Robot Imitation Learning

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172 papers in the last four weeks, up 310% on the four weeks before. 1.0% of all new papers.

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SkillPlug: Unsupervised Skill Mining for Few-Shot Adaptation in Robotic Manipulation
Jul 9, 2026Zi-han Ding, Ziwei WangRobot Policy Adaptation Robot Skill Learning
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore
EgoWAM: World Action Models Beyond Pixels with In-the-Wild Egocentric Human Data
Jul 8, 2026Baoyu Li, Xinchen Yin, Mengying Lin +2World Models for Robotics Bimanual Robotic Manipulation
Georgia Institute of Technology
WAM-TTT: Steering World-Action Models by Watching Human Play at Test Time
Jul 8, 2026Yusen Feng, Bingchen Han, Jiangran Lyu +13Test-Time Adaptation World Models for Robotics
Peking University · Galbot · CASIA +1
SPECTRA: Context-Conditioned Spectral Movement Primitives for Robot Skill Generalization
Jul 8, 2026Boxuan Zhang, Sheng Liu, Chenlin Ming +1Generalization in Robotic Manipulation Robot Motion Generation
School of Computation, Information and Technology, Technical University of Munich, Germany · Karlsruhe Institute of Technology, Germany · The Department of Automation, Shanghai Jiao Tong University, China
RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperation
Jul 7, 2026Haoyu Zhao, Xingyue Zhao, Hangyu Li +6Action-Conditioned Video Generation World Models for Robotics
DAMO Academy, Alibaba Group · Hong Kong Embodied AI Lab · CUHK +3
SIEVE: Structure-Aware Data Selection for Imitation Learning with VLA Models
Jul 7, 2026Changti Wu, Bin Yu, Zhaolong Shen +6Imitation Learning Vision-Language-Action Models
1East China Normal University · 2Zhongguancun Academy · 3Harbin Institute of Technology +5
WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation
Jul 7, 2026Wongyun Yu, Youngwoon Kim, Minsu ChoContact-Rich Robotic Manipulation Humanoid Robot Control
Pohang University of Science and Technology (POSTECH) · RLWRLD
LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation
Jul 7, 2026Xinye Yang, Zhiyuan Ma, Hongze Yu +5Latent Action Learning Robot Skill Learning
Fudan University · PsiBot · Zhongguancun Academy +2
FuncBridge: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning
Jul 7, 2026Chuhao Zhou, Liquan Wang, Shuxin Cao +5Robot Skill Learning Generalization in Robotic Manipulation
MARS Lab, Nanyang Technological University · Georgia Institute of Technology
Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control
Jul 6, 2026Yuan Jiang, Ningyuan Zhang, Xicun Yang +2Humanoid Robot Control Whole-Body Control
XPENG ROBOTICS
Spatial Attention: Adapting Execution Horizons for Diffusion Policies via Observation Sensitivity
Jul 6, 2026Che-Sang Park, Junsu Ha, Jianlong Fu +1Robot Policy Learning Diffusion-Based Planning
Robotics Laboratory, Seoul National University, Seoul, South Korea · Microsoft Research Asia, Beijing, China
Simple-to-Complex Structured Demonstrations for Vision-Language-Action Learning
Jul 6, 2026Xinchuan Qiu, Yi YuLong-Horizon Robotic Manipulation Robotic Manipulation
Graduate School of Advanced Science and Engineering, Hiroshima University, Higashi-Hiroshima, Japan
ObjRetarget: An Object-Aware Motion Retargeting Framework with Anthropomorphic Arm Constraints and Polyhedral Hand Modeling
Jul 4, 2026Yuanchuan Lai, Qing Gao, Ziyan Liang +2Contact-Rich Robotic Manipulation Motion Retargeting
School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen 518107, China. · School of Artificial Intelligence, The Chinese University of Hong Kong, Shenzhen, Shenzhen 518172, China. · School of Computing, University of Portsmouth, Portsmouth PO1 3HE, UK.
Exp2VLA: Enabling Vision-Language-Action for Drone Navigation from Expert Demonstrations
Jul 3, 2026Van Huyen Dang, Kabilesh Rajendran, Erdi Sayar +1UAV Navigation Vision-Language-Action Models
Automatic Control Group Paderborn University Paderborn, Germany
AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation
Jul 1, 2026Qingda Hu, Ziheng Qiu, Jieru Zhao +2Robot Skill Learning Visuomotor Policy Learning
College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China · School of Computing, Shanghai Jiao Tong University, Shanghai, China
Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments
Jun 30, 2026Xiaopeng Lin, Ruoqi Yang, Shijie Lian +14Humanoid Robot Control Cross-Embodiment Robot Learning
The Hong Kong University of Science and Technology (Guangzhou) · DeepCybo · ZGCA +4
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation
Jun 30, 2026Xinyi Wang, Donghan Li, Zi'Ang Chen +5Bimanual Robotic Manipulation Robotic Data Collection
Fudan University · ByteDance Intelligent Creation · Shanghai AI Laboratory
X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies
Jun 29, 2026Ritwik Sharma, Shivam Sood, Arhaan Jain +3Cross-Embodiment Robot Learning Motion Retargeting
National University of Singapore
WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations
Jun 29, 2026Zhenyang Chen, Chuizheng Kong, Chuye Zhang +4Mobile Manipulation Cross-Embodiment Robot Learning
Georgia Institute of Technology, Atlanta, Georgia 30332
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
Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering
Jun 28, 2026Hao Wang, Jiuzhou Lei, Dayou Li +5Robot Policy Learning Robot Policy Adaptation
Texas A&M University · University of Wisconsin · Northwestern University +1
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning
Jun 27, 2026Shuo Cheng, Chuye Zhang, Alfred Cueva +3Robot Skill Learning Generalization in Robotic Manipulation
Georgia Institute of Technology · NVIDIA Corporation
WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation
Jun 26, 2026Justin Yu, Andrew Goldberg, Kavish Kondap +7Long-Horizon Robotic Manipulation Robot Skill Learning
University of California, Berkeley · Stanford University · XDOF
Translation as a Bridging Action: Transferring Manipulation Skills from Humans to Robots
Jun 26, 2026Sijin Chen, Kaixuan Jiang, Haixin Shi +6Bimanual Robotic Manipulation Cross-Embodiment Robot Learning
1HKU-MMLab · 2ByteDance Seed
CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation
Jun 26, 2026Wenqi Ge, Junde Guo, Zhen Fu +3Humanoid Loco-Manipulation Humanoid Robot Control
LimX Dynamics, Shenzhen 518055, China. · The University of Hong Kong, Hong Kong SAR, China. · School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen 518055, China. +2
World Action Models Enable Continual Imitation Learning with Recurrent Generative Replays
Jun 25, 2026Manish Kumar Govind, Dominick Reilly, Smit Patel +2Generative Replay Continual Robot Learning
Department of Computer Science University of North Carolina at Charlotte, United States
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Jun 25, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robot Skill Learning Robotic Data Collection
Beijing Academy of Artificial Intelligence
Learning to Fold: prizewinning solution at LeHome Challenge 2026 (1st place online, 2nd offline)
Jun 25, 2026Ilia LarchenkoRL for Robotics Bimanual Robotic Manipulation
Independent Researcher
Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking
Jun 25, 2026Pranav Debbad, Kanish Thiagarajan, Victor Dhédin +2Humanoid Loco-Manipulation Robot Imitation Learning
Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany.
SSI-Policy: Learning Structured Scene Interfaces for Vision-Language Robotic Manipulation
Jun 25, 2026Kaijun Wang, Zikai Ouyang, Xuping Wu +6Robot Skill Learning Language-Conditioned Robot Manipulation
Southern University of Science and Technology, Shenzhen 518055, China · Peng Cheng Laboratory, Shenzhen 518000, China · The University of Hong Kong, Hong Kong SAR, China +1

Jul 9, 2026J/K move · Enter open · S save

SkillPlug: Unsupervised Skill Mining for Few-Shot Adaptation in Robotic Manipulation

Zi-han Ding, Ziwei Wang

School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore

Robot Policy Adaptation Robot Skill Learning Generalization in Robotic Manipulation Multi-Task Robotic Manipulation Robotic Manipulation Robot Imitation Learning+3

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Learning transferable visuomotor imitation policies that generalize across diverse manipulation tasks and adapt rapidly to new tasks from only a handful of demonstrations remains challenging. Most modern policies are trained end-to-end to map observations directly to low-level actions, offering little explicit structure for reusing and recombining behaviors across tasks and making transfer data-inefficient under limited supervision. We propose SkillPlug, a plug-in framework that augments an existing visuomotor policy with a skill-conditioning module and mines a shared, transferable skill library from raw multi-task demonstrations. SkillPlug learns skills via self-supervised objectives that promote compact, reusable, and non-redundant behavior-level primitives, forming a task-shared prior for compositional control. After skill mining, we keep the learned skills fixed and specialize to unseen tasks by fine-tuning only lightweight router and action head, enabling efficient adaptation without full end-to-end retraining. We evaluate SkillPlug on two simulation benchmarks and on a real robot, and observe that the mined transferable skills consistently improve both multi-task performance and few-shot adaptation. Overall, SkillPlug offers a scalable way to mine reusable skills that improve data-efficient generalization in robotic manipulation.