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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LAGO Policy: Latency-Aware Asynchronous Diffusion Policies with Goal-Directed Collision-Free Planning for Smooth Manipulation
Jun 16, 2026Guowei Shi, Xupeng Xie, Yiming Luo +3Robotic Control Trajectory Optimization
The Hong Kong University of Science and Technology (Guangzhou) · International Digital Economy Academy · Southern University of Science and Technology +1
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning
Jun 16, 2026Taowen Wang, Zikang Xie, Bin Yang +13Humanoid Robot Control Hierarchical RL
The Hong Kong University of Science and Technology (Guangzhou) · Beijing University of Technology · Harbin Institute of Technology, Shenzhen +2
Contrastive Action-Image Pre-training for Visuomotor Control
Jun 15, 2026Yuvan Sharma, Dantong Niu, Anirudh Pai +16Contrastive Learning Visual Representation Learning
1UC Berkeley · 2NVIDIA · 3Sapienza University of Rome +2
Unified Motion-Action Modeling for Heterogeneous Robot Learning
Jun 15, 2026Yunhao Cao, Shitong Liu, Chao Feng +4Robotic Control Robot Dynamics Learning
Cornell University
Scaling Short-Term Memory of Visuomotor Policies for Long-Horizon Tasks
Jun 15, 2026Rutav Shah, Rajat Kumar Jenamani, Xiaohan Zhang +5Long-Horizon Robotic Manipulation Visuomotor Policy Learning
1Robotics and AI Institute, 2The University of Texas at Austin
Retrieve, Don't Retrain: Extending Vision Language Action Models to New Tasks at Test Time
Jun 14, 2026Jeongeun Park, Juhan Park, Taekyung Kim +3Test-Time Adaptation Visuomotor Policy Learning
NAVER AI Lab · Korea University
Rethinking Implicit Spatial Representation in Visuomotor Policy Learning
Jun 13, 2026Xiangyu Chen, Yuxuan Hu, Chuhao Zhou +1Visual Representation Learning Visuomotor Policy Learning
MARS Lab, Nanyang Technological University
MemoryVAM: Integrating Memory into Video Action Model for Robot Manipulation
Jun 13, 2026Yuxin Jiang, Chang Yu, Yunuo Chen +4Long-Horizon Robotic Manipulation World Models for Robotics
University of California, Los Angeles · University of California, San Diego · University of Utah +1
EgoGuide: Egocentric Guidance for Efficient Robot-Free Demonstration Collection and Learning
Jun 12, 2026Yue Xu, Mingtao Nie, Tianle Li +4Robot Skill Learning Robotic Data Collection
Shanghai Jiao Tong University · Beijing Institute for General Artificial Intelligence (BIGAI) · Shanghai Innovation Institute
TRACE: Trajectory-Routed Causal Memory for Delayed-Evidence Visuomotor Imitation
Jun 12, 2026Zihao Li, Ranpeng Qiu, Yincong Chen +2Visuomotor Policy Learning Robotic Manipulation
School of Computer Science and the Australian Centre for Robotics at the University of Sydney.
Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera
Jun 12, 2026Seoyoon Kim, Kanghyun Kim, Dongwoo Ko +2Visuomotor Policy Learning Diffusion Policy
Korea Advanced Institute of Science and Technology (KAIST) · Neuromeka
NavWAM: A Navigation World Action Model for Goal-Conditioned Visual Navigation
Jun 11, 2026Daichi Azuma, Taiki Miyanishi, Koya Sakamoto +6World Models for Robotics Robot Navigation
The University of Tokyo · National Institute of Informatics · AIRoA +1
EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment
Jun 11, 2026Shihefeng Wang, Kangchen Lv, Mingrui Yu +1Robot Skill Learning Generalization in Robotic Manipulation
Department of Automation, Tsinghua University · Beijing Key Laboratory of Embodied Intelligence Systems · Institute for Embodied Intelligence and Robotics, Tsinghua University
EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations
Jun 10, 2026Yangcen Liu, Shuo Cheng, Xinchen Yin +6Zero-Shot Robotic Manipulation Robot Skill Learning
Georgia Institute of Technology · Tsinghua University
APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
Jun 10, 2026Kechun Xu, Zhenjie Zhu, Anzhe Chen +2Visuomotor Policy Learning Vision-Language-Action Models
Zhejiang University · Zhejiang Humanoid Robot Innovation Center
GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation
Jun 8, 2026Sriram Krishna, Ben Eisner, Haotian Zhan +5Robot Policy Learning Robot Skill Learning
Robotics Institute, Carnegie Mellon University · UMass Amherst
CT-VAM: A Cerebello-Thalamic-Inspired Vision-Action Model for Efficient Visuomotor Control
Jun 8, 2026Jiacheng Li, Yize Guo, Jiabin Guo +2Robotic Control Visuomotor Policy Learning
AIRLab, Department of Automation University of Science and Technology of China Hefei, China
$ω$ -EVA: Envision, Verify, and Act with Latent Interactive World Models
Jun 8, 2026Zhenguo Sun, Yu Sun, Hande Huang +1Robot Policy Learning World Models for Robotics
Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation
Jun 7, 2026Zhexuan Zhou, Yichen Lai, Jinhao Zhang +3Visuomotor Policy Learning Diffusion Policy
Towards End to End Motion Planning and Execution for Autonomous Underwater Vehicles Using Reinforcement Learning
Jun 7, 2026Elisei Shafer, Oren GalHierarchical RL Visuomotor Policy Learning
Department of Marine Technologies, University of Haifa, Israel
MotionVLA: Injecting Geometric Motion into Vision-Language-Action Model
Jun 6, 2026Shanglin Yuan, Weiheng Zhao, Xianda Guo +4Long-Horizon Robotic Manipulation Visuomotor Policy Learning
Huazhong University of Science and Technology · D-Robotics · Wuhan University
Light-WAM: Efficient World Action Models with State-Fusion Action Decoding
Jun 6, 2026Ziang Li, Dongzhou Cheng, Yibin Wang +5Robot Policy Learning World Models for Robotics
Wuhan University · Shanghai Innovation Institute · Southeast University +2
Q-VGM: Q-Guided Value-Gradient Matching for Offline-to-Online RL of Flow-Matching VLA Policies
Jun 6, 2026Ziqian Wang, Rui Zhang, Yitian Liu +3Flow Matching Visuomotor Policy Learning
Shanghai Jiao Tong University · University of Michigan, Ann Arbor
Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models
Jun 5, 2026Jinhao Wu, Shiduo Zhang, Yicheng Liu +9Visuomotor Policy Learning AI Control
1Nanjing University · 2Shanghai Innovation Institute · 3Fudan University +1
Task Editing for Generalizable 3D Visuomotor Policy Learning
Jun 5, 2026Jian-Jian Jiang, YiHan Yang, Lan Wei +6Long-Horizon Robotic Manipulation Generalization in Robotic Manipulation
Sun Yat-sen University · South China University of Technology · Nanyang Technological University +1
AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation
Jun 4, 2026Jiyun Jang, Yujin Sung, Woosung Joung +5Robotic Control Generalization in Robotic Manipulation
1Korea University · University of Michigan · 3KT R&D Center +1
MPCoT: Reward-Guided Multi-Path Latent Reasoning for Test-Time Scalable Vision-Language-Action
Jun 4, 2026Boyang Zhang, Lianlei ShanVisuomotor Policy Learning Robotic Manipulation
Department of Electrical and Computer Engineering, Boston University, Boston, MA 02215, USA. · Department of Computer Science, Tsinghua University, Beijing 100084, China.
LadderMan: Learning Humanoid Perceptive Ladder Climbing
Jun 4, 2026Siheng Zhao, Yuanhang Zhang, Ziqi Lu +6RL for Robotics Humanoid Robot Locomotion
Amazon FAR · USC · UC Berkeley +2
DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use
Jun 4, 2026Runfa Blark Li, Kuang-Ting Tu, Nikola Raicevic +6Long-Horizon Robotic Manipulation Bimanual Robotic Manipulation
UC San Diego
Potential-Guided Flow Matching for Vision-Language-Action Policy Improvement
Jun 3, 2026Yunpeng Mei, Jiakai He, Hongjie Cao +12Flow Matching Visuomotor Policy Learning
1Beijing Institute of Technology · 2Tsinghua University · 3The Hong Kong University of Science and Technology (Guangzhou)

Jun 16, 2026, cs.ROJ/K move · Enter open · S save

LAGO Policy: Latency-Aware Asynchronous Diffusion Policies with Goal-Directed Collision-Free Planning for Smooth Manipulation

Guowei Shi, Xupeng Xie, Yiming Luo, Jian Guo+2

The Hong Kong University of Science and Technology (Guangzhou) · International Digital Economy Academy · Southern University of Science and Technology+1

Robotic Control Trajectory Optimization Trajectory Generation Diffusion-Based Planning Visuomotor Policy Learning Robotic Manipulation+1

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Diffusion-based visuomotor policies deployed with asynchronous inference often exhibit inter-chunk discontinuities and lack explicit mechanisms for obstacle-aware execution, leading to jerky motions and collisions that hinder reliable manipulation in real-world scenes. To address these issues, we propose LAGO Policy, a unified asynchronous action-generation framework that integrates trajectory optimization with diffusion policy for smooth and safe execution. LAGO Policy improves inter-chunk consistency via latency-aware classifier-free guidance conditioning on future actions. It further enables goal-directed collision-free trajectory planning by predicting a task-relevant interaction goal from demonstrations. Finally, spatial-temporal trajectory optimization refines the actions to be executed for low-jerk and feasible motion. Extensive real-world experiments demonstrate that LAGO Policy achieves smooth collision-free execution with high task success across challenging manipulation tasks. Project Website: https://lago-policy.github.io/

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