机器人 / 具身智能 - arXivDaily 专题

2512.13514 2025-12-16 cs.RO 61%

Reinforcement Learning based 6-DoF Maneuvers for Microgravity Intravehicular Docking: A Simulation Study with Int-Ball2 in ISS-JEM

基于强化学习的6自由度微重力舱内对接 maneuver：Int-Ball2在ISS-JEM中的仿真研究

Aman Arora, Matteo El-Hariry, Miguel Olivares-Mendez

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

AI总结本文提出基于强化学习的六自由度微重力舱内对接方法，通过仿真研究Int-Ball2机器人在ISS-JEM中的对接性能，验证了其在复杂环境下的稳定性和可靠性。

Comments Presented at AI4OPA Workshop at the International Conference on Space Robotics (iSpaRo) 2025 at Sendai, Japan

2511.15358 2025-11-20 cs.RO 61%

Platform-Agnostic Reinforcement Learning Framework for Safe Exploration of Cluttered Environments with Graph Attention

Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos

机构 * Robotics and AI Group, Department of Computer Science, Electrical and Space Engineering, Luleå University of Technology（机器人与人工智能组，计算机科学、电气与空间工程系，吕勒奥技术大学）

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

Comments 8 pages, 6 figures, submitted to the 2026 IEEE International Conference on Robotics & Automation

2505.02293 2025-10-09 cs.RO cs.MA cs.SY eess.SY 61%

Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety

Jason J. Choi, Jasmine Jerry Aloor, Jingqi Li, Maria G. Mendoza, Hamsa Balakrishnan, Claire J. Tomlin

机构 * University of California, Berkeley（加州大学伯克利分校）； Massachusetts Institute of Technology（麻省理工学院）

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

Comments Accepted for publication at the 2025 Robotics: Science and Systems Conference. 18 pages, 8 figures

2509.20095 2025-09-25 cs.AI 61%

From Pheromones to Policies: Reinforcement Learning for Engineered Biological Swarms

Aymeric Vellinger, Nemanja Antonic, Elio Tuci

机构 * Department of Computer Science, University of Namur（南姆大学计算机科学系）

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

Comments Contribution to the 9th International Symposium on Swarm Behavior and Bio-Inspired Robotics 2025

2505.16084 2025-09-01 cs.RO 61%

Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility

Zewei Zhang, Chenhao Li, Takahiro Miki, Marco Hutter

机构 * Department of Mechanical Engineering, EPFL（瑞士联邦理工学院机械工程系）； ETH AI Center, ETH Zurich（苏黎世联邦理工学院人工智能中心）； Robotic Systems Lab, ETH Zurich（苏黎世联邦理工学院机器人系统实验室）

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

Comments Conference on Robot Learning (CoRL)

2502.03822 2025-04-29 cs.RO 61%

Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training

Xiatao Sun, Shuo Yang, Yinxing Chen, Francis Fan, Yiyan Liang, Daniel Rakita

机构 * Yale University（耶鲁大学）； University of Pennsylvania（宾夕法尼亚大学）

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

Comments Accepted to Robotics: Science and Systems (RSS) 2025

2403.09583 2025-04-18 cs.RO 61%

ExploRLLM: Guiding Exploration in Reinforcement Learning with Large Language Models

Runyu Ma, Jelle Luijkx, Zlatan Ajanovic, Jens Kober

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

Comments 6 pages, 6 figures, IEEE International Conference on Robotics and Automation (ICRA) 2025

2406.09120 2025-03-11 cs.RO 61%

Imitation Learning-based Direct Visual Servoing using the Large Projection Formulation

Sayantan Auddy, Antonio Paolillo, Justus Piater, Matteo Saveriano

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

Comments To appear in Robotics and Autonomous Systems. First two authors contributed equally

2409.15634 2025-02-25 cs.RO 61%

NavRL: Learning Safe Flight in Dynamic Environments

Zhefan Xu, Xinming Han, Haoyu Shen, Hanyu Jin, Kenji Shimada

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

Comments 8 pages, 9 figures, 3 tables. Experiment video: https://youtu.be/EbeJW8-YlvI. Github Repo: https://github.com/Zhefan-Xu/NavRL

Journal ref IEEE Robotics and Automation Letters, 2025

2401.14554 2025-02-10 cs.RO math.OC 61%

GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control

Songyuan Zhang, Oswin So, Kunal Garg, Chuchu Fan

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

Comments 20 pages, 15 figures; Accepted by IEEE Transactions on Robotics (T-RO)

2412.09466 2024-12-13 cs.RO 61%

Distributional Reinforcement Learning based Integrated Decision Making and Control for Autonomous Surface Vehicles

Xi Lin, Paul Szenher, Yewei Huang, Brendan Englot

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

Comments IEEE Robotics and Automation Letters (RA-L)

2410.14117 2024-10-21 cs.RO 61%

MarineGym: Accelerated Training for Underwater Vehicles with High-Fidelity RL Simulation

Shuguang Chu, Zebin Huang, Mingwei Lin, Dejun Li, Ignacio Carlucho

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

Comments Accepted by the 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40)

2410.06401 2024-10-10 cs.RO 61%

Trajectory Improvement and Reward Learning from Comparative Language Feedback

Zhaojing Yang, Miru Jun, Jeremy Tien, Stuart J. Russell, Anca Dragan, Erdem Bıyık

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

Comments 8th Annual Conference of Robot Learning (2024)

2309.11124 2024-08-29 cs.RO cs.SY eess.SY 61%

Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set

Gianni Lunardi, Asia La Rocca, Matteo Saveriano, Andrea Del Prete

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

Comments 7 pages, 3 figures, 3 tables, 2 pseudo-algo, conference

Journal ref "Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set," 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 11626-11632

2405.04082 2024-07-18 cs.RO 61%

Logic-Skill Programming: An Optimization-based Approach to Sequential Skill Planning

Teng Xue, Amirreza Razmjoo, Suhan Shetty, Sylvain Calinon

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

Comments In Proc. Robotics: Science and Systems (RSS), 2024

2402.17768 2024-06-06 cs.RO cs.AI cs.CV cs.LG 61%

Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learning

Xiaoyu Zhang, Matthew Chang, Pranav Kumar, Saurabh Gupta

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

Comments Accepted by Robotics: Science and Systems (RSS) 2024. project website with video, see https://sites.google.com/view/diffusion-meets-dagger

2308.16874 2024-04-09 cs.RO 61%

D-VAT: End-to-End Visual Active Tracking for Micro Aerial Vehicles

Alberto Dionigi, Simone Felicioni, Mirko Leomanni, Gabriele Costante

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

Journal ref IEEE Robotics and Automation Letters 2024

2309.09752 2024-02-27 cs.LG 61%

Contrastive Initial State Buffer for Reinforcement Learning

Nico Messikommer, Yunlong Song, Davide Scaramuzza

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

Journal ref IEEE Conference on Robotics and Automation (ICRA 2024)

2402.13466 2024-02-22 cs.RO 61%

Leveraging Demonstrator-perceived Precision for Safe Interactive Imitation Learning of Clearance-limited Tasks

Hanbit Oh, Takamitsu Matsubara

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

Comments 8 pages, 5 figures, accepted by IEEE Robotics and Automation Letters (RA-L) 2024

2402.03947 2024-02-07 cs.RO 61%

Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding

Mihir Kulkarni, Kostas Alexis

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

Comments 8 pages, 8 figures. Accepted to the IEEE International Conference on Robotics and Automation (ICRA) 2024

2312.01498 2023-12-05 cs.RO 61%

Learning Neural Traffic Rules

Xuan Zhang, Xifeng Gao, Kui Wu, Zherong Pan

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

Comments Preprint for IEEE Robotic and Automation Letters

2303.02581 2023-11-14 cs.RO 61%

From Rolling Over to Walking: Enabling Humanoid Robots to Develop Complex Motor Skills

Fanxing Meng, Jing Xiao

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

Comments 8 pages, 9 figures. Submitted to IEEE Robotics and Automation Letters. Video available at https://youtu.be/d0RqrW1EzjQ

2305.09606 2023-10-20 cs.RO 61%

Reward Learning with Intractable Normalizing Functions

Joshua Hoegerman, Dylan P. Losey

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

Journal ref IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7511-7518, Nov. 2023

1907.03918 2023-09-27 cs.RO 61%

Towards Orientation Learning and Adaptation in Cartesian Space

Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell

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

Comments Accepted for publication at IEEE Transactions on Robotics

2309.07729 2023-09-15 cs.RO 61%

Imitation Learning-based Visual Servoing for Tracking Moving Objects

Rocco Felici, Matteo Saveriano, Loris Roveda, Antonio Paolillo

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

Comments International Workshop on Human-Friendly Robotics (HFR), 2023

2309.02722 2023-09-07 cs.RO 61%

Reinforcement Learning of Action and Query Policies with LTL Instructions under Uncertain Event Detector

Wataru Hatanaka, Ryota Yamashina, Takamitsu Matsubara

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

Comments 8 pages, Accepted by Robotics and Automation Letters (RA-L)

2308.02150 2023-08-07 cs.RO 61%

Learning to Shape by Grinding: Cutting-surface-aware Model-based Reinforcement Learning

Takumi Hachimine, Jun Morimoto, Takamitsu Matsubara

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

Comments 8 pages, Accepted by Robotics and Automation Letters

2306.07205 2023-06-13 cs.RO 61%

Maximising Coefficiency of Human-Robot Handovers through Reinforcement Learning

Marta Lagomarsino, Marta Lorenzini, Merryn Dale Constable, Elena De Momi, Cristina Becchio, Arash Ajoudani

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

Comments 8 pages, 6 figures, IEEE Robotics and Automation Letters

2305.14154 2023-05-24 cs.RO math.OC 61%

Solving Stabilize-Avoid Optimal Control via Epigraph Form and Deep Reinforcement Learning

Oswin So, Chuchu Fan

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

Comments Accepted to Robotics: Science and Systems 2023. Project page can be found at https://mit-realm.github.io/efppo

2305.08373 2023-05-16 cs.RO cs.SY eess.SY 61%

AcroMonk: A Minimalist Underactuated Brachiating Robot

Mahdi Javadi, Daniel Harnack, Paula Stocco, Shivesh Kumar, Shubham Vyas, Daniel Pizzutilo, Frank Kirchner

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

Comments The open-source implementation is available at https://github.com/dfki-ric-underactuated-lab/acromonk and a video demonstration of the experiments can be accessed at https://youtu.be/FIcDNtJo9Jc}

Journal ref journal={IEEE Robotics and Automation Letters}, year={2023}, volume={8}, number={6}, pages={3637-3644}

1. 模仿学习与强化学习 4115 篇

Reinforcement Learning based 6-DoF Maneuvers for Microgravity Intravehicular Docking: A Simulation Study with Int-Ball2 in ISS-JEM

Platform-Agnostic Reinforcement Learning Framework for Safe Exploration of Cluttered Environments with Graph Attention

Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety

From Pheromones to Policies: Reinforcement Learning for Engineered Biological Swarms

Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility

Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training

ExploRLLM: Guiding Exploration in Reinforcement Learning with Large Language Models

Imitation Learning-based Direct Visual Servoing using the Large Projection Formulation

NavRL: Learning Safe Flight in Dynamic Environments

GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control

Distributional Reinforcement Learning based Integrated Decision Making and Control for Autonomous Surface Vehicles

MarineGym: Accelerated Training for Underwater Vehicles with High-Fidelity RL Simulation

Trajectory Improvement and Reward Learning from Comparative Language Feedback

Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set

Logic-Skill Programming: An Optimization-based Approach to Sequential Skill Planning

Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learning

D-VAT: End-to-End Visual Active Tracking for Micro Aerial Vehicles

Contrastive Initial State Buffer for Reinforcement Learning

Leveraging Demonstrator-perceived Precision for Safe Interactive Imitation Learning of Clearance-limited Tasks

Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding

Learning Neural Traffic Rules

From Rolling Over to Walking: Enabling Humanoid Robots to Develop Complex Motor Skills

Reward Learning with Intractable Normalizing Functions

Towards Orientation Learning and Adaptation in Cartesian Space

Imitation Learning-based Visual Servoing for Tracking Moving Objects

Reinforcement Learning of Action and Query Policies with LTL Instructions under Uncertain Event Detector

Learning to Shape by Grinding: Cutting-surface-aware Model-based Reinforcement Learning

Maximising Coefficiency of Human-Robot Handovers through Reinforcement Learning

Solving Stabilize-Avoid Optimal Control via Epigraph Form and Deep Reinforcement Learning

AcroMonk: A Minimalist Underactuated Brachiating Robot