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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  1. BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation

    May 5, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robotic Data CollectionHumanoid Robot Control

    Beijing Academy of Artificial Intelligence

  2. An Efficient Metric for Data Quality Measurement in Imitation Learning

    May 2, 2026Noushad Sojib, Momotaz BegumImitation LearningRobot Imitation Learning

    Authors are with the Department of Computer Science, University of New Hampshire, USA

  3. Good in Bad (GiB): Sifting Through End-user Demonstrations for Learning a Better Policy

    May 2, 2026Noushad Sojib, Ola Ghattas, Momotaz BegumRobot Policy LearningRobot Skill Learning

    Department of Computer Science, University of New Hampshire, USA

  4. To Do or Not to Do: Ensuring the Safety of Visuomotor Policies Learned from Demonstrations

    May 2, 2026Riad Ahmed, Moniruzzaman Akash, Momotaz BegumVisuomotor Policy LearningImitation Learning

    Department of Computer Science University of New Hampshire

  5. TAIL-Safe: Task-Agnostic Safety Monitoring for Imitation Learning Policies

    May 2, 2026Riad Ahmed, Momotaz BegumImitation LearningRobot Imitation Learning

    University of New Hampshire

  6. Robot Learning from Human Videos: A Survey

    Apr 30, 2026Junyi Ma, Erhang Zhang, Haoran Yang +4Robot Skill LearningRobotic Manipulation

    Shanghai Jiao Tong University, China · University of Cambridge, UK

  7. Reactive Motion Generation via Phase-varying Neural Potential Functions

    Apr 29, 2026Ahmet Tekden, Dimitrios Kanoulas, Aude Billard +1Robotic ControlRobot Motion Generation

    Chalmers University of Technology, Sweden · University College London, UK · Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland

  8. Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation

    Apr 27, 2026Yifan Xie, YuAn Wang, Guangyu Chen +3Human Motion GenerationCross-Embodiment Robot Learning

    1Tsinghua University · 2ByteDance

  9. BridgeACT: Bridging Human Demonstrations to Robot Actions via Unified Tool-Target Affordances

    Apr 25, 2026Yifan Han, Jianxiang Liu, Haoyu Zhang +3Cross-Embodiment Robot LearningRobotic Manipulation

    Institute of Automation, Chinese Academy of Sciences. · School of Artificial Intelligence, Shanghai Jiao Tong University. · 3South China University of Technology.

  10. Learning from the Best: Smoothness-Driven Metrics for Data Quality in Imitation Learning

    Apr 24, 2026Soham Kulkarni, Raayan Dhar, Yuchen CuiImitation LearningRobot Imitation Learning

    Department of Computer Science, University of California, Los Angeles, CA 90095, USA

  11. GazeVLA: Learning Human Intention for Robotic Manipulation

    Apr 24, 2026Chengyang Li, Kaiyi Xiong, Yuan Xu +3Long-Horizon Robotic ManipulationRobot Skill Learning

    Shanghai Jiao Tong University · Peking University · ShanghaiTech University +1

  12. Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot

    Apr 23, 2026Yucheng Xin, Jiacheng Bao, Haoran Yang +6Robotic ControlHumanoid Robot Control

    Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School, Tsinghua University, China · Shanghai AI Laboratory · University of Science and Technology of China

  13. FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception

    Apr 23, 2026Zhen Zhang, Weinan Wang, Hejia Sun +4Dexterous ManipulationVisuomotor Policy Learning

    The Chinese University of Hong Kong · The Hong Kong Polytechnic University

  14. Visual-Tactile Peg-in-Hole Assembly Learning from Peg-out-of-Hole Disassembly

    Apr 22, 2026Yongqiang Zhao, Xuyang Zhang, Zhuo Chen +3RL for RoboticsContact-Rich Robotic Manipulation

    Department of Engineering, King’s College London, Strand, London, WC2R 2LS, United Kingdom · Department of Informatics, King’s College London, Strand, London, WC2R 2LS, United Kingdom

  15. MOMO: A framework for seamless physical, verbal, and graphical robot skill learning and adaptation

    Apr 22, 2026Markus Knauer, Edoardo Fiorini, Maximilian Mühlbauer +10Robot Skill LearningRobot Imitation Learning

    German Aerospace Center (DLR), Institute of Robotics and Mechatronics (RMC), Münchener Str. 20, 82234 Weßling, Germany · School of Computation, Information and Technology (CIT), Technical University of Munich (TUM), Arcisstr. 21, 80333 Munich, Germany

  16. Gated Memory Policy

    Apr 21, 2026Yihuai Gao, Jinyun Liu, Shuang Li +1Sequential Decision MakingVisuomotor Policy Learning

    Stanford University

  17. SynAgent: Generalizable Cooperative Humanoid Manipulation via Solo-to-Cooperative Agent Synergy

    Apr 20, 2026Wei Yao, Haohan Ma, Hongwen Zhang +6Robotic ControlHOI Generation

    School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing 210094, China · Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China · School of Artificial Intelligence, Beijing Normal University, Beijing 100875, China +2

  18. Can Explicit Physical Feasibility Benefit VLA Learning? An Empirical Study

    Apr 20, 2026Yubai Wei, Chen Wu, Hashem HaghbayanVision-Language-Action ModelsRobot Imitation Learning

    Department of Computing, University of Turku, Finland

  19. Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking

    Apr 19, 2026Zewei Zhang, Kehan Wen, Michael Xu +7Robot Trajectory TrackingHumanoid Robot Locomotion

    Robotic Systems Lab, ETH Zurich · EPFL · Simon Fraser University +2

  20. Refinement of Accelerated Demonstrations via Incremental Iterative Reference Learning Control for Fast Contact-Rich Imitation Learning

    Apr 18, 2026Koki Yamane, Cristian C. Beltran-Hernandez, Steven Oh +2Robot Trajectory TrackingContact-Rich Robotic Manipulation

    OMRON SINIC X Corporation, Bunkyo-ku, Tokyo 113-0033, Japan · Waseda University, Shinjuku-ku, Tokyo, 169-8050, Japan · University of Tsukuba, Tsukuba, Ibaraki 305-8573, Japan

  21. Rewind-IL: Online Failure Detection and State Respawning for Imitation Learning

    Apr 17, 2026Gehan Zheng, Sanjay Seenivasan, Matthew Johnson-Roberson +1Robot Failure DetectionRobot Failure Recovery

    College of Connected Computing, Vanderbilt University, USA. · School of Computer Science, University of Waterloo, Canada. · School of Computer Science, The University of Sydney, Australia. +1

  22. One-Shot Cross-Geometry Skill Transfer through Part Decomposition

    Apr 16, 2026Skye Thompson, Ondrej Biza, George KonidarisRobot Skill LearningGeneralization in Robotic Manipulation

    Brown University · Northeastern University

  23. R3D: Revisiting 3D Policy Learning

    Apr 16, 2026Zhengdong Hong, Shenrui Wu, Haozhe Cui +83D ViTsVisuomotor Policy Learning

    Zhejiang University · ShanghaiTech University

  24. A Hierarchical Spatiotemporal Action Tokenizer for In-Context Imitation Learning in Robotics

    Apr 16, 2026Fawad Javed Fateh, Ali Shah Ali, Murad Popattia +4ICL for RoboticsVector Quantization

    Retrocausal, Inc., Redmond, WA 98052, USA

  25. Failure Identification in Imitation Learning Via Statistical and Semantic Filtering

    Apr 15, 2026Quentin Rolland, Fabrice Mayran de Chamisso, Jean-Baptiste MouretRobot Failure DetectionAgent Failure Analysis

    Université Paris-Saclay, CEA, List, F-91120, Palaiseau, France · Inria, CNRS, Université de Lorraine, LORIA, F-54000 Nancy, France · Bleu Robotics, Paris, France

  26. Learning Versatile Humanoid Manipulation with Touch Dreaming

    Apr 14, 2026Yaru Niu, Zhenlong Fang, Binghong Chen +8Humanoid Loco-ManipulationContact-Rich Robotic Manipulation

    Carnegie Mellon University · Bosch Center for AI · UT Arlington

  27. XRZero-G0: Pushing the Frontier of Dexterous Robotic Manipulation with Interfaces, Quality and Ratios

    Apr 14, 2026James Wang, Primo Pu, Zephyr Fung +19Robotic Data CollectionRobotic Manipulation

    X SQUARE ROBOT

  28. Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions

    Apr 13, 2026Wenqi Cai, John Abanes, Nikolaos Evangeliou +1Robot Imitation LearningRobot Collision Avoidance

    The authors are with the Electrical Engineering Program, New York University Abu Dhabi (NYUAD), 129188, UAE. · The author is with the Electrical & Computer Engineering Department, New York University, Brooklyn, NY 11201, USA.

  29. WM-DAgger: Enabling Efficient Data Aggregation for Imitation Learning with World Models

    Apr 13, 2026Anlan Yu, Zaishu Chen, Peili Song +6Robot Imitation LearningData-Efficient Robot Learning

    Peking University, Beijing, China · JD Logistics, China · Nankai University, Tianjin, China +4

  30. WARPED: Wrist-Aligned Rendering for Robot Policy Learning from Egocentric Human Demonstrations

    Apr 12, 2026Harry Freeman, Chung Hee Kim, George KantorVisuomotor Policy LearningRobot Imitation Learning

    Carnegie Mellon University Robotics Institute, PA, USA