机器人 / 具身智能 - arXivDaily 专题

2510.01456 2025-10-06 cs.LG 70%

SCOPED: Score-Curvature Out-of-distribution Proximity Evaluator for Diffusion

Brett Barkley, Preston Culbertson, David Fridovich-Keil

机构 * Department of Electrical and Computer Engineering（电气与计算机工程系）； The University of Texas at Austin（德克萨斯大学奥斯汀分校）； Department of Computer Science（计算机科学系）； Cornell University（康奈尔大学）； Department of Aerospace Engineering and Engineering Mechanics（航空航天工程与工程力学系）

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

2504.06735 2025-10-03 cs.RO cs.GR 70%

Interactive Expressive Motion Generation Using Dynamic Movement Primitives

Till Hielscher, Andreas Bulling, Kai O. Arras

机构 * Socially Intelligent Robotics Lab, Institute for Artificial Intelligence, University of Stuttgart（社会智能机器人实验室，人工智能研究所，斯图加特大学）； Collaborative Artificial Intelligence Group, Institute for Visualization and Interactive Systems, University of Stuttgart（协作人工智能小组，可视化与交互系统研究所，斯图加特大学）

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

Comments This paper has been accepted for publication at the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2509.24539 2025-09-30 cs.RO 70%

Unlocking the Potential of Soft Actor-Critic for Imitation Learning

Nayari Marie Lessa, Melya Boukheddimi, Frank Kirchner

机构 * DFKI GmbH（德累斯顿夫琅和斐研究所）； University of Bremen（不莱梅大学）

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

2509.23802 2025-09-30 cs.LG 70%

STAIR: Addressing Stage Misalignment through Temporal-Aligned Preference Reinforcement Learning

Yao Luan, Ni Mu, Yiqin Yang, Bo Xu, Qing-Shan Jia

机构 * Beijing Key Laboratory of Embodied Intelligence Systems, Department of Automation, Tsinghua University, Beijing, China（北京智能体智能系统重点实验室，自动化系，清华大学，北京，中国）； The Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China（复杂系统认知与决策智能重点实验室，自动化研究所，中国科学院，北京，中国）

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

Comments NeurIPS 2025

2508.16876 2025-09-29 cs.CL cs.AI 70%

Dream to Chat: Model-based Reinforcement Learning on Dialogues with User Belief Modeling

Yue Zhao, Xiaoyu Wang, Dan Wang, Zhonglin Jiang, Qingqing Gu, Teng Chen, Ningyuan Xi, Jinxian Qu, Yong Chen, Luo Ji

机构 * Geely AI Lab（Geely人工智能实验室）； Beijing Institute of Technology（北京理工大学）

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

Comments Accepted to EMNLP 2025 Findings

2505.10911 2025-09-23 cs.RO 70%

ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations

Jiahui Zhang, Yusen Luo, Abrar Anwar, Sumedh Anand Sontakke, Joseph J Lim, Jesse Thomason, Erdem Biyik, Jesse Zhang

机构 * Thomas Lord Department of Computer Science, University of Southern California（南加州大学计算机科学系）； Amazon Robotics（亚马逊机器人技术）； Kim Jaechul School of Artificial Intelligence, KAIST（韩国科学技术院人工智能学院）

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

Comments CoRL 2025 Oral

2509.08775 2025-09-12 cs.RO 70%

Joint Model-based Model-free Diffusion for Planning with Constraints

Wonsuhk Jung, Utkarsh A. Mishra, Nadun Ranawaka Arachchige, Yongxin Chen, Danfei Xu, Shreyas Kousik

机构 * Georgia Institute of Technology（佐治亚理工学院）

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

Comments The first two authors contributed equally. Last three authors advised equally. Accepted to CoRL 2025

2312.01915 2025-09-11 cs.CV 70%

Learning Robust Representations via Bidirectional Transition for Visual Reinforcement Learning

Xiaobo Hu, Youfang Lin, Yue Liu, Jinwen Wang, Shuo Wang, Hehe Fan, Kai Lv

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

2509.06469 2025-09-10 cs.RO 70%

Interactive Shaping of Granular Media Using Reinforcement Learning

Benedikt Kreis, Malte Mosbach, Anny Ripke, Muhammad Ehsan Ullah, Sven Behnke, Maren Bennewitz

机构 * Humanoid Robots Lab, University of Bonn, Germany（波恩大学）； Autonomous Intelligent Systems Lab, University of Bonn, Germany（波恩大学）； Center for Robotics, University of Bonn, Germany（波恩大学）； Lamarr Institute for ML and AI, Bonn, Germany（波恩人工智能与机器学习研究所）

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

Comments Accepted to IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2025

2509.05042 2025-09-08 cs.RO 70%

Shared Autonomy through LLMs and Reinforcement Learning for Applications to Ship Hull Inspections

Cristiano Caissutti, Estelle Gerbier, Ehsan Khorrambakht, Paolo Marinelli, Andrea Munafo', Andrea Caiti

机构 * Dept. of Information Engineering University of Pisa, Italy Pisa, Italy（信息工程系乌迪内大学乌迪内，意大利）

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

2502.12391 2025-09-08 cs.LG 70%

Don't Trade Off Safety: Diffusion Regularization for Constrained Offline RL

Junyu Guo, Zhi Zheng, Donghao Ying, Ming Jin, Shangding Gu, Costas Spanos, Javad Lavaei

机构 * University of California Berkeley（加州大学伯克利分校）； Virginia Tech（弗吉尼亚理工大学）

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

2508.21272 2025-09-01 cs.RO stat.CO 70%

Learning to Assemble the Soma Cube with Legal-Action Masked DQN and Safe ZYZ Regrasp on a Doosan M0609

Jaehong Oh, Seungjun Jung, Sawoong Kim

机构 * Doosan Robotics Rokey Bootcamp（Doosan机器人Rokey培训班）

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

Comments 13 figures, 17 pages

2507.08656 2025-09-01 cs.RO 70%

Multi-critic Learning for Whole-body End-effector Twist Tracking

Aravind Elanjimattathil Vijayan, Andrei Cramariuc, Mattia Risiglione, Christian Gehring, Marco Hutter

机构 * ETH Zurich（苏黎世联邦理工学院）； ANYbotics AG（ANYbotics公司）

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

2508.18691 2025-08-27 cs.RO 70%

Deep Sensorimotor Control by Imitating Predictive Models of Human Motion

Himanshu Gaurav Singh, Pieter Abbeel, Jitendra Malik, Antonio Loquercio

机构 * UC Berkeley（伯克利大学）； University of Pennsylvania（宾夕法尼亚大学）

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

Comments Blog Post: https://hgaurav2k.github.io/trackr/

2505.19717 2025-08-21 cs.RO 70%

Extremum Flow Matching for Offline Goal Conditioned Reinforcement Learning

Quentin Rouxel, Clemente Donoso, Fei Chen, Serena Ivaldi, Jean-Baptiste Mouret

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

Comments 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea

2508.13151 2025-08-19 cs.RO cs.SY eess.SY 70%

Manipulate-to-Navigate: Reinforcement Learning with Visual Affordances and Manipulability Priors

Yuying Zhang, Joni Pajarinen

机构 * Aalto University（阿alto大学）

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

2506.03205 2025-06-05 cs.AI 70%

Q-ARDNS-Multi: A Multi-Agent Quantum Reinforcement Learning Framework with Meta-Cognitive Adaptation for Complex 3D Environments

Umberto Gonçalves de Sousa

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

Comments 17 pages, 5 figures

2505.23708 2025-05-30 cs.RO cs.GR 70%

AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning

Lucas N. Alegre, Agon Serifi, Ruben Grandia, David Müller, Espen Knoop, Moritz Bächer

机构 * Universidade Federal do Rio Grande do Sul（乌尔比纳联邦理工大学）； Disney Research（迪士尼研究）

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

Comments SIGGRAPH 2025

2503.04877 2025-05-19 cs.CV cs.AI cs.LG cs.RO 70%

Adapt3R: Adaptive 3D Scene Representation for Domain Transfer in Imitation Learning

Albert Wilcox, Mohamed Ghanem, Masoud Moghani, Pierre Barroso, Benjamin Joffe, Animesh Garg

机构 * Georgia Institute of Technology（佐治亚理工学院）； Georgia Tech Research Institute（佐治亚理工研究学院）； University of Toronto（多伦多大学）

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

Comments Videos, code, and data: https://pairlab.github.io/Adapt3R

2505.10151 2025-05-16 cs.RO 70%

Training People to Reward Robots

Endong Sun, Yuqing Zhu, Matthew Howard

机构 * Centre for Robotics Research, Department of Engineering, King’s College London, UK（机器人研究中心，工程系，伦敦国王学院，英国）

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

Comments 6 pages

2408.12130 2025-05-14 cs.AI 70%

S-EPOA: Overcoming the Indistinguishability of Segments with Skill-Driven Preference-Based Reinforcement Learning

Ni Mu, Yao Luan, Yiqin Yang, Bo Xu, Qing-shan Jia

机构 * Department of Automation, Tsinghua University（清华大学自动化系）； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）

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

Comments IJCAI 2025

2411.12633 2025-04-28 cs.RO cs.AI cs.CV cs.LG 70%

Instant Policy: In-Context Imitation Learning via Graph Diffusion

Vitalis Vosylius, Edward Johns

机构 * The Robot Learning Lab at Imperial College London（帝国理工学院伦敦分校机器人学习实验室）

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

Comments Code and videos are available on our project webpage at https://www.robot-learning.uk/instant-policy

2411.01894 2025-04-15 cs.LG 70%

Efficient Active Imitation Learning with Random Network Distillation

Emilien Biré, Anthony Kobanda, Ludovic Denoyer, Rémy Portelas

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

Comments Accepted at ICLR 2025

2504.03153 2025-04-07 cs.LG 70%

MORAL: A Multimodal Reinforcement Learning Framework for Decision Making in Autonomous Laboratories

Natalie Tirabassi, Sathish A. P. Kumar, Sumit Jha, Arvind Ramanathan

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

Comments 9 pages, 14 figures and 3 tables

2503.15290 2025-03-20 cs.RO 70%

Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition

Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera, Jean Seong Bjorn Choe, Bumkyu Choi, Tim Lukas Faust, Habib Maraqten, Erfan Aghadavoodi, Marco Cali, Alberto Sinigaglia, Giulio Giacomuzzo, Diego Romeres, Jong-kook Kim, Gian Antonio Susto, Shubham Vyas, Dennis Mronga, Boris Belousov, Jan Peters, Frank Kirchner, Shivesh Kumar

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

Comments 8 pages, 7 figures

2503.10626 2025-03-14 cs.CV cs.AI cs.LG cs.RO 70%

NIL: No-data Imitation Learning by Leveraging Pre-trained Video Diffusion Models

Mert Albaba, Chenhao Li, Markos Diomataris, Omid Taheri, Andreas Krause, Michael Black

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

2410.00064 2025-03-10 cs.LG cs.AI cs.CV cs.RO 70%

M2Distill: Multi-Modal Distillation for Lifelong Imitation Learning

Kaushik Roy, Akila Dissanayake, Brendan Tidd, Peyman Moghadam

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

Comments IEEE ICRA 2025

2502.10983 2025-03-03 cs.RO 70%

Learning Quiet Walking for a Small Home Robot

Ryo Watanabe, Takahiro Miki, Fan Shi, Yuki Kadokawa, Filip Bjelonic, Kento Kawaharazuka, Andrei Cramariuc, Marco Hutter

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

Comments accepted at ICRA 2025

2502.08336 2025-02-25 cs.AI 70%

Salience-Invariant Consistent Policy Learning for Generalization in Visual Reinforcement Learning

Jingbo Sun, Songjun Tu, Qichao Zhang, Ke Chen, Dongbin Zhao

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

2502.13569 2025-02-20 cs.AI 70%

Model Evolution Framework with Genetic Algorithm for Multi-Task Reinforcement Learning

Yan Yu, Wengang Zhou, Yaodong Yang, Wanxuan Lu, Yingyan Hou, Houqiang Li

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

1. 模仿学习与强化学习 4111 篇

SCOPED: Score-Curvature Out-of-distribution Proximity Evaluator for Diffusion

Interactive Expressive Motion Generation Using Dynamic Movement Primitives

Unlocking the Potential of Soft Actor-Critic for Imitation Learning

STAIR: Addressing Stage Misalignment through Temporal-Aligned Preference Reinforcement Learning

Dream to Chat: Model-based Reinforcement Learning on Dialogues with User Belief Modeling

ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations

Joint Model-based Model-free Diffusion for Planning with Constraints

Learning Robust Representations via Bidirectional Transition for Visual Reinforcement Learning

Interactive Shaping of Granular Media Using Reinforcement Learning

Shared Autonomy through LLMs and Reinforcement Learning for Applications to Ship Hull Inspections

Don't Trade Off Safety: Diffusion Regularization for Constrained Offline RL

Learning to Assemble the Soma Cube with Legal-Action Masked DQN and Safe ZYZ Regrasp on a Doosan M0609

Multi-critic Learning for Whole-body End-effector Twist Tracking

Deep Sensorimotor Control by Imitating Predictive Models of Human Motion

Extremum Flow Matching for Offline Goal Conditioned Reinforcement Learning

Manipulate-to-Navigate: Reinforcement Learning with Visual Affordances and Manipulability Priors

Q-ARDNS-Multi: A Multi-Agent Quantum Reinforcement Learning Framework with Meta-Cognitive Adaptation for Complex 3D Environments

AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning

Adapt3R: Adaptive 3D Scene Representation for Domain Transfer in Imitation Learning

Training People to Reward Robots

S-EPOA: Overcoming the Indistinguishability of Segments with Skill-Driven Preference-Based Reinforcement Learning

Instant Policy: In-Context Imitation Learning via Graph Diffusion

Efficient Active Imitation Learning with Random Network Distillation

MORAL: A Multimodal Reinforcement Learning Framework for Decision Making in Autonomous Laboratories

Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition

NIL: No-data Imitation Learning by Leveraging Pre-trained Video Diffusion Models

M2Distill: Multi-Modal Distillation for Lifelong Imitation Learning

Learning Quiet Walking for a Small Home Robot

Salience-Invariant Consistent Policy Learning for Generalization in Visual Reinforcement Learning

Model Evolution Framework with Genetic Algorithm for Multi-Task Reinforcement Learning