Visuomotor Policy Learning

Follow this topic Ask about this topic

Momentum

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

Jul 13Week of Sep 28

Latest papers 209

All topics

Vid2WAM: Distilling Video Diffusion Priors into World Action Models
Aug 9, 2026Chenhao Qiu, Ruixiang Wang, Runyi Zhao +7Cross-Modal Knowledge Distillation World Model Learning
Fudan University · The Chinese University of Hong Kong, Shenzhen · Shanghai Innovation Institute
ARGUS: Aligning Robot Scene Geometry Under Shifting Views with Large 3D Vision Models
Aug 6, 2026Rishik Sathua, Haonan Chen, Katherine Driggs-CampbellGeneralization in Robotic Manipulation Visuomotor Policy Learning
University of Illinois at Urbana-Champaign · Harvard University
Track4Action: Distilling World-Centric 3D Tracker into Vision-Language-Action Policies
Aug 4, 2026Chenyi Wang, Xinkai Wang, Bokai Lin +4Visuomotor Policy Learning Vision-Language-Action Models
1Zhejiang University, China · 3Shanghai Innovation Institute, China · 2Shanghai Jiao Tong University, China +1
Unified Visuomotor Targets: Supervising VLAs Beyond Physical Actions
Aug 4, 2026Zhenyang Feng, Unnat JainLatent Action Learning Visuomotor Policy Learning
Department of Computer Science, University of California, Irvine
UniNav: A Unified World-Action Diffusion Model for Visual Navigation
Aug 4, 2026Changqing Zhou, Yueru Luo, Zeyu Jiang +1Visual Navigation Trajectory Generation
1The Hong Kong University of Science and Technology (Guangzhou) · 2The Chinese University of Hong Kong, Shenzhen
ValueFormer: A Causal Transformer Value Function with Stage-Aware Labels for Semi-Autonomous Vision-Language-Action Policies
Aug 3, 2026Inkyu Sa, Konstantin Stulov, Rajat BhageriaReward Shaping Value Function Estimation
Chef Robotics
Probabilistic Reachable-Action Verification of Visuomotor Policies via Set-Based Training
Aug 3, 2026Yanliang Huang, Zhuocheng Zhang, Peng Xie +5Visuomotor Policy Learning
School of Computation, Information and Technology, Technical University of Munich, Munich, Germany · School of Engineering, Hainan Bielefeld University of Applied Sciences, Hainan, China
AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation
Aug 3, 2026Gaoyuan Wu, Ziyu Shan, Haoyang Du +2Robot Skill Learning Generalization in Robotic Manipulation
1Nanyang Technological University, Singapore
SelfWAM: A Self-Grounded Unified World Action Model for Fast Robot Control
Aug 1, 2026Bikang Pan, Fan Liu, Haotao Lu +2Action-Conditioned Video Generation World Models for Robotics
1ShanghaiTech University · 2InstAdapt
RayViT: Ray-Conditioned Visual Representations for Viewpoint-Robust Imitation Learning
Jul 31, 2026Qian Wang, Longrui Chen, Peiran Sun +8Visual Representation Learning Robot Skill Learning
Karlsruhe Institute of Technology, Germany · University of Leeds, United Kingdom
Temporal Policy: History-Initialized Action Generation for Robotic Learning from Demonstration
Jul 31, 2026Dylan Miller, Martin JagersandFlow Matching Robot Policy Learning
Department of Computing Science, University of Alberta, Canada
FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation
Jul 30, 2026Lifeng Zhuo, Wendi Chen, Han Xue +4Contact-Rich Robotic Manipulation Visuomotor Policy Learning
1Shanghai Jiao Tong University · 2Shanghai Innovation Institute · 3Noematrix Ltd.
Static In, Dynamic Out: Counterfactual Action Augmentation for Moving Object Manipulation
Jul 30, 2026Woo Chul Shin, Zhenyang Chen, Alfred Cueva +5Robot Policy Adaptation Visuomotor Policy Learning
Georgia Institute of Technology
DLAM: Distributional Latent Actions with Temporal Constraints
Jul 29, 2026Zuojin Tang, Feifan Luo, Haoyun Liu +10Latent Action Learning Latent Dynamics Modeling
Zhejiang University · Nanjing University · Shanghai Jiaotong University +4
SymmGrid: Super-Scaling On-Robot Learning with Parallelized Symmetries and Egocentric-Exocentric Visual Perception
Jul 29, 2026Gabe Everett, Brice Gunter, Ryan Vander Stelt +3Data Augmentation Visuomotor Policy Learning
It's Not Just More Demos: Counterfactual Action Sensitivity Coverage for Data-Efficient Robust Robot Imitation
Jul 29, 2026Giovanni D'urso, Kaushik Roy, Nicholas Lawrance +1Visuomotor Policy Learning Imitation Learning
CSIRO Robotics, CSIRO, Australia
$π\mathbf{R}^2$ : Reactive Real-time Flow Policies
Jul 28, 2026Sungjae Park, Shubham TulsianiRobotic Control Flow Matching
Carnegie Mellon University
DC-WAM: Dynamic-Centric Visual Supervision and Reasoning for World-Action Models
Jul 28, 2026Haoyuan Ji, Lingxiang Fan, Shang Su +4World Models for Robotics Visuomotor Policy Learning
Tsinghua University · Dense-AI · University of Michigan
Tri-Manual Visuomotor Imitation Learning of Robot Policies
Jul 28, 2026James Zhao, Mingyuan Ba, Weiming ZhiRobot Teleoperation Visuomotor Policy Learning
School of Computer Science and 2Australian Center For Robotics, The University of Sydney, Australia · College of Connected Computing, Vanderbilt University, TN, USA
Decompose and Reorganize: Planning with Primitives and Visuomotor Policies Learned from Demonstrations
Jul 28, 2026Yizhou Chen, Hang Xu, Dongjie Yu +7Long-Horizon Robotic Manipulation Robot Skill Learning
The University of Hong Kong, Hong Kong · JD.com (JingDong) · Nanyang Technological University (NTU), Singapore +3
DeVA: Decoupled Video-Action Model with physical guidance for robot policy learning
Jul 27, 2026Mengqi Zhang, Sahil Khose, Simar Kareer +3Visuomotor Policy Learning Vision-Language-Action Models
University of California, Irvine · Georgia Institute of Technology
GuidedAttention: Interpretable and Correctable Visual Attention for OOD-Robust Robot Manipulation via Imitation Learning
Jul 23, 2026Masaki Murooka, Ryoichi Nakajo, Keisuke Shirai +4Visual Attention Robot Skill Learning
CNRS-AIST JRL (Joint Robotics Laboratory), IRL, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8560, Japan · Artificial Intelligence Research Center, National Institute of Advanced Industrial Science and Technology (AIST), 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan
Ordered Action Tokens for Visuomotor Policy Learning
Jul 23, 2026Chaoqi Liu, Yue Zhao, Haonan Chen +4Visuomotor Policy Learning
1Harvard University · 2Stanford University
Cortex: Compact Behavior Cloning for Quake with Frozen Visual Features
Jul 22, 2026Dzmitry MalyshauGame-Playing Agents Visuomotor Policy Learning
Patch Policy: Efficient Embodied Control via Dense Visual Representations
Jul 20, 2026Gaoyue Zhou, Zichen Jeff Cui, Ada Langford +3Visuomotor Policy Learning Robot Learning
1Courant Institute, New York University · 3AMI Labs · 2Meta-FAIR
Dynamics-Aware Meta-Imitation for Generalization to Unseen Robotic Manipulation
Jul 17, 2026Zhenduo Shang, Xiyao Liu, Bohan Li +4Robot Skill Learning Generalization in Robotic Manipulation
State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China · University of Chinese Academy of Sciences, Beijing 100049, China · Shenyang University of Technology
FoMoVLA: Bridging Visual Foresight and Motion Guidance for Vision-Language-Action Models
Jul 16, 2026Wei Li, Peijin Jia, Yuan Ma +9Visuomotor Policy Learning Vision-Language-Action Models
LiAuto · University of Chinese Academy of Sciences · Tsinghua University
ChunkFlow: Towards Continuity-Consistent Chunked Policy Learning
Jul 14, 2026Zhao Yang, Yinan Shi, Mingyuan Yao +3Visuomotor Policy Learning Vision-Language-Action Models
State Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, China. · Jiangsu Cytoderm Intelligent Technology Co., Ltd., China.
Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation
Jul 13, 2026Dian Wang, Jisang Park, Xiaomeng Xu +3Mobile Manipulation Bimanual Robotic Manipulation
Stanford University
See like a Robot: Robot-Centric Pointmaps for VLA Models
Jul 13, 2026Byungkun Lee, Dongyoon Hwang, Dongjin Kim +4Visuomotor Policy Learning Robotic Manipulation
KAIST AI · Holiday Robotics

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

Vid2WAM: Distilling Video Diffusion Priors into World Action Models

Chenhao Qiu, Ruixiang Wang, Runyi Zhao, Sixu Lin+6

Fudan University · The Chinese University of Hong Kong, Shenzhen · Shanghai Innovation Institute

Cross-Modal Knowledge Distillation World Model Learning Visuomotor Policy Learning World Action Models

Open paper AskPDF arXiv

World Action Models (WAMs) improve robot policy learning by jointly modeling future visual dynamics and actions. However, their scalability and generalization remain constrained by their reliance on costly expert demonstrations. We challenge this by asking whether future supervision for WAMs must originate from target-task expert trajectories. In this paper, we propose Vid2WAM, an offline distillation framework that transfers visual diffusion priors from a large video foundation model into a compact WAM student. Given an observation and language instruction, Vid2WAM distills supervision through two complementary channels: task-conditioned future rollouts directly supervise the student's future prediction branch, while an inverse dynamics model recovers embodiment-specific pseudo-actions for action learning. To robustly integrate synthetic and real supervision, we introduce source-aware residual action adaptation that learns source-specific corrections around a shared action backbone and mitigates interference from noisy pseudo-actions. During inference, both the video teacher and inverse dynamics model are discarded, leaving only the WAM student for efficient deployment. Simulation and real-world experiments demonstrate that Vid2WAM improves novel-task generalization and data efficiency under limited expert demonstrations while preserving low-latency inference.

Momentum

Related topics

Latest papers 209