Robot Policy Learning

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56 papers in the last four weeks, up 409% on the four weeks before. 0.6% of all new papers.

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Agentic RSR: Real-to-Sim-to-Real through Scene Reconstruction and Execution-Grounded Robot Policies
Oct 7, 2026Yihan Li, Yating Feng, Shengjiu Sun +7Sim-to-Real Transfer Robotic Manipulation
Sun Yat-sen University · The Hong Kong University of Science and Technology (Guangzhou)
RFPO: Rectified Flow Policy Optimization for Embodied Control
Oct 7, 2026Ting Huang, Lisiyu Pan, Haoyu Wang +6Robot Policy Learning Rectified Flow
School of Computer Science, Peking University · AI2 Robotics
CAP: Codebook-Aligned Prediction for Tokenized Robot Policies
Oct 6, 2026Haoran Chen, Jingtian Ji, Samuel Wheeler +2Robot Policy Learning Robot Learning
Toyota Technological Institute at Chicago · Argonne National Laboratory
Beyond Reconstruction: What Matters in Action Tokenization for Robot Policies?
Oct 6, 2026Haoran Chen, Jingtian Ji, Samuel Wheeler +2Robot Policy Learning Robotic Manipulation
Toyota Technological Institute at Chicago · Argonne National Laboratory
RIWANav: Recursive World-Action Models with Self-Improvement for Urban Navigation
Oct 6, 2026Jing Xie, Shouwei Ruan, Yubin Wang +4Robot Policy Learning World Model Learning
MoE Key Lab of Artificial Intelligence, Institute of AI, School of Computer Science, Shanghai Jiao Tong University, Shanghai, China · Beihang University, Beijing, China · The Hong Kong University of Science and Technology, Hong Kong, China +3
Towards Efficient Robotic Manipulation Models with Self-Recursive Pruning
Oct 6, 2026Zijia Chen, Yuenan Hou, Yu Li +2Robot Policy Learning Robotic Manipulation
College of Electronic Science and Technology, National University of Defense Technology Changsha, 410073, China · Shanghai AI Laboratory Shanghai, 200000, China
Compact Robot Policies Need Fine-Grained Visual Representations
Oct 6, 2026Nanhe Chen, Runqiu Yang, Jiawei Tang +2Robot Policy Learning Visual Representation Learning
X Square Robot · KTH
Modeling Latent Disturbances for Robust Decision-Making in World Models
Oct 6, 2026Junwon Seo, Andrea BajcsyRobot Policy Learning World Model-Based Planning
The authors are with the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.
Conditional Trajectory Peaks: Single-Pass Multimodal Policies over Action Chunks
Oct 5, 2026Di Wu, Rongtian Shen, Ping Liu +4Efficient Multimodal Inference Robot Policy Learning
Magiclab Robotics Technology Co., Ltd., China · Southeast University, Nanjing, China
Execution-Aligned Progressive Noise for Consistent Asynchronous Replanning in Generative Robot Policies
Oct 5, 2026Di Wu, Ping Liu, Xuhua Chen +3Robot Policy Learning Diffusion-Based Planning
Magiclab Robotics Technology Co., Ltd., China · Southeast University, Nanjing, China
TUCO: Curating Simulation Demonstrations for Sim-to-Real Robot Policy Co-Training
Oct 4, 2026Ning Zhu, Mengfei Zhao, Yikai Tang +5Robot Policy Learning Sim-to-Real Transfer
Stanford University · Nanyang Technological University · AXIS Robotics +4
VAMPS: Visual and Motor Policies from Sampling-Based Planning
Oct 4, 2026Mohamed Yassine Kabouri, Pietro Noah Crestaz, Quang-Nam Nguyen +3Robot Policy Learning Visuomotor Policy Learning
LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France. · Machines in Motion Laboratory, New York University, New York, USA. · Industrial Engineering Department, University of Trento, Trento, Italy. +1
RobotUse: Allocating Computation, Context, and Decisions
Oct 4, 2026Junhoo Lee, Injun Baek, Seungyeon Kim +4Robot Policy Learning Continual Robot Learning
KAIST
ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot
Oct 1, 2026Jian Hu, Shujing He, Leixin Chang +4Endoscopy Robot Policy Learning
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China · School of Mechanical Engineering and ZJU-UIUC Institute, Zhejiang University, Zhejiang, China · School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China
Reward as Observation: Learning Reward-Based Policies for Rapid Adaptation
Sep 30, 2026Morgan Byrd, Jacob Blevins, Maks Sorokin +2Robot Policy Learning Robot Policy Adaptation
Georgia Institute of Technology, Atlanta, GA, 30308, USA · Georgia Tech Research Institute, Atlanta, GA, 30308, USA
PrefPI: Preference-Guided Steering into Out-of-Distribution Behaviors
Sep 30, 2026Seungeun Rho, Wontaek Kim, Danfei Xu +1Robot Policy Learning Robot Policy Adaptation
School of Interactive Computing Georgia Institute of Technology
ChunkTrust: Adapting Execution Horizons for Robot Policies with Action-Expert Evidence
Sep 30, 2026Fanding Huang, Jingyan Jiang, Shifeng Bao +13Robot Policy Learning Robot Policy Adaptation
Tsinghua University · Beijing Academy of Artificial Intelligence (BAAI) · Shenzhen Technology University +5
RoboCoach: World Models as Active Coaches for Compositional Robot Skills
Sep 30, 2026Jiajun Liu, Yifan Chen, Yichao Liu +7Robot Policy Learning Robot Policy Adaptation
Renmin University of China · Tsinghua University · Shanghai Qizhi Institute +2
A Biophysically Detailed C. elegans Circuit as a Task-Agnostic Dynamical Core for Visually Robust Robot Manipulation
Sep 30, 2026Linrui Qian, Jiajia Zhang, Gan He +7Robotic Control Robot Policy Learning
CogLeap.AI Space Intelligence (Wuxi) Technology Co., Ltd., Beijing 100080, China · School of Mathematics and Computational Science, Xiangtan University, Xiangtan 411105, China · Institute for Brain and Intelligence, Fudan University, Shanghai 200433, China. +1
Looking Back to Move Forward: Temporal Verification for Generative Robot Policies
Sep 30, 2026Haoxuan Wang, Wayne Wu, Yan Yan +1Robot Policy Learning Robotic Policy Evaluation
University of Illinois Chicago · University of California, Los Angeles
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
Credit-Guided Policy Improvement for Test-time Adaptive Vision-Language Navigation
Sep 29, 2026Yang Li, Sijia Zhang, Yihan Li +4Robot Policy Learning Robot Policy Adaptation
School of Artificial Intelligence, Tianjin University, China · The University of Hong Kong, Hong Kong SAR, China · School of Computer Science and Information Engineering, Hefei University of Technology, China
Video2STL: Grounding VLM-Generated Temporal Specifications for Robot Learning
Sep 29, 2026Merve Atasever, Keyan Azbijari, Cagan Bakirci +6Robot Policy Learning Signal Temporal Logic
Department of Computer Science, University of Southern California Los Angeles, CA, USA · University of Florida Gainesville, FL, USA
Encore: Few-Shot Agentic Discovery of Manipulation Strategies
Sep 29, 2026Yifan Kang, Zihan Wang, Zhiwen Fan +1Robot Policy Learning Language-Conditioned Robot Manipulation
Massachusetts Institute of Technology · AI Open Source Foundation · Texas A&M University +1
BCNav: Bearing-Conditioned Depth Policies for Sound Source Navigation
Sep 29, 2026Yaozhong Kang, Jiang Wang, Takeshi Ashizawa +2Robot Policy Learning Robot Navigation
Department of Systems and Control Engineering, Institute of Science Tokyo, Japan
PreferenceFlow: Test-Time Guidance of Flow-Matching Robot Policies from Human Interventions
Sep 29, 2026Yiqi Tang, Diyuan Shi, Runze Li +1Flow Matching Robot Policy Learning
Westlake University
T $^2$ Mem: Learning Test-Time Memory for Robotics
Sep 29, 2026Yize Liu, Huang Huang, Yining Hong +4Robot Policy Learning Test-Time Adaptation of VLA Models
Stanford University · NVIDIA · University of Michigan, Ann Arbor
Reactive Real-Time Flow Policies via Asynchronous Distribution Alignment
Sep 29, 2026Moritz Zoellner, Reece O'Mahoney, Ioannis Havoutis +1Robot Policy Learning Efficient VLA Model Inference
Department of Computer Science, Purdue University · Oxford Robotics Institute, University of Oxford
Scouting the Dynamics Gap: Test-Time Policy Adaptation via Action-Outcome Feedback
Sep 28, 2026Yishu Li, Liyuan Geng, Xinyi Mao +2Robot Policy Learning Test-Time Adaptation
Robotics Institute, Carnegie Mellon University · Computer Science and Technology, Tsinghua University
Spatial Grafting: Grounding 3D Features for Flow-Matching Robot Policies
Sep 28, 2026Dingsheng Liu, Yangzheng Wu, Mahboubeh Asadi +5Robot Policy Learning Long-Horizon Robotic Manipulation
University of Toronto · Huawei Noah’s Ark Lab · Department of Foundation Model, 2012 Labs
Don't Throw Away the Tail: Action Upcycling for Policy Acceleration
Sep 28, 2026Taesung Kwon, Jangho Park, Sunwoo Park +5Robot Policy Learning Efficient VLA Model Inference
KAIST · Sungkyunkwan University
WAM-OPD: Sharpening World Action Models via On-Policy Distillation
Sep 28, 2026Panjun Liu, Xiaohan Lei, Shiqi Zhang +8Robot Policy Learning Robot Policy Adaptation
University of Science and Technology of China
FailPatch: Failure Residual Patching for Vision-Language-Action Models
Sep 28, 2026Peng Yu, Jiacheng Wang, Ziheng Zhang +6Robot Policy Learning Robot Policy Adaptation
Xi’an Jiaotong University · Dexmal · Nanjing University
Principal Steering Subspaces for Online Adaptation of Frozen Generative Robot Policies
Sep 27, 2026Jialeng Ni, Nathan Zhao, Kunpeng SongRobot Policy Learning Reinforcement Learning
University of Michigan, Ann Arbor, MI, USA. · XPENG Robotics, Santa Clara, CA, USA.
Beyond State-as-Action: Exploiting Command-State Discrepancy for Robot Imitation Learning
Sep 27, 2026Peiyan Li, Yueran Tao, Enhao Zhang +10Robot Policy Learning Robot Imitation Learning
Tsinghua University · SEEN·E Robotics · Imperial College London +3
Learning Social Navigation from Internet Videos in the Policy State Space
Sep 26, 2026Jiaming Wang, Duc Thang Nguyen, Jizhuo Chen +4Robot Policy Learning Robot Navigation
National University of Singapore, Singapore · Singapore Management University, Singapore · The Chinese University of Hong Kong, Hong Kong SAR, China +1
HuGo: LLMs as Whole-Body Policy Code Designers for Humanoid Loco-Manipulation
Sep 24, 2026Seoyeon Choi, Shizhao Ye, Nicholas Bui +5Humanoid Loco-Manipulation Robot Policy Learning
University of California, Berkeley. · ShanghaiTech University. · Google DeepMind. +1
Training-free Behavior Cloning
Sep 24, 2026Maximilian Adang, Timothy Chen, Lars Osterberg +2Robot Policy Learning Behavior Cloning
Stanford University, Stanford, CA 94404, USA.
Self-Adaptive VLA for Robust Robot Deployment
Sep 24, 2026Hongxin Zhang, Chunru Lin, Tsun-Hsuan Wang +2Robot Policy Learning Robot Policy Adaptation
University of Massachusetts Amherst · Genesis AI
Beyond Spatial Benchmarks: From Spatial Reasoning to Navigation
Sep 24, 2026Xun Huang, Shijia Zhao, Rongsheng Qu +5Spatial Reasoning Benchmarks Robot Policy Learning
Xiamen University · Zhongguancun Academy · Beihang University +2
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)
EgoSpeedUp: Transferring Human Manipulation Tempo to Robot Policies
Sep 24, 2026Hanbit Oh, Yukiyasu Domae, Takuma YagiRobot Policy Learning Robotic Manipulation
Artificial Intelligence Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Japan
Learning from Mixed-Quality Deployment Experience for Robot Manipulation
Sep 24, 2026Yangang Ren, Yujie Yan, Zirui Li +6Robot Policy Learning Offline RL
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 · Chongqing Changan Automobile Co., Ltd, Chongqing 400023, China · Guangzhou Cloudbutterfly Technology Co., Ltd., Guangzhou 510220, China
Uncertainty-Gated Exploration Noise Suppresses Task Collapse in Online RL Fine-Tuning of a Flow-Matching Vision-Language-Action Policy
Sep 23, 2026Mehmet Turan Yardımcı, Yunus Emre ÇoğurcuRobot Policy Learning RL Exploration
Karlsruhe Institute of Technology · Çukurova University
RouteRLT: Learning When and Which RL Specialist Should Control a Vision-Language-Action Policy
Sep 22, 2026Chongyu Zhu, Jaden Hinds, Hyegang Kim +3RL for Robotics Robot Policy Learning
Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada.
MAVP: Map-Aware Visuomotor Policies for Mobile Manipulation
Sep 22, 2026Jinhe Tang, Ruixiao Dai, Weiming ZhiRobot Trajectory Tracking Robot Policy Learning
School of Computer Science, The University of Sydney, Australia
BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control
Sep 20, 2026Anandsingh Chauhan, Kunal GargRobot Policy Learning Safety-Critical Control
Arizona State University
SeeQ: Training Generalist Value Functions for Long-Horizon Robotic Manipulation
Sep 18, 2026Saksham Singh, Zheyuan Hu, Max Sobol Mark +3Robot Policy Learning Long-Horizon Robotic Manipulation
Carnegie Mellon University
Workspace Models: Lightweight Robotic Memory via Saliency-Driven Supervision
Sep 17, 2026Nitish Dashora, Douglas Chen, Idan Shenfeld +3Robot Policy Learning Long-Horizon Robotic Manipulation
Massachusetts Institute of Technology · Carnegie Mellon University
Learning Foresight without Explicit Trajectories for 3D Diffusion Policies
Sep 17, 2026Zhongbo Zhang, Zaibin Zhang, Yifan Wang +3Robot Policy Learning Diffusion Policy
Dalian University of Technology
TraceFlow: Guiding Frozen Flow-Matching Robot Policies with Success and Failure Traces
Sep 17, 2026Jiaxuan Zhang, Ruizhe Liu, Yu Zhang +1Flow Matching Robot Policy Learning
The University of Hong Kong, Hong Kong SAR, China. · Southern University of Science and Technology, Shenzhen, China. · HKU InfoBodied AI Lab
RTK-Vision PPO for Autonomous Micro UAV Recovery on an Airborne Carrier
Sep 17, 2026Aashish Sahu, R Prasanth KumarAerial Robotics Robot Policy Learning
Department of Mechanical and Aerospace Engineering Indian Institute of Technology Hyderabad Kandi, Sangareddy, India · Department of Artificial Intelligence Indian Institute of Technology Hyderabad Kandi, Sangareddy, India
Learning and Transferring Closed-Loop Robot Software
Sep 17, 2026So Kuroki, Yujin TangRobot Policy Learning Robot Policy Adaptation
Sakana AI
Learning Safe Humanoid Navigation from Reduced Order Models
Sep 16, 2026William D. Compton, Zachary Olkin, Ryan Bena +1Robot Policy Learning Robot Navigation
Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA · Amazon Safe Autonomy Frontiers (SAF) Lab
In-Context Robot Learning with VLM Agents
Sep 16, 2026Dongzhou Cheng, Taoran Yi, Ye Fang +12Robot Policy Learning ICL for Robotics
Morphi Robot · Shanghai Innovation Institute · Huazhong University of Science and Technology +7
FIERCE: From Generalist Robot Policies to Fast Specialists via Progress-Failure Feedback
Sep 16, 2026Runjia Tan, Yuang Tu, Yujie Yan +3Reward Modeling Robot Policy Learning
Nanyang Technological University. · Guangzhou Cloudbutterfly Technology Co., Ltd.
From Gameplay to Policy: Towards Scalable Robot Data Collection via Gamified Robot-Free Interaction
Sep 16, 2026Zheng Li, Liang Zhu, Junzhe Wang +13Robot Policy Learning Robotic Data Collection
The Hong Kong University of Science and Technology (Guangzhou). · The University of Hong Kong. · Tsinghua University.
DetAug: Obstacle-Blind Trajectory Augmentation for Zero-shot Obstacle Avoidance
Sep 16, 2026Reece O'Mahoney, Moritz Zoellner, Ioannis HavoutisRobot Policy Learning Trajectory Generation
Oxford Robotics Institute, University of Oxford, Oxford, UK · Purdue University, West Lafayette, IN, USA
Fetch My Beer: Synthetic-to-real Hierarchical Policy for Smooth Pick-and-place
Sep 16, 2026Yingyue Li, Chenyangguang Zhang, Ruida Zhang +3Robot Policy Learning Hierarchical RL
Department of Automation, Tsinghua University, Beijing, China · ETH Zurich, Zurich, Switzerland · Beijing Xiaomi Robot Technology Co., Ltd, Beijing, China +1
Feedback-Modulated Harmonic Policies for Quadruped Locomotion
Sep 16, 2026Yixuan Jia, Steven Roche, Jonathan P. HowRobotic Control Robot Policy Learning
Massachusetts Institute of Technology, Cambridge, MA 02319 USA

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

Agentic RSR: Real-to-Sim-to-Real through Scene Reconstruction and Execution-Grounded Robot Policies

Yihan Li, Yating Feng, Shengjiu Sun, Jianing Chen+6

Sun Yat-sen University · The Hong Kong University of Science and Technology (Guangzhou)

Sim-to-Real Transfer Robotic Manipulation Robotics Simulation Robot Policy Learning Robotic Perception

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A simulation of a real robot workspace must preserve task-relevant interactions, while policies developed in it must operate on observations available to the real robot. Yet scene reconstruction and policy development are often treated separately. We present Agentic Real-to-Sim-to-Real (Agentic RSR), a framework that links scene reconstruction, policy development, and real-robot execution through the same manipulation task. Given a workspace video, a task description, and a known robot model, an agent recovers metric scale, iteratively refines the scene using visual feedback, and checks task-relevant interactions in MuJoCo. A coding agent then develops an executable policy, progressing from privileged object poses to visual observations and randomized simulation. The policy can interleave multiple observations and actions within one invocation, while the agent uses execution feedback to continue, retry, or revise its approach. A shared task-level interface carries the policy and accumulated experience to the real robot, where fresh observations and safety checks guide execution. Across 18 reconstructed scenes involving two robots, the mean four-view Depth MAE against reference depth estimates is 0.1057 m, the mean Lab

ΔE_{76}

is 11.04, and the mean grayscale SSIM is 0.6990. In real-robot experiments, the aggregate task success rate reaches 80% of the simulation task success rate, indicating substantial retention of simulated performance on hardware. Code and reconstructed scene data will be made publicly available.

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