Robot Skill Learning

Follow this topic Ask about this topic

Momentum

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

Jul 13Week of Sep 28

Latest papers 261

All topics

Inverse Manipulation through Symbolic Planning and Residual Operator Learning
Jun 3, 2026Yigit Yildirim, Giuseppe Rauso, Riccardo Caccavale +1RL for Robotics Robot Skill Learning
CREATE Consortium, Italy · Department of Electrical Engineering and Information Technologies, Universit`a di Napoli Federico II, Italy
SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos
Jun 1, 2026Jaehyeon Son, Junhyun Kim, Kyle Kam +7Robot Skill Learning Generalization in Robotic Manipulation
Georgia Institute of Technology · Allen Institute for AI · Johns Hopkins University +1
RoboDream: Compositional World Models for Scalable Robot Data Synthesis
Jun 1, 2026Junjie Ye, Rong Xue, Basile Van Hoorick +6Robot Skill Learning Robotic Data Collection
1USC Physical Superintelligence (PSI) Lab · 2Toyota Research Institute
Coherent Off-Policy Improvement of Large Behavior Models with Learned Rewards
Jun 1, 2026Christian Scherer, Joe Watson, Theo Gruner +3Reinforcement Learning Robot Skill Learning
Technical University of Darmstadt · Zuse School ELIZA · University of Oxford +2
RDA: Reward Design Agent for Reinforcement Learning
Jun 1, 2026Hojoon Lee, Ajay Subramanian, Ben Abbatematteo +4Agentic RL Reinforcement Learning
Meta · Holiday Robotics · Boston Dynamics
S2M-Trek: From Single to Multi-Sphere Transport via Per-Frame Deep Sets on a Wheel-Legged Robot
May 31, 2026Zong Chen, Xuebin Li, Jinpeng Xiao +5Representation Learning Robot Skill Learning
School of Mechanical Science and Engineering, Huazhong University of Science and Technology · School of Mathematics, Harbin Institute of Technology
$τ_0$ -WM: A Unified Video-Action World Model for Robotic Manipulation
May 31, 2026Pengfei Zhou, Shengcong Chen, Di Chen +17Action-Conditioned Video Generation Long-Horizon Robotic Manipulation
1Shanghai Innovation Institute · 2AGIBOT Finch
RDGen: Demonstration Generation for High-Quality Robot Learning via Reinforcement Learning
May 29, 2026Zijian Zhu, Menglin Zou, Zhuang Li +2RL for Robotics Robot Skill Learning
Primitive Subspaces Mediate Few-Shot Transfer in VLAs
May 29, 2026Anya Singh, Cabrel Happi, Jai Relan +2Robot Skill Learning Few-Shot Learning
Relling Systems
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
ProgVLA: Progress-Aware Robot Manipulation Skill Learning
May 27, 2026Seungsu Kim, Jinyoung Choi, Seungmin Baek +1Cross-Modal Learning Efficient Multimodal Inference
NAVER LABS Europe · NAVER LABS
Learning Compositional Symbolic Task Rules from Demonstrations with Inductive Logic Programming
May 26, 2026Oleh Borys, Karla StepanovaRobot Skill Learning Robotic Manipulation
Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague.
EXPO-FT: Sample-Efficient Reinforcement Learning Finetuning for Vision-Language-Action Models
May 25, 2026Perry Dong, Kuo-Han Hung, Tian Gao +2Robot Skill Learning Robotic RL
Stanford University
HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos
May 24, 2026Zhi Wang, Botao He, Kelin Yu +4Zero-Shot Learning Zero-Shot Robotic Manipulation
University of Maryland
Learning Transferable Motor Skills for Geometry-Aware Robotic Surface Tasks
May 24, 2026Miroslav David, Karla Stepanova, Robert BabuskaRobot Skill Learning Robot Motion Generation
Department of Robotics and Machine Perception, Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Czech Republic. · Cognitive Robotics, Faculty of 3mE, Delft University of Technology, The Netherlands.
MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots
May 23, 2026Yusen Feng, Xiang Wang, Heyuan Yao +7Latent Action Learning Humanoid Robot Locomotion
Peking University
Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion
May 22, 2026Remko Proesmans, Thomas Lips, Francis wyffelsRobot Skill Learning Robotic Insertion
AI and Robotics Lab (IDLab-AIRO), Ghent University—imec, Ghent, Belgium
Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation
May 22, 2026Chengyu Deng, Guanqi Chen, Yizhou Chen +4Robot Policy Learning Robot Skill Learning
The University of Hong Kong · Southern University of Science and Technology
CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation
May 21, 2026Wentian Wang, Chutong Wen, Hongxu Ma +6Robot Policy Adaptation Robot Skill Learning
Synthoid AI · HKU
Demo-JEPA: Joint-Embedding Predictive Architecture for One-shot Cross-Embodiment Imitation
May 20, 2026Jingyang He, Guangrun Li, Jieyu Zhang +3Robot Skill Learning World Models for Robotics
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · Beijing Innovation Center of Humanoid Robotics · University of Washington
Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition
May 20, 2026Benedict Quartey, Sebastian Castro, Eric Rosen +3Robot Skill Learning Generalization in Robotic Manipulation
Brown University · Robotics & AI Institute
RoHIL: Robust Human-in-the-Loop Robotic Reinforcement Learning Against Illumination Variations
May 19, 2026Shuoqin Zhang, Yixin Xiong, Xiru Gao +4Distribution Shift Robustness Robot Skill Learning
Chongqing University · Chengdu Anu Intelligence
Beyond Action Residuals: Real-World Robot Policy Steering via Bottleneck Latent Reinforcement Learning
May 19, 2026Dongjie Yu, Kun Lei, Zhennan Jiang +2Robot Policy Adaptation Reinforcement Learning
School of Computing and Data Science, The University of Hong Kong, Hong Kong SAR. · Shanghai Qizhi Institute, Shanghai, China. · Shanghai Jiao Tong University, Shanghai, China. +2
COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphones
May 18, 2026Ayush Agarwal, Ansh Gandhi, Jeremy A. Collins +6Robot Skill Learning Robotic Data Collection
Georgia Institute of Technology · University of California, Berkeley · New York University Abu Dhabi (NYUAD) +2
From a Single Demonstration to a General Policy for Contact-Rich Manipulation
May 17, 2026Xing Li, Oliver BrockRobot Skill Learning Contact-Rich Robotic Manipulation
Robotics and Biology Laboratory, Technische Universität Berlin · Technische Universität Berlin · Science of Intelligence, Research Cluster of Excellence, Berlin +1
How to Instruct Your Robot: Dense Language Annotations Power Robot Policy Learning
May 16, 2026Bosung Kim, Ruiyi Wang, David Acuna +5Robot Policy Learning Robot Skill Learning
University of California, San Diego · 2NVIDIA
SADP: Subgoal-Aware Diffusion Policy for Explainable Robots Learned from Foundation Model Generated Demonstrations
May 16, 2026Site Hu, Takato HoriiRobot Policy Learning Long-Horizon Robotic Manipulation
Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Osaka, Japan
SkiP: When to Skip and When to Refine for Efficient Robot Manipulation
May 15, 2026Mingtong Dai, Guanqi Peng, Yongjie Bai +5Robot Skill Learning Contact-Rich Robotic Manipulation
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences · Southern University of Science and Technology · Peng Cheng Laboratory +2
FLASH: Efficient Visuomotor Policy via Sparse Sampling
May 15, 2026Jiaqi Bai, Jindou Jia, Yuxuan Hu +5Flow Matching Long-Horizon Robotic Manipulation
MARS Lab, Nanyang Technological University, Singapore

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

Inverse Manipulation through Symbolic Planning and Residual Operator Learning

Yigit Yildirim, Giuseppe Rauso, Riccardo Caccavale, Alberto Finzi

CREATE Consortium, Italy · Department of Electrical Engineering and Information Technologies, Universit`a di Napoli Federico II, Italy

RL for Robotics Robot Skill Learning Symbolic Planning Robotic Manipulation Dynamic Robotic Manipulation Residual Policy Learning

Open paper AskPDF arXiv

Inverting a robotic task requires more than reversing symbolic state transitions or rewinding motor trajectories. In robot manipulation tasks, symbolic inverse plans often fail to fully restore the effects of forward executions under continuous interaction dynamics. We present a hybrid framework for inverse manipulation that derives inverse-skill objectives from STRIPS-like operators automatically extracted from demonstrations through soft geometric predicates. For each extracted operator, we construct an inverse restoration objective that preserves preconditions, restores delete effects, and negates add effects. A task planner first attempts to satisfy this objective using available action primitives. Unresolved symbolic predicates then induce a residual operator learning problem solved through Reinforcement Learning (RL). We evaluate the framework on the ManiSkill3 PushCube task. For a forward pushing skill, the symbolic inverse performs a coarse pick-and-place restoration, while a residual Soft Actor-Critic policy refines the cube pose to satisfy the remaining inverse predicates. Our results show that predicate-derived residual control can turn an approximate symbolic inverse into a physically grounded inverse skill.

Momentum

Related topics

Latest papers 261