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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See and Switch: Vision-Based Branching for Interactive Robot-Skill Programming
Mar 9, 2026Petr Vanc, Jan Kristof Behrens, Václav Hlaváč +1Robot Skill Learning Robotic Manipulation
imitrob.ciirc.cvut.cz/publications/seeandswitch
Task Parameter Extrapolation via Learning Inverse Tasks from Forward Demonstrations
Mar 5, 2026Serdar Bahar, Fatih Dogangun, Matteo Saveriano +2Robot Skill Learning Generalization in Robotic Manipulation
From Local Corrections to Generalized Skills: Improving Neuro-Symbolic Policies with MEMO
Mar 4, 2026Benjamin A. Christie, Yinlong Dai, Mohammad Bararjanianbahnamiri +2Robot Skill Learning Language-Conditioned Robot Manipulation
Collab, Dept. of Mechanical Engineering, Virginia Tech, Blacksburg, USA. · TEA Lab, Dept. of Mechanical Engineering, Virginia Tech, Blacksburg, USA.
SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation
Feb 18, 2026Kushal Kedia, Tyler Ga Wei Lum, Jeannette Bohg +1Zero-Shot Robotic Manipulation Robot Skill Learning
Cornell University · Stanford University
Sim-and-Human Co-training for Data-Efficient and Scene-Generalizable Bimanual Manipulation
Jan 27, 2026Kaipeng Fang, Weiqing Liang, Yuyang Li +5Robot Skill Learning Bimanual Robotic Manipulation
University of Electronic Science and Technology of China · Southwest Jiaotong University · Tongji University +1
World In Your Hands: A Large-Scale and Open-Source Ecosystem for Learning Human-Centric Manipulation in the Wild
Dec 30, 2025Yupeng Zheng, Jichao Peng, Weize Li +22Robot Skill Learning Robotic Data Collection
TARS Robotics
Learning Semantic Atomic Skills for Multi-Task Robotic Manipulation
Dec 20, 2025Yihang Zhu, Weiqing Wang, Shijie Wu +2Long-Horizon Robotic Manipulation Robot Skill Learning
ShanghaiTech University, Shanghai, China · InstAdapt
ISS Policy : Scalable Diffusion Policy with Implicit Scene Supervision
Dec 17, 2025Wenlong Xia, Jinhao Zhang, Ce Zhang +6Robot Skill Learning Visuomotor Policy Learning
[cs.RO]
Learning Category-level Last-meter Navigation from RGB Demonstrations of a Single-instance
Dec 11, 2025Tzu-Hsien Lee, Fidan Mahmudova, Karthik DesinghRobot Skill Learning Robot Navigation
University of Minnesota, Twin Cities
XR-1: Towards Versatile Vision-Language-Action Models via Learning Unified Vision-Motion Representations
Nov 4, 2025Shichao Fan, Kun Wu, Zhengping Che +12Representation Learning Robot Skill Learning
Beijing Innovation Center of Humanoid Robotics, Beijing, China · State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University, Beijing, China · State Key Laboratory of Virtual Reality Technology and Systems, SCSE, Beihang University, Beijing, China +1
Robotic Ultra-Long-Horizon Manipulation Skills via Human-guided Lifelong Code Generation
Sep 23, 2025Yuan Meng, Zhenguo Sun, Max Fest +4Long-Horizon Robotic Manipulation Robot Skill Learning
School of Computation, Information and Technology Technical University of Munich Munich, Germany · Beijing Academy of Artificial Intelligence (BAAI) Beijing, China · The State Key Laboratory for Novel Software Technology Nanjing University Suzhou, China
GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots
Sep 22, 2025Vassil Atanassov, Wanming Yu, Siddhant Gangapurwala +2Robotic Control Legged Robotics
Dynamic Robot Systems Group, Oxford Robotics Institute, University of Oxford · Sony AI · Dyson Institute of Engineering and Technology
Imagine2Act: Leveraging Object-Action Motion Consistency from Imagined Goals for Robotic Manipulation
Sep 21, 2025Liang Heng, Jiadong Xu, Yiwen Wang +6Robot Skill Learning Language-Conditioned Robot Manipulation
CFCS, School of Computer Science, Peking University · PrimeBot · AGIBOT
Physics-Guided Residual Reinforcement Learning for Humanoid Narrow-Path Traversal
Aug 28, 2025Tianchen Huang, Sisheng Chen, Wei Zhou +8Humanoid Robot Locomotion Robot Skill Learning
Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
Rational Inverse Reasoning: Few-Shot Imitation by Inferring Intent through Planning
Aug 12, 2025Ben Zandonati, Tomás Lozano-Pérez, Leslie Pack KaelblingRobot Skill Learning Generalization in Robotic Manipulation
MIT CSAIL
Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming
Jul 15, 2025Asad Ali Shahid, Francesco Braghin, Loris RovedaLong-Horizon Robotic Manipulation Robot Skill Learning
IDSIA, SUPSI, Lugano, Switzerland · Department of Mechanical Engineering, Politecnico di Milano, Italy
Prior Reinforce: Goal-Conditioned Dynamic Manipulation with Limited Trials
May 28, 2025Yihang Hu, Pingyue Sheng, Yuyang Liu +2Robot Policy Adaptation Robot Skill Learning
IIIS, Tsinghua University. · Shanghai Qi Zhi Institute. · Spirit AI.
Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control
Date pendingJun Chen, Erdemt Bao, Wenlong Dong +7Robot Skill Learning Imitation Learning
University of Electronic Science and Technology of China · Huazhong University of Science and Technology · Southern University of Science and Technology +2
tinyDSM: A Framework for Skill Modeling and Development for Resource-Constrained Millirobots
Date pendingMarkus Kobelrausch, Michael Miedler, Axel JantschRobot Skill Learning Intrinsic Motivation
Institute of Computer Technology, TU Wien, 1040 Vienna, Austria
SkillX: Unified Multi-Skill Policy Learning for Humanoid Soccer
Date pendingZhangchen Ye, Enxuan Ruan, Yifei Bao +10Robot Skill Learning Humanoid Robot Control
Noetix Robotics · Tsinghua University
Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints
Date pendingQinzhen Ma (Rice University)Robot Skill Learning World Models for Robotics
Rice University, USA

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

See and Switch: Vision-Based Branching for Interactive Robot-Skill Programming

Petr Vanc, Jan Kristof Behrens, Václav Hlaváč, Karla Stepanova

imitrob.ciirc.cvut.cz/publications/seeandswitch

Robot Skill Learning Robotic Manipulation Learning from Demonstration Robot Imitation Learning Vision-Based Robot Control Robot Learning

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Programming by demonstration (PbD) makes robot programming accessible to non-experts, but scaling it to real-world variability remains a challenge for current teaching frameworks, especially when a robot must select suitable task variants online from visual input. We present See & Switch, an interactive teaching-and-execution framework that represents tasks as graphs of skill parts connected by decision states, enabling conditional branching during replay. Its vision-based Switcher uses eye-in-hand images to select the appropriate successor skill part and detect novel situations that require new demonstrations. The framework supports recovery demonstrations during execution through kinesthetic teaching, joystick control, and hand gestures. We evaluate See & Switch on three dexterous manipulation tasks with 8 novice users, collecting approx. 900 real-robot execution rollouts. To isolate visual decision performance from timing errors during decision states, we evaluate the Switcher offline using user-gated decision state windows. In the evaluation within the decision state windows, the method achieves up to 90.6% branch-selection accuracy and detects anomalies with >90% accuracy in 47 of 79 decision states, demonstrating reliable switching based on visual input for conditional robot-skill programming. We provide all code and experiment data at http://imitrob.ciirc.cvut.cz/publications/seeandswitch.

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