Robot Imitation Learning

Follow this topic Ask about this topic

Latest papers 647

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

All topics

Bidirectional Tutoring for Developmental Motor Learning in Robots: Co-Developed Interaction Dynamics Support Stable Learning
Jun 18, 2026Rui Fukushima, Jun TaniGenerative Replay Robot Skill Learning
Cognitive Neurorobotics Research Unit, Okinawa Institute of Science and Technology Graduate University, Okinawa, Japan
Motion-Focused Latent Action Enables Cross-Embodiment VLA Training from Human EgoVideos
Jun 17, 2026Runze Xu, Yiluo Zhang, Jian Wang +2Latent Action Learning VLM Adaptation
Department of Electronic Engineering, Tsinghua University · Tianfu Jiangxi Laboratory
ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining
Jun 15, 2026Hao Li, Ganlong Zhao, Yufei Liu +8Cross-Embodiment Robot Learning Vision-Language-Action Models
ACE Robotics · CUHK MMLab · SJTU +2
R2RDreamer: 3D-aware Data Augmentation for Spatially-generalized 2D Manipulation Policies
Jun 15, 2026Xiuwei Xu, Haowen Sun, Angyuan Ma +7Data Augmentation 3D Scene Editing
1Tsinghua University · 2BUPT · 3GigaAI
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
VENOM: Versatile Embodied Network for Omni-bodied Motion tracking
Jun 15, 2026Siddharth Padmanabhan, Kazuki Miyazawa, Takato HoriiRobotic Control Humanoid Robot Control
Graduate School of Engineering Science, University of Osaka, 1-3 Machikaneyama-cho, Toyonaka-shi, Osaka 560-8531, Japan
Robots that Collaborate: Sequential Asymmetric Imitation for Learning Coupled Robot Policies
Jun 15, 2026Yincong Chen, Ranpeng Qiu, Zihao Li +3Bimanual Robotic Manipulation Multi-Task Robotic Manipulation
Zeno AI. · Y. Zhou and W. Zhi are with the University of Sydney.
Decoupled Object-Centric Video Understanding for Generating Robotic Manipulation Commands
Jun 15, 2026Thanh Nguyen Canh, Thanh-Tuan Tran, Haolan Zhang +3Video Action Recognition Robotic Manipulation
School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, 923-1211, Ishikawa, Japan. · University of Engineering and Technology, Vietnam National University, 10000, Hanoi, Vietnam. · Department of Robotics, Hanyang University, Ansan, 15588, Gyeonggi, Korea.
Training and Evaluating Diffusion Policies with Long Context Lengths
Jun 15, 2026Abhinav Agarwal, Adam Wei, Taylan Kargin +6Diffusion Policy Long-Context Modeling
Massachusetts Institute of Technology
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
FlowMPC: Improving Flow Matching policies with World Models
Jun 15, 2026Chandon HamelFlow Matching World Model-Based Planning
Stanford University
ATHENA: Accelerated Multi-Task Heterogeneous Influence Functions for Robot Data Curation
Jun 15, 2026Tao Xu, Jiaxin Wang, Runhao Zhang +7Multi-Task Learning Data-Efficient Robot Learning
1Tongji University · 2Shanghai Innovation Institute · 3Xi’an Jiaotong University +1
Scaling Short-Term Memory of Visuomotor Policies for Long-Horizon Tasks
Jun 15, 2026Rutav Shah, Rajat Kumar Jenamani, Xiaohan Zhang +5Long-Horizon Robotic Manipulation Visuomotor Policy Learning
1Robotics and AI Institute, 2The University of Texas at Austin
Perfect Demo Makes Poor Teacher: Learning Robust Alignment from Critical Motion Segments
Jun 14, 2026Mingyu Liu, Zeju Li, Jiuhe Shu +4Robot Skill Learning Robotic Manipulation
Zhejiang University · Hong Kong University of Science and Technology (GZ) · Shanghai Innovation Institute
Reinforcement Learning-Guided Retrieval with Soft Fusion for Robust Multimodal Imitation Learning under Missing Modalities
Jun 13, 2026Hassan Ismkhan, Hamid BouchahciaMissing-Modality Learning Multimodal Robustness
Bournemouth University Bournemouth, UK
Rethinking Implicit Spatial Representation in Visuomotor Policy Learning
Jun 13, 2026Xiangyu Chen, Yuxuan Hu, Chuhao Zhou +1Visual Representation Learning Visuomotor Policy Learning
MARS Lab, Nanyang Technological University
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
TRACE: Trajectory-Routed Causal Memory for Delayed-Evidence Visuomotor Imitation
Jun 12, 2026Zihao Li, Ranpeng Qiu, Yincong Chen +2Visuomotor Policy Learning Robotic Manipulation
School of Computer Science and the Australian Centre for Robotics at the University of Sydney.
Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera
Jun 12, 2026Seoyoon Kim, Kanghyun Kim, Dongwoo Ko +2Visuomotor Policy Learning Diffusion Policy
Korea Advanced Institute of Science and Technology (KAIST) · Neuromeka
FloVerse: Floor Plan-Guided Multi-Modal Navigation
Jun 12, 2026Weiqi Huang, Shuangyi Dong, Jiaxin Li +3Embodied Navigation Robot Imitation Learning
School of Computer Science & Technology, Beijing Institute of Technology
GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training
Jun 11, 2026Zhihai Bi, Qiang Zhang, Guoyang Zhao +8Contact-Rich Robotic Manipulation Robot Motion Generation
The Hong Kong University of Science and Technology (Guangzhou) · Artificial General Intelligence Institute, University of Science and Technology of China · The University of Hong Kong +1
EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment
Jun 11, 2026Shihefeng Wang, Kangchen Lv, Mingrui Yu +1Robot Skill Learning Generalization in Robotic Manipulation
Department of Automation, Tsinghua University · Beijing Key Laboratory of Embodied Intelligence Systems · Institute for Embodied Intelligence and Robotics, Tsinghua University
Pipette: An Embodied Simulation Platform, Benchmark, and Data-Efficient Augmentation Framework for Wet-Lab Robotics
Jun 11, 2026Zhe Liu, Huanbo Jin, Zhaohui Du +10Synthetic Data Augmentation Robotics Simulation
Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China · Department of Computer Science and Engineering, East China University of Science and Technology, Shanghai, China · AI for Science Center, Shanghai AI Laboratory, Shanghai, CN +1
EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations
Jun 10, 2026Yangcen Liu, Shuo Cheng, Xinchen Yin +6Zero-Shot Robotic Manipulation Robot Skill Learning
Georgia Institute of Technology · Tsinghua University
FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning
Jun 10, 2026Steven Oh, Jason Jingzhou Liu, Tony Tao +5Robot Policy Learning Long-Horizon Robotic Manipulation
Carnegie Mellon University · Waseda University
Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
Jun 10, 2026Adam Wei, Nicholas Pfaff, Thomas Cohn +4Robot Skill Learning Diffusion Policy
MIT
Fourier Features Let Agents Learn High Precision Policies with Imitation Learning
Jun 10, 2026Balázs Gyenes, Emiliyan Gospodinov, Jan Frieling +5Fourier Feature Embeddings Robot Skill Learning
Autonomous Learning Robots, Karlsruhe Institute of Technology, Germany · HIDSS4Health - Helmholtz Information and Data Science School for Health, Karlsruhe/Heidelberg, Germany
DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World
Jun 10, 2026Tobias Jülg, Seongjin Bien, Simon Hilber +7Bimanual Robotic Manipulation Robotics Simulation
University of Technology Nuremberg · Karlsruhe Institute of Technology · Franka Robotics +1
Learning to Assist: Collaborative VLAs for Implicit Human-Robot Collaboration
Jun 10, 2026Leo Xu, Letian Li, Alex Cuellar +1Long-Horizon Robotic Manipulation Human-Robot Collaboration
University of Wisconsin–Madison · Massachusetts Institute of Technology
LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition
Jun 10, 2026Harsh Gupta, Guanya Shi, Wenzhen YuanRobotic Control Robot Skill Learning
University of Illinois Urbana-Champaign · Carnegie Mellon University

Jun 18, 2026J/K move · Enter open · S save

Bidirectional Tutoring for Developmental Motor Learning in Robots: Co-Developed Interaction Dynamics Support Stable Learning

Rui Fukushima, Jun Tani

Cognitive Neurorobotics Research Unit, Okinawa Institute of Science and Technology Graduate University, Okinawa, Japan

Generative Replay Robot Skill Learning Robotics Imitation Learning Interactive Imitation Learning Robot Imitation Learning+1

Open paper AskPDF arXiv

Infants are well known to develop their motor skills through dense interaction with caregivers. Although such social interaction is crucial for human development, motor-skill learning in robots is often treated as a unidirectional process in which robots passively receive demonstrations from tutors. This overlooks a key property of social interaction: it is inherently bidirectional, with tutor and learner dynamically adapting to each other. In such interactions, the robot's past experiences may function as prior constraints that shape the dynamics of their co-developed trajectories. We hypothesize that bidirectional tutoring allows such constraints to guide the formation of consistent behavioral patterns that preserve behavioral coherence and support generalization, whereas unidirectional interaction lacks such constraints and leads to broader, less consistent behavioral patterns. To examine this hypothesis, we conducted two experiments with a physical humanoid robot performing an object manipulation task: one involving human-robot interaction and another employing an AI tutor interacting with the real robot through an adaptive intervention mechanism designed to examine whether similar effects would emerge under more controlled conditions. We implement the developmental learning framework using a free-energy-principle-based neural network extended with generative replay, which supports stable sequence-by-sequence learning from single tutored episodes. Across both settings, bidirectional tutoring fostered consistent behaviors and stage-wise generalization, while the robot gradually required less tutor guidance. These results suggest that bidirectional tutoring, as an embodied and socially grounded approach, provides an effective scaffold for developmental motor learning in robots.