Goal-Conditioned Policy

Follow this topic Ask about this topic

Recent momentum

emerging

6 papers in the last 28 days · 0.1% of indexed attention

Twelve weeks of publication activity for this topic as it is defined today.

Weekly history

Recent digests

What was published in this topic, kept on the site without email delivery.

Period ending 2026-09-21

2 new papers

A weekly snapshot of new work published in Goal-Conditioned Policy.

42 papers

Latest in Goal-Conditioned Policy

Open your feed →

DistAL: Distance-based Advantage Learning for VLA Fine-Tuning
Sep 16, 2026Reece O'Mahoney, Ioannis HavoutisVision-Language-Action Models Goal-Conditioned Policy
Online Material Estimation for Conditioned Diffusion Policy in Shaping Deformable Linear Objects
Sep 14, 2026Ryunosuke Yamada, Tomohiro Motoda, Yukiyasu Domae +1Deformable Objects Diffusion Policies
Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model
Sep 10, 2026Hao Li, Haofei Sun, Lin HeLanguage-Conditioning Space Policy Goal-Conditioned Policy
Risk-Conditioned Fine-Tuning of Large Language Models
Sep 8, 2026Zixuan Liu, Fangzheng Wu, Brian Summa +1Large Language Model Safety Reinforcement Fine-Tuning
Controllable Image Captioning with Prompt-Conditioned Scene Rewards
Sep 1, 2026Jongyeop Hyun, Taeyoung Kim, Hyounghun KimRemote Sensing Image Change Captioning Visual In-Context Learning
Locally-Guided Actor-Critic: Training a Goal-conditioned Actor with a Subgoal-aware Critic
Aug 31, 2026Olivier Serris, Stéphane Doncieux, Olivier SigaudGoal-Conditioned Reinforcement Learning Goal-Conditioned Policy
Bootstrap-Conditioned Action Selection with Tabular Foundation Models
Aug 6, 2026Devansh Gupta, Shiv Tavker, Dmitry Efimov +3Linear Contextual Bandits In-Context Learning
Instruction-Conditioned Exploration for Reinforcement Learning with Self-Distillation to an Unconditioned Policy
Aug 3, 2026Jim Dilkes, Vahid Yazdanpanah, Sebastian SteinInstruction-Tuned Models Goal-Conditioned Policy
Dynamic Coalition Formation and Communication Pricing in Skill-Based Agentic AI Systems
Jul 24, 2026Mojtaba EslamiCoalition Formation Communication Efficiency
Addressing the Orchestration Gap in Generalist Robots via Physical Agency
Jul 23, 2026Liane Galanti, Dhruv Shah, Tri DaoGeneralizable Robotic Manipulations Motor Skills
DWM: Separating World Effects from Actions in Latent World Models
Jul 21, 2026Yi-Ge Zhang, Tianqi Du, Qi Zhang +1Latent World Models World Models
Semantic Audio-driven Understanding for Dynamic Humanoid Whole Body Control
Jul 15, 2026J. M. A. Marcelo, M. Brienza, E. Bugli +4Long-Tail Humanoid Whole-Body Control Human Motion
UR-VC: Unsupervised Robotic Value Correction for Time-Derived Progress Proxies
Jul 14, 2026Lirui Zhao, Modi Shi, Li Chen +3Goal-Conditioned Policy Deformable Objects
GaitSpan: Growing Humanoid Locomotion from Walking to Running
Jul 13, 2026Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1Perceptive Locomotion Policies Locomotion Stability
AutoPath: Learning Transferable Goal-Conditioned Stochastic Path Prior for Safe Navigation Without Human Demonstrations
Jul 13, 2026Ziyang Zhang, Boyang Zhou, Zesong Yang +8Object Goal Navigation Navigation
TSCA-Net: Temporal-Spatial Clique Attention for Interpretable Multimodal Pedestrian Trajectory Prediction
Jul 11, 2026Md Mustafizur Rahman, Guangchao Yang, A F M Abdun Noor +3Pedestrian Trajectory Prediction Spatial Attention
Learning Generalizable Skill Policy with Data-Efficient Unsupervised RL
Jul 1, 2026Jongchan Park, Seungjun Oh, Seungho Baek +1Unsupervised Skill Discovery Goal-Conditioned Policy
Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking
Jun 25, 2026Pranav Debbad, Kanish Thiagarajan, Victor Dhédin +2Humanoid Loco-Manipulation Goal-Conditioned Policy
Multi-Agent Goal Recognition with Team- and Goal-Conditioned Reinforcement Learning and Factorized Branch-and-Bound
Jun 24, 2026Thiago Thomas, Gabriel de Oliveira Ramos, Felipe MeneguzziMulti-Agent Reinforcement Learning Multi-Robot Systems
Environment-Grounded Automated Prompt Optimization for LLM Game Agents
Jun 16, 2026Rean Clive Fernandes, Lukas Fehring, Theresa Eimer +2Automatic Prompt Optimization Action Selection
Direction-Conditioned Policies via Compositional Subgoal Scoring for Online Goal-Conditioned Reinforcement Learning
Jun 15, 2026Swaminathan S K, Damiya Gondha, Theyanesh Eswaramoorthy Rajahkrishnan +1Goal-Conditioned Reinforcement Learning Goal-Conditioned Policy
Localizing Credit at the Divergence: Path-Conditioned Self-Distillation for LLM Reasoning
Jun 14, 2026Yu Li, Shu Hong, Tian LanUnsupervised On-Policy Self-Distillation On-Policy Distillation
Dual Advantage Fields
Jun 2, 2026Alexey Zemtsov, Maxim Bobrin, Alexander Nikulin +5Goal-Conditioned Reinforcement Learning Goal-Conditioned Policy
Unified Video-Action Joint Denoising for Dexterous Action and Data Generation
Jun 2, 2026Dingrui Wang, YuAn Wang, Jinkun Liu +4Human Motion Generation Pre-Trained Video Diffusion Models
TAPS: Target-Aware Prefix Tree Selection for Diffusion-Drafted Speculative Decoding
May 30, 2026Zhuoyu Wang, Junnan Huang, Xinyu ChenSpeculative Decoding Low-Latency Systems
UniMaia: Steering Chess Policies with Language for Human-like Play
May 26, 2026Sherman Siu, Lesley IsteadChess Goal-Conditioned Policy
Latent Representation Alignment for Offline Goal-Conditioned Reinforcement Learning
May 25, 2026Hyungkyu Kang, Byeongchan Kim, Min-hwan OhGoal-Conditioned Reinforcement Learning Goal-Conditioned Policy
Goal-Conditioned Agents that Learn Everything All at Once
May 22, 2026Michael Matthews, Matthew Jackson, Michael Beukman +5Goal-Conditioned Reinforcement Learning Goal-Conditioned Policy
DiffVAS: Diffusion-Guided Visual Active Search in Partially Observable Environments
May 15, 2026Anindya Sarkar, Srikumar Sastry, Aleksis Pirinen +2Multiple Vision Tasks Unknown Environments
DSSP: Diffusion State Space Policy with Full-History Encoding
May 14, 2026Zhiyuan Guan, Jianshu Hu, Han Fang +5Diffusion Policies Imitation Learning
Self-Supervised On-Policy Reinforcement Learning via Contrastive Proximal Policy Optimisation
May 13, 2026Asim Osman, Sasha Abramowitz, Mark Bergh +13Proximal Policy Optimization Goal-Conditioned Policy
Controllable User Simulation
May 12, 2026Guy Tennenholtz, Ofer Meshi, Amir Globerson +3User Simulation Simulation-Based Reinforcement Learning
Active Tabular Augmentation via Policy-Guided Diffusion Inpainting
May 11, 2026Zheyu Zhang, Shuo Yang, Bardh Prenkaj +1Augmentation Synthetic Tabular Data
Predictive but Not Plannable: RC-aux for Latent World Models
May 8, 2026Wenyuan Li, Guang Li, Keisuke Maeda +2Latent World Models World Models
Closed-Loop CO2 Storage Control With History-Based Reinforcement Learning and Latent Model-Based Adaptation
May 4, 2026Sofianos Panagiotis Fotias, Vassilis GaganisIterative Reinforcement Learning Goal-Conditioned Policy
GCImOpt: Learning efficient goal-conditioned policies by imitating optimal trajectories
Apr 24, 2026Jon Goikoetxea, Jesús F. PalaciánImitation Learning Goal-Conditioned Policy
On the Conditioning Consistency Gap in Conditional Neural Processes
Apr 21, 2026Robin YoungArchitecture-Agnostic Loss Function Goal-Conditioned Policy
SVL: Goal-Conditioned Reinforcement Learning as Survival Learning
Apr 19, 2026Franki Nguimatsia Tiofack, Fabian Schramm, Théotime Le Hellard +1Goal-Conditioned Reinforcement Learning Goal-Conditioned Policy
Offline Reinforcement Learning of High-Quality Behaviors Under Robust Style Alignment
Jan 30, 2026Mathieu Petitbois, Rémy Portelas, Sylvain LamprierGoal-Conditioned Reinforcement Learning Offline Reinforcement Learning
GraphAllocBench: A Flexible Benchmark for Preference-Conditioned Multi-Objective Policy Learning
Jan 28, 2026Zhiheng Jiang, Yunzhe Wang, Ryan Marr +3Constrained Reinforcement Learning Objective Functions
LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenes
Aug 23, 2025Haozhuo Zhang, Jingkai Sun, Michele Caprio +5Long-Tail Humanoid Whole-Body Control Human Motion
Hybrid Sequence Modeling and Reinforced Verification for Controllable Target-Conditioned Decision Making
Aug 22, 2025Yue Pei, Hongming Zhang, Chao Gao +7Goal-Conditioned Policy Goal-Conditioned Reinforcement Learning

Sep 16, 2026 · cs.ROJ/K move · Enter open · S save

DistAL: Distance-based Advantage Learning for VLA Fine-Tuning

Reece O'Mahoney, Ioannis Havoutis

Vision-language-action models (VLAs) have trans- formed the field of robotic manipulation in recent years by combining the semantic understanding of LLMs with the precise control of flow-matching policies. Advantage conditioning is a recent technique that iteratively improves VLAs by training a value function on deployment data and using this to train an advantage-conditioned policy. Previous works have only applied simple, low-information success/failure rewards, which leave the value function unable to distinguish states of differing quality beyond how far along the task they appear. Motivated by an exploration of out-of-distribution (OOD) detection methods, we introduce Distance-based Advantage Learning (DistAL), which, by using an embedding space distance as a reward, produces a more informative value function and subsequently a higher downstream task success rate. We validate our method on a series of simulation benchmarks and dexterous bi-manual manipulation tasks on real hardware.

Vision-Language-Action Models Goal-Conditioned Policy Advantage

Open paper Ask about it PDF