机器人 / 具身智能 - arXivDaily 专题

2404.06129 2024-04-24 cs.RO cs.LG 84%

Adaptable Recovery Behaviors in Robotics: A Behavior Trees and Motion Generators(BTMG) Approach for Failure Management

Faseeh Ahmad, Matthias Mayr, Sulthan Suresh-Fazeela, Volker Krueger

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

2308.14652 2023-08-29 cs.AI cs.RO 84%

Learning Visual Tracking and Reaching with Deep Reinforcement Learning on a UR10e Robotic Arm

Colin Bellinger, Laurence Lamarche-Cliche

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

2308.06594 2023-08-15 cs.RO cs.LG 84%

CoverNav: Cover Following Navigation Planning in Unstructured Outdoor Environment with Deep Reinforcement Learning

Jumman Hossain, Abu-Zaher Faridee, Nirmalya Roy, Anjan Basak, Derrik E. Asher

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

2206.03211 2023-08-08 cs.RO cs.AI 84%

Variational Meta Reinforcement Learning for Social Robotics

Anand Ballou, Xavier Alameda-Pineda, Chris Reinke

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

Comments 16 pages, 15 figures

2210.11262 2023-03-08 cs.RO cs.AI 84%

RMBench: Benchmarking Deep Reinforcement Learning for Robotic Manipulator Control

Yanfei Xiang, Xin Wang, Shu Hu, Bin Zhu, Xiaomeng Huang, Xi Wu, Siwei Lyu

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

Comments 8 pages, 3 figures, 2 tables; update code's link

2212.06998 2022-12-15 cs.LG cs.RO 84%

Safety Correction from Baseline: Towards the Risk-aware Policy in Robotics via Dual-agent Reinforcement Learning

Linrui Zhang, Zichen Yan, Li Shen, Shoujie Li, Xueqian Wang, Dacheng Tao

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

Comments The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

2209.09174 2022-09-20 cs.RO cs.LG cs.NE 84%

Active Predicting Coding: Brain-Inspired Reinforcement Learning for Sparse Reward Robotic Control Problems

Alexander Ororbia, Ankur Mali

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

Comments Contains appendix with pseudocode and additional details

2206.09603 2022-06-22 cs.RO cs.LG 84%

Constrained Reinforcement Learning for Robotics via Scenario-Based Programming

Davide Corsi, Raz Yerushalmi, Guy Amir, Alessandro Farinelli, David Harel, Guy Katz

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

2204.05433 2022-04-13 cs.RO cs.AI 84%

Deep Reinforcement Learning Based Semi-Autonomous Control for Robotic Surgery

Ruiqi Zhu, Dandan Zhang, Benny Lo

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

2011.05857 2022-03-01 cs.RO cs.AI 84%

Offline Learning of Counterfactual Predictions for Real-World Robotic Reinforcement Learning

Jun Jin, Daniel Graves, Cameron Haigh, Jun Luo, Martin Jagersand

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

Comments Accepted in ICRA 2022

2110.01840 2021-12-16 cs.RO cs.CV 84%

Deep reinforcement learning for guidewire navigation in coronary artery phantom

Jihoon Kweon, Kyunghwan Kim, Chaehyuk Lee, Hwi Kwon, Jinwoo Park, Kyoseok Song, Young In Kim, Jeeone Park, Inwook Back, Jae-Hyung Roh, Youngjin Moon, Jaesoon Choi, Young-Hak Kim

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

Comments 15 pages, 7 figures, 3 tables

2108.06266 2021-12-08 cs.RO cs.LG cs.SY eess.SY 84%

Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning

Lukas Brunke, Melissa Greeff, Adam W. Hall, Zhaocong Yuan, Siqi Zhou, Jacopo Panerati, Angela P. Schoellig

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.LG

Comments 36 pages, 8 figures

2011.12105 2021-12-07 cs.RO cs.CV 84%

Learning of Long-Horizon Sparse-Reward Robotic Manipulator Tasks with Base Controllers

Guangming Wang, Minjian Xin, Wenhua Wu, Zhe Liu, Hesheng Wang

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

Comments 10 pages, 6 figures, under review

2110.07692 2021-10-18 cs.CV cs.RO 84%

Shaping embodied agent behavior with activity-context priors from egocentric video

Tushar Nagarajan, Kristen Grauman

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

2006.13615 2021-09-03 cs.AI cs.RO 84%

Explainable robotic systems: Understanding goal-driven actions in a reinforcement learning scenario

Francisco Cruz, Richard Dazeley, Peter Vamplew, Ithan Moreira

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

Comments 26 pages, 10 figures

2108.13035 2021-08-31 cs.RO cs.AI cs.SY eess.SY 84%

SurRoL: An Open-source Reinforcement Learning Centered and dVRK Compatible Platform for Surgical Robot Learning

Jiaqi Xu, Bin Li, Bo Lu, Yun-Hui Liu, Qi Dou, Pheng-Ann Heng

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

Comments 8 pages, 8 figures, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2104.07749 2021-06-14 cs.RO cs.LG 84%

Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills

Yevgen Chebotar, Karol Hausman, Yao Lu, Ted Xiao, Dmitry Kalashnikov, Jake Varley, Alex Irpan, Benjamin Eysenbach, Ryan Julian, Chelsea Finn, Sergey Levine

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

2012.14464 2021-01-01 cs.RO cs.AI 84%

Disentangled Planning and Control in Vision Based Robotics via Reward Machines

Alberto Camacho, Jacob Varley, Deepali Jain, Atil Iscen, Dmitry Kalashnikov

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

Comments Accepted to the Deep Reinforcement Learning Workshop at Neural Information Processing Systems (2020)

2008.10224 2020-11-24 cs.RO cs.LG 84%

Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach

Cristian C. Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar, Kensuke Harada

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

Comments 17 pages,12 figures, supplemental video https://youtu.be/v4fREpMk7kU

Journal ref Appl. Sci. 2020, 10(19), 6923

2004.12974 2020-04-28 cs.RO cs.LG 84%

Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning

Archit Sharma, Michael Ahn, Sergey Levine, Vikash Kumar, Karol Hausman, Shixiang Gu

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

1911.01715 2020-04-17 cs.RO cs.DC cs.LG cs.SY eess.SY 84%

Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning

Diego Ferigo, Silvio Traversaro, Giorgio Metta, Daniele Pucci

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

Comments Accepted in SII2020

Journal ref 2020 IEEE/SICE International Symposium on System Integration (SII)

2003.12863 2020-04-13 cs.RO cs.LG cs.SY eess.SY 84%

Obstacle Avoidance and Navigation Utilizing Reinforcement Learning with Reward Shaping

Daniel Zhang, Colleen P. Bailey

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

1811.08824 2019-08-09 cs.CV cs.RO 84%

Early Fusion for Goal Directed Robotic Vision

Aaron Walsman, Yonatan Bisk, Saadia Gabriel, Dipendra Misra, Yoav Artzi, Yejin Choi, Dieter Fox

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

2502.02054 2025-11-21 cs.RO cs.AI cs.CV cs.LG 84%

RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation

RAPID: 基于逆强化学习的鲁棒且敏捷规划器用于基于视觉的无人机导航

Minwoo Kim, Geunsik Bae, Jinwoo Lee, Woojae Shin, Changseung Kim, Myong-Yol Choi, Heejung Shin, Hyondong Oh

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

AI总结本文提出基于逆强化学习的无人机高速视觉导航规划器，通过减少环境交互和提升鲁棒性，实现复杂环境中的敏捷飞行。

Comments 18 pages, 11 figures, 58 references, and appendix is included

Journal ref Proceedings of Robotics: Science and Systems (RSS), 2025

2406.13744 2024-06-21 cs.RO 84%

SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks

Heng Zhang, Gokhan Solak, Gustavo J. G. Lahr, Arash Ajoudani

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

Comments Accepted by IEEE RA-L,video is available at https://youtu.be/ksWXR3vByoQ

Journal ref IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 5631-5638, June 2024

2401.13362 2024-01-25 cs.RO 84%

TraKDis: A Transformer-based Knowledge Distillation Approach for Visual Reinforcement Learning with Application to Cloth Manipulation

Wei Chen, Nicolas Rojas

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

Comments Accepted for IEEE Robotics and Automation Letters in January 2024

2207.08021 2022-07-19 cs.RO 84%

Role of reward shaping in object-goal navigation

Srirangan Madhavan, Anwesan Pal, Henrik I. Christensen

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

Comments Paper Accepted at Third Embodied AI Workshop at CVPR 2022

1805.07095 2018-09-03 cs.RO 84%

Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Map-less Navigation by Leveraging Prior Demonstrations

Mark Pfeiffer, Samarth Shukla, Matteo Turchetta, Cesar Cadena, Andreas Krause, Roland Siegwart, Juan Nieto

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

Comments 8 pages, submitted for publication in the IEEE Robotics and Automation Letters

2607.16602 2026-07-22 cs.CV 版本更新 83%

PAVXploreRL: Physical-Action-Visual World Model Reinforcement Learning with Action Exploration

PAVXploreRL：具有动作探索的物理动作视觉世界模型强化学习

Han Wang, Zijun Wang, Shuoshuo Xue, Rui Cao, Fengjiao Cheng, Xiaodan Liang, Roy Ka-Wei Lee

机构 * Singapore University of Technology and Design（新加坡科技设计大学）； Sun Yat-sen University（中山大学）

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

AI总结研究针对动作条件世界模型泛化性差的问题，提出PAVXploreRL强化学习框架，基于预训练潜在世界模型，通过奖励驱动训练优化PAV目标，联合利用ID轨迹与OOD动作探索提升泛化能力，实验证明该方法性能更优。

Comments 9 pages, 5 figures

2606.23531 2026-07-16 cs.RO 版本更新 83%

BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation

BiliVLA: 基于强化学习的场景感知视觉-语言-动作模型用于自主胆道内镜导航

Jinsong Lin, Chi Kit Ng, Zhiyong Xiong, Zikang Pan, Yihan Hu, Tabassum Tamima, Ziyi Hao, Eddie Cheung, Jiewen Lai, Huxin Gao, Hongliang Ren

机构 * The Chinese University of Hong Kong（香港中文大学）； The Third Affiliated Hospital of Sun Yat-sen University（中山大学附属第三医院）； University of Cambridge（剑桥大学）； University of California, Davis（加州大学戴维斯分校）

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

AI总结提出BiliVLA框架，将胆道内镜导航建模为指令条件化的视觉运动学习问题，结合场景感知监督和两阶段训练（SFT+GRPO），在ERCP子任务中实现91.96%的动作精度和84.85%的成功率。

1. 模仿学习与强化学习 4106 篇

Adaptable Recovery Behaviors in Robotics: A Behavior Trees and Motion Generators(BTMG) Approach for Failure Management

Learning Visual Tracking and Reaching with Deep Reinforcement Learning on a UR10e Robotic Arm

CoverNav: Cover Following Navigation Planning in Unstructured Outdoor Environment with Deep Reinforcement Learning

Variational Meta Reinforcement Learning for Social Robotics

RMBench: Benchmarking Deep Reinforcement Learning for Robotic Manipulator Control

Safety Correction from Baseline: Towards the Risk-aware Policy in Robotics via Dual-agent Reinforcement Learning

Active Predicting Coding: Brain-Inspired Reinforcement Learning for Sparse Reward Robotic Control Problems

Constrained Reinforcement Learning for Robotics via Scenario-Based Programming

Deep Reinforcement Learning Based Semi-Autonomous Control for Robotic Surgery

Offline Learning of Counterfactual Predictions for Real-World Robotic Reinforcement Learning

Deep reinforcement learning for guidewire navigation in coronary artery phantom

Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning

Learning of Long-Horizon Sparse-Reward Robotic Manipulator Tasks with Base Controllers

Shaping embodied agent behavior with activity-context priors from egocentric video

Explainable robotic systems: Understanding goal-driven actions in a reinforcement learning scenario

SurRoL: An Open-source Reinforcement Learning Centered and dVRK Compatible Platform for Surgical Robot Learning

Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills

Disentangled Planning and Control in Vision Based Robotics via Reward Machines

Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach

Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning

Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning

Obstacle Avoidance and Navigation Utilizing Reinforcement Learning with Reward Shaping

Early Fusion for Goal Directed Robotic Vision

RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation

SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks

TraKDis: A Transformer-based Knowledge Distillation Approach for Visual Reinforcement Learning with Application to Cloth Manipulation

Role of reward shaping in object-goal navigation

Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Map-less Navigation by Leveraging Prior Demonstrations

PAVXploreRL: Physical-Action-Visual World Model Reinforcement Learning with Action Exploration

BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation