement Learning for Robotics Tasks

Viraj Joshi, Zifan Xu, Bo Liu, Peter Stone, Amy Zhang

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

Comments RLC 2025

2405.01534 2024-05-03 cs.LG cs.AI cs.CV cs.RO 85%

Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Tasks

Murtaza Dalal, Tarun Chiruvolu, Devendra Chaplot, Ruslan Salakhutdinov

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

Comments Published at ICLR 2024. Website at https://mihdalal.github.io/planseqlearn/ 9 pages, 3 figures, 3 tables; 14 pages appendix (7 additional figures)

2312.16273 2023-12-29 cs.RO 85%

Coordination and Machine Learning in Multi-Robot Systems: Applications in Robotic Soccer

Luis Paulo Reis

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

2309.08457 2023-09-18 cs.RO 85%

Sim-to-Real Brush Manipulation using Behavior Cloning and Reinforcement Learning

Biao Jia, Dinesh Manocha

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

2304.08488 2023-04-18 cs.RO cs.AI cs.CV cs.LG cs.NE 85%

Affordances from Human Videos as a Versatile Representation for Robotics

Shikhar Bahl, Russell Mendonca, Lili Chen, Unnat Jain, Deepak Pathak

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

Comments Accepted at CVPR 2023. Website at https://robo-affordances.github.io/

2110.15360 2021-10-29 cs.LG cs.AI cs.CV cs.RO 85%

Accelerating Robotic Reinforcement Learning via Parameterized Action Primitives

Murtaza Dalal, Deepak Pathak, Ruslan Salakhutdinov

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

Comments Published at NeurIPS 2021. Website at https://mihdalal.github.io/raps/

2103.16817 2021-04-01 cs.RO cs.AI cs.CV cs.LG 85%

Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videos

Annie S. Chen, Suraj Nair, Chelsea Finn

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

Comments https://sites.google.com/view/dvd-human-videos

1903.02090 2020-01-28 cs.RO 85%

Open-Sourced Reinforcement Learning Environments for Surgical Robotics

Florian Richter, Ryan K. Orosco, Michael C. Yip

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

Comments 7 pages, 7 Figures

2603.24083 2026-03-26 cs.RO cs.AI cs.LG 85%

Knowledge-Guided Manipulation Using Multi-Task Reinforcement Learning

基于多任务强化学习的知识引导操作

Aditya Narendra, Mukhammadrizo Maribjonov, Dmitry Makarov, Dmitry Yudin, Aleksandr Panov

机构 * MIRAI ； MBZUAI ； Innopolis University（Innopolis大学）； AXXX

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

AI总结本文提出KG-M3PO框架，通过统一感知、知识和策略实现部分可观测环境下的多任务机器人操作，利用3D场景图和动态关系机制提升任务成功率与泛化能力。

Comments 8 pages, 8 figures. Accepted to IEEE International Conference on Robotics and Automation (ICRA 2026)

2511.10087 2025-11-14 cs.RO cs.AI cs.LG 85%

Opinion: Towards Unified Expressive Policy Optimization for Robust Robot Learning

Haidong Huang, Haiyue Zhu. Jiayu Song, Xixin Zhao, Yaohua Zhou, Jiayi Zhang, Yuze Zhai, Xiaocong Li

机构 * Eastern Institute of Technology（东部技术研究所）； University of Nottingham（诺丁汉大学）； SIMTech, Agency for Science, Technology and Research (A*STAR)（SIMTech，科技研究局（A*STAR））； Southern University of Science and Technology（南方科技大学）

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

Comments Accepted by NeurIPS 2025 Workshop on Embodied World Models for Decision Making

2503.10370 2025-03-14 cs.RO cs.CV cs.LG 85%

LUMOS: Language-Conditioned Imitation Learning with World Models

Iman Nematollahi, Branton DeMoss, Akshay L Chandra, Nick Hawes, Wolfram Burgard, Ingmar Posner

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

Comments Accepted at the 2025 IEEE International Conference on Robotics and Automation (ICRA)

2404.02728 2024-04-04 cs.RO cs.AI cs.LG 85%

Unsupervised Learning of Effective Actions in Robotics

Marko Zaric, Jakob Hollenstein, Justus Piater, Erwan Renaudo

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

Comments Accepted at The First Austrian Symposium on AI, Robotics, and Vision (AIROV24)

2402.03337 2024-02-07 cs.RO cs.AI cs.LG 85%

Reinforcement-learning robotic sailboats: simulator and preliminary results

Eduardo Charles Vasconcellos, Ronald M Sampaio, André P D Araújo, Esteban Walter Gonzales Clua, Philippe Preux, Raphael Guerra, Luiz M G Gonçalves, Luis Martí, Hernan Lira, Nayat Sanchez-Pi

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

Journal ref NeurIPS 2023 Workshop on Robot Learning Workshop: Pretraining, Fine-Tuning, and Generalization with Large Scale Models, Dec 2023, New Orelans, United States

2211.02231 2022-11-07 cs.RO cs.AI cs.LG 85%

Residual Skill Policies: Learning an Adaptable Skill-based Action Space for Reinforcement Learning for Robotics

Krishan Rana, Ming Xu, Brendan Tidd, Michael Milford, Niko Sünderhauf

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

Comments 6th Conference on Robot Learning (CoRL), 2022

2204.06252 2022-08-31 cs.RO cs.AI cs.CL cs.CV 85%

What Matters in Language Conditioned Robotic Imitation Learning over Unstructured Data

Oier Mees, Lukas Hermann, Wolfram Burgard

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

Comments Accepted for publication at IEEE Robotics and Automation Letters (RAL). Codebase and trained models available at http://hulc.cs.uni-freiburg.de

2010.11917 2021-04-27 cs.RO cs.AI cs.LG 85%

Batch Exploration with Examples for Scalable Robotic Reinforcement Learning

Annie S. Chen, HyunJi Nam, Suraj Nair, Chelsea Finn

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

Comments 11 Pages, 11 Figures

Journal ref IEEE Robotics and Automation Letters ( Volume: 6, Issue: 3, July 2021)

2602.18663 2026-02-24 cs.RO cs.LG 85%

Toward AI Autonomous Navigation for Mechanical Thrombectomy using Hierarchical Modular Multi-agent Reinforcement Learning (HM-MARL)

迈向机械取栓的AI自主导航：基于分层模块多智能体强化学习（HM-MARL）

Harry Robertshaw, Nikola Fischer, Lennart Karstensen, Benjamin Jackson, Xingyu Chen, S. M. Hadi Sadati, Christos Bergeles, Alejandro Granados, Thomas C Booth

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

AI总结本研究提出分层模块多智能体强化学习框架，实现机械取栓中双设备自主导航，展示体外导航能力及泛化挑战。

Comments Published in IEEE Robotics and Automation Letters

Journal ref IEEE Robotics and Automation Letters (2026)

2405.03113 2024-05-07 cs.RO cs.AI 85%

Robot Air Hockey: A Manipulation Testbed for Robot Learning with Reinforcement Learning

Caleb Chuck, Carl Qi, Michael J. Munje, Shuozhe Li, Max Rudolph, Chang Shi, Siddhant Agarwal, Harshit Sikchi, Abhinav Peri, Sarthak Dayal, Evan Kuo, Kavan Mehta, Anthony Wang, Peter Stone, Amy Zhang, Scott Niekum

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

2205.06311 2022-05-16 cs.RO cs.AI 85%

Provably Safe Deep Reinforcement Learning for Robotic Manipulation in Human Environments

Jakob Thumm, Matthias Althoff

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

Comments Accepted for ICRA 2022

1. 模仿学习与强化学习 4106 篇

SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation

Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly

Reinforcement Learning as a Robotics-Inspired Framework for Insect Navigation: From Spatial Representations to Neural Implementation

SARM: Stage-Aware Reward Modeling for Long Horizon Robot Manipulation

Issues with Measuring Task Complexity via Random Policies in Robotic Tasks

GrndCtrl: Grounding World Models via Self-Supervised Reward Alignment

RoboReward: General-Purpose Vision-Language Reward Models for Robotics

DRAE: Dynamic Retrieval-Augmented Expert Networks for Lifelong Learning and Task Adaptation in Robotics

Experimental investigation of pose informed reinforcement learning for skid-steered visual navigation

RobotxR1: Enabling Embodied Robotic Intelligence on Large Language Models through Closed-Loop Reinforcement Learning

Large Model Empowered Embodied AI: A Survey on Decision-Making and Embodied Learning

Benchmarking Massively Parallelized Multi-Task Reinforcement Learning for Robotics Tasks

Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Tasks

Coordination and Machine Learning in Multi-Robot Systems: Applications in Robotic Soccer

Sim-to-Real Brush Manipulation using Behavior Cloning and Reinforcement Learning

Affordances from Human Videos as a Versatile Representation for Robotics

Accelerating Robotic Reinforcement Learning via Parameterized Action Primitives

Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videos

Open-Sourced Reinforcement Learning Environments for Surgical Robotics

Knowledge-Guided Manipulation Using Multi-Task Reinforcement Learning

Opinion: Towards Unified Expressive Policy Optimization for Robust Robot Learning

LUMOS: Language-Conditioned Imitation Learning with World Models

Unsupervised Learning of Effective Actions in Robotics

Reinforcement-learning robotic sailboats: simulator and preliminary results

Residual Skill Policies: Learning an Adaptable Skill-based Action Space for Reinforcement Learning for Robotics

What Matters in Language Conditioned Robotic Imitation Learning over Unstructured Data

Batch Exploration with Examples for Scalable Robotic Reinforcement Learning

Toward AI Autonomous Navigation for Mechanical Thrombectomy using Hierarchical Modular Multi-agent Reinforcement Learning (HM-MARL)

Robot Air Hockey: A Manipulation Testbed for Robot Learning with Reinforcement Learning

Provably Safe Deep Reinforcement Learning for Robotic Manipulation in Human Environments