Robot Policy Generalization

Follow this topic Ask about this topic

Momentum

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

Latest papers 144

All topics

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

Jul 17, 2026, cs.ROJ/K move · Enter open · S save

Dynamics-Aware Meta-Imitation for Generalization to Unseen Robotic Manipulation

Zhenduo Shang, Xiyao Liu, Bohan Li, Xudong Wang+3

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

Robot Skill Learning Generalization in Robotic Manipulation Visuomotor Policy Learning Robotic Manipulation Robot Imitation Learning Robot Policy Generalization

Open paper AskPDF arXiv

Imitation Learning aims to learn skills from extensive observations and demonstrations for robots, so it suffers from data scarcity and environment generalization. The existing methods predominantly focus on imitation from in-domain tasks and consequently struggle with generalization to unseen tasks. To bridge this generalization gap, we propose the \textbf{D}ynamics-\textbf{A}ware \textbf{M}eta-\textbf{I}mitation (DAMI) framework. By integrating meta-learning to construct a shared skill space, DAMI equips agents for rapid adaptation to novel tasks. We introduce the Visual-Motor Trajectory (VMT) module to capture complex spatio-temporal dynamics within the task latent space. Furthermore, we propose the Unpaired Unified Task (U2T) block to fuse unstructured multimodal observations. To coordinate these representations, we integrate a Task-Conditioned Feature Modulation (TCFM) mechanism customized for modulating low-level 3D features. By capturing intrinsic dynamics from a random complete reference demonstration, our framework learns the underlying task logic rather than memorizing static cues, ensuring effective generalization. Extensive experiments in both simulation and real-world settings demonstrate that our approach outperforms state-of-the-art baselines regarding direct inference on seen tasks and adaptation to unseen tasks via few-shot fine-tuning.

Momentum

Related topics

Latest papers 144