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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GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models
Jun 2, 2026Yizhi Chen, Zhanxiang Cao, Xinyi Peng +14Visuomotor Policy Learning Geometric Representation Learning
Tongji University · Shanghai Innovation Institute · Shanghai Jiao Tong University +5
AURA: Action-Gated Memory for Robot Policies at Constant VRAM
Jun 1, 2026Josef ChenVisuomotor Policy Learning Memory-Efficient Inference
KAIKAKU
See Less, Specify More: Visual Evidence Budgets for Generalizable VLAs
Jun 1, 2026Yueh-Hua Wu, Tatsuya Matsushima, Kei OtaVisuomotor Policy Learning Vision-Language-Action Models
AIRoA
Training-Free Imitation Learning with Closed-Form Diffusion Policies
May 31, 2026Raghav Mishra, Ian R. ManchesterDiffusion Model Guidance Visuomotor Policy Learning
Australian Center for Robotics, ARIAM Hub, and School of Aerospace, Mechanical and Mechatronic Engineering University of Sydney
ELAN4D: Embodiment-Centric 4D Supervision for Vision-Language-Action Models via Plug-and-Play Adaptation
May 28, 2026Zeyuan He, Bowen Yang, Zhirui Fang +9Language-Conditioned Robot Manipulation Visuomotor Policy Learning
Torr Vision Group, University of Oxford · The Chinese University of Hong Kong, Shenzhen · Shanghai Jiao Tong University +3
Imitation Learning for Robot Assistance in Open Surgery: A Multi-Policy Evaluation on Suture Following
May 27, 2026Xucheng Wang, Zhizhou Yang, Xiaoman Zhang +3Visuomotor Policy Learning Robot Imitation Learning
Department of Biomedical Informatics, Harvard Medical School, Boston, MA · Department of Surgery, Massachusetts General Hospital, Boston, MA
SANTS: A State-Adaptive Scheduler for World Action Models
May 27, 2026Yirui Sun, Guangyu Zhuge, Keliang Liu +4Action-Conditioned World Models Visuomotor Policy Learning
Fudan University · Deep Computing Era Technology Co., Ltd · Harbin Institute of Technology
Efficient On-policy Visual-RL via Stochastic Decoupled Policy Gradient
May 26, 2026Haoxiang You, Yilang Liu, Davis Zong +5Policy Optimization Visuomotor Policy Learning
Yale University, Department of Mechanical Engineering. · Yale University, Department of Computer Science. · Shanghai Jiao Tong University, School of Computer Science. +1
OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation
May 25, 2026Xinzhe Chen, Sihua Ren, Liqi Huang +5Visuomotor Policy Learning Robotic Manipulation
National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University
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
From Abstraction to Instantiation: Learning Behavioral Representation for Vision-Language-Action Model
May 21, 2026Bing Hu, Zaijing Li, Rui Shao +4Visuomotor Policy Learning Robotic Manipulation
Harbin Institute of Technology, Shenzhen · PengCheng Laboratory · Shenzhen Loop Area Institute +2
Action with Visual Primitives
May 21, 2026Weilong Guo, Yuchen Wang, Renping Zhou +5Generalization in Robotic Manipulation Visuomotor Policy Learning
Anyverse Dynamics · Tsinghua University
Closed-Loop Sim-to-Real Reinforcement Learning for Deformable Microfiber Shape Control
May 20, 2026Alessandro Amici, Houari Bettahar, Veeti Jaakkola +1Sim-to-Real Transfer Deformable Object Manipulation
Department of Electrical Engineering and Automation, Aalto University, 02150 Espoo, Finland
DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation
May 20, 2026Hanxiang Ren, Pei Zhou, Xunzhe Zhou +1Language-Conditioned Robot Manipulation Visuomotor Policy Learning
‡Zhejiang University §The University of Hong Kong ¶TranscEngram
Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition
May 20, 2026Benedict Quartey, Sebastian Castro, Eric Rosen +3Robot Skill Learning Generalization in Robotic Manipulation
Brown University · Robotics & AI Institute
DEFLECT: Temporal Counterfactual Preference Learning for Delay-Robust Asynchronous VLAs
May 19, 2026Yixiang Zhu, Yonghao Chen, Zijie Yang +2Robotic Control Visuomotor Policy Learning
The Hong Kong University of Science and Technology (Guangzhou) · One Robotics
Offline Semantic Guidance for Efficient Vision-Language-Action Policy Distillation
May 15, 2026Jin Shi, Brady Zhang, Yishun LuVLM Distillation Efficient VLA Model Inference
Department of Mechanical Engineering University College London London, United Kingdom · Department of Engineering Science University of Oxford Oxford, United Kingdom
FocalPolicy: Frequency-Optimized Chunking and Locally Anchored Flow Matching for Coherent Visuomotor Policy
May 15, 2026Qian He, Zhenshuo Yang, Wenqi Liang +3Flow Matching Long-Horizon Robotic Manipulation
State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences · University of the Chinese Academy of Sciences · University of Trento
GAP: Geometric Anchor Pre-training for Data-Efficient Visuomotor Learning of Manipulation Tasks
May 15, 2026Davide Buoso, Andrea Protopapa, Stefano Di Carlo +2Vision Foundation Model Adaptation Visuomotor Policy Learning
Department of Control and Computer Engineering, Polytechnic University of Turin, Italy
FLASH: Efficient Visuomotor Policy via Sparse Sampling
May 15, 2026Jiaqi Bai, Jindou Jia, Yuxuan Hu +5Flow Matching Long-Horizon Robotic Manipulation
MARS Lab, Nanyang Technological University, Singapore
Diffusion Policy for Coordinated Control of a Nonholonomic Mobile Base and Dual Arms in Door Opening and Passing
May 14, 2026Shangqun Yu, Matthew En, Daniel Wu +4Long-Horizon Robotic Manipulation Mobile Manipulation
Manning College of Information and Computer Sciences, University of Massachusetts Amherst · alpha-z
WarmPrior: Straightening Flow-Matching Policies with Temporal Priors
May 13, 2026Sinjae Kang, Chanyoung Kim, Kaixin Wang +2Flow Matching Visuomotor Policy Learning
KAIST · Microsoft Research
FrameSkip: Learning from Fewer but More Informative Frames in VLA Training
May 13, 2026Bin Yu, Shijie Lian, Xiaopeng Lin +8Visuomotor Policy Learning Vision-Language-Action Models
Harbin Institute of Technology · Zhongguancun Academy · Huazhong University of Science and Technology +5
CUBic: Coordinated Unified Bimanual Perception and Control Framework
May 13, 2026Xingyu Wang, Pengxiang Ding, Jingkai Xu +2Bimanual Robotic Manipulation Visuomotor Policy Learning
Beijing Advanced Innovation Center for Future Blockchain and Privacy Computing, School of Artificial Intelligence, Beihang University · Westlake University · Zhejiang University +1
SID: Sliding into Distribution for Robust Few-Demonstration Manipulation
May 13, 2026Yicheng Ma, Wei Yu, Zhian Su +2Generalization in Robotic Manipulation Visuomotor Policy Learning
1Grasp Lab, Zhejiang University · 2Torch Kernel Co., Ltd.
X-Imitator: Spatial-Aware Imitation Learning via Bidirectional Action-Pose Interaction
May 12, 2026Kai Xiong, Hongjie Fang, Lixin Yang +1Robot Skill Learning Visuomotor Policy Learning
Shanghai Jiao Tong University
Premover: Fast Vision-Language-Action Control via Early Execution During Instruction Delivery
May 12, 2026Joonha Park, Jiseung Jeong, Taesik GongVisuomotor Policy Learning AI Control
UNIST, Ulsan, Republic of Korea · The Catholic University of Korea, Bucheon, Republic of Korea
Beyond World-Frame Action Heads: Motion-Centric Action Frames for Vision-Language-Action Models
May 12, 2026Huoren Yang, Jianchao Zhao, Hu Yusong +7Language-Conditioned Robot Manipulation Visuomotor Policy Learning
Xi’an Jiaotong University, Xi’an, Shaanxi, CN · One Robotics, Shenzhen, Guangdong, China · Shenzhen University of Advanced Technology, Shenzhen, Guangdong, CN
NavOL: Navigation Policy with Online Imitation Learning
May 12, 2026Xiaofei Wei, Chun Gu, Li ZhangVisual Navigation Robot Navigation
School of Data Science, Fudan University · 2Shanghai Innovation Institute.
StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perception
May 11, 2026Evans Han, Yunfan Jiang, Yingke Wang +6Robot Policy Learning Visuomotor Policy Learning
1Stanford University · 2Northwestern University · 3Lambda, Inc

Jun 2, 2026, cs.ROJ/K move · Enter open · S save

GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models

Yizhi Chen, Zhanxiang Cao, Xinyi Peng, Yixiao Zheng+13

Tongji University · Shanghai Innovation Institute · Shanghai Jiao Tong University+5

Visuomotor Policy Learning Geometric Representation Learning Vision-Language-Action Models

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Current Vision-Language-Action (VLA) models often optimize for semantic grounding, whereas executable manipulation requires geometry-aware spatial alignment. We introduce GeoAlign, a state-guided spatial alignment architecture for VLA policy learning. Offline robot-domain RGB-D supervision post-trains an RGB geometry branch to produce Geometry-Enhanced Post-Trained (GEP) features; the depth head is then discarded, so policy training and rollout use RGB, language, and proprioceptive state. State-generated queries attend to the GEP grid to produce eight compact geometry tokens for action prediction. GeoAlign achieves 99.0% on LIBERO, 85.3% across three SimplerEnv-Fractal task families, and 78.8% on eight real-world ALOHA tasks, with ablations supporting the combined recipe of geometry post-training and state-guided querying on Isaac-GR00T N1.6-3B. Project website: https://chenyizhi123.github.io/geoalign-project/.

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