Robust RL

RL: Reinforcement Learning

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17 papers in the last four weeks, up 467% on the four weeks before. 0.2% of all new papers.

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Latest papers 153

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CG-MuTra: Continuously-Gated Multi-Terrain Adaptive Recovery for Unified Humanoid Fall Recovery and Locomotion
Jun 8, 2026Xiaoyu Xu, Zhiming Chen, Yuenan Zhao +2Humanoid Robot Locomotion Robot Failure Recovery
School of Control Science and Engineering, Shandong University, Jinan, 250061, China · Key Laboratory of Machine Intelligence and System Control, Ministry of Education, China
Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation
Jun 7, 2026Kunqi Xu, Zhenhao Huang, Siyuan Luo +2Contact-Rich Robotic Manipulation Robotics Simulation
Human-centered Robotic Lab, National University of Singapore · School of EECS, Peking University
Towards End to End Motion Planning and Execution for Autonomous Underwater Vehicles Using Reinforcement Learning
Jun 7, 2026Elisei Shafer, Oren GalHierarchical RL Visuomotor Policy Learning
Department of Marine Technologies, University of Haifa, Israel
Adaptive Loss Balancing for Noise-Robust GRPO in Generative Recommendation
Jun 7, 2026Kewei Xu, Junbo Qi, Yanyan Zou +3Group Relative Policy Optimization Recommender Systems
Waseda University Tokyo, Japan · University of Electronic Science and Technology of China Chengdu, China
Predictive Style Matching: Natural and Robust Humanoid Locomotion
Jun 5, 2026Simeon Nedelchev, Ekaterina Chaikovskaia, Egor Davydenko +2Humanoid Robot Locomotion Reward Shaping
Moscow Institute of Physics and Technology (MIPT), Dolgoprudny, Moscow Region, Russia · Innopolis University, Innopolis, Russia · Sber Robotics Center, Moscow, Russia
Learning to Contest: Decentralized Robust Fairness in Cooperative MARL via Cross-Attention
Jun 4, 2026Can SavcıRobust RL Cooperative MARL
Independent Researcher Izmir, Turkey
HORIZON: Recoverability-Governed Curriculum for Physical-Domain Scaling
Jun 3, 2026Chenhao Bai, Liqin Lu, Kaijun Wang +5Domain Randomization Curriculum RL
1Zhejiang University, State Key Lab of CAD & CG · 2Zhejiang University of Technology
Scenario Generation for Risk-Aware Reinforcement Learning with Probably Approximately Safe Guarantees
Jun 3, 2026Mohit Prashant, Arvind EaswaranControl Barrier Functions Risk-Sensitive RL
Nanyang Technological University
Policy Gradient for Continuous-Time Robust Markov Decision Processes
Jun 3, 2026Tanya Veeravalli, David M. Bossens, Atsushi NitandaRobust Markov Decision Processes Markov Decision Processes
Centre for Frontier AI Research, Agency for Science, Technology and Research (A*STAR) · Institute of High Performance Computing, Agency for Science, Technology and Research (A*STAR) · College of Computing and Data Science, Nanyang Technological University
Post-Hoc Robustness for Model-Based Reinforcement Learning
Jun 2, 2026Siemen Herremans, Ali Anwar, Siegfried MercelisAdversarial Robustness Robust RL
1IDLab - University of Antwerp, imec
PerchRL: Vision-Based Agile Perching on Inclined Platforms under Rapid and Irregular Motion
Jun 2, 2026Zihong Lu, Zongzhuo Liu, Huaxu Li +5RL for Robotics Aerial Robotics
1SUSTech · 2HITSZ · 3PCL +1
Local Guidance, Global Impact: Gaussian-Reshaped Trust Region Unlocks Behavior Transitions
Jun 2, 2026Bingxu Liu, Jiashun Liu, Johan Obando-Ceron +5Non-Stationary RL Reinforcement Learning
Hong Kong University of Science and Technology · Fudan University · Mila - Québec AI Institute +2
Dynamics Are Learned, Not Told: Semi-Supervised Discovery of Latent Dynamics Geometries For Zero-Shot Policy Adaptation
Jun 1, 2026Zhiming Xu, Weitao Zhou, Xianghui Pan +4Robot Policy Adaptation Latent Dynamics Modeling
School of Computer Science and Engineering, Tongji University, Shanghai, China · School of Vehicle and Mobility, Tsinghua University, Beijing, China · Simple AI, Beijing, China +1
DRL-Based Pose Control for Double-Ackermann Robots Under Actuation Uncertainties
May 29, 2026Oussama Zaim, Mélodie Daniel, Aly Magassouba +2Robotic Control Robotics Simulation
Univ. Bordeaux, CNRS, Bordeaux INP, LaBRI, UMR 5800, F-33400 Talence, France. · School of Computer Science, University of Nottingham, UK. · Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, 50018 Zaragoza, Spain.
Physical Atari: A Robust and Accessible Platform for Real-time Reinforcement Learning on Robots
May 29, 2026Khurram Javed, Joseph Modayil, Gloria Kennickell +2RL Benchmarks Reinforcement Learning
Keen Technologies · Openmind Research Institute · University of Alberta, Canada
Robust Shielding for Safe Reinforcement Learning
May 29, 2026Edwin Hamel-De le Court, Thom Badings, Alessandro Abate +2Robust Markov Decision Processes Formal Verification
Department of Computer Science, University of Manchester, United Kingdom · Faculty of Computer Science & DSME, RWTH Aachen University, Germany · Department of Computer Science, University of Oxford, United Kingdom +1
StressDream: Steering Video World Models for Robust Policy Evaluation and Improvement
May 29, 2026Junwon Seo, Sushant Veer, Ran Tian +6Video Diffusion Models Action-Conditioned World Models
Carnegie Mellon University · NVIDIA Research · University of Washington +1
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
Theoretical Foundations and Effective Algorithms for Policy-Aware Simulator Learning
May 27, 2026Christoph Dann, Yishay Mansour, Mehryar MohriSim-to-Real Transfer Active Learning
Google Research · Tel Aviv University and Google Research · Google Research and Courant Institute of Mathematical Sciences
Learning to Act under Noise: Enhancing Agent Robustness via Noisy Environments
May 26, 2026Yuxin Chen, Xiaodong Cai, Junfeng Fang +9LLM Agents LLM Agent Training
National University of Singapore · Meituan · Tsinghua University +2
Credibility-Aware Learning and Control for Safe USV Navigation under Perception Uncertainty
May 26, 2026Yuhang Zhang, Shuqi Chai, Yukang Zhang +5Collision Avoidance Robot Navigation
School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, China · Shenzhen Research Institute of Big Data, Shenzhen 518172, China · Chinese University of Hong Kong, Shenzhen, Shenzhen 518172, China +5
Adaptive Reinforcement Learning for Robust Open Quantum System Control: A Multi-Task Framework with Temporal Optimization
May 26, 2026Haftu W. Fentaw, Steve Campbell, Simon CatonRL Control Multi-Task RL
School of Computer Science, University College Dublin, Belfield, Dublin 4, Dublin, Ireland. · Centre for Quantum Engineering, Science, and Technology, University College Dublin, Belfield, Dublin 4, Dublin, Ireland. · School of Physics, University College Dublin, Belfield, Dublin 4, Dublin, Ireland.
Robust Koopman Control Barrier Filters for Safe Actor-Critic Reinforcement Learning
May 26, 2026Dhruv S. Kushwaha, Zoleikha A. BironKoopman Operator Learning Control Barrier Functions
Decoupled Delay Compensation: Enhancing Pre-trained MARL Policies via Learned Dynamics Filtering
May 25, 2026Maxim Mednikov, Oren GalRobust RL Multi-Agent Reinforcement Learning
University of Haifa, Israel
Vision-Guided Outdoor Flight and Obstacle Evasion via Reinforcement Learning
May 23, 2026Shiladitya Dutta, Aayush Gupta, Varun Saran +1RL for Robotics UAV Navigation
College of Engineering, Department of Electrical Engineering and Computer Science, University of California Berkeley
Evolving Robustness--Exploration Trade-off in Online Reinforcement Learning via Quantile Bayesian Risk MDPs
May 23, 2026Meichen Song, Yuhao Wang, Enlu ZhouReinforcement Learning Bayesian RL
School of Industrial and Systems Engineering Georgia Institute of Technology Atlanta, GA 30332, USA
Infra-Bayesian Reinforcement Learning Agents Outperform Classical RL For Worst-Case Robustness
May 22, 2026Manish Aryal, Faiyaz Azam, Agnivo Banerjee +11Reinforcement Learning Model Misspecification
Purdue University · Carnegie Mellon University · WorldQuant University +11
Decoupling Communication from Policy: Robust MARL under Bandwidth Constraints
May 20, 2026Alexi Canesse, Benoît Goupil, Jesse Read +1Decentralized MARL Multi-Agent Communication
École polytechnique (LIX), CNRS, Institut Polytechnique de Paris, Palaiseau, France
When Critics Disagree: Adaptive Reward Poisoning Attacks in RIS-Aided Wireless Control System
May 19, 2026Deemah H. Tashman, Soumaya CherkaouiWireless Communications Robust RL
Department of Computer and Software Engineering, Polytechnique Montreal, Montreal, Canada
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

Jun 8, 2026, cs.ROJ/K move · Enter open · S save

CG-MuTra: Continuously-Gated Multi-Terrain Adaptive Recovery for Unified Humanoid Fall Recovery and Locomotion

Xiaoyu Xu, Zhiming Chen, Yuenan Zhao, Ran Song+1

School of Control Science and Engineering, Shandong University, Jinan, 250061, China · Key Laboratory of Machine Intelligence and System Control, Ministry of Education, China

Humanoid Robot Locomotion Robot Failure Recovery Terrain-Aware Robot Locomotion Robot Locomotion Robust RL Humanoid Robotics

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Falling is an inherent risk for humanoid robots operating in unstructured environments. Existing reinforcement learning methods that leverage expert motion priors are predominantly trained on flat-ground fall-recovery tasks and typically rely on hard switching between separate recovery and locomotion controllers. As a result, such policies struggle to achieve smooth and robust recovery behaviors when deployed on complex terrains such as slopes and gravel. This paper presents \textbf{CG-MuTra}, a unified continuously-gated multi-scale discriminator framework for multi-terrain adaptive fall recovery. CG-MuTra introduces a proprioceptively-derived continuous gate

α= f(z_{\mathrm{root}}, s)

that softly blends three discriminators operating at different temporal horizons: frame-level stability (

Φ_{\mathrm{frame}}

H=1

), temporal smoothness (

Φ_{\mathrm{seq}}

H=5

), and gait periodicity (

Φ_{\mathrm{gait}}

H=10

). This design enables seamless recovery-to-locomotion transitions without explicit mode switching. Furthermore, we propose a Terrain-Pose Risk Coupling Sampler (TPRCS) that explicitly couples dangerous edge initial poses with terrain dynamics during training, forming a closed-loop synergy with the terrain-privileged shaping term

Ξ_κ

. We validate CG-MuTra on a Unitree G1 humanoid across grass, slopes (

10^\circ

15^\circ

), and gravel in both simulation and hardware. Experimental results demonstrate that CG-MuTra achieves smooth, highly robust fall recovery and locomotion transitions across multiple terrains while maintaining a single deployable policy.

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Latest papers 153