RL for Robotics

RL: Reinforcement Learning

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31 papers in the last four weeks, up 675% on the four weeks before. 0.3% of all new papers.

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  1. Dex-One2Many: Learning Dexterous Manipulation from a Single Human Demonstration

    Oct 8, 2026Jusuk Lee, Sungha Kim, Yeonsoo Park +8Robotic ManipulationLearning from Demonstration

    Seoul National University · University of Maryland, College Park · All Purpose AI +1

  2. Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data

    Oct 6, 2026Songbo Hu, Qiayuan Liao, Yufeng Chi +4Humanoid Loco-ManipulationWhole-Body Robotic Manipulation

    University of California, Berkeley

  3. GAMBIT: Learning to Plan Continuous Multi-Robot Trajectories

    Oct 5, 2026Rishabh Jain, Akmaral Moldagalieva, Lorenzo Magnino +5RL for RoboticsMulti-Robot Motion Planning

    University of Cambridge, UK · Technical University of Berlin, Germany · National Institute of Advanced Industrial Science and Technology (AIST), Japan

  4. KungfuAthleteBot: learning high-dynamic humanoid motion from video with unified robust recovery

    Oct 2, 2026Zhongxiang Lei, Lulu Cao, Xuyang Wang +3RL for RoboticsRobot Imitation Learning

  5. FlashDexRetarget: Accelerating Dexterous Manipulation Data Generation through Multi-Motion Retargeting

    Oct 1, 2026Kyungmin Lee, Sibeen Kim, Dongyoon Hwang +6RL for RoboticsCross-Embodiment Robot Learning

    KAIST AI · Holiday Robotics

  6. RL-Guided PAC-NMPC for Probabilistically-Safe Perception-Based Navigation in Unknown Environments

    Sep 30, 2026Adam Polevoy, Dillon Capalongo, Katherine Tang +3RL for RoboticsNonlinear MPC

    Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA. · Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA.

  7. DODGER: Safety-Guided Reinforcement Learning for Robot Navigation Among Dynamic Obstacles

    Sep 30, 2026Sanghyuk Park, Kwanwoo Lee, Taekyung Kim +2RL for RoboticsControl Barrier Functions

    Department of Intelligence and Information, Seoul National University, Republic of Korea · Department of Robotics, University of Michigan, Ann Arbor, MI, USA · Department of Mechanical Engineering, Yonsei University, Republic of Korea +1

  8. ReF-HIL: Shaping the Critic around Human Action Neighborhoods for Efficient Human-in-the-Loop Reinforcement Learning

    Sep 29, 2026Shaoyin Luo, Song Wang, Shibo Xia +5RL for RoboticsReward Shaping

    Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

  9. Track-and-Complete: Learning Humanoid Skills from a Single Failed Human Video

    Sep 29, 2026Sarmad Idrees, Jongeun ChoiRL for RoboticsRobot Skill Learning

    School of Mechanical Engineering, Yonsei University, Seoul 03722, Korea

  10. TaRL: Learning General and Physical Rewards from Tactile Demonstrations

    Sep 29, 2026Po-Yi Wu, Dao-Jan Chang, Shang-Ya Hsiao +3RL for RoboticsContact-Rich Robotic Manipulation

    National Taiwan University

  11. Learning to Explore Hidden Kinematics for Articulated Object Manipulation

    Sep 29, 2026Ruiyao Liu, Boshu Lei, Zhuoyang Pan +1RL for RoboticsActive Perception

    GRASP Lab, University of Pennsylvania, Philadelphia, PA 19104, USA

  12. ChronoSRL: Temporal Geometry for Self-Supervised Reinforcement Learning

    Sep 28, 2026Nico Bohlinger, Jan PetersRL for RoboticsRepresentation Learning

    Technical University of Darmstadt, Germany · Robotics Institute Germany (RIG); German Research Center for AI (DFKI); hessian.AI

  13. ARS: Agentic Reward System for Robot Learning

    Sep 28, 2026Sheng Hu, Weiyi Lu, Lingbing Zeng +5RL for RoboticsProcess Reward Models

    AIRC, Midea Group

  14. CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets

    Sep 27, 2026Tan-Dzung Do, Cuc T. Trinh, Tuan Dat Phuong +4RL for RoboticsHumanoid Robot Control

    VinRobotics · National University of Singapore · VinUniversity +1

  15. From Target Selection to Digging: A Learning-Based Framework for Continuous Autonomous Excavation

    Sep 24, 2026Shuai Zhao, Ji-an Pan, Quantao Yang +4RL for RoboticsVision-Based Robot Control

    Liaoning University. · Northeastern University. · KTH Royal Institute of Technology, Stockholm, Sweden. +1

  16. Turning Safety into Competence: Minimally Exploitable Robot Policies via Safety-Filtered Reinforcement Learning

    Sep 23, 2026Ruihan Wu, Rui Yang, Donggeon David Oh +2Sequential MARLRL for Robotics

    Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA · Department of Electrical and Computer Engineering, Princeton University, Princeton, NJ 08544, USA

  17. Generalists Act, Specialists Intervene: Modular Stage-Selective Reinforcement Learning for Vision-Language-Action Manipulation

    Sep 22, 2026Chongyu Zhu, Hyegang Kim, Jaden Hinds +3RL for RoboticsRobot Policy Learning

    Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada.

  18. PAKT: Physically-Aligned Kinesthetic Teaching for Reinforcement Learning

    Sep 22, 2026Lars Johannsmeier, Yashraj NarangRobotic ControlRL for Robotics

    NVIDIA

  19. Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation

    Sep 21, 2026Zongyuan Zhang, Christopher Lehnert, Will N. Browne +1RL for RoboticsHumanoid Robot Control

    School of Electrical Engineering and Robotics, Queensland University of Technology, 2 George St, Brisbane, 4000, Queensland, Australia. · Australian Cobotics Centre, Queensland University of Technology, 2 George St, Brisbane, 4000, Queensland, Australia. · Centre for Robotics, Queensland University of Technology, 2 George St, Brisbane, 4000, Queensland, Australia.

  20. InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality

    Sep 21, 2026Zhenghua Ma, Xinpan Meng, Zeyu Liu +4RL for RoboticsContact-Rich Robotic Manipulation

    School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China, and the State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · PaXini AI Technology (Beijing) Co., Ltd., Beijing 100080, China

  21. Learning Slope-Adaptive Whole-Body Locomotion for Humanoid Robots in Roofing Construction

    Sep 17, 2026Songyang Liu, Shuai LiRL for RoboticsRobotic Construction

    Ph.D. Student, Department of Civil and Coastal Engineering, University of Florida, Gainesville, FL 32611. · Associate Professor, Department of Civil and Coastal Engineering, University of Florida, Gainesville, FL 32611 (corresponding author).

  22. Visual Sim-to-Real Learning for Robotic Insertion under Geometric Variations: Application to Rebar Installation

    Sep 17, 2026Tao Sun, Beining Han, Patrick Yin +5RL for RoboticsRobotic Construction

    McGill University · Princeton University · University of Washington

  23. Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator

    Sep 16, 2026Zhongyu Chen, Yuxuan Nai, Qian Chen +8RL for RoboticsHumanoid Loco-Manipulation

    ZJU-UIUC Institute. · LimX Dynamics.

  24. KINO: A Keyframe Interface for VLM Planning and Whole-Body Control in Humanoid Loco-Manipulation

    Sep 16, 2026Sitong Chen, Fatemeh Zargarbashi, Jin Cheng +2Robotic ControlRL for Robotics

    ETH Zürich, Switzerland

  25. Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand

    Sep 15, 2026Amirhossein Kazemipour, Hehui Zheng, Robert KatzschmannRL for RoboticsMobile Manipulation

    Soft Robotics Lab, ETH Zurich, Zurich, Switzerland

  26. Intrinsic Robot Rewarding: Reusing VLA Representations for Autonomous Evaluation and Policy Improvement

    Sep 15, 2026Tobias Schaffer, Mohab Elkhayat, Daniela Nicklas +2RL for RoboticsIntrinsic Reward Methods

    Technology Campus Cham - Intelligent Robotics, Deggendorf Institute of Technology, Cham, Germany

  27. UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data

    Sep 15, 2026Hyesung Lee, Si-Hwan Heo, Sungwook YangRL for RoboticsVisuomotor Policy Learning

    Center for Humanoid Research, Korea Institute of Science and Technology, Seoul 02792, Republic of Korea · Kim Jaechul Graduate School of AI, Korea Advanced Institute of Science and Technology, Seoul 02455, Republic of Korea

  28. ArtManip: Category-Level Articulated In-Hand Manipulation

    Sep 14, 2026Yang Yang, Tengyu Liu, Puhao Li +6RL for RoboticsDexterous Manipulation

    State Key Lab of CAD&CG, Zhejiang University · State Key Lab of General Artificial Intelligence, BIGAI · Tsinghua University +1

  29. Size Doesn't Matter: Material-State Reinforcement Learning for Excavator Transferable Soil Manipulation

    Sep 14, 2026Lennart Werner, Pol Eyschen, Sean Costello +3RL for RoboticsDeformable Object Manipulation

    Robotic Systems Lab, ETH Zürich, Leonhardstrasse 21, 8092 Zürich, Switzerland · Hexagon Innovation Hub GmbH, Heinrich-Wild-Strasse 201, 9435 Heerbrugg, Switzerland

  30. DIA: Denoising Intermediate Advantage for Diffusion Policy Optimization

    Sep 10, 2026Arjun Sohal, Yuchi Zhao, Miroslav Bogdanovic +1RL for RoboticsStep-Level Credit Assignment in RL

    University of Toronto, Toronto, ON, Canada · Vector Institute for Artificial Intelligence, Toronto, ON, Canada · Acceleration Consortium, University of Toronto, Toronto, ON, Canada +2