机器人 / 具身智能 - arXivDaily 专题

2511.08339 2025-11-12 cs.LG cs.AI 62%

LPPG-RL: Lexicographically Projected Policy Gradient Reinforcement Learning with Subproblem Exploration

Ruiyu Qiu, Rui Wang, Guanghui Yang, Xiang Li, Zhijiang Shao

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

2511.07942 2025-11-12 cs.LG cs.AI 62%

Balance Equation-based Distributionally Robust Offline Imitation Learning

Rishabh Agrawal, Yusuf Alvi, Rahul Jain, Ashutosh Nayyar

机构 * University of Southern California（南加州大学）

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

2502.05672 2025-11-12 stat.ML cs.AI cs.LG cs.NE cs.SY eess.SY 62%

On the Convergence and Stability of Upside-Down Reinforcement Learning, Goal-Conditioned Supervised Learning, and Online Decision Transformers

Miroslav Štrupl, Oleg Szehr, Francesco Faccio, Dylan R. Ashley, Rupesh Kumar Srivastava, Jürgen Schmidhuber

机构 * Dalle Molle Institute for Artificial Intelligence (IDSIA) - USI/SUPSI（达摩信息技术研究所（IDSIA）- USI/SUPSI）； Center of Excellence for Generative AI, King Abdullah University of Science and Technology（生成人工智能卓越中心，国王阿卜杜勒阿齐兹大学科学与技术学院）； NNAISENSE

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

Comments 85 pages in main text + 4 pages of references + 26 pages of appendices, 12 figures in main text + 2 figures in appendices; source code available at https://github.com/struplm/eUDRL-GCSL-ODT-Convergence-public

2511.07155 2025-11-11 cs.RO cs.LG 62%

Dynamics-Decoupled Trajectory Alignment for Sim-to-Real Transfer in Reinforcement Learning for Autonomous Driving

Thomas Steinecker, Alexander Bienemann, Denis Trescher, Thorsten Luettel, Mirko Maehlisch

机构 * University of the Bundeswehr Munich（联邦国防军慕尼黑大学）

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

2511.06252 2025-11-11 cs.LG cs.AI 62%

MrCoM: A Meta-Regularized World-Model Generalizing Across Multi-Scenarios

Xuantang Xiong, Ni Mu, Runpeng Xie, Senhao Yang, Yaqing Wang, Lexiang Wang, Yao Luan, Siyuan Li, Shuang Xu, Yiqin Yang, Bo Xu

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

2505.17830 2025-11-05 cs.LG cs.AI 62%

Imagine Beyond! Distributionally Robust Auto-Encoding for State Space Coverage in Online Reinforcement Learning

Nicolas Castanet, Olivier Sigaud, Sylvain Lamprier

机构 * Sorbonne Université, CNRS, ISIR（索邦大学、国家科学研究中心、信息科学研究所）

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

2503.05818 2025-11-05 cs.LG cs.RO 62%

Closing the Intent-to-Behavior Gap via Fulfillment Priority Logic

Bassel El Mabsout, Abdelrahman Abdelgawad, Renato Mancuso

机构 * Department of Computer Science, Boston University（波士顿大学计算机科学系）； Systems Engineering Division, Boston University（波士顿大学系统工程分校）

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

2511.00880 2025-11-04 cs.LG cs.AI 62%

KFCPO: Kronecker-Factored Approximated Constrained Policy Optimization

Joonyoung Lim, Younghwan Yoo

机构 * School of Computer Science and Engineering, Pusan National University, Busan, Korea（计算机科学与工程学院，釜山国立大学，韩国釜山）

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

Comments 12 pages, 8 figures, submitted to ECAI 2025

2511.00806 2025-11-04 cs.LG cs.AI 62%

Logic-informed reinforcement learning for cross-domain optimization of large-scale cyber-physical systems

Guangxi Wan, Peng Zeng, Xiaoting Dong, Chunhe Song, Shijie Cui, Dong Li, Qingwei Dong, Yiyang Liu, Hongfei Bai

机构 * State Key Laboratory of Robotics and Intelligent Systems（机器人与智能系统国家重点实验室）； Shenyang Institute of Automation（沈阳自动化研究所）； Chinese Academy of Sciences（中国科学院）； University of Chinese Academy of Sciences（中国科学院大学）

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

2511.00091 2025-11-04 cs.CV cs.RO 62%

Self-Improving Vision-Language-Action Models with Data Generation via Residual RL

Wenli Xiao, Haotian Lin, Andy Peng, Haoru Xue, Tairan He, Yuqi Xie, Fengyuan Hu, Jimmy Wu, Zhengyi Luo, Linxi "Jim" Fan, Guanya Shi, Yuke Zhu

机构 * NVIDIA（NVIDIA公司）； CMU（卡内基梅隆大学）； UC Berkeley（加州大学伯克利分校）； UT Austin（德克萨斯大学奥斯汀分校）

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

Comments 26 pages

2407.11511 2025-11-04 cs.AI cs.CL cs.LG 62%

Multi-Step Reasoning with Large Language Models, a Survey

Aske Plaat, Annie Wong, Suzan Verberne, Joost Broekens, Niki van Stein, Thomas Back

机构 * LIACS（莱顿大学信息科学研究中心）； Leiden University（莱顿大学）

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

Comments ACM Computing Surveys

2503.16724 2025-11-03 cs.AI cs.LG 62%

Towards Automated Semantic Interpretability in Reinforcement Learning via Vision-Language Models

Zhaoxin Li, Zhang Xi-Jia, Batuhan Altundas, Letian Chen, Rohan Paleja, Matthew Gombolay

机构 * Georgia Institute of Technology（佐治亚理工学院）； Purdue University（普渡大学）

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

2510.26089 2025-10-31 cs.LG cs.AI cs.MA 62%

Network-Constrained Policy Optimization for Adaptive Multi-agent Vehicle Routing

Fazel Arasteh, Arian Haghparast, Manos Papagelis

机构 * York University（约克大学）

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

Comments 29 pages, 12 figures. Fazel Arasteh and Arian Haghparast contributed equally to this research. Submitted to ACM Transactions on Spatial Algorithms and Systems (TSAS). The code for this work is publicly available at https://github.com/Arianhgh/HHAN

2510.20974 2025-10-29 cs.RO cs.LG 62%

Robust Point Cloud Reinforcement Learning via PCA-Based Canonicalization

Michael Bezick, Vittorio Giammarino, Ahmed H. Qureshi

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

2503.13414 2025-10-23 cs.LG cs.AI 62%

Provably Efficient Reward Transfer in Reinforcement Learning with Discrete Markov Decision Processes

Kevin Vora, Yu Zhang

机构 * School of Computing and Augmented Intelligence（计算与增强智能学院）； Arizona State University（亚利桑那州立大学）

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

2510.14318 2025-10-17 cs.CL cs.AI cs.LG 62%

Evaluating & Reducing Deceptive Dialogue From Language Models with Multi-turn RL

Marwa Abdulhai, Ryan Cheng, Aryansh Shrivastava, Natasha Jaques, Yarin Gal, Sergey Levine

机构 * UC Berkeley（伯克利大学）； University of Oxford（牛津大学）； University of Washington（华盛顿大学）； UK AI Security Institute（英国人工智能安全研究所）； Google DeepMind（谷歌DeepMind）

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

2510.12072 2025-10-15 cs.AI cs.RO 62%

EmboMatrix: A Scalable Training-Ground for Embodied Decision-Making

Zixing Lei, Sheng Yin, Yichen Xiong, Yuanzhuo Ding, Wenhao Huang, Yuxi Wei, Qingyao Xu, Yiming Li, Weixin Li, Yunhong Wang, Siheng Chen

机构 * Shanghai Jiao Tong University（上海交通大学）； Zhongguancun Academy（中关村学院）； New York University（纽约大学）

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

Comments 10 pages 8 figures

2509.23135 2025-10-14 cs.LG cs.AI 62%

Trust Region Reward Optimization and Proximal Inverse Reward Optimization Algorithm

Yang Chen, Menglin Zou, Jiaqi Zhang, Yitan Zhang, Junyi Yang, Gael Gendron, Libo Zhang, Jiamou Liu, Michael J. Witbrock

机构 * Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）； University of Auckland（奥克兰大学）； Chongqing University（重庆大学）

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

Comments Accepted to NeurIPS 2025. Title used at submission and review: PIRO: Toward Stable Reward Learning for Inverse RL via Monotonic Policy Divergence Reduction

2510.11501 2025-10-14 cs.LG cs.RO 62%

Context-Aware Model-Based Reinforcement Learning for Autonomous Racing

Emran Yasser Moustafa, Ivana Dusparic

机构 * School of Computer Science and Statistics, Trinity College Dublin（计算机科学与统计学系，特里尼蒂学院都柏林）

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

Comments Accepted to IEEE ICAR 2025

2510.10451 2025-10-14 cs.LG cs.AI 62%

Data-driven simulator of multi-animal behavior with unknown dynamics via offline and online reinforcement learning

Keisuke Fujii, Kazushi Tsutsui, Yu Teshima, Makoto Itoh, Naoya Takeishi, Nozomi Nishiumi, Ryoya Tanaka, Shunsuke Shigaki, Yoshinobu Kawahara

机构 * Graduate School of Informatics, Nagoya University, Japan（名古屋大学信息学研究科）； RIKEN Center for Advanced Intelligence Project, Japan（RIKEN高级智能项目研究中心）； Graduate School of Arts and Sciences, The University of Tokyo, Japan（东京大学文学系研究科）； Project team for SIP, Japan（SIP项目团队）； Japan Agency for Marine-Earth Science and Technology, Japan（日本海洋地球科学技术机构）； Faculty of Education, Shitennoji University, Japan（世田谷大学教育学部）； Graduate School of Engineering, The University of Tokyo, Japan（东京大学工学研究科）； Graduate School of Science and Technology, Niigata University, Japan（新潟大学科学技术研究科）； Graduate School of Science, Nagoya University, Japan（名古屋大学理学研究科）； Principles of Informatics Research Division, National Institute of Informatics, Japan（信息学原理研究部门，日本信息处理技术研究所）； Graduate School of Information Science, The University of Osaka, Japan（大阪大学信息科学研究科）

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

Comments 21 pages, 7 figures

2509.26605 2025-10-14 cs.AI cs.LG 62%

Fine-tuning Behavioral Cloning Policies with Preference-Based Reinforcement Learning

Maël Macuglia, Paul Friedrich, Giorgia Ramponi

机构 * Department of Informatics, University of Zurich（苏黎世大学信息学院）； ETH AI Center（ETH人工智能中心）

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

Comments 85 pages (11 + references and appendix), 9 figures. v2: added acknowledgements

2508.15327 2025-10-13 cs.AI cs.LG 62%

Search-Based Credit Assignment for Offline Preference-Based Reinforcement Learning

Xiancheng Gao, Yufeng Shi, Wengang Zhou, Houqiang Li

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

Comments 7 pages, 6 figures, under review

2510.08218 2025-10-10 cs.LG cs.AI 62%

Expressive Value Learning for Scalable Offline Reinforcement Learning

Nicolas Espinosa-Dice, Kiante Brantley, Wen Sun

机构 * Department of Computer Science（计算机科学系）； Cornell University（康奈尔大学）； Kempner Institute（凯普纳研究所）； Harvard University（哈佛大学）

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

Comments 24 pages, 5 figures

2510.03578 2025-10-07 cs.LG cs.AI stat.ML 62%

Latent Mixture of Symmetries for Sample-Efficient Dynamic Learning

Haoran Li, Chenhan Xiao, Muhao Guo, Yang Weng

机构 * School of Electrical, Computer and Energy Engineering（电气、计算机与能源工程学院）； Arizona State University（亚利桑那州立大学）

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

Comments 30 pages, 6 figures

2510.03302 2025-10-07 cs.LG cs.CV 62%

Revoking Amnesia: RL-based Trajectory Optimization to Resurrect Erased Concepts in Diffusion Models

Daiheng Gao, Nanxiang Jiang, Andi Zhang, Shilin Lu, Yufei Tang, Wenbo Zhou, Weiming Zhang, Zhaoxin Fan

机构 * USTC（中国科学技术大学）； Beihang University（北京航空航天大学）； University of Manchester（曼彻斯特大学）； NTU（南洋理工大学）； FYUST（福建师范大学）

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

Comments 21 pages, 10 figures

2503.02075 2025-10-06 cs.RO cs.LG cs.SY eess.SY 62%

Active Alignments of Lens Systems with Reinforcement Learning

Matthias Burkhardt, Tobias Schmähling, Pascal Stegmann, Michael Layh, Tobias Windisch

机构 * Institute for Machine Vision, University of Applied Sciences Kempten（机器视觉研究所，应用科技大学凯普腾）

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

Comments This work has been submitted to the IEEE for possible publication

2509.20766 2025-09-30 cs.RO cs.LG 62%

Leveraging Temporally Extended Behavior Sharing for Multi-task Reinforcement Learning

Gawon Lee, Daesol Cho, H. Jin Kim

机构 * Department of Aerospace Engineering, Seoul National University（首尔国立大学航空航天工程系）； Artificial Intelligence Institute, Seoul National University（首尔国立大学人工智能研究所）

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

Comments Accepted for publication in the proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2509.06775 2025-09-30 eess.SY cs.AI cs.IT cs.LG cs.NI cs.SY math.IT 62%

Agentic DDQN-Based Scheduling for Licensed and Unlicensed Band Allocation in Sidelink Networks

Po-Heng Chou, Pin-Qi Fu, Walid Saad, Li-Chun Wang

机构 * Department of Electronics and Electrical Engineering（电子与电气工程系）； Institute of Communications Engineering（通讯工程研究所）； National Yang Ming Chiao Tung University（阳明交通大学）； Research Center for Information Technology Innovation（信息技术创新研究中心）； Academia Sinica（台湾“中央研究院”）； Bradley Department of Electrical and Computer Engineering（电气与计算机工程系）

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

Comments 6 pages, 3 figures, accepted by 2025 IEEE Globecom Workshops

2506.08440 2025-09-30 cs.RO cs.AI 62%

TGRPO :Fine-tuning Vision-Language-Action Model via Trajectory-wise Group Relative Policy Optimization

Zengjue Chen, Runliang Niu, He Kong, Qi Wang, Qianli Xing, Zipei Fan

机构 * School of Artificial Intelligence, Jilin University（人工智能学院，吉林大学）

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

2505.10482 2025-09-30 cs.LG cs.AI 62%

Fine-tuning Diffusion Policies with Backpropagation Through Diffusion Timesteps

Ningyuan Yang, Jiaxuan Gao, Feng Gao, Yi Wu, Chao Yu

机构 * Tsinghua University（清华大学）

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

Comments 9 pages for main text, 23 pages in total, submitted to Neurips, 13 figures

1. 模仿学习与强化学习 4113 篇

LPPG-RL: Lexicographically Projected Policy Gradient Reinforcement Learning with Subproblem Exploration

Balance Equation-based Distributionally Robust Offline Imitation Learning

On the Convergence and Stability of Upside-Down Reinforcement Learning, Goal-Conditioned Supervised Learning, and Online Decision Transformers

Dynamics-Decoupled Trajectory Alignment for Sim-to-Real Transfer in Reinforcement Learning for Autonomous Driving

MrCoM: A Meta-Regularized World-Model Generalizing Across Multi-Scenarios

Imagine Beyond! Distributionally Robust Auto-Encoding for State Space Coverage in Online Reinforcement Learning

Closing the Intent-to-Behavior Gap via Fulfillment Priority Logic

KFCPO: Kronecker-Factored Approximated Constrained Policy Optimization

Logic-informed reinforcement learning for cross-domain optimization of large-scale cyber-physical systems

Self-Improving Vision-Language-Action Models with Data Generation via Residual RL

Multi-Step Reasoning with Large Language Models, a Survey

Towards Automated Semantic Interpretability in Reinforcement Learning via Vision-Language Models

Network-Constrained Policy Optimization for Adaptive Multi-agent Vehicle Routing

Robust Point Cloud Reinforcement Learning via PCA-Based Canonicalization

Provably Efficient Reward Transfer in Reinforcement Learning with Discrete Markov Decision Processes

Evaluating & Reducing Deceptive Dialogue From Language Models with Multi-turn RL

EmboMatrix: A Scalable Training-Ground for Embodied Decision-Making

Trust Region Reward Optimization and Proximal Inverse Reward Optimization Algorithm

Context-Aware Model-Based Reinforcement Learning for Autonomous Racing

Data-driven simulator of multi-animal behavior with unknown dynamics via offline and online reinforcement learning

Fine-tuning Behavioral Cloning Policies with Preference-Based Reinforcement Learning

Search-Based Credit Assignment for Offline Preference-Based Reinforcement Learning

Expressive Value Learning for Scalable Offline Reinforcement Learning

Latent Mixture of Symmetries for Sample-Efficient Dynamic Learning

Revoking Amnesia: RL-based Trajectory Optimization to Resurrect Erased Concepts in Diffusion Models

Active Alignments of Lens Systems with Reinforcement Learning

Leveraging Temporally Extended Behavior Sharing for Multi-task Reinforcement Learning

Agentic DDQN-Based Scheduling for Licensed and Unlicensed Band Allocation in Sidelink Networks

TGRPO :Fine-tuning Vision-Language-Action Model via Trajectory-wise Group Relative Policy Optimization

Fine-tuning Diffusion Policies with Backpropagation Through Diffusion Timesteps