Robot Skill Learning

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21 papers in the last four weeks, up 17% on the four weeks before. 0.2% of all new papers.

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WISE: World-model-guided Imagination Scheduling for Efficient Post-training of Vision-Language-Action Models
Sep 3, 2026Chenhao Zhang, Hanyu Zhao, Hang Cheng +2Robot Skill Learning World Models for Robotics
1Tsinghua University · 2Beijing Academy of Artificial Intelligence (BAAI)
RoboTok: An Internet-Scale Data Engine for Human Demonstration Retrieval and Dexterous Manipulation Learning
Sep 2, 2026Howard Qian, Yiting Chen, Yunfei Xie +6Robot Skill Learning Robotic Data Collection
Rice University · NVIDIA
Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation
Sep 1, 2026Haoyuan Deng, Haichao Liu, Wenkai Guo +6Robot Skill Learning Contact-Rich Robotic Manipulation
1PINE Lab, Nanyang Technological University, Singapore
REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs
Sep 1, 2026Riyaaz Shaik, Chandru VenkataramanRobot Skill Learning Program Synthesis
Apple
Autonomously Acquiring Robot Manipulation Skills with Language-Driven Quality-Diversity
Aug 31, 2026Émiland Garrabé, Mahdi Khoramshahi, Stéphane DoncieuxRobot Policy Learning Robot Skill Learning
ISIR, Sorbonne Universit´e, France
Zeva: In-Context Causal Learning for Generalizable Embodied Manipulation
Aug 31, 2026Fu Chen, Xin Ding, Bingjia Huang +8Robot Policy Learning ICL for Robotics
Institute for AI Industry Research (AIR), Tsinghua University
PRACTICE: From Experience to Expertise in Self-Evolving Embodied Agents
Aug 31, 2026Ziyi Bai, Siqi Li, Tinglei Huang +1Continual Learning for LLM Agents Robot Skill Learning
Beijing Academy of Artificial Intelligence (BAAI) · Institute of Software, Chinese Academy of Sciences · University of Chinese Academy of Sciences
PAVE: Predictive Alignment and Value-Guided Evolution for World-Action Policies
Aug 31, 2026Botong Zhao, Fang Yu, Tim Yu +3Robot Policy Learning Robot Skill Learning
Multi-Dimensional Information Processing Laboratory, East China Normal University · EBKernel · Shanghai Artificial Intelligence Laboratory
AnyWorld: Factorized Egocentric World Models for Cross-Embodiment Generalization
Aug 29, 2026Cheng Chen, Jerry Bai, Jiacheng Wei +11Robot Skill Learning World Models for Robotics
Nanyang Technological University · XPENG Robotics · Zhejiang University +2
WorldToken: Time-First Sequence Modeling for Robotic Imitation Learning
Aug 23, 2026Chunkai Yang, Andong Yang, Di Huang +2Robot Policy Learning Long-Horizon Robotic Manipulation
School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China. · Department of Electronic Engineering, Tsinghua University, Beijing, China. · Institute for AI Industry Research, Tsinghua University, Beijing, China.
Teach and Grow: An Agent-Centered Architecture for General Robot Learning
Aug 17, 2026Chang Nie, Zhe Liu, Hesheng WangRobot Skill Learning Generalization in Robotic Manipulation
School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, and the Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai 200240, China
Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memory
Aug 17, 2026Bingxin Xu, Yuzhang Shang, Emilio FerraraMemory-Augmented Neural Networks Long-Horizon Robotic Manipulation
University of Southern California · University of Central Florida
Deliberate Practice: Learning Robot Skills under a Budget
Aug 13, 2026Shivam Vats, Sudarshan Harithas, Mete Tuluhan Akbulut +2Long-Horizon Robotic Manipulation Robot Skill Learning
1Brown University · 2Mitsubishi Electric Research Laboratories
Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL
Aug 12, 2026Martin Schuck, Maks Sorokin, Simone Manni +5Robot Skill Learning Sparse-Reward RL
1RAI Institute · 2Technical University of Munich · ETH Zurich
Adaptation of Generalist Robot Policies with Minimal Data
Aug 11, 2026Shreyas Kowshik, Sreyas Venkataraman, Leo Wang +3RL for Robotics Robot Policy Adaptation
Carnegie Mellon University
Skills in Weights, Memory in Code: Hybrid Learning for Memory-Dependent Robot Manipulation
Aug 10, 2026Yunhao Zhao, Zhenyang Ni, Haoyang Chen +2Long-Horizon Robotic Manipulation Robot Skill Learning
Northwestern University · University of Minnesota · Stanford University
SpeedTuning: Speeding Up Policy Execution with Lightweight Reinforcement Learning
Aug 10, 2026David D. Yuan, Tony Z. Zhao, Kaylee Burns +1Robot Policy Learning Robot Skill Learning
Stanford University
LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation
Aug 7, 2026Cheng Guo, Mingzhe Ni, Angelo Cangelosi +1Humanoid Loco-Manipulation Latent Action Learning
Department of Computer Science, University of Manchester, Manchester, UK · Human-Robot Interfaces and Interaction Laboratory, Italian Institute of Technology, Genoa, Italy
Robot Learning from Human Demonstrations: Handwritten Alphabet Trajectories and Human-Likeness Evaluation
Aug 6, 2026Alperen Kenan, Paul Bremner, Manuel GiulianiRobot Skill Learning Gaussian Mixture Models
Bristol Robotics Laboratory, University of the West of England, Bristol, United Kingdom · Faculty of Electrical Engineering, Kempten University of Applied Sciences, Kempten, Germany
SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation
Aug 6, 2026Changyuan Wang, Chubin Zhang, Zhenyu Wu +8Long-Horizon Robotic Manipulation Robot Skill Learning
Shenzhen International Graduate School, Tsinghua University · Department of Automation, Tsinghua University · Nanyang Technological University +1
JoyAI-RA 0.5: Scaling Robot Manipulation Learning via Dual Action Alignment
Aug 6, 2026JoyAI-RA TeamRL for Robotics Latent Action Learning
Joy Future Academy, JD
VLAff: Vision-Language-Affordance Model for Unified Actionable Affordances
Aug 5, 2026Jihoon Oh, Kento Kawaharazuka, Kei OkadaRobot Skill Learning Language-Conditioned Robot Manipulation
University of Tokyo, Japan
RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation
Aug 4, 2026Shuliang He, Shuai Wang, Bo Yue +3Robot Skill Learning Generalization in Robotic Manipulation
The Chinese University of Hong Kong, Shenzhen · JD Technology · Tsinghua University
Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data
Aug 3, 2026Ye Wang, Pei Lin, Xiong-Hui Chen +12Robot Skill Learning Generalization in Robotic Manipulation
1AIM3 Lab, Renmin University of China · 2Qwen Team, Alibaba Inc. · 3ShanghaiTech University +2
Weights or Skills? A Survey of Robot-Learning Techniques: from Action-Predicting Weights to Robots that Write their Own Skills
Aug 3, 2026Gaytri Jena, Kapil Wanaskar, Vinija Jain +3Robot Skill Learning Agent Skill Learning
UC Berkeley, Berkeley, CA, USA · San Jose State University, USA · Meta, USA +3
AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation
Aug 3, 2026Gaoyuan Wu, Ziyu Shan, Haoyang Du +2Robot Skill Learning Generalization in Robotic Manipulation
1Nanyang Technological University, Singapore
RL Bootstrapping of OpenVLA-OFT for a Novel Robot Embodiment
Aug 2, 2026Damir Nurtdinov, Alexei Kornaev, Alexander MaloletovRobot Skill Learning Cross-Embodiment Robot Learning
Research Center of the Artificial Intelligence Institute Innopolis University Innopolis, Russia
Bicycle Acrobatics with Reinforcement Learning
Aug 1, 2026Shamel Fahmi, Arianna Ilvonen, Samuel Zapolsky +8Robot Skill Learning Robotic RL
1Robotics and AI Institute (RAI), Cambridge, MA, USA.
Self Supervised Learning from Automatically Generated Demonstrations for Visual Robotic Manipulation
Aug 1, 2026Andres Rivas, Anselmo R. Cukla, Rodrigo S. Guerra +2Robotic Grasping Robot Skill Learning
Robotics and AI Lab, Technological University of Uruguay, Rivera, Uruguay · Center of Technology, Federal University of Santa Maria, Santa Maria, Brazil · Computer Science Center, Federal University of Rio Grande, Rio Grande, Brazil
DexMani: Human-Derived Manipulability Guidance for Dexterous Rotation
Aug 1, 2026Xiaoyang Chen, Shengcheng Luo, Haoran Guo +4Dexterous Manipulation Robot Skill Learning
Shanghai Jiao Tong University · ShanghaiTech University · Beijing Institute for General Artificial Intelligence (BIGAI) +1

Sep 3, 2026, cs.ROJ/K move · Enter open · S save

WISE: World-model-guided Imagination Scheduling for Efficient Post-training of Vision-Language-Action Models

Chenhao Zhang, Hanyu Zhao, Hang Cheng, Tengfei Pan+1

1Tsinghua University · 2Beijing Academy of Artificial Intelligence (BAAI)

Robot Skill Learning World Models for Robotics World Model-Based Planning Efficient VLA Models Robotic Manipulation Vision-Language-Action Models+1

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Post-training VLA policies typically rely on supervised fine-tuning with costly expert demonstrations or reinforcement learning with expensive and potentially unstable real-world exploration. World models offer a promising alternative by evaluating candidate behaviors through imagined futures, yet effective post-training requires more than accurate prediction: imagination must be scheduled where it is useful, bounded within reliable horizons, and translated into trustworthy policy supervision. In robotic manipulation, the value of imagination varies substantially across execution stages, while extended rollouts can accumulate prediction errors and introduce unreliable learning signals. We introduce WISE (World-model-guided Imagination Scheduling for Efficient Post-training of Vision-Language-Action Models), a unified framework that coordinates when and how world-model imagination is used during policy refinement. WISE selectively invokes imagination at interaction-relevant states, performs bounded multi-view rollouts, evaluates candidate futures using progress and completion signals, and uses their relative outcomes to refine actions generated from real interaction contexts. Extensive experiments with both

π_0

and

π_{0.5}

demonstrate consistent improvements across diverse manipulation tasks while reducing GPU computation time by approximately 80% compared with full imagination. Real-world evaluations further show substantial gains in robustness and generalization under diverse real-world distribution shifts.

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Latest papers 261