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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SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
Jun 13, 2026Wenkang Hu, Haoran Wang, Yitong Li +10Zero-Shot Robotic Manipulation Robot Skill Learning
1Shanghai Jiao Tong University · 2Horizon Robotics · 3Style3D Research
EgoGuide: Egocentric Guidance for Efficient Robot-Free Demonstration Collection and Learning
Jun 12, 2026Yue Xu, Mingtao Nie, Tianle Li +4Robot Skill Learning Robotic Data Collection
Shanghai Jiao Tong University · Beijing Institute for General Artificial Intelligence (BIGAI) · Shanghai Innovation Institute
ORCA: A Platform for Open-Source Dexterity Research
Jun 12, 2026Francesco Capuano, Maximilian Eberlein, Fabrice Bourquin +1Dexterous Manipulation Robot Skill Learning
University of Oxford · ETH Zurich · Orca Dexterity
Improving Robotic Generalist Policies via Flow Reversal Steering
Jun 11, 2026Andy Tang, William Chen, Andrew Wagenmaker +2RL for Robotics Robot Policy Learning
Stanford University · UC Berkeley
LabVLA: Grounding Vision-Language-Action Models in Scientific Laboratories
Jun 11, 2026Baochang Ren, Xinjie Liu, Xi Chen +15AI for Science Robot Skill Learning
Zhejiang University · Shanghai AI Laboratory · Harbin Institute of Technology
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
Jun 11, 2026Chengbo Yuan, Zicheng Zhang, Mingjie Zhou +14Robot Skill Learning Contact-Rich Robotic Manipulation
1Tsinghua University · 2Shanghai Qi Zhi Institute · 3Sharpa +5
EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment
Jun 11, 2026Shihefeng Wang, Kangchen Lv, Mingrui Yu +1Robot Skill Learning Generalization in Robotic Manipulation
Department of Automation, Tsinghua University · Beijing Key Laboratory of Embodied Intelligence Systems · Institute for Embodied Intelligence and Robotics, Tsinghua University
EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations
Jun 10, 2026Yangcen Liu, Shuo Cheng, Xinchen Yin +6Zero-Shot Robotic Manipulation Robot Skill Learning
Georgia Institute of Technology · Tsinghua University
FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning
Jun 10, 2026Steven Oh, Jason Jingzhou Liu, Tony Tao +5Robot Policy Learning Long-Horizon Robotic Manipulation
Carnegie Mellon University · Waseda University
Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
Jun 10, 2026Adam Wei, Nicholas Pfaff, Thomas Cohn +4Robot Skill Learning Diffusion Policy
MIT
Fourier Features Let Agents Learn High Precision Policies with Imitation Learning
Jun 10, 2026Balázs Gyenes, Emiliyan Gospodinov, Jan Frieling +5Fourier Feature Embeddings Robot Skill Learning
Autonomous Learning Robots, Karlsruhe Institute of Technology, Germany · HIDSS4Health - Helmholtz Information and Data Science School for Health, Karlsruhe/Heidelberg, Germany
TacCoRL: Integrating Tactile Feedback into VLA via Simulation
Jun 10, 2026Siyu Ma, Yuqi Liang, Chang Yu +5RL for Robotics Robot Skill Learning
University of California, Los Angeles · University of California, San Diego · 4Peking University +1
LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition
Jun 10, 2026Harsh Gupta, Guanya Shi, Wenzhen YuanRobotic Control Robot Skill Learning
University of Illinois Urbana-Champaign · Carnegie Mellon University
Learning Object Manipulation from Scratch via Contrastive Interaction
Jun 10, 2026Tongle Shen, Caleb Chuck, Fan Feng +1Dynamical Systems Reinforcement Learning
1UC San Diego · 2UT Austin
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning
Jun 9, 2026Yichao Zhong, Yidan Lu, Yuhang Lu +9Reinforcement Learning Robot Skill Learning
The University of Hong Kong · Archon Robotics · The Chinese University of Hong Kong
SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation
Jun 9, 2026Qianzhong Chen, Hau Zheng, Justin Yu +8RL for Robotics Reward Modeling
Stanford University · UC Berkeley · Shanghai Jiao Tong University
GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation
Jun 8, 2026Sriram Krishna, Ben Eisner, Haotian Zhan +5Robot Policy Learning Robot Skill Learning
Robotics Institute, Carnegie Mellon University · UMass Amherst
ReGIL: Retrieval-Guided Imitation Learning from a Single Demonstration
Jun 8, 2026Yuying Zhang, Francesco Verdoja, Wenyan Yang +1Robot Skill Learning Robotic RL
School of Electrical Engineering Aalto University, Finland
TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation
Jun 8, 2026Huaihang Zheng, Yi Yang, Kai Ma +8RL for Robotics Long-Horizon Robotic Manipulation
Meituan · State Key Lab of Multimodal Artificial Intelligence Systems, Institute of Automation, CAS · Beijing Institute of Technology +2
Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video
Jun 7, 2026Yunhai Han, Jianuo Qiu, Linhao Bai +14Robot Skill Learning Sim-to-Real Transfer
1Georgia Institute of Technology · University of Pennsylvania · 3Toyota Research Institute +1
CLASP: Language-Driven Robot Skill Selection and Composition using Task-Parameterized Learning
Jun 6, 2026Markus Knauer, Valentin Gieraths, Tai Mai +4Robot Skill Learning Language-Conditioned Robot Manipulation
German Aerospace Center (DLR), Institute of Robotics and Mechatronics (RMC), Münchener Str. 20, 82234 Weßling, Germany. · School of Computation, Information and Technology (CIT), Technical University of Munich (TUM), Arcisstr. 21, 80333 Munich, Germany.
SynthICL: Scalable In-context Imitation Learning with Synthetic Data
Jun 6, 2026Cheng Qian, Ruomeng Fan, Yifei Ren +2ICL for Robotics Robot Skill Learning
The Robot Learning Lab Imperial College London
Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data
Jun 6, 2026Ji Woong Kim, Ke Wang, Zipeng Fu +4Robot Skill Learning Robot Foundation Models
1Stanford University · 2Meta
Spline Policy: A Structured Representation for Robot Policies
Jun 5, 2026Mengze Tian, Yiming Li, Sichao Liu +2Robot Policy Learning Robot Skill Learning
Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland · Idiap Research Institute, Martigny, Switzerland
Robotic Policy Adaptation via Weight-Space Meta-Learning
Jun 5, 2026Christian Bianchi, Siamak Yousefi, Alessio Sampieri +4Robot Policy Adaptation Robot Skill Learning
ItalAI · ItalAI and Sapeinza University of Rome
ActionMap: Robot Policy Learning via Voxel Action Heatmap
Jun 5, 2026Pei Yang, Hai Ci, Yanzhe Chen +3Robot Policy Learning Robot Skill Learning
1Show Lab, National University of Singapore · 2NVIDIA
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
Jun 4, 2026Lizhi Yang, Junheng Li, Nehar Poddar +5Humanoid Loco-Manipulation Robot Skill Learning
California Institute of Technology · The Institute for Human & Machine Cognition
Flow-based Policy Adaptation without Policy Updates
Jun 4, 2026Luzhe Sun, Jingtian Ji, Haoran Chen +2Robot Policy Learning Robot Policy Adaptation
Toyota Technological Institute at Chicago · Stony Brook University
MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation
Jun 4, 2026Ilyass Taouil, Michal Ciebelski, Shafeef Omar +4Humanoid Loco-Manipulation Long-Horizon Robotic Manipulation
Technical University of Munich, Germany · New York University, USA · Carnegie Mellon University, USA
VASO: Formally Verifiable Self-Evolving Skills for Physical AI Agents
Jun 3, 2026Yunhao Yang, Neel P. Bhatt, Kevin Wang +3Robot Skill Learning Large Language Model-Based Robot Planning
1The University of Texas at Austin · 2Iowa State University

Jun 13, 2026, cs.ROJ/K move · Enter open · S save

SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation

Wenkang Hu, Haoran Wang, Yitong Li, Liu Liu+9

1Shanghai Jiao Tong University · 2Horizon Robotics · 3Style3D Research

Zero-Shot Robotic Manipulation Robot Skill Learning Robotics Simulation Sim-to-Real Transfer Deformable Object Manipulation Generalization in Robotic Manipulation+3

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RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We present SimWeaver, which trains zero-shot RGB VLA policies on 200 simulated demonstrations per task, reaching above 80% per-task and 91% average real-world success across 5 diverse deformable tasks including plastic-bag manipulation, without teleoperation or per-task calibration. SimWeaver combines a reliable measurement-backed simulator (SimWeaver-Sim) with an extensible asset framework supporting single-image generation(SimWeaver-Asset), a deterministic topology-aware trajectory synthesizer (SimWeaver-Syn), and a sim-to-real protocol with ISP-aware photometric augmentation (SimWeaver-Real). On silk grasping, the sim-trained policy reaches 100% under visual distribution shifts where real-data baselines drop to 9-70%, at two orders of magnitude lower per-trajectory cost. We will release SimWeaver and a representative asset subset. Project page: https://simweaver.github.io/

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Latest papers 261