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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Latest papers 261

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SkillPlug: Unsupervised Skill Mining for Few-Shot Adaptation in Robotic Manipulation
Jul 9, 2026Zi-han Ding, Ziwei WangRobot Policy Adaptation Robot Skill Learning
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore
Learning to Throw Objects Safely in Multi-Obstacle Environments
Jul 7, 2026Mohammadreza Kasaei, Klemen Voncina, Hamidreza KasaeiRL for Robotics Robot Skill Learning
School of Informatics, University of Edinburgh, UK · Department of Artificial Intelligence, University of Groningen, The Netherlands
LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation
Jul 7, 2026Xinye Yang, Zhiyuan Ma, Hongze Yu +5Latent Action Learning Robot Skill Learning
Fudan University · PsiBot · Zhongguancun Academy +2
RoboTALES: Learning Reasoning-Guided Robot Policies via Task-Aligned Simulated Futures
Jul 7, 2026Hanan Gani, Tejal Kulkarni, Madhoolika Chodavarapu +2Robot Policy Learning Robot Skill Learning
University of California, San Diego, CA 92093, USA
FuncBridge: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning
Jul 7, 2026Chuhao Zhou, Liquan Wang, Shuxin Cao +5Robot Skill Learning Generalization in Robotic Manipulation
MARS Lab, Nanyang Technological University · Georgia Institute of Technology
PRISM: Personalized Robotic Dataset Generation via Image-based Scene and Motion Synthesis
Jul 6, 2026Dogyu Ko, Haneul Kim, Chanyoung Yeo +3Robot Skill Learning Robotic Data Collection
Kyung Hee University
OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies
Jul 4, 2026Kelin Yu, Haode Zhang, Harish Ravichandar +2Robot Policy Adaptation Robot Skill Learning
University of Maryland, College Park · Georgia Institute of Technology
TACO: TActile World Model as a Self-COrrector for Scalable Robot Policy Post-Training
Jul 3, 2026Shengbang Liu, Yueru Jia, Yuyang Yan +7Robot Skill Learning World Models for Robotics
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · Sun Yat-sen University · AI2 Robotics +1
WorldSample: Closed-loop Real-robot RL with World Modelling
Jul 2, 2026Yuquan Xue, Le Xu, Zeyi Liu +5Robot Skill Learning World Models for Robotics
1PINE Lab, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore · Department of Electronic Engineering, Tsinghua University, Beijing, China · School of Automation, Central South University, Changsha, China +1
One Demonstration Is Enough for Real-World Robotic Reinforcement Learning
Jul 2, 2026Yuwan Liu, Hongze Yu, Song Liu +5Reinforcement Learning Robot Skill Learning
National Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institution of Automation, Chinese Academy of Sciences, Beijing, China · Beijing Academy of Artificial Intelligence, Beijing, China · PKU-PsiBot Joint Lab, Beijing, China +2
FAR: Failure-Aware Retry for Test-Time Recovery and Continual Policy Improvement
Jul 1, 2026Haoran Hao, Shahram Najam Syed, Jeffrey Ichnowski +1Robot Policy Learning Robot Policy Adaptation
Carnegie Mellon University
AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation
Jul 1, 2026Qingda Hu, Ziheng Qiu, Jieru Zhao +2Robot Skill Learning Visuomotor Policy Learning
College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China · School of Computing, Shanghai Jiao Tong University, Shanghai, China
Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems
Jul 1, 2026Ratnangshu Das, Puneeth Shankar, Varuni Buereddy +2Robotic Control Robot Skill Learning
Robert Bosch Centre for Cyber-Physical Systems IISc, Bengaluru, India
Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications
Jul 1, 2026Merve Atasever, Cagan Bakirci, Alfredo Reina Corona +2Reinforcement Learning Robot Skill Learning
University of Southern California, Los Angeles, California, USA
ASPIRE: Agentic /Skills Discovery for Robotics
Jun 30, 2026Runyu Lu, Yubo Wu, Ethan Kou +11Robot Policy Learning Long-Horizon Robotic Manipulation
NVIDIA · UMich · UIUC +2
Freeform Preference Learning for Robotic Manipulation
Jun 30, 2026Marcel Torne, Anubha Mahajan, Abhijnya Bhat +1Long-Horizon Robotic Manipulation Robot Skill Learning
Stanford University
Adapting Generalist Robot Policies with Semantic Reinforcement Learning
Jun 30, 2026Jagdeep Singh Bhatia, Andrew Wagenmaker, William Chen +1Robot Policy Learning Robot Policy Adaptation
U.C. Berkeley
Z-1: Efficient Reinforcement Learning for Vision-Language-Action Models
Jun 30, 2026Lang Cao, Renhong Chen, Luyi Li +3Robot Skill Learning Efficient VLA Models
Zioneer Robot Team
Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force
Jun 29, 2026Jaden Clark, Changhao Wang, Yihuai Gao +5Robot Policy Learning Continual Robot Learning
Stanford University
What Enables In-Context Behavior Prompting for Manipulation?
Jun 29, 2026Austin Patel, Ben Pekarek, Joel Enrique Castro Hernandez +1Robot Skill Learning Visuomotor Policy Learning
Stanford University · University of California, Berkeley
STEAM: Self-Supervised Temporal Ensemble Advantage Modeling for Real-World Robot Learning
Jun 29, 2026Zhihao Liu, Qiuyi Gu, Yitao Wang +16Robot Policy Learning Robot Skill Learning
Institute of Automation, Chinese Academy of Sciences · School of Artificial Intelligence, University of Chinese Academy of Sciences · Zhongguancun Academy +8
Analytic Concept-Centric Memory for Agentic Embodied Manipulation
Jun 29, 2026Mingyang Sun, Xiujian Liang, Jiude Wei +4Agent Memory Long-Horizon Robotic Manipulation
Zhejiang University, Hangzhou, China · Shanghai Innovation Institute, Shanghai, China · Westlake University, Hangzhou, China +2
Hierarchical Policy Learning via Spectral Decomposition
Jun 28, 2026Shuxin Cao, Liquan Wang, Walker Byrnes +3Robot Policy Learning Robot Skill Learning
Georgia Institute of Technology, Atlanta, Georgia, USA · Georgia Tech Research Institute, Atlanta, Georgia, USA · Harvard University, Cambridge, Massachusetts, USA
CORE: Common Outcome Regularities from Action-Free Visual Demonstrations for Robot Manipulation
Jun 28, 2026Juyi Sheng, Jincheng Li, Mingxin Tan +1Robot Skill Learning Cross-Embodiment Robot Learning
1Peking University, Shenzhen Graduate School, Shenzhen, China
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning
Jun 27, 2026Shuo Cheng, Chuye Zhang, Alfred Cueva +3Robot Skill Learning Generalization in Robotic Manipulation
Georgia Institute of Technology · NVIDIA Corporation
WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation
Jun 26, 2026Justin Yu, Andrew Goldberg, Kavish Kondap +7Long-Horizon Robotic Manipulation Robot Skill Learning
University of California, Berkeley · Stanford University · XDOF
Learning Stable In-Grasp Manipulation in a Non-Dropping Action Space
Jun 26, 2026Ha Thang Long Doan, Hikaru Arita, Kazuto Nakashima +1Robotic Grasping Dexterous Manipulation
Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies
Jun 26, 2026Penghui Chen, Tinglong Zheng, Yufeng Zhang +1Humanoid Robot Locomotion Robot Skill Learning
Department of Automation, Tsinghua University, Beijing, China · Booster Robotics Technology Co., Ltd, Beijing, China · School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing, China
Support-Constrained RL Enables Real-World Policy Improvement without Real-World Experience
Jun 25, 2026Raymond Yu, William Huey, Mustafa Mukadam +2RL for Robotics Robot Policy Adaptation
University of Washington · Amazon FAR
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Jun 25, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robot Skill Learning Robotic Data Collection
Beijing Academy of Artificial Intelligence

Jul 9, 2026, cs.ROJ/K move · Enter open · S save

SkillPlug: Unsupervised Skill Mining for Few-Shot Adaptation in Robotic Manipulation

Zi-han Ding, Ziwei Wang

School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore

Robot Policy Adaptation Robot Skill Learning Generalization in Robotic Manipulation Multi-Task Robotic Manipulation Robotic Manipulation Robot Imitation Learning+3

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Learning transferable visuomotor imitation policies that generalize across diverse manipulation tasks and adapt rapidly to new tasks from only a handful of demonstrations remains challenging. Most modern policies are trained end-to-end to map observations directly to low-level actions, offering little explicit structure for reusing and recombining behaviors across tasks and making transfer data-inefficient under limited supervision. We propose SkillPlug, a plug-in framework that augments an existing visuomotor policy with a skill-conditioning module and mines a shared, transferable skill library from raw multi-task demonstrations. SkillPlug learns skills via self-supervised objectives that promote compact, reusable, and non-redundant behavior-level primitives, forming a task-shared prior for compositional control. After skill mining, we keep the learned skills fixed and specialize to unseen tasks by fine-tuning only lightweight router and action head, enabling efficient adaptation without full end-to-end retraining. We evaluate SkillPlug on two simulation benchmarks and on a real robot, and observe that the mined transferable skills consistently improve both multi-task performance and few-shot adaptation. Overall, SkillPlug offers a scalable way to mine reusable skills that improve data-efficient generalization in robotic manipulation.

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Latest papers 261