Imitation Learning

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26 papers in the last four weeks, up 225% on the four weeks before. 0.3% of all new papers.

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  1. Optimal Transport Meets Reinforcement Learning: A Survey

    Oct 1, 2026Yujie Zhu, Charles A. Hepburn, Matthew Thorpe +1Distributional Reinforcement LearningImitation Learning

    University of Warwick

  2. Identifiable Decomposition of Submovements in Human Hand Trajectories

    Sep 30, 2026Adrian Prados, James Hermus, Ramon Barber +1Imitation LearningDecomposition

    Universidad Carlos III de Madrid, Leganes, Spain · Idiap Research Institute, Martigny, Switzerland · Ecole Polytechnique F´ed´erale de Lausanne (EPFL), Lausanne, Switzerland

  3. Looking Back to Move Forward: Temporal Verification for Generative Robot Policies

    Sep 30, 2026Haoxuan Wang, Wayne Wu, Yan Yan +1Robot PoliciesImitation Learning

    University of Illinois Chicago · University of California, Los Angeles

  4. Disagreement-Regularized Imitation Learning for Image-Based Continuous Control with Gaussian and Beta Policies

    Sep 29, 2026Irving Giovani Bronzatti Petrazzini, Eric Aislan AntoneloStrong Imitation LearningImitation Learning

    Department of Automation and Systems Engineering, Federal University of Santa Catarina, Florian´opolis, Santa Catarina, Brazil.

  5. Memorize, Adapt, Ignore: Diagnosing Robot Learning Mechanisms under Training Data Variation

    Sep 29, 2026Ke Zhang, Danica J. Sutherland, Chao LiuScalable Robot LearningImitation Learning

    PRIME Robotics Lab, Department of Mechanical Engineering, The University of British Columbia · Department of Computer Science, University of British Columbia · Alberta Machine Intelligence Institute

  6. Multi-Granularity Language-Guided Imitation Learning via Instruction Decomposition

    Sep 29, 2026Yi-Pei Chiu, Wei-Ta ChuImitation LearningDecomposition

    National Cheng Kung University, Taiwan

  7. Proactive Dialogue Policy Optimization via Cognitive-State Transition

    Sep 28, 2026Minghui Ma, Mengqi Chen, Bin Guo +1User SimulationFrictive Policy Optimization

    Northwestern Polytechnical University

  8. Beyond Conservatism: Recoverability-Conditioned Exploration for Model-Based Imitation Learning

    Sep 27, 2026Xuanlin Chen, Ziyue Wang, Xunlan Zhou +3Imitation LearningImitation

    School of Intelligent Science and Technology, Nanjing University, China · National Key Laboratory for Novel Software Technology, School of Artificial Intelligence, Nanjing University, China

  9. Beyond State-as-Action: Exploiting Command-State Discrepancy for Robot Imitation Learning

    Sep 27, 2026Peiyan Li, Yueran Tao, Enhao Zhang +10Imitation LearningRobot Systems

    Tsinghua University · SEEN·E Robotics · Imperial College London +3

  10. Res-HIL: Human-Guided Residual Reinforcement Learning for Sample-Efficient Dexterous Manipulation

    Sep 24, 2026Mariia Iavorskaia, Christian Dietz, Sebastian Albrecht +1Robotic Manipulation PoliciesResidual Policy

    Siemens AG, Research and Predevelopment, Germany. · Technical University of Munich, Germany.

  11. Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning

    Sep 24, 2026Tomohiro Motoda, Masaki Murooka, Keisuke Shirai +6ProprioceptionImitation Learning

    Embodied AI Research Team, AIRC and National Institute of Advanced Industrial Science and Technology (AIST) · CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST)

  12. Learning from Mixed-Quality Deployment Experience for Robot Manipulation

    Sep 24, 2026Yangang Ren, Yujie Yan, Zirui Li +6Imitation LearningOffline Reinforcement Learning

    School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 · Chongqing Changan Automobile Co., Ltd, Chongqing 400023, China · Guangzhou Cloudbutterfly Technology Co., Ltd., Guangzhou 510220, China

  13. PointZero: 3D Point Track Completion for Learning Transferable 3D Dynamics

    Sep 16, 2026Bardienus P. Duisterhof, Kaifeng Zhang, Adam Hung +53D Tracking3D Scene Understanding

    CMU · Columbia · NVIDIA

  14. Reinforcement Learning for Real-Time Vision-Language-Action Policies

    Sep 16, 2026Perry Dong, Kuo-Han Hung, Dorsa Sadigh +1Reinforcement Fine-TuningImitation Learning

    Stanford University

  15. Energy-Regularized Imitation Learning for Force- and Work-Aware Robotic Manipulation

    Sep 16, 2026Toshiki Otani, Hiromu Taketsugu, Norimichi UkitaRobotic Manipulation PoliciesRobotic Manipulation

    Toyota Technological Institute, Japan

  16. Fetch My Beer: Synthetic-to-real Hierarchical Policy for Smooth Pick-and-place

    Sep 16, 2026Yingyue Li, Chenyangguang Zhang, Ruida Zhang +3Robotic Manipulation PoliciesReal-World Manipulation Tasks

    Department of Automation, Tsinghua University, Beijing, China · ETH Zurich, Zurich, Switzerland · Beijing Xiaomi Robot Technology Co., Ltd, Beijing, China +1

  17. Imitation Learning for Autonomous Driving in CARLA

    Sep 15, 2026Jordy KietoAutonomous DrivingImitation Learning

  18. Vision-Language Grounded Task-Context-Aware Imitation Learning for Robotic Disassembly

    Sep 15, 2026Jeon Ho Kang, Igal Tamarkin, Ethan Niu +2Robotic ManipulationStrong Imitation Learning

    Viterbi School of Engineering, University of Southern California, Los Angeles, USA

  19. IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator

    Sep 15, 2026Mehdi Heydari Shahna, Seihun Kim, Soyi Jung +3Adaptive ControlImitation Learning

    Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland · Department of Defense Convergence Technology, Korea University, Seoul, Republic of Korea · Department of Electrical and Computer Engineering, Korea University, Seoul, Republic of Korea +2

  20. Touch2Trace: Tactile-Driven Imitation Learning for Dexterous Cable Tracing

    Sep 14, 2026Matteo Grimaldi, David Klee, Ziling Chen +5Contact-Rich Dexterous ManipulationTactile

    Dexterous AI Group, Analog Devices, Inc.

  21. Continuous Manifold-Decomposed Impedance Retargeting for Contact-Rich Imitation Learning

    Sep 14, 2026Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1Impedance ControlImitation Learning

    Department of Mechano-Informatics Graduate School of Information Science and Technology, The University of Tokyo Tokyo, Japan

  22. Flow-Matched Motion Priors: Online Optimal-Transport Rewards for Imitation Learning

    Sep 14, 2026Yilin Zou, Chenghua Liu, Chenglong Wu +1Kinematic PriorsFlow Policies

    School of Aerospace Engineering, Tsinghua University, Beijing 100084, China · Institute of Software, Chinese Academy of Sciences, Beijing, China

  23. Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining

    Sep 14, 2026Shogo Iwakata, Tomohiro Motoda, Ryosuke Yamada +8Temporally Coherent Imitation LearningImitation Learning

    Waseda University · Embodied AI Research Team, AIRC and National Institute of Advanced Industrial Science and Technology (AIST) · Computer Vision Research Team, AIRC and National Institute of Advanced Industrial Science and Technology (AIST) +3

  24. Online Material Estimation for Conditioned Diffusion Policy in Shaping Deformable Linear Objects

    Sep 14, 2026Ryunosuke Yamada, Tomohiro Motoda, Yukiyasu Domae +1Deformable Linear ObjectsDiffusion Policies

    Graduate School of Natural Science and Technology, Kanazawa University, Kanazawa 920-1192, Japan · National Institute of Advanced Industrial Science and Technology (AIST), Tokyo 135-0064, Japan · Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa 920-1192, Japan

  25. Rapid Learning of Dexterous In-Hand Pen Writing through Real-Time Jacobian Estimation

    Sep 11, 2026Kai Stewart, Yasunori Toshimitsu, Robert K. KatzschmannRobotic HandsDexterous Manipulation

    Soft Robotics Lab, D-MAVT, ETH Zurich, 8092 Zurich, Switzerland

  26. SEED-UMI: Sharing the Exoskeleton between human and robot for onE-to-one Dexterous demonstration

    Sep 11, 2026Tengbo Yu, Jiahao Wu, Daohan Li +4ExoskeletonDexterous Manipulation

    State Key Laboratory of General Artificial Intelligence, School of Intelligence Science and Technology, Peking University · Delta Intelligence

  27. Revisiting Topological Graphs for Macro Action based Closed-loop Reinforcement Learning of Vision Language Navigation in Continuous Environment

    Sep 3, 2026Shuhao Ye, Sitong Mao, Yuxiang Cui +7Vision-Language NavigationAction Space

    Zhejiang University, Hangzhou, China · Huawei Technologies Co., Ltd · Zhejiang Humanoid Robot Innovation Center, Ningbo, China

  28. Does Imitation Learning Preserve Temporal Robustness in Dexterous Manipulation? An Expert-Learner Comparison Across Task Execution Speeds

    Sep 1, 2026Clinton Enwerem, John S. Baras, Calin BeltaImitation LearningRobotic Manipulation Policies

    Institute for Systems Research University of Maryland College Park, MD, U.S.A.

  29. Towards Generalizable Visually Grounded Exploration of Household Devices

    Sep 1, 2026Linhao Zheng, Zeming Liu, Wangke Chen +4Embodied AgentsWeak Visual Grounding

    School of Computer Science and Technology, Beijing Institute of Technology · School of Computer Science and Engineering, Beihang University · Research Center for Social Computing and Interactive Robotics, Harbin Institute of Technology

  30. CanonNav: Disentangling Navigation Behavior from Camera Geometry in Cross-Platform Visual Navigation

    Aug 31, 2026Dong-Wook Kim, Ji-Hoon Hwang, E-In Son +2Object Goal NavigationVisual Inertial Odometry

    Seoul National University, Republic of Korea

  31. Self-Aware Active Learning Enables Continual Improvement in Autonomous Driving

    Aug 30, 2026Dong Hu, Chao Huang, Carman K. M. Lee +1Autonomous DrivingPool-Based Active Learning

    Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong Kong · School of Electrical and Mechanical Engineering, Adelaide University, Australia · Department of Computer Science, University College London, United Kingdom

  32. Neural-Primitive: An Efficient End-to-end Local Planner with Primitive-based Imitation Learning for Autonomous Flight

    Aug 21, 2026Zhitao Liu, Guangtong Xu, Zihan Wang +3Imitation LearningPath Planning

    Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China. · Huzhou Institute, Zhejiang University, Huzhou 313000, China. · Institute of Systems Engineering, China Academy of Engineering Physics, Mianyang 621999, China. +3

  33. ORPA: Online Residual Policy Adaptation for Robot Manipulation Control with Human Feedback

    Aug 18, 2026Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai +1Residual PolicyRobotic Manipulation Policies

    Embodied AI Research Team · National Institute of AIST · Tokyo, Japan

  34. Enabling Scalable Kinesthetic Teaching via Observer-based Hand-guiding with Active Support

    Aug 11, 2026Anna Tuma, Giuseppe Monetti, Jochen J. Steil +1Robotic HandsGround Reaction Forces

    Technology & Innovation Center, KUKA, Augsburg, Germany · Institute of Robotics and Process Control, Technische Universität Braunschweig, Braunschweig, Germany

  35. Bimanual Manipulation Within an 8 GB Budget: Zero-Copy Sensing and Quantized ACT on an Entry-Level Jetson

    Aug 4, 2026Ekansh Singh, Eva Samuel, Alessandra Reneau +2Nvidia Jetson Orin NanoBimanual Manipulation

    Georgia Tech Research Institute (GTRI), Aerospace, Transportation and Advanced Systems Laboratory (ATAS), Atlanta, GA, USA

  36. A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces

    Aug 4, 2026Rishabh Shukla, Adithya Santhosh, Shaili Gandhi +2Robotic Manipulation PoliciesDiffusion Policies

    Realization of Robotic Systems Lab (RROS) University of Southern California, Los Angeles, CA, USA

  37. AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation

    Aug 3, 2026Gaoyuan Wu, Ziyu Shan, Haoyang Du +2Robotic ManipulationVisuomotor Policy

    1Nanyang Technological University, Singapore

  38. RayViT: Ray-Conditioned Visual Representations for Viewpoint-Robust Imitation Learning

    Jul 31, 2026Qian Wang, Longrui Chen, Peiran Sun +8Visual Geometry Grounded TransformerRobotic Perception

    Karlsruhe Institute of Technology, Germany · University of Leeds, United Kingdom

  39. When Does On-Policy Interaction Help? Representational Tradeoffs in Value-Based Imitation Learning

    Jul 31, 2026Luca Viano, Antoine Moulin, Audrey Huang +3Imitation LearningOn-Policy

    Microsoft

  40. STAGE: STyle-controllable Action GEneration for personalized autonomous driving

    Jul 31, 2026Zihao Liu, Xing Liu, Yizhai Zhang +1Action GenerationImitation Learning

    Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, China

  41. Mirror Learning

    Jul 30, 2026Yunpeng Liu, Matthew Niedoba, Oluwanifemi A. Adekanye +4Imitation LearningBehavior Cloning

    University of British Columbia · 2Inverted AI · 3Amii

  42. ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Engine

    Jul 30, 2026Yukang Cao, Haozhe Xie, Beichen Wen +13Training-Set Long-Tail MotionsEmbodied Artificial Intelligence

    S-Lab, Nanyang Technological University · ACE Robotics

  43. Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling

    Jul 29, 2026Zhefeng Huang, Yilin Cai, Ankit Patel +3Surgical RobotsImitation Learning

  44. S2A2: Audio-Visual Imitation Learning for Manipulation Tasks Using Acoustic Spatial Information

    Jul 28, 2026Kaneyoshi Hiratsuka, Benjamin Yen, Ryosuke KojimaRobotic ManipulationReal-World Manipulation Tasks

    Kyoto University · RIKEN, Institute of Science Tokyo · Kyoto University, RIKEN

  45. Decompose and Reorganize: Planning with Primitives and Visuomotor Policies Learned from Demonstrations

    Jul 28, 2026Yizhou Chen, Hang Xu, Dongjie Yu +7Visuomotor PolicyImitation Learning

    The University of Hong Kong, Hong Kong · JD.com (JingDong) · Nanyang Technological University (NTU), Singapore +3

  46. PRISM: Polynomial Representations for Interaction-Structured Motor Control

    Jul 26, 2026Seung Hyun Lee, Stella X. YuNeural PoliciesMotion Control

    University of Michigan, Ann Arbor Computer Science and Engineering

  47. The Curse of Precision: A Data Scaling Law for High-Precision Robotic Manipulation

    Jul 25, 2026Cuijie Xu, Yuanfan Xu, Min Xue +5Robotic ManipulationPrecision

    Department of Electronic Engineering, Tsinghua University, Beijing, China. · OpenMind (WuHu) Robotics Co., Ltd., Wuhu, China. · Institute for Embodied Intelligence and Robotics, Tsinghua University.

  48. Scalable Causal Imitation Learning

    Jul 18, 2026Eylam Tagor, Mingxuan Li, Elias BareinboimTemporally Coherent Imitation LearningStrong Imitation Learning

    Department of Computer Science, Columbia University

  49. Dynamics-Aware Meta-Imitation for Generalization to Unseen Robotic Manipulation

    Jul 17, 2026Zhenduo Shang, Xiyao Liu, Bohan Li +4Imitation LearningRobotic Manipulation

    State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China · University of Chinese Academy of Sciences, Beijing 100049, China · Shenyang University of Technology

  50. Augmentations for Robust and Efficient Imitation Learning in Streamed Video Games

    Jul 15, 2026Somjit Nath, Abdelhak Lemkhenter, Pallavi Choudhury +4Imitation LearningAugmentation

    McGill University, Mila · Microsoft

  51. Distributionally Robust and Safe Imitation Learning

    Jul 15, 2026Ahmed Aboudonia, Naira HovakimyanStrong Imitation LearningImitation Learning

    University of California Berkeley, Berkeley, CA 94720, USA · University of Illinois Urbana-Champaign, Urbana, IL 61801, USA

  52. Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentation

    Jul 13, 2026Haojie Huang, Linfeng Zhao, Haotian Liu +9Robotic Manipulation PoliciesImitation Learning

    1Northeastern University · 2Stanford University · University of Pennsylvania +2

  53. SegDiff: Segmented Trajectory Diffusion for Consistent and Adaptive Robot Manipulation

    Jul 13, 2026Haidong Cao, Wenjun Cao, Quanhao Li +5Visuomotor PolicyImitation Learning

    Institute of Trustworthy Embodied AI, Fudan University, China · Shanghai Key Laboratory of Multimodal Embodied AI, China

  54. Large Language Model Enhanced Differentiable Trajectory Planning for IoT-Enabled Autonomous Driving

    Jul 11, 2026Shihao Zhang, Jing Yang, Ziyu Song +7Automated VehiclesIntelligent Transportation

    State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130000, China · Center of Research for Cyber Security and Network (CSNET), Faculty of Computer Science and Information Technology, Universiti Malaya, 50603 Kuala Lumpur, Malaysia · Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg +3

  55. Source-Lifted Flow Matching for Intervenable Multimodal Imitation

    Jul 11, 2026He Zhang, Ying Sun, Ziyang Chen +6Multimodal Action DistributionsConditional Flow Matching

    The Hong Kong University of Science and Technology (Guangzhou) · AI2 Robotics

  56. More Structure, Not More Capacity: Object-Centric Representations for Visuomotor Imitation Learning

    Jul 10, 2026Yi Li, Alexandre Chapin, Liming Chen +2Object-Centric RepresentationsRobotic Manipulation Policies

    TU Darmstadt · 1TU Darmstadt · LIRIS +3

  57. AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance

    Jul 9, 2026Chenxi Wang, Ying Feng, Hongjie Fang +4Cross-Embodiment RetargetingDexterous Manipulation

    1Noematrix · 2Shanghai Jiao Tong University · 3Shanghai Innovation Institute

  58. Post-Training in End-to-End Autonomous Driving

    Jul 9, 2026Ruining Yang, Muxing Wang, Yixiao Chen +8Causality-Aware End-To-End Autonomous DrivingAutonomous Driving

    Northeastern University, Boston, USA · Purdue University, West Lafayette, USA

  59. PriGo: Test-Time Primitive Guidance to Diffusion and Flow Policies for Adaptive Robotic Manipulation

    Jul 8, 2026Zezeng Li, Enda Xiang, Thuy Tran +3Robotic ManipulationImitation Learning

    Ecole Centrale de Lyon, France · Beihang University, China

  60. EvoCUA-1.5: Online Reinforcement Learning for Multi-turn Computer-Use Agents

    Jul 7, 2026Mianqiu Huang, Taofeng Xue, Chong Peng +12Computer-Use AgentsOffline Reinforcement Learning

    1Meituan · 2Fudan University · 3Shanghai Jiao Tong University +1