Visuomotor Policy Learning

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43 papers in the last four weeks, up 378% on the four weeks before. 0.4% of all new papers.

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  1. Video Prediction Policy 2: Predict Better, Act Better

    Oct 7, 2026Yanjiang Guo, Haodong Yan, Zhide Zhong +15Visuomotor Policy LearningWorld Action Models

    Robotera · Tsinghua University · HKUST (GZ) +2

  2. CAP: Codebook-Aligned Prediction for Tokenized Robot Policies

    Oct 6, 2026Haoran Chen, Jingtian Ji, Samuel Wheeler +2Robot Policy LearningRobot Learning

    Toyota Technological Institute at Chicago · Argonne National Laboratory

  3. MIM-VLA: Learning Physical Interaction Representations from Gripper Motor Feedback

    Oct 6, 2026Jaeyoung Lee, Jiyeon Koo, Taehwa Kim +2Robotic GraspingVisuomotor Policy Learning

    School of Computing, iRASC Lab., Gachon University, Seongnam, Republic of Korea

  4. VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation

    Oct 6, 2026Yutian Zhang, Xingrui Xiong, Siyuan Ma +12Mobile ManipulationRobotic Data Collection

    ZJU · Yale · THU +5

  5. ViDAL: A Visual Dynamics-Grounded Action Latent Space for Vision-Language-Action Models

    Oct 6, 2026Yuan Xu, Yixiang Chen, Qisen Ma +10Latent Action LearningVisuomotor Policy Learning

    CASIA · UCAS · Alibaba Group +1

  6. IronMan: Information-Constrained Video-Action Learning for Robot Manipulation

    Oct 6, 2026Yuanshuo Zhang, Wenzhe Zhao, Zixing Lei +2Information BottleneckGeneralization in Robotic Manipulation

    Shanghai Jiao Tong University · Joy Future Academy, JD

  7. Bilinear Flow Policy: Distributional Extrapolation for Goal-Conditioned Visuomotor Imitation

    Oct 5, 2026Wonsuhk Jung, Sundhar Vinodh Sangeetha, Chen Xu +4OOD GeneralizationVisuomotor Policy Learning

    Georgia Institute of Technology · Toyota Research Institute · University of Washington

  8. Learning Coordinated Visuomotor Box-Pushing from Solo Demonstrations

    Oct 5, 2026Ryusei Matsumoto, Mei Kinjo, Yoko Sasaki +1Visuomotor Policy LearningMulti-Robot Coordination

    National Institute of Advanced Industrial Science and Technology (AIST), Japan · Institute of Science Tokyo, Japan · The University of Tokyo, Japan

  9. VAMPS: Visual and Motor Policies from Sampling-Based Planning

    Oct 4, 2026Mohamed Yassine Kabouri, Pietro Noah Crestaz, Quang-Nam Nguyen +3Robot Policy LearningVisuomotor Policy Learning

    LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France. · Machines in Motion Laboratory, New York University, New York, USA. · Industrial Engineering Department, University of Trento, Trento, Italy. +1

  10. Recursive Self-Improvement of Visuomotor Policies through Local Recovery Supervision

    Oct 4, 2026Yuzhi Zhang, Xinyu Liu, Yu ZhangRobot Failure RecoveryVisuomotor Policy Learning

    Beihang University

  11. Whole-Body Aerial Grasping and Lifting via Partial Visual Observations

    Sep 30, 2026Jiaye Jin, Rui Jin, Xinhang Xu +6Aerial RoboticsPartially Observable RL

    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798 · College of Electronics and Information Engineering, Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai 201804, China · NTU–VinUni Joint Research Laboratory for Embodied AI and Robotics, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, and VinUniversity, Hanoi, Vietnam

  12. Text-to-3D Policy: Fine-Grained Language-Behavior Alignment for Unseen Specification Generalization

    Sep 30, 2026Xinhao Yang, Wenhao Wu, Ning Lv +5Language-Conditioned Robot ManipulationGeneralization in Robotic Manipulation

    Nanjing University · Australian National University · University of Technology Sydney

  13. MotionWeave: Learning Motion-Centered Future Dynamics for Vision-Language-Action Policies

    Sep 30, 2026Jingqiu Wang, Yan WangVisuomotor Policy LearningRobotic Manipulation

    School of Data Science and Engineering East China Normal University, Shanghai, China

  14. A Biophysically Detailed C. elegans Circuit as a Task-Agnostic Dynamical Core for Visually Robust Robot Manipulation

    Sep 30, 2026Linrui Qian, Jiajia Zhang, Gan He +7Robotic ControlRobot Policy Learning

    CogLeap.AI Space Intelligence (Wuxi) Technology Co., Ltd., Beijing 100080, China · School of Mathematics and Computational Science, Xiangtan University, Xiangtan 411105, China · Institute for Brain and Intelligence, Fudan University, Shanghai 200433, China. +1

  15. BIND: Binding 3D Robot Actions to 2D Image Features

    Sep 29, 2026Cameron Smith, Arsh Tangri, Vitor Guizilini +3Visuomotor Policy LearningData-Efficient Robot Learning

    University of Southern California · Toyota Research Institute

  16. Rethinking Representations for World-Action Modeling

    Sep 29, 2026Haoyi Jiang, Liu Liu, Xinjiang Wang +12World Model LearningAction-Conditioned World Models

    Huazhong University of Science & Technology · Horizon Robotics · Fudan University +2

  17. Remember What You Did: Action-History Memory with Dual-Expert Denoising for Long-Horizon Vision-Language-Action Policies

    Sep 29, 2026Yaxin Zhao, Dianye Huang, Chenwei Wang +2Memory-Augmented VLMsLong-Horizon Robotic Manipulation

    Harbin Institute of Technology, Harbin, China. · Medical Intelligence and Robotic Cognition (MIRoC) Lab, Department of Mechanical Engineering, The University of Hong Kong (HKU), Hong Kong SAR, China. · Department of Computing, The Hong Kong Polytechnic University, Hong Kong SAR, China

  18. V-JEPA Policy: Building Effective World-Action Models on Predictive Visual Latents

    Sep 29, 2026Yang Zhang, Jiangyuan Zhao, Chenyou Fan +4Visual Representation LearningVisuomotor Policy Learning

    Tsinghua University · Shanghai Jiao Tong University · Fudan University +4

  19. ComManip: Overfitting Manipulation Policies to Comfortable Regions

    Sep 29, 2026Yidan Lai, Xinyi Chen, Shuquan Man +1Visuomotor Policy LearningRobotic Manipulation

    South China University of Technology, Guangzhou, China · Nanyang Technological University, Singapore

  20. LexiconVLA: Learning Reusable Atomic Action Codebooks for Unseen Tasks

    Sep 29, 2026Zeming Wei, Jianheng Ye, Xinshuai Song +3Visuomotor Policy LearningRobotic Manipulation

    Sun Yat-sen University · X-Era AI Lab · Pengcheng Laboratory

  21. Where Predictive Supervision Goes Shapes What VLA Policies Learn

    Sep 29, 2026Hanseul Kim, Jewon Yeom, Youngjoon Jeong +2Visuomotor Policy LearningVision-Language-Action Models

    Graduate School of Data Science Seoul National University

  22. Gaze Prompts: Temporally Dense Human Attention for Vision-Language-Action Fine-Tuning

    Sep 28, 2026Yihan Zhou, Rui Yan, Mingcong Li +4Visuomotor Policy LearningRobotic Manipulation

    Department of Automation, Tsinghua University · Beijing Key Laboratory of Embodied Intelligence Systems · Institute for Embodied Intelligence and Robotics, Tsinghua University +1

  23. Quantile Head for Vision-Language-Action Models

    Sep 28, 2026Xuan Wang, Yinan Wu, Haoran Duan +1Quantile RegressionEfficient VLA Model Inference

    Department of Automation Tsinghua University

  24. Estimate, Don't Imitate: Reusing Differentiable State-Based Policies for Visuomotor Control

    Sep 27, 2026Denis Shcherba, Adrian Abel, Eckart Cobo-Briesewitz +3Visuomotor Policy LearningRobotic Manipulation

    Fraunhofer Heinrich-Hertz-Institut, Berlin, Germany · Technische Universität Berlin, Germany

  25. SLIP-VLA: Single-Step Latent Imagination for Policy Learning in Vision-Language-Action Models

    Sep 27, 2026Tianfu Li, Haoxuan Xu, Wenbo Chen +7World Model LearningVisuomotor Policy Learning

    The Hong Kong University of Science and Technology (Guangzhou). · The Hong Kong University of Science and Technology. · Nanyang Technological University. +1

  26. Faster Visuomotor Policy Learning on Action Manifolds via Riemannian MeanFlow

    Sep 24, 2026S. Talha Bukhari, Austin Garrett, Yi Wei +3Visuomotor Policy LearningRiemannian Flow Matching

    Department of Computer Science, Purdue University, West Lafayette, IN 47907, USA

  27. ActGaze: Learning Action-Grounded Gaze through Counterfactual Visual Interventions for High-Precision Manipulation

    Sep 24, 2026Jinxuan Zhu, Jiaheng Wang, Chao Tang +7Visuomotor Policy LearningRobotic Manipulation

    Samsung Robotics eXperience · National University of Singapore

  28. Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy

    Sep 23, 2026Tara Sadjadpour, Siming He, C. K. Wolfe +5Zero-Shot Robotic ManipulationContact-Rich Robotic Manipulation

    Department of Electrical Engineering and Computer Science at the University of California, Berkeley, CA, USA

  29. Median Temporal Ensembling: Training-Free Robust Aggregation for Action-Chunked Visuomotor Policies

    Sep 22, 2026Yuhang JiangEnsemble LearningAdversarial Robustness

    University of Trento, Italy

  30. MAVP: Map-Aware Visuomotor Policies for Mobile Manipulation

    Sep 22, 2026Jinhe Tang, Ruixiao Dai, Weiming ZhiRobot Trajectory TrackingRobot Policy Learning

    School of Computer Science, The University of Sydney, Australia

  31. An Action Is Worth One Patch: Unified World-Action Modeling with PatchWAM

    Sep 22, 2026Tianheng Wang, Zhou Xie, Heng Jia +3World Models for RoboticsVisuomotor Policy Learning

    Westlake University · Lanzhou University · Zhejiang University +2

  32. HABILIS Brain 0: Geometry-Change Supervision for Vision-Language-Action and Residual Flow Recovery

    Sep 22, 2026Jinu Pahk, Jesoon Kang, Taegeon Park +4Visuomotor Policy LearningRobotic Manipulation

    Tommoro Robotics

  33. RoboMP-DINOv2: Prompts, Not Filters for Robust Robot Manipulation

    Sep 22, 2026Han Qi, Heng YangGeneralization in Robotic ManipulationVisuomotor Policy Learning

    Harvard School of Engineering and Applied Sciences Harvard University

  34. Visuomotor Robotic Pruning in Planar Orchards Using Hybrid Reinforcement Learning

    Sep 21, 2026Abhinav Jain, Cindy Grimm, Stefan LeeVisuomotor Policy LearningRobotics

    Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis OR 97331, USA

  35. ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation

    Sep 21, 2026Bowei Li, Yuner Zhang, Changliu LiuRobotics SimulationSim-to-Real Transfer

    Carnegie Mellon University, Pittsburgh, PA 15213, USA

  36. Object-Centric Conditioning for Visuomotor Flow Matching

    Sep 21, 2026Jijie Li, Xu Yang, Junhong Zou +4Flow MatchingVisuomotor Policy Learning

    School of Artificial Intelligence, University of Chinese Academy of Sciences · State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences · Foundation Model Research Center, Institute of Automation, Chinese Academy of Sciences +2

  37. Accelerating Visual Policy Learning with Sampling-Based Model Predictive Control

    Sep 17, 2026Yilang Liu, Haoxiang You, Qian Wang +2Policy OptimizationVisuomotor Policy Learning

    Department of Mechanical Engineering, Yale University, New Haven, CT 06520, USA · Department of Computer Science, Yale University, New Haven, CT 06520, USA · School of Electrical and Computer Engineering, University of Sydney, Sydney, NSW 2006, Australia

  38. AnyViewDex: View-Invariant Dexterous Manipulation from RGB Observations

    Sep 17, 2026Soham Patil, Om Sanjay Gunjal, Sourabh Bhosale +3Robotic GraspingZero-Shot Robotic Manipulation

    Robotics Research Center, IIIT-H, India · Department of Electronics Engineering, Veermata Jijabai Technological Institute Mumbai, India · Department of Electrical Engineering and Computer Sciences, Indian Institute of Science Education and Research Bhopal, India

  39. ReShoot: Generative Visual Domain Randomization of Recorded Robot Demonstrations for Visuomotor Policy Learning

    Sep 17, 2026Chiyoung Kim, Min Sung Choi, Jinho Ju +5Domain RandomizationVisuomotor Policy Learning

    Chung-Ang University, Seoul, Republic of Korea

  40. ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots

    Sep 16, 2026Zejie Tian, Ruibing Hou, Bingpeng Ma +2Humanoid Loco-ManipulationHumanoid Robot Control

    State Key Laboratory of AI Safety, Institute of Computing Technology, CAS, China.

  41. Decoupling Vision, Language, and Action for Efficient Multi-Task Robot Policies

    Sep 16, 2026Xiatao Sun, Chen Liang, Ziyao Zeng +5Visuomotor Policy LearningEfficient VLA Models

    Department of Computer Science, Yale University, New Haven, CT, USA. · Peking University, Beijing, China. · Digients, Singapore.

  42. ULOHA: An Underwater Bimanual Robot System for Robot Learning

    Sep 16, 2026Masato Kobayashi, Takeru TsunooriBimanual Robotic ManipulationVisuomotor Policy Learning

    The University of Osaka · Kobe University

  43. Rethinking Visual Embodiment Dependence in Visuomotor Policies

    Sep 15, 2026Hongjie Fang, Yuxuan Lu, Chenxi Wang +8Generalization in Robotic ManipulationVisuomotor Policy Learning

    1Shanghai Jiao Tong University · 2FORTE Lab. · 3Noematrix. +2

  44. UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data

    Sep 15, 2026Hyesung Lee, Si-Hwan Heo, Sungwook YangRL for RoboticsVisuomotor Policy Learning

    Center for Humanoid Research, Korea Institute of Science and Technology, Seoul 02792, Republic of Korea · Kim Jaechul Graduate School of AI, Korea Advanced Institute of Science and Technology, Seoul 02455, Republic of Korea

  45. Uncertainty-Guided Sparse Refinement for Action Chunking Transformer Policies

    Sep 14, 2026Chenyang Wang, Yuntian Wang, Xiaoxiong Yang +3Long-Horizon Robotic ManipulationVisuomotor Policy Learning

    Soochow University, China · University of Electronic Science and Technology of China, China · Tongji University, China

  46. StereoPatch: Patch-Aligned RGB-Depth Fusion for Spatial Perception in Robot Manipulation

    Sep 14, 2026Yanan Zhou, Zhaoyan Qian, James Zhao +1Generalization in Robotic ManipulationVisuomotor Policy Learning

    School of Computer Science, The University of Sydney, Australia. · Australian Centre for Robotics, The University of Sydney, Australia.

  47. Visible Touch: Rendering Contact for Visuomotor Policies

    Sep 12, 2026Metin Alp Dogan, Edward Sun, Feng Xu +4Visuomotor Policy LearningTactile Sensing for Robotic Manipulation

    University of California, Los Angeles

  48. UniMPA: A Unified Memory-Prediction-Action Model via Action-Grounded Transition Modeling

    Sep 11, 2026Wei Li, Rui Shao, Jie He +3Memory-Augmented VLMsVisuomotor Policy Learning

    School of Computer Science and Technology, Harbin Institute of Technology (Shenzhen), China, 518055 · S-Lab, Nanyang Technological University, Singapore, 639798

  49. MoPA: Coordinated Mobile Manipulation via Subsystem-Specific Perception Alignment

    Sep 10, 2026Guangyu Chen, Qiwei Liang, Shaolong Zhu +7Mobile ManipulationCross-Modal Alignment

    1THU · 2Xspark AI · 3HKUST (GZ) +1

  50. JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction

    Sep 9, 2026Jie Xu, Kangjin Yu, Ziyi Jin +5Joint-Embedding Predictive ArchitectureVisuomotor Policy Learning

    Anyverse Dynamics

  51. Localized Visual Feature Aggregation via Focus Pooling for Visuomotor Policies

    Sep 8, 2026Ruiyu Wang, Zheyu Zhuang, Danica Kragic +1Visuomotor Policy LearningVision-Based Robot Control

    KTH Royal Institute of Technology, Sweden

  52. LayerRoute: Action-Conditioned Mixture-of-Layers Routing for Vision-Language-Action Policies

    Sep 5, 2026Zheng Lu, Haoran Liao, Wanqi Zhong +9Visuomotor Policy LearningRobotic Manipulation

    Tsinghua University · Zhejiang University · Nanyang Technological University +2

  53. MINERVA: How Small Can a Manipulation Policy Be and Still Solve LIBERO?

    Sep 3, 2026Kohei Sendai, Tatsuya Matsushima, Yusuke IwasawaRobot Skill LearningVisuomotor Policy Learning

    Matsuo-Iwasawa Lab, Graduate School of Engineering, The University of Tokyo, Japan

  54. PAVE: Predictive Alignment and Value-Guided Evolution for World-Action Policies

    Aug 31, 2026Botong Zhao, Fang Yu, Tim Yu +3Robot Policy LearningRobot Skill Learning

    Multi-Dimensional Information Processing Laboratory, East China Normal University · EBKernel · Shanghai Artificial Intelligence Laboratory

  55. DriftingVLA: Native One-Step Vision-Language-Action Generation via Per-Dimension Temporal Drifting

    Aug 30, 2026Yuxuan Gao, Shiqi Zhang, Yedong Shen +6Efficient VLA Model InferenceVisuomotor Policy Learning

    University of Science and Technology of China, Hefei 230026, China. · LYNSENSE, Shanghai, China.

  56. VT-MUSE: Multimodal Unified Sequential Visuotactile Representation Learning for Manipulation

    Aug 21, 2026Congsheng Xu, Qiaochu Yang, Fangyuan Shi +9Visuo-Tactile Representation LearningVisuomotor Policy Learning

    Shanghai Jiao Tong University · Xense Robotics

  57. Attention from Action, for Action: Emergent Visual Bottlenecks for Policy Learning

    Aug 13, 2026Zheyu Zhuang, Ruiyu Wang, Nick Heppert +4Visual AttentionVisuomotor Policy Learning

    Department of Robotics, Perception and Learning, KTH Royal Institute of Technology, Sweden · Department of Computer Science, University of Freiburg, Germany · Department of Informatics, Universität Hamburg, Germany

  58. NestDex: Nested Policy Learning with Copilot Assisted Teleoperation for Dexterous Manipulation

    Aug 13, 2026James Zhao, Jinhe Tang, Mingyuan Ba +1Robot TeleoperationVisuomotor Policy Learning

    School of Computer Science and 2Australian Centre for Robotics, The University of Sydney, Australia · College of Connected Computing, Vanderbilt University, TN, USA

  59. Foresight Without Seeing: Latent Futures for World Action Models

    Aug 12, 2026Jiakai Huang, Zhongbo Wu, Siyu Xu +5World Models for RoboticsVisuomotor Policy Learning

    Shanghai Jiao Tong University · ACE Robotics · Nanyang Technological University

  60. Surgical WAM: A World-Action Model for Data-Efficient Surgical Robot Learning

    Aug 11, 2026Wenrui Bao, Tianyun Jiang, Zhiben Chen +3World Models for RoboticsBimanual Robotic Manipulation

    University of Central Florida · AdventHealth