Robot Policies

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Period ending 2026-09-21

14 new papers

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Period ending 2026-09-14

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Robot Policies

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Scalable Robot Learning

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Human-To-Robot Transfer

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348 papers

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Learning to Race in Minutes: Infoprop Dyna on the Mini Wheelbot
May 1, 2026Devdutt Subhasish, Henrik Hose, Sebastian TrimpeScalable Robot Learning Dynawm
Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policies
May 1, 2026Yi Wang, Xinchen Li, Pengwei Xie +13Flow-Matching Vision-Language-Action Robot Policies
E $^2$ DT: Efficient and Effective Decision Transformer with Experience-Aware Sampling for Robotic Manipulation
Apr 30, 2026Kaiyan Zhao, Borong Zhang, Yiming Wang +4Scalable Robot Learning
World Model for Robot Learning: A Comprehensive Survey
Apr 30, 2026Bohan Hou, Gen Li, Jindou Jia +15World Models Scalable Robot Learning
Can Tabular Foundation Models Guide Exploration in Robot Policy Learning?
Apr 30, 2026Buqing Ou, Frederike DümbgenRobot Policies Tabular Foundation Models
Robot Learning from Human Videos: A Survey
Apr 30, 2026Junyi Ma, Erhang Zhang, Haoran Yang +4Human-To-Robot Transfer Video Dataset
PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations
Apr 30, 2026Yang Zhang, Jiangyuan Zhao, Chenyou Fan +11Executable Robot Behavior Robot Policies
Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots
Apr 28, 2026Ziqing Zou, Ke Qiu, Fei Wang +3Neural Control Soft Robots
asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics
Apr 27, 2026Fang Wan, Guangyi Huang, Tianyu Wu +5Scalable Robot Learning Sim-To-Real Gap
Leveraging Human Feedback for Semantically-Relevant Skill Discovery
Apr 27, 2026Maxence Hussonnois, Thommen George Karimpanal, Santu RanaUnsupervised Skill Discovery Human-To-Robot Transfer
Adaptive vs. Static Robot-to-Human Handover: A Study on Orientation and Approach Direction
Apr 24, 2026Federico Biagi, Dario Onfiani, Simone Silenzi +2Human-To-Robot Transfer
Learning-augmented robotic automation for real-world manufacturing
Apr 24, 2026Yunho Kim, Quan Nguyen, Taewhan Kim +2Scalable Robot Learning Manufacturing
An LLM-Driven Closed-Loop Autonomous Learning Framework for Robots Facing Uncovered Tasks in Open Environments
Apr 24, 2026Hong SuScalable Robot Learning Robot Systems
dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model
Apr 24, 2026Yaxuan Li, Zhongyi Zhou, Yefei Chen +2Robot Policies Robotwin
Hi-WM: Human-in-the-World-Model for Scalable Robot Post-Training
Apr 23, 2026Yaxuan Li, Zhongyi Zhou, Yefei Chen +5Efficient World-Action Model Scalable Robot Learning
From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges
Apr 23, 2026Yiming Zhong, Yaoyu He, Zemin Yang +5Flow-Matching Vision-Language-Action Robot Policies
RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
Apr 23, 2026Yucheng Xin, Jiacheng Bao, Yubo Dong +5Human-To-Robot Transfer Imitation Learning
MOMO: A framework for seamless physical, verbal, and graphical robot skill learning and adaptation
Apr 22, 2026Markus Knauer, Edoardo Fiorini, Maximilian Mühlbauer +10Human-To-Robot Transfer
UniT: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling
Apr 21, 2026Boyu Chen, Yi Chen, Lu Qiu +3Cross-Embodiment Transfer Long-Tail Humanoid Whole-Body Control
Mask World Model: Predicting What Matters for Robust Robot Policy Learning
Apr 21, 2026Yunfan Lou, Xiaowei Chi, Xiaojie Zhang +9Robot Policies Future Video Prediction
Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots
Apr 21, 2026Yulai Zhang, Yinrong Zhang, Ting Wu +1Legged Robots Scalable Robot Learning
COFFAIL: A Dataset of Successful and Anomalous Robot Skill Executions in the Context of Coffee Preparation
Apr 20, 2026Alex Mitrevski, Ayush SalunkeHuman-To-Robot Transfer Imitation Learning
ReFineVLA: Multimodal Reasoning-Aware Generalist Robotic Policies via Teacher-Guided Fine-Tuning
Apr 20, 2026Tuan Van Vo, Tan Q. Nguyen, Khang Nguyen +5Multimodal Reasoning Vision-Language
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 +8Zero-Shot Sim-To-Real Transfer Scalable Robot Learning
One-Shot Cross-Geometry Skill Transfer through Part Decomposition
Apr 16, 2026Skye Thompson, Ondrej Biza, George KonidarisHuman-To-Robot Transfer Statistical Shape Model
Switch: Learning Agile Skills Switching for Humanoid Robots
Apr 16, 2026Yuen-Fui Lau, Qihan Zhao, Yinhuai Wang +4Human-To-Robot Transfer Skill Evolution
Incremental Residual Reinforcement Learning Toward Real-World Learning for Social Navigation
Apr 9, 2026Haruto Nagahisa, Kohei Matsumoto, Yuki Tomita +2Scalable Robot Learning Social Robot Navigation
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
From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning
Mar 10, 2026Zhanyi Sun, Shuran SongRobot Policies Reinforcement Fine-Tuning
APPLV: Adaptive Planner Parameter Learning from Vision-Language-Action Model
Mar 9, 2026Yuanjie Lu, Beichen Wang, Zhengqi Wu +4Vision-Language Navigation Autonomous Navigation
See and Switch: Vision-Based Branching for Interactive Robot-Skill Programming
Mar 9, 2026Petr Vanc, Jan Kristof Behrens, Václav Hlaváč +1Human-To-Robot Transfer Switch
RoboRouter: Training-Free Policy Routing for Robotic Manipulation
Mar 9, 2026Yiteng Chen, Zhe Cao, Hongjia Ren +9Robot Policies Robocasa
Restoring Linguistic Grounding in VLA Models via Train-Free Attention Recalibration
Mar 6, 2026Ninghao Zhang, Bin Zhu, Shijie Zhou +1Vision-Language-Action Models Robot Policies
From Local Corrections to Generalized Skills: Improving Neuro-Symbolic Policies with MEMO
Mar 4, 2026Benjamin A. Christie, Yinlong Dai, Mohammad Bararjanianbahnamiri +2Human-To-Robot Transfer Neuro-Symbolic Framework
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 +4Parkour Locomotion Scalable Robot Learning
Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
Jan 5, 2026Chenghao Yin, Da Huang, Di Yang +16Zero-Shot Sim-To-Real Transfer Robotic Datasets
VLA-Arena: An Open-Source Framework for Benchmarking Vision-Language-Action Models
Dec 27, 2025Borong Zhang, Jiahao Li, Jiachen Shen +7Pretrained Vision-Language-Action Vision-Language-Action Models
Rapidly Learning Soft Robot Control via Implicit Time-Stepping
Nov 10, 2025Andrew Choi, Dezhong Tong, Xiaonan HuangSoft Robots Robotic Arms
Deep Active Inference with Diffusion Policy and Multiple Timescale World Model for Real-World Exploration and Navigation
Oct 27, 2025Riko Yokozawa, Kentaro Fujii, Yuta Nomura +1Social Robot Navigation Diffusion Policies
Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion Learning
Oct 12, 2025Arthicha Srisuchinnawong, Poramate ManoonpongScalable Robot Learning
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 Gaze Target Estimation
Shared Modular Recurrence in Contextual MDPs for Universal Morphology Control
Jun 10, 2025Laurens Engwegen, Max Weltevrede, Caroline Horsch +2Scalable Robot Learning Iterative Reinforcement Learning
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
May 16, 2025Lizhi Yang, Blake Werner, Ryan K. Cosner +3Control Barrier Functions Scalable Robot Learning
HERB: Human-augmented Efficient Reinforcement learning for Bin-packing
Apr 23, 2025Gojko Perovic, Nuno Ferreira Duarte, Atabak Dehban +3Scalable Robot Learning Warehouse Automation
Data Scaling Laws in Imitation Learning for Robotic Manipulation
Oct 24, 2024Fanqi Lin, Yingdong Hu, Pingyue Sheng +3Imitation Learning Robot Policies
Self-Evolving Embodied Agents via Skill-Harness Evolution
Date pendingPeidong Wang, Zhiming Ma, Ying Chang +7Self-Evolving Agents Embodied Agents
SkillX: Unified Multi-Skill Policy Learning for Humanoid Soccer
Date pendingZhangchen Ye, Enxuan Ruan, Yifei Bao +10Badminton Human-To-Robot Transfer

May 1, 2026 · cs.LGJ/K move · Enter open · S save

Learning to Race in Minutes: Infoprop Dyna on the Mini Wheelbot

Devdutt Subhasish, Henrik Hose, Sebastian Trimpe

Institute for Data Science in Mechanical Engineering, RWTH Aachen University, 52062 Aachen

Reinforcement Learning (RL) has the potential to enable robots with fast, nonlinear, and unstable dynamics to reach the limits of their performance. However, most recent advances rely on carefully designed physics-based simulators and domain randomization to achieve successful sim-to-real transfer within reasonable wall-clock time. In this work, we bypass the need for such simulators and demonstrate that Infoprop Dyna, a state-of-the-art uncertainty-aware model-based reinforcement learning (MBRL) framework, can enable robots to learn directly from real-world interactions. Using Infoprop Dyna, the Mini Wheelbot, an underactuated unicycle robot, learns to race around a track within 11 minutes of real-world experience.

Scalable Robot Learning Dynawm Physics Simulation

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