Scalable Robot Learning

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32 papers in the last four weeks, up 220% on the four weeks before. 0.3% of all new papers.

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Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots
Apr 21, 2026Yulai Zhang, Yinrong Zhang, Ting Wu +1Legged Robots Scalable Robot Learning
School of Future Technology, Shanghai University, Shanghai, China
Web-Gewu: A Browser-Based Interactive Playground for Robot Reinforcement Learning
Apr 18, 2026Kaixuan Chen, Linqi YeScalable Robot Learning Embodied Artificial Intelligence
School of Future Technology, Shanghai University, Shanghai 200444, China
From Seeing to Simulating: Generative High-Fidelity Simulation with Digital Cousins for Generalizable Robot Learning and Evaluation
Apr 17, 2026Jasper Lu, Zhenhao Shen, Yuanfei Wang +8Sim-To-Real Reinforcement Learning Indoor Scene Generation
1Peking University · 2Lightwheel
$π_{0.7}$ : a Steerable Generalist Robotic Foundation Model with Emergent Capabilities
Apr 16, 2026Physical Intelligence, Bo Ai, Ali Amin +85Scalable Robot Learning Cross-Embodiment Transfer
Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
Apr 16, 2026Tomoya Kamimura, Haruka Washiyama, Akihito SanoAgile Locomotion Legged Robots
Department of Mechanical Science and Bioengineering, Graduate School of Engineering and Science, The University of Osaka, Toyonaka, Japan. · Department of ElectricalTechnology,and MechanicalAichi,Engineering,Japan. Nagoya Institute of
StarVLA- $α$ : Reducing Complexity in Vision-Language-Action Systems
Apr 13, 2026Jinhui Ye, Ning Gao, Senqiao Yang +7Diffusion-Based Vision-Language-Actions Scalable Robot Learning
HKUST · XJTU · CUHK +3
Incremental Residual Reinforcement Learning Toward Real-World Learning for Social Navigation
Apr 9, 2026Haruto Nagahisa, Kohei Matsumoto, Yuki Tomita +2Scalable Robot Learning Robot Navigation
Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan · Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan
EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
Apr 8, 2026Ryan Punamiya, Simar Kareer, Zeyi Liu +37Egocentric Dataset Scalable Robot Learning
Georgia Institute of Technology · Stanford University · University of California San Diego +5
RADAR: Closed-Loop Robotic Data Generation via Semantic Planning and Autonomous Causal Environment Reset
Mar 12, 2026Yongzhong Wang, Keyu Zhu, Yong Zhong +3Robotic Data Acquisition Scalable Robot Learning
Department of Computer Science and Engineering, Southern University of Science and Technology. · Harbin Institute of Technology, Shenzhen. · Spatialtemporal AI.
APPLV: Adaptive Planner Parameter Learning from Vision-Language-Action Model
Mar 9, 2026Yuanjie Lu, Beichen Wang, Zhengqi Wu +4Vision-Language Navigation Autonomous Navigation
Department of Computer Science, George Mason University, Virginia, USA · Department of Engineering Science, University of South Florida, Florida, USA · Department of Computer Science, Rutgers University, New Jersey, USA
Learning to Build: Autonomous Robotic Assembly of Stable Structures Without Predefined Plans
Feb 27, 2026Jingwen Wang, Johannes Kirschner, Paul Rolland +2Scalable Robot Learning Construction
Lab of Creative Computation, ´Ecole Polytechnique F´ed´erale de Lausanne · Swiss Data Science Center
Scalable Dexterous Robot Learning with AR-based Remote Human-Robot Interactions
Feb 7, 2026Yicheng Yang, Ruijiao Li, Lifeng Wang +7Scalable Robot Learning Human-Robot Interaction
PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour
Jan 22, 2026Liang Wang, Kanzhong Yao, Yang Liu +4Agile Locomotion Scalable Robot Learning
Institute of Cyber-Systems and Control, Zhejiang University, 310027, China · Institute of Artificial Intelligence (TeleAI), China Telecom.
Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
Jan 5, 2026Chenghao Yin, Da Huang, Di Yang +16Sim-To-Real Reinforcement Learning Scalable Robot Learning
Learning On The Job: Zero-Shot Task Execution under Parametric Uncertainty via Trajectory-Parametrized Dual Control
Oct 23, 2025Victor Vantilborgh, Hrishikesh Sathyanarayan, Guillaume Crevecoeur +2Scalable Robot Learning Closed-Loop Feedback
Department of Electromechanical, Systems and Metal Engineering, Ghent University, Belgium · Department of Mechanical Engineering, Yale University, USA
Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion Learning
Oct 12, 2025Arthicha Srisuchinnawong, Poramate ManoonpongLocomotion Scalable Robot Learning
Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand. · The University of Southern Denmark, Odense, Denmark.
Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformers
Jul 21, 2025Ian Chuang, Jinyu Zou, Andrew Lee +2Robotic Perception Scalable Robot Learning
University of California, Berkeley · 2Tongji University · University of California, Davis
Shared Modular Recurrence in Contextual MDPs for Universal Morphology Control
Jun 10, 2025Laurens Engwegen, Max Weltevrede, Caroline Horsch +2Scalable Robot Learning Multi-Robot Systems
Delft University of Technology Delft, The Netherlands
Prior Reinforce: Goal-Conditioned Dynamic Manipulation with Limited Trials
May 28, 2025Yihang Hu, Pingyue Sheng, Yuyang Liu +2Scalable Robot Learning Goal-Conditioned Dynamic Manipulation
IIIS, Tsinghua University. · Shanghai Qi Zhi Institute. · Spirit AI.
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
May 16, 2025Lizhi Yang, Blake Werner, Ryan K. Cosner +3Control Barrier Functions Full-Body Humanoid Control
Mechanical and Civil Engineering, California Institute of Technology · Aerospace Engineering and Engineering Mechanics, UT Austin · Computer Science, Cornell University
HERB: Human-augmented Efficient Reinforcement learning for Bin-packing
Apr 23, 2025Gojko Perovic, Nuno Ferreira Duarte, Atabak Dehban +3Scalable Robot Learning Offline Reinforcement Learning
BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy, and with the Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy. · Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal.

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Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots

Yulai Zhang, Yinrong Zhang, Ting Wu, Linqi Ye

School of Future Technology, Shanghai University, Shanghai, China

Legged Robots Scalable Robot Learning Curriculum

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Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between different states such as up-right walking and fall recovery. To address these problems,this paper proposes a modular reinforcement learning (RL)framework for achieving adaptive multi-task control. Firstly,this framework combines an open-loop feedforward oscilla-tor with a reinforcement learning-based feedback residualstrategy, effectively separating the generation of basic gaitsfrom complex football actions. Secondly, a posture-driven statemachine is introduced, clearly switching between the ballseeking and kicking network (BSKN) and the fall recoverynetwork (FRN), fundamentally preventing state interference.The FRN is efficiently trained through a progressive forceattenuation curriculum learning strategy. The architecture wasverified in Unity simulations of bipedal robots, demonstratingexcellent spatial adaptability-reliably finding and kicking theball even in restricted corner scenarios-and rapid autonomousfall recovery (with an average recovery time of 0.715 seconds).This ensures seamless and stable operation in complex multi-task environments.

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