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

Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentation
Jul 13, 2026Haojie Huang, Linfeng Zhao, Haotian Liu +9Visuomotor Policy Learning Robotic Manipulation
1Northeastern University · 2Stanford University · University of Pennsylvania +2
SegDiff: Segmented Trajectory Diffusion for Consistent and Adaptive Robot Manipulation
Jul 13, 2026Haidong Cao, Wenjun Cao, Quanhao Li +5Long-Horizon Robotic Manipulation Visuomotor Policy Learning
Institute of Trustworthy Embodied AI, Fudan University, China · Shanghai Key Laboratory of Multimodal Embodied AI, China
Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classification
Jul 12, 2026Haojie Huang, Zhang Ye, Linfeng Zhao +7Robot Skill Learning Visuomotor Policy Learning
Northeastern University · Stanford University · Brown University
More Structure, Not More Capacity: Object-Centric Representations for Visuomotor Imitation Learning
Jul 10, 2026Yi Li, Alexandre Chapin, Liming Chen +2Robot Skill Learning Visuomotor Policy Learning
TU Darmstadt · 1TU Darmstadt · LIRIS +3
TFP: Temporally Conditioned Memory-Fusion Policies for Visuomotor Learning
Jul 9, 2026Yushen Liang, Yue Peng, Baosheng Jin +6Memory-Augmented VLMs Visuomotor Policy Learning
NYU Shanghai, Shanghai, China · University of Electronic Science and Technology of China, Chengdu, China
GeoProp: Grounding Robot State in Vision for Generalist Manipulation
Jul 8, 2026Guoyang Zhao, Quanhao Qian, Gongjie Zhang +5Generalization in Robotic Manipulation Visuomotor Policy Learning
Tongji University · DAMO Academy, Alibaba Group · HuPan Lab +2
LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation
Jul 7, 2026Xinye Yang, Zhiyuan Ma, Hongze Yu +5Latent Action Learning Robot Skill Learning
Fudan University · PsiBot · Zhongguancun Academy +2
InternVLA-A1.5: Unifying Understanding, Latent Foresight, and Action for Compositional Generalization
Jul 6, 2026Haoxiang Ma, Junhao Cai, Xiaoxu Xu +26Generalization in Robotic Manipulation Visuomotor Policy Learning
Physical Intelligence Team, Shanghai AI Laboratory
KAM-WM: Kinematic Affordance Maps from Latent World Models for Robot Manipulation
Jul 6, 2026Xinyu Shao, Keru Zhou, Guowei Huang +3Visuomotor Policy Learning Robotic Manipulation
Tsinghua Shenzhen International Graduate School · Huawei Technologies Ltd.
High-Fidelity One-Step Generative Visuomotor Policy via Recursive Correction, Frequency Consistency, and Contrastive Flow Matching
Jul 4, 2026Yuran Chen, Xinye Cai, Zhonglin Gong +1Flow Matching Visuomotor Policy Learning
School of Safety Science and Engineering, Anhui University of Science and Technology, Huainan 232001, China · State Key Laboratory of Digital Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China · School of Artificial Intelligence, Anhui University of Science and Technology, Hefei 231131, China
OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies
Jul 4, 2026Kelin Yu, Haode Zhang, Harish Ravichandar +2Robot Policy Adaptation Robot Skill Learning
University of Maryland, College Park · Georgia Institute of Technology
AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation
Jul 1, 2026Qingda Hu, Ziheng Qiu, Jieru Zhao +2Robot Skill Learning Visuomotor Policy Learning
College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China · School of Computing, Shanghai Jiao Tong University, Shanghai, China
ChronoFlow-Policy: Unifying Past-Current-Future Interaction Flow in Visuomotor Policy Learning
Jun 30, 2026Bokai Lin, Yifu Xu, Xinyu Zhan +6Long-Horizon Robotic Manipulation Visuomotor Policy Learning
Shanghai Jiao Tong University, China · Shanghai Innovation Institute, China · Noematrix, China
Efficient Sim-to-Real Transfer of World-Action Models from Synthetic Priors
Jun 30, 2026Zixing Wang, Kausik Sivakumar, Jinghuan Shang +5Sim-to-Real Transfer Action-Conditioned World Models
1Purdue University · 2Robotics and AI Institute
Latent Actions from Factorized Transition Effects under Agent Ambiguity
Jun 29, 2026Heejeong Nam, Chandradithya S Jonnalagadda, Harshit Aggarwal +2Latent Action Learning Latent Dynamics Modeling
Brown University
What Enables In-Context Behavior Prompting for Manipulation?
Jun 29, 2026Austin Patel, Ben Pekarek, Joel Enrique Castro Hernandez +1Robot Skill Learning Visuomotor Policy Learning
Stanford University · University of California, Berkeley
LA4VLA: Learning to Act without Seeing via Language-Action Pretraining
Jun 25, 2026Tao Lin, Yuxin Du, Yiran Mao +13Language Model Pretraining Visuomotor Policy Learning
School of AI, Shanghai Jiao Tong University · Alibaba Group · KAUST +1
Reflective VLA: In-Context Action Consequences Make VLAs Generalize
Jun 23, 2026Qing Lian, Kent Yu, Lei ZhangICL for Robotics Generalization in Robotic Manipulation
Futian Laboratory · International Digital Economy Academy (IDEA) · Visincept
Memory Retrieval in Visuomotor Policies for Long-Horizon Robot Control
Jun 23, 2026Rutav Shah, Yisu Li, Femi Bello +2Memory-Augmented Neural Networks Long-Horizon Robotic Manipulation
The University of Texas at Austin
Supervise What Survives: Geometry-Guided VLA Adaptation from Synthetic Robot Videos
Jun 23, 2026Danze Chen, Yanzhe Chen, Qiming Huang +3Visuomotor Policy Learning Vision-Language-Action Models
Show Lab, National University of Singapore
BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation
Jun 22, 2026Jinsong Lin, Chi Kit Ng, Zhiyong Xiong +8Endoscopy Visuomotor Policy Learning
The Chinese University of Hong Kong, Hong Kong SAR, China. · The Third Affiliated Hospital of Sun Yat-sen University, Guangzhou, China. · University of Cambridge, Cambridge, United Kingdom. +2
Asymmetric physics enables efficient learning in quadrupedal robot swarms
Jun 22, 2026Yuang Zhang, Yunlong Song, Zhihao He +7Multi-Robot Systems Swarm Robotics
Shanghai Jiao Tong University, Shanghai, China. · Independent Researcher.
PanoVine: Whole-Body Visuomotor Control for Soft Growing Vine Robot
Jun 22, 2026Yimeng Qin, Xiaomeng Xu, William Heap +3Robot Navigation Visuomotor Policy Learning
Stanford University
ARP: Enhancing Quantized Skill Abstractions via Visual Alignment and Iterative Refinement for Robotic Manipulation
Jun 21, 2026Yuntian Wang, Zesheng Jia, Yuhui Duan +5Long-Horizon Robotic Manipulation Robot Skill Learning
School of Future Science and Engineering, Soochow University · Key Laboratory of General Artificial Intelligence and Large Models in Provincial Universities, Soochow University · College of Mechanical and Electronic Engineering, China Jiliang University +2
Imitation from Heterogeneous Demonstrations using Grounded Latent-Action World Models
Jun 19, 2026Tianyou Wang, Anson Lei, Joe Watson +1Latent Action Learning Visuomotor Policy Learning
University of Oxford
Overcoming Imperfect Kinematics in Surgical Robotics Through Sim-to-Real Visuomotor Learning
Jun 19, 2026Zhaoxuan Yan, Kaizhong Deng, Zhaoyang Jacopo Hu +2Robotic Control Visuomotor Policy Learning
Hamlyn Centre for Robotic Surgery, Institute of Global Health Innovation, Imperial College London, Exhibition Road, London, SW7 2AZ, UK. · Department of Surgery and Cancer, Imperial College London. · Department of Mechanical Engineering, Imperial College London.
Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization
Jun 19, 2026Le Qiu, Cole Harrison, Jiankai Sun +5RL for Robotics Robotic Grasping
Tsinghua University · Amazon · Stanford University +1
Inductive Generalization for Robotic Manipulation
Jun 19, 2026Annabella Macaluso, Haochen Zhang, Ishaan Masilamony +2OOD Generalization Generalization in Robotic Manipulation
Carnegie Mellon University
MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs
Jun 18, 2026Zheyu Zhuang, Ruiyu Wang, Giovanni Luca Marchetti +2Robot Skill Learning Generalization in Robotic Manipulation
Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden · Department of Mathematics, KTH Royal Institute of Technology, Stockholm, Sweden
One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies
Jun 17, 2026Chuer Pan, Litian Liang, Dominik Bauer +4Data Augmentation Generalization in Robotic Manipulation
Stanford University · Columbia University · Toyota Research Institute

Jul 13, 2026, cs.ROJ/K move · Enter open · S save

Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentation

Haojie Huang, Linfeng Zhao, Haotian Liu, Zhang Ye+8

1Northeastern University · 2Stanford University · University of Pennsylvania+2

Visuomotor Policy Learning Robotic Manipulation Robot Imitation Learning

Open paper AskPDF arXiv

Representing manipulation actions as 2D trajectories in the camera plane provides a compact and interpretable basis for learning complex 3D manipulation policies. However, it also creates challenges from out-of-frame trajectories and limited precision. We propose Pix2Act, an imitation learning method that addresses these challenges by generating continuous image-space keypoint trajectories in each camera plane and losslessly recovering end-effector poses via triangulation. This reformulates high-dimensional 3D control as a simpler, more learnable 2D prediction problem. Crucially, it aligns observations and actions in the same coordinate space, enabling equivariant transformations to jointly rotate individual camera images together with their image-space actions. We analyze the symmetry properties of this augmentation and design a network architecture that can fuse multiple camera views while respecting their per-view rotations. As a result, Pix2Act implicitly enlarges the support of the data distribution and learns invariant action structures across transformations, yielding improved generalization and overall performance. Across diverse simulated and real-world manipulation tasks, Pix2Act outperforms state-of-the-art baselines and remains robust under camera perturbations.

Momentum

Related topics

Latest papers 209