Learning from Demonstration

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12 papers in the last four weeks, up 200% on the four weeks before. 0.1% of all new papers.

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Learning Personalized Safety Interventions for Haptic Human-Robot Shared Control
Jul 21, 2026Dawei Zhang, Roberto TronRobotic Control Haptic Feedback
Division of Systems Engineering, Boston University, 110 Cummington Mall, Boston, 02215, MA, USA.
Generalize and Guide: Decomposing Rewards for Few-Shot Inverse Reinforcement Learning
Jul 20, 2026Ziyi Liu, Grace ZhangReinforcement Learning Learning from Demonstration
University of Southern California
User-Driven Learning from Demonstration: A Trajectory and Impedance Learning Method
Jul 18, 2026Zi-Qi Yang, Mehrdad R. KermaniRobotic Control Robot Motion Generation
Department of Electrical and Computer Engineering, Western University, London, ON N6A 5B9, Canada.
Learning Forward & Reverse Skills from a Single Unfinished Demonstration for Constrained Manipulation Tasks
Jul 15, 2026Yexin Hu, Haoyi Zheng, Johannes Heidersberger +1Robot Skill Learning Contact-Rich Robotic Manipulation
Autonomous Systems Lab, Technische Universität Wien (TU Wien), Austria · Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany
Reverse to Advance: Teleoperation-Cost Effective Hard Policy Learning from Reversed Easy Tasks
Jul 15, 2026Qiyuan Qiao, Ge Yuan, Can Wang +1Robot Teleoperation Robotic Manipulation
The University of Hong Kong
Learning Linear Temporal Specifications from Demonstrations with Uncertainty
Jul 12, 2026Parastou Fahim, Constantino Lagoa, Rômulo Meira-G'oesFormal Verification Learning from Demonstration
School of Electrical Engineering and Computer Science at The Pennsylvania State University, State College, USA
DemoBridge: A Simulation-in-the-Loop Toolkit for Single-View Human Demonstration Retargeting
Jul 10, 2026Zehao Wang, Fabien Despinoy, Sergey Zakharov +2Robotics Simulation Motion Retargeting
§KU Leuven · †Toyota Motor Europe · ‡Toyota Research Institute
One-Shot Multimodal Learning from Demonstration with Force-Constrained Elastic Maps
Jul 10, 2026Brendan Hertel, Jonathan Spanos, Navya Garg +1Robot Skill Learning Robotic Manipulation
Persistent Autonomy and Robot Learning (PeARL) Lab, University of Massachusetts Lowell, Lowell, MA 01854, USA.
Compositional Motion Generation from Demonstration with Object-Centric Neural Fields
Jul 8, 2026Ahmet Ercan Tekden, Yasemin BekirogluGeneralization in Robotic Manipulation Robot Motion Generation
Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 Gothenburg, Sweden. · Department of Computer Science, University College London, WC1E 6BT London, U.K.
Rank-Then-Act: Reward-Free Control from Frame-Order Progress
Jul 2, 2026Yuriy Maksyuta, George Bredis, Ruslan Rakhimov +1RL Control Reward Modeling
T-Tech
One Demonstration Is Enough for Real-World Robotic Reinforcement Learning
Jul 2, 2026Yuwan Liu, Hongze Yu, Song Liu +5Reinforcement Learning Robot Skill Learning
National Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institution of Automation, Chinese Academy of Sciences, Beijing, China · Beijing Academy of Artificial Intelligence, Beijing, China · PKU-PsiBot Joint Lab, Beijing, China +2
Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems
Jul 1, 2026Ratnangshu Das, Puneeth Shankar, Varuni Buereddy +2Robotic Control Robot Skill Learning
Robert Bosch Centre for Cyber-Physical Systems IISc, Bengaluru, India
ConCent: Contact-Centric Real-to-Sim-to-Real Learning from One Demonstration
Jun 29, 2026Heecheol Kim, Namiko Saito, Katsushi Ikeuchi +1Contact-Rich Robotic Manipulation Sim-to-Real Transfer
Microsoft Research Asia - Tokyo · The University of Tokyo
CORE: Common Outcome Regularities from Action-Free Visual Demonstrations for Robot Manipulation
Jun 28, 2026Juyi Sheng, Jincheng Li, Mingxin Tan +1Robot Skill Learning Cross-Embodiment Robot Learning
1Peking University, Shenzhen Graduate School, Shenzhen, China
TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes
Jun 24, 2026Blake Werner, Ilona Demler, Pietro Perona +1RL for Robotics Robot Skill Learning
California Institute of Technology
Beyond Monotonic Progress: Retry-Supervised Value Learning for Robot Imitation
Jun 23, 2026Xinyao Qin, Junjie Lu, Kaixin Wang +7Value Function Estimation Imitation Learning
Tsinghua University · Work done at Microsoft Research Asia · University of Technology Sydney +3
TSD: A Physics-Inspired Trajectory Saliency Detector for Efficient Imitation Learning
Jun 22, 2026Yiming Zhao, Gongrui Ma, Qingkai Li +1Robotic Data Collection Imitation Learning
Department of Automation, Tsinghua University, Beijing 100084, China
How Should Agents Read Demonstrations? Hierarchical Structure Beats Flat Action Logs
Jun 18, 2026Honjar Xing, Jefferson Lin, Henry LiebermanHierarchical Planning Learning from Demonstration
MIT Computer Science and Artificial Intelligence Laboratory (CSAIL), Cambridge, MA, USA.
HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations
Jun 17, 2026Zehui Zhao, Yuxuan Zhao, Gaojing Zhang +3Active Perception Humanoid Loco-Manipulation
Shanghai Jiao Tong University · University of Sussex · East China University of Science and Technology
Do as the Romans Do: Learning Universal Behaviors from Heterogeneous Agents
Jun 16, 2026Caleb Chang, Davin Win Kyi, Natasha Jaques +1Reinforcement Learning Imitation Learning
University of Washington · NVIDIA
LOPAL: Local Performance-Aware Active Learning from Imperfect Demonstrations
Jun 15, 2026Johannes Heidersberger, Shail Jadav, Dongheui LeeRobot Skill Learning Active Learning
Autonomous Systems Lab, Institute of Computer Technology, TU Wien, Vienna, Austria · Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Weßling, Germany
V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videos
Jun 15, 2026Kaihan Chen, Yanming Shao, Haifeng Ji +2Cross-Embodiment Robot Learning Robotic Manipulation
Zhejiang University, Hangzhou, China · Shanghai Jiao Tong University, Shanghai, China · Shanghai AI Laboratory, Shanghai, China
PACT: Privileged Trace Co-Training for Multi-Turn Tool-Use Agents
Jun 15, 2026Zhenbang Du, Jun Luo, Zhiwei Zheng +8Learning from Demonstration LLM Agent Training
Georgia Institute of Technology · Ohio State University · University of Pennsylvania +1
PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty
Jun 14, 2026Wenjing Tang, Xuanjin Jin, Yuan Liu +3Belief-Space Planning Symbolic Planning
Shanghai Jiao Tong University · Shanghai Innovation Institute
EgoGuide: Egocentric Guidance for Efficient Robot-Free Demonstration Collection and Learning
Jun 12, 2026Yue Xu, Mingtao Nie, Tianle Li +4Robot Skill Learning Robotic Data Collection
Shanghai Jiao Tong University · Beijing Institute for General Artificial Intelligence (BIGAI) · Shanghai Innovation Institute
What Demonstration Curation Metrics Do to Your Policy
Jun 8, 2026Aarav BediTraining Data Curation Learning from Demonstration
Department of Mechanical Engineering University of California, Berkeley
Auditing Demonstration Curation Metrics: Action-Only Scorers Fail on the Structural Defects That Degrade Imitation Policies
Jun 4, 2026Aarav BediImitation Learning Learning from Demonstration
University of California, Berkeley · Department of Mechanical Engineering University of California, Berkeley Berkeley, California, USA
Learning from Demonstrations over Riemannian Manifolds using Neural ODEs: An Extended Abstract
Jun 3, 2026Diana Cuervo Espinosa, Mahathi Anand, Angela P. SchoelligRobot Motion Generation Learning from Demonstration
Chair of Robotics and System Intelligence, Technical University of Munich, Germany · Learning Systems and Robotics Lab, Technical University of Munich, Germany
Demo2Tutorial: From Human Experience to Multimodal Software Tutorials
Jun 2, 2026Zechen Bai, Zhiheng Chen, Yiqi Lin +5Multimodal Generation Learning from Demonstration
Show Lab, National University of Singapore
A GPU-Parallel Framework for Heterogeneous Multi-Task Reinforcement Learning
Jun 2, 2026Rui Zhang, Qiwei Wu, Zhengyu Zhang +7Robotic RL Learning from Demonstration
NVIDIA · The Hong Kong University of Science and Technology (Guangzhou)

Jul 21, 2026, cs.ROJ/K move · Enter open · S save

Learning Personalized Safety Interventions for Haptic Human-Robot Shared Control

Dawei Zhang, Roberto Tron

Division of Systems Engineering, Boston University, 110 Cummington Mall, Boston, 02215, MA, USA.

Robotic Control Haptic Feedback Robot Safety Human-Robot Collaboration Learning from Demonstration

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Haptic feedback provides an implicit channel for communicating safety intentions during human-robot shared control. Existing haptic guidance systems typically employ predefined intervention strategies that cannot accommodate the diverse safety preferences of individual users or application scenarios. To address this limitation, we propose a Learning from Haptics (LfH) framework that learns user-preferred safety interventions from sparse demonstrations, eliminating the need for manual trial-and-error design. Our framework is built on a differentiable Control Barrier Function (CBF)-based optimization layer that automatically adjusts the underlying safety parameters to match the demonstrated haptic responses. Instead of tuning controller parameters directly, users teach the system how they expect it to intervene during teleoperation. The resulting haptic guidance reflects the demonstrated intervention preferences while preserving the intuitive interaction of haptic shared control. Simulation and hardware experiments demonstrate that the proposed framework can learn personalized safety interventions from sparse user input and reduce the mismatch between the generated haptic feedback and the demonstrated preferences.

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Latest papers 93