机器人 / 具身智能 - arXivDaily 专题

1703.08862 2018-05-08 cs.RO cs.AI cs.HC 73%

Socially Aware Motion Planning with Deep Reinforcement Learning

Yu Fan Chen, Michael Everett, Miao Liu, Jonathan P. How

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

Comments 8 pages

1802.10567 2018-03-01 cs.LG cs.RO stat.ML 73%

Learning by Playing - Solving Sparse Reward Tasks from Scratch

Martin Riedmiller, Roland Hafner, Thomas Lampe, Michael Neunert, Jonas Degrave, Tom Van de Wiele, Volodymyr Mnih, Nicolas Heess, Jost Tobias Springenberg

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

Comments A video of the rich set of learned behaviours can be found at https://youtu.be/mPKyvocNe_M

1706.06695 2017-06-22 cs.RO cs.AI 73%

Toward Real-Time Decentralized Reinforcement Learning using Finite Support Basis Functions

Kenzo Lobos-Tsunekawa, David L. Leottau, Javier Ruiz-del-Solar

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

Comments Accepted in the RoboCup Symposium 2017. Final version will be published at Springer

1612.06699 2017-06-14 cs.CV cs.RO 73%

Unsupervised Perceptual Rewards for Imitation Learning

Pierre Sermanet, Kelvin Xu, Sergey Levine

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

1706.02501 2017-06-09 cs.LG cs.RO 73%

Unlocking the Potential of Simulators: Design with RL in Mind

Rika Antonova, Silvia Cruciani

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

Comments Extended abstract for RLDM17 (3rd Multidisciplinary Conference on Reinforcement Learning and Decision Making)

1703.02949 2017-03-09 cs.AI cs.RO 73%

Learning Invariant Feature Spaces to Transfer Skills with Reinforcement Learning

Abhishek Gupta, Coline Devin, YuXuan Liu, Pieter Abbeel, Sergey Levine

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

Comments Published as a conference paper at ICLR 2017

1702.01182 2017-02-07 cs.LG cs.RO 73%

Uncertainty-Aware Reinforcement Learning for Collision Avoidance

Gregory Kahn, Adam Villaflor, Vitchyr Pong, Pieter Abbeel, Sergey Levine

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

1610.03295 2016-10-12 cs.AI cs.LG stat.ML 73%

Safe, Multi-Agent, Reinforcement Learning for Autonomous Driving

Shai Shalev-Shwartz, Shaked Shammah, Amnon Shashua

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

1610.01112 2016-10-07 cs.LG cs.RO 73%

Reset-Free Guided Policy Search: Efficient Deep Reinforcement Learning with Stochastic Initial States

William Montgomery, Anurag Ajay, Chelsea Finn, Pieter Abbeel, Sergey Levine

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

2606.07506 2026-06-08 cs.RO 新提交 72%

Affordance-Based Hierarchical Reinforcement Learning for Quadruped Pedipulation

基于可负担性的四足机器人层级强化学习操控

Tuba Girgin, Jose Castelblanco, Gabriel Rodriguez, Emre Girgin, Cagri Kilic

机构 * Embry-Riddle Aeronautical University（埃姆布里-瑞德航空航天大学）； Carnegie Mellon University（卡内基梅隆大学）

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

AI总结提出三级层级强化学习框架，利用姿态和交互点可负担性引导导航与操控策略，在仿真和真实环境中实现自主物体操控。

Comments This paper is submitted to Wiley Journal of Field Robotics

2604.20712 2026-04-23 cs.RO 72%

Visual-Tactile Peg-in-Hole Assembly Learning from Peg-out-of-Hole Disassembly

基于视觉-触觉的 peg-in-hole 组装学习：从 peg-out-of-hole 解组装中学习

Yongqiang Zhao, Xuyang Zhang, Zhuo Chen, Matteo Leonetti, Emmanouil Spyrakos-Papastavridis, Shan Luo

机构 * Department of Engineering, King’s College London（工程系，伦敦国王学院）； Department of Informatics, King’s College London（信息学院，伦敦国王学院）

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

AI总结本文提出一种基于视觉-触觉的 peg-in-hole 组装学习框架，利用其逆过程 peg-out-of-hole 解组装来促进组装学习。通过将两者统一为部分可观测马尔可夫决策过程，利用解组装策略的轨迹反向和随机化提供专家数据，从而提升组装任务的成功率。

Journal ref IEEE Robotics and Automation Letters, vol. 11, no. 6, pp. 6712-6719, June 2026

2508.19607 2025-08-28 cs.RO 72%

Impedance Primitive-augmented Hierarchical Reinforcement Learning for Sequential Tasks

Amin Berjaoui Tahmaz, Ravi Prakash, Jens Kober

机构 * TU Delft（代尔夫特理工大学）； IISc Bangalore（班加罗尔印度理工学院）

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

Comments This article is accepted for publication in IEEE International Conference on Robotics and Automation (ICRA) 2025

2410.18608 2025-05-05 cs.RO 72%

Learning Transparent Reward Models via Unsupervised Feature Selection

Daulet Baimukashev, Gokhan Alcan, Kevin Sebastian Luck, Ville Kyrki

机构 * Aalto University（阿alto大学）； Tampere University（塔尔皮埃大学）； Vrije Universiteit Amsterdam（阿姆斯特丹自由大学）

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

Comments 8 pages, 4 figures

Journal ref Proceedings of the 8th Annual Conference on Robot Learning (CoRL 2024)

2503.14554 2025-03-20 cs.RO cs.AI cs.CV cs.LG 72%

Synchronous vs Asynchronous Reinforcement Learning in a Real World Robot

Ali Parsaee, Fahim Shahriar, Chuxin He, Ruiqing Tan

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

Comments Presented at Alberta Robotics & Intelligent Systems Expo (RISE) Conference

2410.16981 2025-03-17 cs.RO 72%

Proleptic Temporal Ensemble for Improving the Speed of Robot Tasks Generated by Imitation Learning

Hyeonjun Park, Daegyu Lim, Seungyeon Kim, Sumin Park

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

Comments This paper was initially submitted to The Journal of Korea Robotics Society on Oct. 22, 2024, and a revised version was submitted on Nov. 13, 2024. It is currently under review

Journal ref J. Korea Robot. Soc. Vol. 20, No. 1, pp. 61-68, 2025

2408.07806 2025-01-30 cs.RO 72%

From Decision to Action in Surgical Autonomy: Multi-Modal Large Language Models for Robot-Assisted Blood Suction

Sadra Zargarzadeh, Maryam Mirzaei, Yafei Ou, Mahdi Tavakoli

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

Comments Accepted for Publication in IEEE Robotics and Automation Letters, 2025

2403.13297 2024-11-06 cs.RO 72%

POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints

Jean-Baptiste Bouvier, Kartik Nagpal, Negar Mehr

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

Comments Robotics: Science and Systems (RSS) 2024, https://www.roboticsproceedings.org/rss20/p104.html

2410.18519 2024-10-28 cs.RO cs.SY eess.SY 72%

Reinforcement Learning Controllers for Soft Robots using Learned Environments

Uljad Berdica, Matthew Jackson, Niccolò Enrico Veronese, Jakob Foerster, Perla Maiolino

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

Comments soft manipulator, reinforcement learning, learned controllers

Journal ref 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA, 2024, pp. 933-939

2311.08393 2024-04-09 cs.CV cs.AI cs.LG cs.RO 72%

MVSA-Net: Multi-View State-Action Recognition for Robust and Deployable Trajectory Generation

Ehsan Asali, Prashant Doshi, Jin Sun

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

Comments Presented at Deployable AI Workshop at AAAI-2024 and 'Towards Reliable and Deployable Learning-Based Robotic Systems' Workshop at CoRL2023

2311.09353 2023-11-17 cs.RO 72%

Flexible and Adaptive Manufacturing by Complementing Knowledge Representation, Reasoning and Planning with Reinforcement Learning

Matthias Mayr, Faseeh Ahmad, Volker Krueger

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

Comments 3 pages, 2 figures. Presented at the IROS 2023 Workshop on Robotics & AI in Future Factory

2310.16014 2023-10-25 cs.RO cs.AI cs.CV cs.LG 72%

Human-in-the-Loop Task and Motion Planning for Imitation Learning

Ajay Mandlekar, Caelan Garrett, Danfei Xu, Dieter Fox

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

Comments Conference on Robot Learning (CoRL) 2023

2302.12422 2023-10-16 cs.RO 72%

MimicPlay: Long-Horizon Imitation Learning by Watching Human Play

Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei, Danfei Xu, Yuke Zhu, Anima Anandkumar

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

Comments 7th Conference on Robot Learning (CoRL 2023 oral presentation)

2307.14272 2023-07-27 cs.RO 72%

Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing

Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A. W. Barton, Nathan F. Lepora

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

Comments Accepted by IEEE Robotics and Automation Letters (RA-L)

2209.03277 2023-07-26 cs.RO 72%

K-VIL: Keypoints-based Visual Imitation Learning

Jianfeng Gao, Zhi Tao, Noémie Jaquier, Tamim Asfour

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

Journal ref IEEE Transactions on Robotics, (2023) 1-21

2305.03270 2023-05-08 cs.RO 72%

Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators

Alexander Herzog, Kanishka Rao, Karol Hausman, Yao Lu, Paul Wohlhart, Mengyuan Yan, Jessica Lin, Montserrat Gonzalez Arenas, Ted Xiao, Daniel Kappler, Daniel Ho, Jarek Rettinghouse, Yevgen Chebotar, Kuang-Huei Lee, Keerthana Gopalakrishnan, Ryan Julian, Adrian Li, Chuyuan Kelly Fu, Bob Wei, Sangeetha Ramesh, Khem Holden, Kim Kleiven, David Rendleman, Sean Kirmani, Jeff Bingham, Jon Weisz, Ying Xu, Wenlong Lu, Matthew Bennice, Cody Fong, David Do, Jessica Lam, Yunfei Bai, Benjie Holson, Michael Quinlan, Noah Brown, Mrinal Kalakrishnan, Julian Ibarz, Peter Pastor, Sergey Levine

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

Comments Published at Robotics: Science and Systems 2023

2208.02067 2022-08-04 cs.RO cs.SY eess.SY 72%

Learning Shape Control of Elastoplastic Deformable Linear Objects

Rita Laezza, Yiannis Karayiannidis

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

Journal ref 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 4438-4444

2102.05207 2021-08-10 cs.RO 72%

Transfer Reinforcement Learning across Homotopy Classes

Zhangjie Cao, Minae Kwon, Dorsa Sadigh

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

Comments Accepted by IEEE Robotics and Automation Letters 2021

2011.13389 2021-04-12 cs.LG 72%

Generalization in Reinforcement Learning by Soft Data Augmentation

Nicklas Hansen, Xiaolong Wang

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

Comments Website: SODA/" target="_blank" rel="noopener">https://nicklashansen.github.io/SODA/ Code: https://github.com/nicklashansen/dmcontrol-generalization-benchmark. Presented at International Conference on Robotics and Automation (ICRA) 2021

2011.07778 2020-11-17 cs.RO 72%

Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control

Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

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

Comments Accepted to Conference on Robot Learning (CoRL) 2020

1910.04142 2019-10-10 cs.RO cs.AI cs.CV cs.LG cs.NE 72%

Imagined Value Gradients: Model-Based Policy Optimization with Transferable Latent Dynamics Models

Arunkumar Byravan, Jost Tobias Springenberg, Abbas Abdolmaleki, Roland Hafner, Michael Neunert, Thomas Lampe, Noah Siegel, Nicolas Heess, Martin Riedmiller

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

Comments To appear at the 3rd annual Conference on Robot Learning, Osaka, Japan (CoRL 2019). 24 pages including appendix (main paper - 8 pages)

1. 模仿学习与强化学习 4111 篇

Socially Aware Motion Planning with Deep Reinforcement Learning

Learning by Playing - Solving Sparse Reward Tasks from Scratch

Toward Real-Time Decentralized Reinforcement Learning using Finite Support Basis Functions

Unsupervised Perceptual Rewards for Imitation Learning

Unlocking the Potential of Simulators: Design with RL in Mind

Learning Invariant Feature Spaces to Transfer Skills with Reinforcement Learning

Uncertainty-Aware Reinforcement Learning for Collision Avoidance

Safe, Multi-Agent, Reinforcement Learning for Autonomous Driving

Reset-Free Guided Policy Search: Efficient Deep Reinforcement Learning with Stochastic Initial States

Affordance-Based Hierarchical Reinforcement Learning for Quadruped Pedipulation

Visual-Tactile Peg-in-Hole Assembly Learning from Peg-out-of-Hole Disassembly

Impedance Primitive-augmented Hierarchical Reinforcement Learning for Sequential Tasks

Learning Transparent Reward Models via Unsupervised Feature Selection

Synchronous vs Asynchronous Reinforcement Learning in a Real World Robot

Proleptic Temporal Ensemble for Improving the Speed of Robot Tasks Generated by Imitation Learning

From Decision to Action in Surgical Autonomy: Multi-Modal Large Language Models for Robot-Assisted Blood Suction

POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints

Reinforcement Learning Controllers for Soft Robots using Learned Environments

MVSA-Net: Multi-View State-Action Recognition for Robust and Deployable Trajectory Generation

Flexible and Adaptive Manufacturing by Complementing Knowledge Representation, Reasoning and Planning with Reinforcement Learning

Human-in-the-Loop Task and Motion Planning for Imitation Learning

MimicPlay: Long-Horizon Imitation Learning by Watching Human Play

Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing

K-VIL: Keypoints-based Visual Imitation Learning

Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators

Learning Shape Control of Elastoplastic Deformable Linear Objects

Transfer Reinforcement Learning across Homotopy Classes

Generalization in Reinforcement Learning by Soft Data Augmentation

Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control

Imagined Value Gradients: Model-Based Policy Optimization with Transferable Latent Dynamics Models