Visuomotor Policy Learning

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Overview

Visuomotor policies map what a robot sees to actions, helping it manipulate objects, navigate, and interact when the scene or task changes. Common approaches learn from demonstrations through action-chunking transformers, diffusion or flow-matching policies, and vision-language-action models; reinforcement learning and policy distillation are also used. Researchers improve these policies with geometric and object-centered visual features, memory, contact sensing, and predictions of how actions will change the scene, evaluating them on benchmarks such as LIBERO and RoboTwin as well as physical robots. A central tension is achieving reliable generalization and safe, precise control in real settings while keeping data needs, model size, and inference latency low.

Latest papers

CardsList

286 papers54 papers in the last four weeks, up 29% on the four weeks before. 0.3% of all new papers.

  1. FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception

    Apr 23, 2026Zhen Zhang, Weinan Wang, Hejia Sun +4Dexterous ManipulationVisuomotor Policy Learning

    The Chinese University of Hong Kong · The Hong Kong Polytechnic University

  2. Gated Memory Policy

    Apr 21, 2026Yihuai Gao, Jinyun Liu, Shuang Li +1Sequential Decision MakingVisuomotor Policy Learning

    Stanford University

  3. R3D: Revisiting 3D Policy Learning

    Apr 16, 2026Zhengdong Hong, Shenrui Wu, Haozhe Cui +83D ViTsVisuomotor Policy Learning

    Zhejiang University · ShanghaiTech University

  4. DockAnywhere: Data-Efficient Visuomotor Policy Learning for Mobile Manipulation via Novel Demonstration Generation

    Apr 16, 2026Ziyu Shan, Yuheng Zhou, Gaoyuan Wu +3Mobile ManipulationGeneralization in Robotic Manipulation

    Beijing University of Posts and Telecommunications, Beijing, China · Nanyang Technological University, Singapore

  5. Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflection

    Apr 15, 2026Zhen Liu, Xinyu Ning, Zhe Hu +8Long-Horizon Robotic ManipulationRobot Task Planning

    Beijing University of Posts and Telecommunications · InspireOmni AI · Tsinghua University

  6. WARPED: Wrist-Aligned Rendering for Robot Policy Learning from Egocentric Human Demonstrations

    Apr 12, 2026Harry Freeman, Chung Hee Kim, Jenny Wang +1Visuomotor Policy LearningRobot Imitation Learning

    Carnegie Mellon University Robotics Institute, PA, USA

  7. Action Images: End-to-End Policy Learning via Multiview Video Generation

    Apr 7, 2026Haoyu Zhen, Zixian Gao, Qiao Sun +7Action Representation LearningWorld Action Models

    UMass Amherst · NVIDIA · Harvard University +1

  8. Precise Aggressive Aerial Maneuvers with Sensorimotor Policies

    Apr 7, 2026Tianyue Wu, Guangtong Xu, Zihan Wang +6UAV NavigationQuadrotor Control

    Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China. · Huzhou Institute of Zhejiang University, Huzhou, China. · Differential Robotics Technology Co., Ltd., Hangzhou, China.

  9. Referring-Aware Visuomotor Policy Learning for Closed-Loop Manipulation

    Apr 7, 2026Jiahua Ma, Yiran Qin, Xin Wen +5Visuomotor Policy LearningRobot Policy Adaptation

    Sun Yat-sen University · Oxford University.

  10. GaussFly: Contrastive Reinforcement Learning for Visuomotor Policies in 3D Gaussian Fields

    Apr 6, 2026Yuhang Zhang, Mingsheng Li, Yujing Shang +4Visuomotor Policy LearningVisual RL

    School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore · College of Design and Engineering, National University of Singapore, Singapore 119077, Singapore +1

  11. Efficient Camera Pose Augmentation for View Generalization in Robotic Policy Learning

    Mar 31, 2026Sen Wang, Huaiyi Dong, Jingyi Tian +7Robot Policy GeneralizationRobot Policy Learning

    Xi’an Jiaotong University, Noah’s Ark Lab

  12. HiFlow: Tokenization-Free Scale-Wise Autoregressive Policy Learning via Flow Matching

    Mar 28, 2026Daichi Yashima, Koki Seno, Shuhei Kurita +2Visuomotor Policy LearningFlow-Based Policy Learning

    Keio University · National Institute of Informatics Research and Development Center for Large Language Models · National Institute of Informatics

  13. Emergent Neural Automaton Policies: Learning Symbolic Structure from Visuomotor Trajectories

    Mar 26, 2026Yiyuan Pan, Xusheng Luo, Hanjiang Hu +2Automata LearningVisuomotor Policy Learning

    Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA

  14. Chameleon: Control-Indexed Prospective Memory for Visuomotor Manipulation

    Mar 25, 2026Xinying Guo, Chenxi Jiang, Hyun Bin Kim +4Memory-Augmented AgentsLong-Horizon Robotic Manipulation

    MARS Lab, Nanyang Technological University · Institute for Infocomm Research, A*STAR · National University of Singapore

  15. Efficient Hybrid SE(3)-Equivariant Visuomotor Flow Policy via Spherical Harmonics for Robot Manipulation

    Mar 24, 2026Qinglun Zhang, Shen Cheng, Tian Dan +3Visuomotor Policy LearningRobot Learning

    University of Electronic Science and Technology of China · Dexmal

  16. Dreaming the Unseen: World Model-regularized Diffusion Policy for Out-of-Distribution Robustness

    Mar 22, 2026Ziou Hu, Xiangtong Yao, Yuan Meng +2Diffusion PolicyOOD Generalization

    School of Computation, Information and Technology, Technical University of Munich, Garching, Germany · State Key Laboratory for Novel Software Technology and the School of Science and Technology, Nanjing University (Suzhou Campus), China

  17. VolumeDP: Modeling Volumetric Representation for Manipulation Policy Learning

    Mar 18, 2026Tianxing Zhou, Feiyang Xue, Zhangchen Ye +3Visuomotor Policy LearningRobotic Manipulation

    1IIIS, Tsinghua University · 2Galaxea AI

  18. REAL: Robust Extreme Agility via Spatio-Temporal Policy Learning and Physics-Guided Filtering

    Mar 18, 2026Jialong Liu, Dehan Shen, Yanbo Wen +2Robot Policy LearningRobot Locomotion

    PEAK-Lab, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, 511453, China.

  19. GigaWorld-Policy: An Efficient Action-Centered World--Action Model

    Mar 18, 2026Angen Ye, Boyuan Wang, Chaojun Ni +21World Action ModelsVisuomotor Policy Learning

  20. MoE-ACT: Scaling Multi-Task Bimanual Manipulation with Sparse Task-Conditioned Mixture-of-Experts Transformers

    Mar 16, 2026Kangjun Guo, Haichao Liu, Yanji Sun +3Bimanual Robotic ManipulationVisuomotor Policy Learning

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · The Hong Kong University of Science and Technology, Hong Kong SAR, China

  21. One-Step Flow Policy: Self-Distillation for Fast Visuomotor Policies

    Mar 12, 2026Shaolong Li, Lichao Sun, Yongchao ChenVisuomotor Policy LearningOne-Step Generative Modeling

    CSE Department, University of Michigan · Lehigh University · College of AI, Tsinghua University

  22. Learning Visuomotor Policy for Multi-Robot Laser Tag Game

    Mar 12, 2026Kai Li, Shiyu ZhaoVisuomotor Policy LearningMulti-Robot Systems

    College of Computer Science and Technology at Zhejiang University, Hangzhou, China. · School of Engineering at Westlake University, Hangzhou, China.

  23. Noise-Space Attribution and Control of Chunk-Boundary Artifact

    Mar 12, 2026Rui WangVisuomotor Policy LearningAction Chunking

    Nanjing University

  24. FutureVLA: Joint Visuomotor Prediction for Vision-Language-Action Model

    Mar 11, 2026Xiaoxu Xu, Hao Li, Jinhui Ye +7Vision-Language-Action ModelsVisuomotor Policy Learning

    Beihang University. · Shanghai Artificial Intelligence Laboratory. · University of Science and Technology of China. +1

  25. PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation

    Mar 9, 2026Mingxin Wang, Zhirun Yue, Renhao Lu +7Robotic ControlContact-Rich Robotic Manipulation

  26. Vector Field Augmented Differentiable Policy Learning for Vision-Based Drone Racing

    Mar 9, 2026Yang Su, Feng Yu, Yu Hu +4Autonomous Drone RacingPolicy Learning

    The authors are with the Shanghai Jiao Tong University, Shanghai 200240, China

  27. Foundation and Small Models Coordination for Visuomotor Policy Learning

    Mar 9, 2026Haoran Ding, Liang Ma, Yaxun Yang +7Visuomotor Policy LearningRobot Policy Generalization

    Mohamed bin Zayed University of Artificial Intelligence (MBZUAI), Abu Dhabi, UAE

  28. DexKnot: Generalizable Visuomotor Policy Learning for Dexterous Bag-Knotting Manipulation

    Mar 7, 2026Jiayuan Zhang, Ruihai Wu, Haojun Chen +5Robotic ManipulationGeneralization in Robotic Manipulation

    Peking University

  29. HarvestFlex: Strawberry Harvesting via Vision-Language-Action Policy Adaptation in the Wild

    Mar 6, 2026Ziyang Zhao, Shuheng Wang, Zhonghua Miao +1Robotic HarvestingVisuomotor Policy Learning

    The Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China. · The School of Mechanical Electrical Engineering and Automation, Shanghai University, Shanghai 20044, China.

  30. VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memory

    Mar 5, 2026Yuheng Lei, Zhixuan Liang, Hongyuan Zhang +1Robot Policy LearningVisuomotor Policy Learning

    School of Computing and Data Science, University of Hong Kong