Robot Policy Generalization

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13 papers in the last four weeks, up 333% on the four weeks before. 0.1% of all new papers.

Jul 13Week of Sep 28

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Many Ways to Succeed: Diversity-Driven RL Fine-Tuning for VLA Generalization
Oct 7, 2026Haoru Li, Jinmei Liu, Zhiyong Wang +5Robot Policy Generalization RL Fine-Tuning
Nanjing University · Harbin Institute of Technology (Shenzhen) · Australian National University +1
Arm-wise Compositional Generalization in Dual-Arm Vision-Language-Action Models
Oct 5, 2026Zaibin Zhang, Binghao Ran, Yuhan Wu +10Bimanual Robotic Manipulation Vision-Language-Action Models
Dalian University of Technology · Shanghai Jiao Tong University · The Chinese University of Hong Kong, Shenzhen +1
RoboIRS: Inference-Time Internal Representation Steering for Generalist Robot Policies
Oct 3, 2026Jiuzhou Lei, Chang Liu, Dayou Li +5Robot Policy Generalization Test-Time Adaptation of VLA Models
J. Mike Walker ’66 Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, USA · Edwardson School of Industrial Engineering, Purdue University, West Lafayette, IN, USA · Zachry Department of Civil and Environmental Engineering, Texas A&M University, College Station, TX 77843, USA +1
Ego4WAM: What Matters When Scaling Egocentric Human Data for Robot Learning?
Sep 30, 2026Zhihao Sun, Liu Liu, Xinjiang Wang +6Data-Efficient Robot Learning Robot Imitation Learning
Institute of Trustworthy Embodied AI, Fudan University · Horizon Robotics · Huazhong University of Science & Technology +1
Scale and Selection: What Makes Automatic Harness Evolution Work for Visual-Interface Robot Agents
Sep 30, 2026Zhijie Wei, Ferris Tan, Jinghui WangAgent Harness Optimization Robot Policy Generalization
Novaxbot
Memorize, Adapt, Ignore: Diagnosing Robot Learning Mechanisms under Training Data Variation
Sep 29, 2026Ke Zhang, Danica J. Sutherland, Chao LiuDomain Randomization Robot Policy Adaptation
PRIME Robotics Lab, Department of Mechanical Engineering, The University of British Columbia · Department of Computer Science, University of British Columbia · Alberta Machine Intelligence Institute
Skill-Space Shooting for Autonomous Robot Policy Improvement
Sep 29, 2026Zihang Rui, Renhao Wang, Haoxu Huang +1Robot Policy Learning Robot Policy Adaptation
Tsinghua University · UC Berkeley · Shanghai Qi Zhi Institute
ComManip: Overfitting Manipulation Policies to Comfortable Regions
Sep 29, 2026Yidan Lai, Xinyi Chen, Shuquan Man +1Visuomotor Policy Learning Robotic Manipulation
South China University of Technology, Guangzhou, China · Nanyang Technological University, Singapore
SkillWeaver: Agentic Exploration over Neural Interaction Skills for Scalable Robot Data Generation
Sep 28, 2026He Zhu, Lusen Zhao, Kwan Man Cheng +2Robot Skill Learning Robotics Simulation
Carnegie Mellon University · University of Illinois Urbana-Champaign
Agent Priors-guided Policy Learning
Sep 28, 2026Puming Jiang, Tianrun Hu, Haozhe Du +4Robot Skill Learning Robot Imitation Learning
National University of Singapore
Recursive Harness Distillation across Agents for Robot Manipulation
Sep 27, 2026Seungyeon Kim, Junhoo Lee, Minkyu Kim +2Robotic Manipulation Robot Policy Generalization
Seoul National University · Korea Advanced Institute of Science and Technology
RACaP: Agentic Reasoning, Acting, and Coding as Policies for Evolvable Robot Learning
Sep 24, 2026Zexi Li, Yehang Zhang, Haojian Huang +10Robot Policy Learning Robot Policy Generalization
The Chinese University of Hong Kong · Knowin AI · The Hong Kong University of Science and Technology (Guangzhou)
ReShoot: Generative Visual Domain Randomization of Recorded Robot Demonstrations for Visuomotor Policy Learning
Sep 17, 2026Chiyoung Kim, Min Sung Choi, Jinho Ju +5Domain Randomization Visuomotor Policy Learning
Chung-Ang University, Seoul, Republic of Korea
RecMorph: Topology-Guided Spatial Recurrence for Generalized Morphology Control
Sep 16, 2026Quanrui Rao, Yong Liu, Xueming Xiao +4Recurrent Neural Networks Cross-Embodiment Robot Learning
Jilin University, China · State Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology, China · Changchun University of Science and Technology, China
XPACE: Joint World and Action Modeling from Heterogeneous Experience
Sep 15, 2026Jiacheng Wei, Jerry Bai, Xiaoyu Yue +13Cross-Embodiment Robot Learning Synthetic Data Generation for Robotics
World Model Team, XPENG Robotics
MINERVA: How Small Can a Manipulation Policy Be and Still Solve LIBERO?
Sep 3, 2026Kohei Sendai, Tatsuya Matsushima, Yusuke IwasawaRobot Skill Learning Visuomotor Policy Learning
Matsuo-Iwasawa Lab, Graduate School of Engineering, The University of Tokyo, Japan
Enhancing Visual Domain Robustness in Behaviour Cloning via Saliency-Guided Augmentation
Aug 12, 2026Zheyu Zhuang, Ruiyu Wang, Nils Ingelhag +2Data Augmentation Domain Generalization
KTH Royal Institute of Technology · Aalto University
BooST: Bridging Semantics and Motions for Efficient Skill Transfer
Aug 11, 2026Jusuk Lee, Daesol Cho, Jonghun Shin +4Agent Skill Learning Robot Policy Generalization
Department of Aerospace Engineering, Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, Korea · Georgia Institute of Technology, Atlanta, GA, USA
Curriculum Generation under Structured Parametric Environments for Robust Navigation Policies
Aug 9, 2026Prishita RayCurriculum RL Robot Policy Generalization
Cornell University
GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions
Aug 6, 2026Chenghao Gu, Hanyang Yu, Jingbo Zhang +7Action-Conditioned World Models Robotic Policy Evaluation
Shenzhen International Graduate School, Tsinghua University · Tencent Robotics X · The Hong Kong University of Science and Technology +1
Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control?
Aug 3, 2026Filippo Lazzati, Kyle Stachowicz, William Chen +3Ensemble Learning Robot Imitation Learning
Politecnico di Milano · UC Berkeley
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
Aug 1, 2026Renhao Lu, Mingxin Wang, Chenyang Cao +5Robotic Manipulation Robot Policy Generalization
Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China · Z-Lab, Zerith Robotics, Shenzhen 518055, China · University of Toronto, Toronto M5S 1A1, Canada
Diagnosing Compositional Generalization in Sequential Robot Tasks
Jul 31, 2026Yixiao Wang, Cheng-En Wu, Lingfeng Sun +5Language-Conditioned Robot Manipulation Robotic Data Collection
University of California, Berkeley · Tsinghua University
X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching
Jul 30, 2026Tianyu Yang, Yiming Zeng, Wenzhe Cai +5Robot Navigation Policy Optimization
1Fudan University · 3Sun Yat-sen University · 2Shanghai AI Laboratory +1
World Action Planner: Generalizable Decision-Making with Action-Conditioned World Models
Jul 30, 2026Xiangcheng Zhang, Yilun DuWorld Models for Robotics World Model-Based Planning
Harvard University
Practice Makes Policies: Bootstrapping and Consolidating Robotic Capabilities from Zero Human Demonstrations
Jul 29, 2026Jialiang Li, Yuhan Wang, Haojun Li +5Continual Robot Learning Robotic Data Collection
Shanghai Jiao Tong University · University of Sussex
Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation
Jul 23, 2026Yu Qi, Zhang Ye, Xinyi Xu +6Robot Skill Learning Language-Conditioned Robot Manipulation
Northeastern University · NVIDIA
Extreme-RGMT: Continual Learning of Highly Dynamic Skills for Robust Generalist Humanoid Control
Jul 22, 2026Yubiao Ma, Han Yu, Kai Guo +5Continual Robot Learning Robot Skill Learning
School of Automation, Beijing Institute of Technology, Beijing 100081, China. · Humanoid Robotics (Shanghai) Co., Ltd., Shanghai 201203, China. · School of Mechanical Engineering, Shandong University, Jinan 250061, China.
UniETP: Unifying Environments for Generalizable Embodied Task Planning
Jul 20, 2026Peiran Xu, Jiaqi Zheng, Ziyou Wang +1Robot Task Planning Robot Policy Generalization
Peking University
Data and Learning Where it Matters for Contact-Rich Manipulation
Jul 17, 2026Oliver Hausdörfer, Linus Schwarz, Gabor Marko +7Robot Skill Learning Contact-Rich Robotic Manipulation
1TU Munich · 2Siemens AG
Dynamics-Aware Meta-Imitation for Generalization to Unseen Robotic Manipulation
Jul 17, 2026Zhenduo Shang, Xiyao Liu, Bohan Li +4Robot Skill Learning Generalization in Robotic Manipulation
State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China · University of Chinese Academy of Sciences, Beijing 100049, China · Shenyang University of Technology
Scaling Behavior Foundation Model for Humanoid Robots
Jul 16, 2026Weishuai Zeng, Kangning Yin, Xiaojie Niu +15Robot Foundation Models Humanoid Robot Control
The Chinese University of Hong Kong · Galbot · Shanghai Artificial Intelligence Laboratory +4
Active Real-World Factor-Based Evaluation for Generalist Robot Policies
Jul 16, 2026Andrew Liao, Hanchen Cui, Karthik Desingh +1Robotic Policy Evaluation Robotic Manipulation
University of Minnesota Twin Cities
GaitSpan: Growing Humanoid Locomotion from Walking to Running
Jul 13, 2026Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1Humanoid Robot Locomotion Agent Skill Learning
University of Michigan · Skyline High School · University of Michigan, UC Berkeley
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning
Jul 13, 2026Evelyn D'Elia, Weishu Zhan, Giulio Turrisi +5Reinforcement Learning Koopman Operator Learning
Machine Learning and Optimisation, University of Manchester, M13 9PL Manchester, U.K. · Dynamic Legged Systems Lab, IIT, 16163 Genoa, Italy · Generative Bionics S.R.L, 16163 Genoa, Italy +3
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
Understanding and Mitigating the Video-Action Generalization Gap via Temporal Ratio
Jul 9, 2026Utkarsh A. Mishra, Yongxin Chen, Danfei Xu +3Generalization in Robotic Manipulation Video Action Recognition
Georgia Tech · Amazon FAR
PriGo: Test-Time Primitive Guidance to Diffusion and Flow Policies for Adaptive Robotic Manipulation
Jul 8, 2026Zezeng Li, Enda Xiang, Thuy Tran +3Robot Policy Learning Test-Time Adaptation
Ecole Centrale de Lyon, France · Beihang University, China
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
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
Multi-Robot Open Adaptive Teaming Across Unseen Environments, Partners, and Scales
Jul 6, 2026Yang Li, Feng Xue, Fan Mo +6Robot Policy Adaptation Multi-Robot Systems
1Shanghai Jiao Tong University · 2Sun Yat-sen University · 3National University of Singapore +4
PRISM: Personalized Robotic Dataset Generation via Image-based Scene and Motion Synthesis
Jul 6, 2026Dogyu Ko, Haneul Kim, Chanyoung Yeo +3Robot Skill Learning Robotic Data Collection
Kyung Hee University
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
Jul 5, 2026Tianxing Chen, Yue Chen, Zixuan Li +41Long-Horizon Robotic Manipulation Language-Conditioned Robot Manipulation
WSA $_1$ : a 3D-Centric World-Spatial-Action Model for Generalizable Robot Control
Jul 4, 2026Jiahao Jiang, Jianing Zhang, Zhenhan Yin +8World Models for Robotics Robot Foundation Models
Tongji University; Shanghai Innovation Institution; Shanghai Magic; Koala Uran
The Moving Eye: Enhancing VLA Spatial Generalization via Hybrid Dynamic Data Collection
Jul 2, 2026Jincheng Tang, Yilong Zhu, Zhengyuan Xie +2Generalization in Robotic Manipulation Robotic Manipulation
Lion Rock AI Lab, China Merchants Research Institute of Advanced Technology. · The Hong Kong University of Science and Technology. · Nankai University.
Learning Generalizable Skill Policy with Data-Efficient Unsupervised RL
Jul 1, 2026Jongchan Park, Seungjun Oh, Seungho Baek +1Reinforcement Learning Robot Policy Generalization
Department of Artificial Intelligence, Sungkyunkwan University, Suwon, Republic of Korea · Department of Computer Science and Engineering, Sungkyunkwan University, Suwon, Republic of Korea
Unleashing More Actions via Action Compositional Training for VLA Models
Jul 1, 2026Kai Peng, Jie Lu, Xiaojiang PengSynthetic Data Augmentation Synthetic Data Generation for Robotics
School of Artificial Intelligence Shenzhen Technology University Shenzhen, China
ELMP: Efficient Learning for Motion Planning via Analytical Policy Gradients
Jun 30, 2026Yixiao Li, Tifanny Portela, Jordis Herrmann +2Policy Gradient Robot Policy Adaptation
Robotic Systems Lab, ETH Zürich · ABB · ANYbotics
What Enables In-Context Behavior Prompting for Manipulation?
Jun 29, 2026Austin Patel, Ben Pekarek, Joel Enrique Castro Hernandez +1Robot Skill Learning Visuomotor Policy Learning
Stanford University · University of California, Berkeley
ReGuide: From Test-Time Guidance to Self-Improving Diffusion Policies
Jun 27, 2026Tzu-Hsiang Lin, Srinivas Shakkottai, Dileep Kalathil +1Robot Policy Adaptation Robot Failure Recovery
Texas A&M University
Bridging Performance and Generalization in Reinforcement Learning for Agile Flight
Jun 25, 2026Jonathan Green, Jiaxu Xing, Nico Messikommer +2RL for Robotics Aerial Robotics
Robotics and Perception Group, University of Zurich
CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
Jun 24, 2026Haonan Chen, Yuxiang Ma, Stephen Tian +7Long-Horizon Robotic Manipulation Contact-Rich Robotic Manipulation
Harvard University · Stanford University · Massachusetts Institute of Technology +1
Reflective VLA: In-Context Action Consequences Make VLAs Generalize
Jun 23, 2026Qing Lian, Kent Yu, Lei ZhangICL for Robotics Generalization in Robotic Manipulation
Futian Laboratory · International Digital Economy Academy (IDEA) · Visincept
SPACE: Enabling Learning from Cross-Robot Data Toward Generalist Policies
Jun 23, 2026Haeone Lee, Byeongguk Jeon, Suchae Jeong +2Robotic Control Robot Policy Adaptation
1KAIST · 2Config · 3Yonsei University
Active Inference as the Test-Time Scaling Law for Physical AI Agents
Jun 22, 2026Omar Hashash, Christo Kurisummoottil Thomas, Walid Saad +3Active Inference Inference-Time Scaling
Bradley Department of Electrical and Computer Engineering and the Institute for Advanced Computing, Virginia Tech, Alexandria, VA, USA · Department of Electrical and Computer Engineering, Worcester Polytechnic Institute, Worcester, MA, USA · Khalifa University of Science and Technology, Abu Dhabi 127788, United Arab Emirates +4
CoRDE: Concept-Prior Routed Diffusion Experts for Structural Generalization in Robot Manipulation
Jun 20, 2026Haidong Huang, Xixin Zhao, Yaohua Zhou +5Diffusion Policy Robot Imitation Learning
College of Information Science and Technology, Eastern Institute of Technology, Ningbo, Ningbo 315200, China · Faculty of Science and Engineering, University of Nottingham Ningbo China, Ningbo 315100, China · Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China +2
Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization
Jun 19, 2026Le Qiu, Cole Harrison, Jiankai Sun +5RL for Robotics Robotic Grasping
Tsinghua University · Amazon · Stanford University +1
Factor-Aware Mixture-of-Experts with Pretrained Encoder for Combinatorial Generalization
Jun 19, 2026Feihong Zhang, Guojian Zhan, Zeyu He +8Mixture of Experts Generalization in Robotic Manipulation
Tsinghua University, Beijing, China · SunRisingAI Ltd., Beijing, China · EFORT Intelligent Robot Co., Ltd., Anhui, China
MV-WAM: Manifold-Aware World Action Model with Value Augmentation
Jun 19, 2026Jintao Chen, Peidong Jia, Qingpo Wuwu +13RL Control Cross-Modal Representation Learning
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · Beijing Innovation Center of Humanoid Robotics
Inductive Generalization for Robotic Manipulation
Jun 19, 2026Annabella Macaluso, Haochen Zhang, Ishaan Masilamony +2OOD Generalization Generalization in Robotic Manipulation
Carnegie Mellon University

Oct 7, 2026, cs.ROJ/K move · Enter open · S save

Many Ways to Succeed: Diversity-Driven RL Fine-Tuning for VLA Generalization

Haoru Li, Jinmei Liu, Zhiyong Wang, Xiaoming Li+4

Nanjing University · Harbin Institute of Technology (Shenzhen) · Australian National University+1

Robot Policy Generalization RL Fine-Tuning Instruction Generalization in VLA Models

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Reinforcement learning (RL) fine-tuning improves vision-language-action (VLA) policies through closed-loop experience, yet generalization beyond the fine-tuning distribution remains limited. Our analysis reveals a selective reshaping of exploration: RL contracts behavior globally, yet diversifies successful trajectories, elicits success with fewer rollouts, and covers more of the latent task-valid solution space than supervised fine-tuning. Broader successful-mode coverage may provide alternative strategies under distribution shifts. Inspired by this, we introduce DRIVE (Diversity-driven RL fIne-tuning for VLA gEneralization), which turns successful-behavior diversity into an explicit RL objective. DRIVE groups rollouts under matched task conditions, compares their trajectories with temporal alignment, and derives a success-conditioned intrinsic reward from relative behavioral diversity. This design encourages broader coverage of feasible solutions without rewarding diverse failures or superficial timing differences. Across LIBERO-Plus, ManiSkill3, and RoboTwin 2.0, DRIVE improves the average out-of-domain (OOD) performance over vanilla RL fine-tuning by 5.3 points on

π_0

and 2.0 points on

π_{0.5}

. On a dual-arm AgileX PiPER-X platform, DRIVE further increases average OOD success from 64.1% to 73.3% (+9.2 points), demonstrating gains that persist under physical deployment.

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