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.

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SWAP: Symmetric Equivariant World-Model for Agile Robot Parkour
Jun 18, 2026Kaixin Lan, Ze Wang, Hongyi Li +6World Models for Robotics Equivariant Neural Networks
Center for X-Mechanics, Zhejiang University, Hangzhou, China · Mirrorme Technology Co., Ltd. Shanghai, China · ZJU-Hangzhou Global Scientific and Technology Innovation Center, Hangzhou, China
DiffusionVS: A Generative Framework for Robust Visual Servoing Based on Diffusion Policy
Jun 17, 2026Hongkang Cui, Rui He, Haoyao ChenDiffusion Policy Robot Policy Generalization
Qwen-RobotNav Technical Report: A Scalable Navigation Model Designed for an Agentic Navigation System
Jun 16, 2026Jiazhao Zhang, Gengze Zhou, Hale Yin +32Robot Foundation Models Robot Navigation
Qwen Team
VISTA: Scale-Aware Visual Navigation via Action History Conditioning
Jun 15, 2026Maeva Guerrier, Koki Kobayashi, Simon Roy +2Vision Foundation Models Robot Navigation
Polytechnique Montreal, MILA · Institute of Science Tokyo · Polytechnique Montreal +2
ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies
Jun 15, 2026Zenan Wu, Bingqing Wei, Lu Liu +8Robot Skill Learning Language-Conditioned Robot Manipulation
1Beijing Academy of Artificial Intelligence · 2Peking University
HOLO-MPPI: Multi-Scenario Motion Planning via Hierarchical Policy Optimization
Jun 15, 2026Youngjae Min, Jovin D'sa, Faizan M. Tariq +3Hierarchical RL Motion Planning
1Massachusetts Institute of Technology, Cambridge, MA 02139. · 2Honda Research Institute, USA, San Jose, CA, 95134.
Task Robustness via Re-Labelling Vision-Action Robot Data
Jun 9, 2026Artur Kuramshin, Özgür Aslan, Cyrus Neary +1Language-Conditioned Robot Manipulation Synthetic Data Generation for Robotics
1Mila — Quebec AI Institute · 2Université de Montréal · 3The University of British Columbia
Embodiment-conditioned Generalist Control for Multirotor Aerial Robots
Jun 9, 2026Orestis Konstantaropoulos, Welf Rehberg, Mihir Kulkarni +1RL for Robotics Aerial Robotics
Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway
GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation
Jun 8, 2026Sriram Krishna, Ben Eisner, Haotian Zhan +5Robot Policy Learning Robot Skill Learning
Robotics Institute, Carnegie Mellon University · UMass Amherst
Difference-Aware Retrieval Policies for Imitation Learning
Jun 8, 2026Quinn Pfeifer, Ethan Pronovost, Paarth Shah +3Imitation Learning Interactive Imitation Learning
1Paul G. Allen School of Computer Science & Engineering, University of Washington · 2Toyota Research Institute · 3Google DeepMind +1
Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data
Jun 7, 2026Linqi Yin, Shiduo Zhang, Shenling Qiu +11VLM Adaptation Vision-Language-Action Models
1Fudan University · 2Shanghai Innovation Institute
Reinforcement learning in linear embedding space unlocks generalizable control across soft robot configurations
Jun 6, 2026Xinglong Zhang, Cong Li, Hangjie Mo +13Robotic Control RL for Robotics
College of Intelligence Science and Technology, National University of Defense Technology, Deya Road, Changsha, 410003, Hunan, China. · School of Management, Hefei University of Technology, Nanyihuan Road, Hefei, 230002,2026 Anhui, China. · State Key NanjingLaboratoryUniversityfor Novel(SuzhouSoftwareCampus),TechnologyTaihuandRoad,the Suzhou,School of215163,ScienceChina.and Technology, 4School of Computation, Information and Technology, Technical University of Munich, Boltzmann Strasse, Munich, 85748, Germany. +5
Task Editing for Generalizable 3D Visuomotor Policy Learning
Jun 5, 2026Jian-Jian Jiang, YiHan Yang, Lan Wei +6Long-Horizon Robotic Manipulation Generalization in Robotic Manipulation
Sun Yat-sen University · South China University of Technology · Nanyang Technological University +1
TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation
Jun 4, 2026Dongwon Son, Florian Shkurti, Jason Lee +3Robotic Control Synthetic-to-Real Domain Adaptation
1KAIST · *Work done during an internship at the Allen Institute for AI. · 2Allen Institute for AI +2
HORIZON: Recoverability-Governed Curriculum for Physical-Domain Scaling
Jun 3, 2026Chenhao Bai, Liqin Lu, Kaijun Wang +5Domain Randomization Curriculum RL
1Zhejiang University, State Key Lab of CAD & CG · 2Zhejiang University of Technology
SPADE: Sketch-guided Path Planning Augmented with Diffusion Experts
Jun 2, 2026Charbel Abi Hana, Tatiana Ghantous, Mikael Khalil +1Data Augmentation Robot Navigation
IDEALworks GmbH · IMT Atlantique · IDEALworks GmbH & Saint Joseph University of Beirut
AirDreamer: Generalist Drone Navigation with World Models
Jun 2, 2026Zian Liu, Andong Yang, Chunkai Yang +3RL for Robotics World Models for Robotics
Institute for AI Industry Research, Tsinghua University, Beijing, China. · Department of Electronic Engineering, Tsinghua University, Beijing, China. · School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China.
World-Task Factorization for Robot Learning
Jun 1, 2026Eduardo Sebastián, Adrian Pfisterer, Vito Mengers +2Robotic Control Robot Policy Learning
Department of Computer Science and Technology, University of Cambridge, United Kingdom · Robotics and Biology Laboratory, Technische Universität Berlin, Germany · Robotics and Biology Laboratory, Technische Universität Berlin +1
Expanding Spatial and Temporal Context for Robotic Imitation Learning With Scene Graphs
May 31, 2026Jianing Qian, Qinhe Peng, Emmanuel Panov +4Long-Horizon Robotic Manipulation Imitation Learning
University of Pennsylvania · RAI Institute · University of Michigan
From Noise to Control: Parameterized Diffusion Policies
May 29, 2026Renhao Zhang, Haotian Fu, Mingxi Jia +3Robot Policy Learning Robot Policy Adaptation
University of Massachusetts · 2Brown University · 3Harvard
Building Generalization Into Behavior Generation Via Adaptive Compositions of Regularities
May 29, 2026Aravind Battaje, Malte Bernhard, Vito Mengers +1Robot Motion Generation Robot Policy Generalization
Robotics and Biology Laboratory, Technische Universität Berlin, Germany · Science of Intelligence, Research Cluster of Excellence, Berlin, Germany · Robotics Institute Germany
ELAN4D: Embodiment-Centric 4D Supervision for Vision-Language-Action Models via Plug-and-Play Adaptation
May 28, 2026Zeyuan He, Bowen Yang, Zhirui Fang +9Language-Conditioned Robot Manipulation Visuomotor Policy Learning
Torr Vision Group, University of Oxford · The Chinese University of Hong Kong, Shenzhen · Shanghai Jiao Tong University +3
VE2VF: Vision-Enabled to Vision-Free Distillation via Real-world Reinforcement Learning for Robust Contact-Rich Manipulation
May 28, 2026Victor Kowalski, Chengxi Li, Dongheui LeeCross-Modal Knowledge Distillation Robot Skill Learning
Autonomous Systems, Technische Universitaet Wien (TU Wien), Vienna, Austria · Institute of Robotics and Mechatronics (DLR), German Aerospace Center, Wessling, Germany
PrimitiveVLA: Learning Reusable Motion Primitives for Efficient and Generalizable Robotic Manipulation
May 27, 2026Yutai Li, Shaohui Peng, Jiaming Guo +8Long-Horizon Robotic Manipulation Robot Skill Learning
State Key Lab of Processors, Institute of Computing Technology, CAS · Jiangsu Key Laboratory of AI for Industries, Institute of AI for Industries, CAS · University of Chinese Academy of Sciences +3
General Covariant Action Modeling: Constructing Generalized Manifolds via Spatio-Temporal Decoupling
May 27, 2026Huaihai Lyu, Chaofan Chen, Mingyu Cao +2Geometric Representation Learning Vision-Language-Action Models
1MAIS, Institute of Automation, Chinese Academy of Sciences · 2Beijing Academy of Artificial Intelligence.
Turning Video Models into Generalist Robot Policies
May 27, 2026Sizhe Lester Li, Evan Kim, Xingjian Bai +4Robot Policy Learning Cross-Embodiment Robot Learning
1MIT · 2Independent Researcher · 3CMU +1
Colosseum V2: Benchmarking Generalization for Vision-Language-Action Models
May 26, 2026Jeremy Morgan, Hyeonho Oh, Prajwal Vijay +7Robotics Simulation Generalization in Robotic Manipulation
Department of Computer Science, University of Southern California, Los Angeles, CA, USA · Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai, India · Fu Foundation School of Engineering and Applied Science, Columbia University, New York, NY, USA
Factored Diffusion Policies:Compositionally Generalized Robot Control with a Single Score Network
May 21, 2026Sayan Mitra, Ege Yuceel, Noah Giles +1Robotic Control Diffusion Policy
University of Illinois Urbana-Champaign
Beyond Pixels: Learning Invariant Rewards for Real-World Robotics From a Few Demonstrations
May 21, 2026Tengye Xu, Yangting Sun, Ziju Shen +5Reinforcement Learning Generalization in Robotic Manipulation
School of Computing and Data Science, The University of Hong Kong · 2LimX Dynamics Technology Co., Ltd · 4Peking University +2
SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework
May 19, 2026Tianshu Wu, Xiangqi Kong, Yue Chen +5Humanoid Loco-Manipulation Long-Horizon Robotic Manipulation
1CFCS, School of Computer Science, Peking University · School of Computer Science and Engineering, Beihang University

Jun 18, 2026, cs.ROJ/K move · Enter open · S save

SWAP: Symmetric Equivariant World-Model for Agile Robot Parkour

Kaixin Lan, Ze Wang, Hongyi Li, Lei Jiang+5

Center for X-Mechanics, Zhejiang University, Hangzhou, China · Mirrorme Technology Co., Ltd. Shanghai, China · ZJU-Hangzhou Global Scientific and Technology Innovation Center, Hangzhou, China

World Models for Robotics Equivariant Neural Networks Robot Policy Generalization Quadruped Locomotion

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While latent world models enable the proactive predictions required for extreme parkour, their purely data-driven nature forces them to redundantly encode left-right symmetric interactions as independent patterns. This inflates the learning burden and hinders the capture of geometric regularities, restricting the latent space's efficiency for downstream policies. To address this, we propose SWAP, an end-to-end equivariant symmetric world model. This framework embeds symmetry directly into both the world model and the actor-critic networks. In real-world tests, the robot leaps across a 2.13 m gap and climbs a 1.63 m platform, breaking records for quadruped parkour. Furthermore, the framework exhibits robust geometric generalization to unseen mirrored terrains and exceptional zero-shot transferability across diverse outdoor environments. These results demonstrate that symmetry equivariance is an effective structural prior for pushing the physical boundaries of learned legged locomotion.

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