机器人 / 具身智能 - arXivDaily 专题

2603.02783 2026-03-04 cs.RO cs.LG cs.MA 66%

Generative adversarial imitation learning for robot swarms: Learning from human demonstrations and trained policies

生成对抗模仿学习在机器人群体中的应用：从人类示范和训练策略中学习

Mattes Kraus, Jonas Kuckling

专题命中模仿学习与强化学习：robotics(abstract,comments)；分类 cs.RO、cs.LG

AI总结本文提出基于生成对抗模仿学习的框架，从人类示范和训练策略中学习机器人群体的集体行为，并在真实机器人上验证了其有效性。

Comments Accepted for publication at the 2026 IEEE International Conference on Robotics and Automation (ICRA 2026)

2507.15444 2026-02-25 cs.RO cs.CV 66%

Low-Latency Event-Based Velocimetry for Quadrotor Control in a Narrow Pipe

窄管道中四旋翼无人机低延迟事件基速度测量控制

Leonard Bauersfeld, Davide Scaramuzza

机构 * Robotics and Perception Group, University of Zurich（苏黎世大学机器人与感知组）

专题命中模仿学习与强化学习：robotics(abstract,journal_ref)；分类 cs.RO、cs.CV

AI总结本文提出了一种基于实时流场测量的四旋翼无人机闭环控制方法，用于在狭窄管道中实现稳定悬停，通过低延迟事件基烟雾速度测量和强化学习控制器有效对抗气动扰动。

Comments 19 pages

Journal ref in IEEE Transactions on Robotics, vol. 42, pp. 1-19, 2026

2509.09893 2026-02-12 cs.RO cs.AI 66%

Self-Augmented Robot Trajectory: Efficient Imitation Learning via Safe Self-augmentation with Demonstrator-annotated Precision

自增强机器人轨迹：通过安全自增强实现高效的模仿学习

Hanbit Oh, Masaki Murooka, Tomohiro Motoda, Ryoichi Nakajo, Yukiyasu Domae

机构 * AIST（日本产业技术综合研究所）

专题命中模仿学习与强化学习：manipulation(abstract)；分类 cs.RO、cs.AI；robotics(comments)

AI总结 SART通过安全自增强技术，从单次人类演示中高效学习机器人轨迹，提升数据收集效率并减少碰撞风险。

Comments 21 pages, 10 figures, Advanced Robotics accepted 2026.02.03

2511.12848 2025-11-18 cs.RO cs.LG 66%

Structured Imitation Learning of Interactive Policies through Inverse Games

Max M. Sun, Todd Murphey

专题命中模仿学习与强化学习：navigation(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Presented at the "Workshop on Generative Modeling Meets Human-Robot Interaction" at Robotics: Science and Systems 2025. Workshop website: https://sites.google.com/view/gai-hri/

2506.06094 2025-11-14 cs.RO cs.LG 66%

Onboard Mission Replanning for Adaptive Cooperative Multi-Robot Systems

Elim Kwan, Rehman Qureshi, Liam Fletcher, Colin Laganier, Victoria Nockles, Richard Walters

机构 * The Alan Turing Institute（艾伦·图灵研究所）； Department of Aerospace Engineering（航空航天工程系）； Auburn University（阿伯丁大学）

专题命中模仿学习与强化学习：robotic(abstract)；分类 cs.RO、cs.LG；robotics(journal_ref)

Comments 9 pages, 5 figures, 1 table

Journal ref IEEE Robotics and Automation Letters (Volume: 10, Issue: 12, December 2025) Pages: 13225 - 13232

2511.06946 2025-11-11 cs.LG cs.AI 66%

Learning to Focus: Prioritizing Informative Histories with Structured Attention Mechanisms in Partially Observable Reinforcement Learning

Daniel De Dios Allegue, Jinke He, Frans A. Oliehoek

机构 * Delft University of Technology（代尔夫特理工大学）

专题命中模仿学习与强化学习：world model(abstract,comments)；分类 cs.AI、cs.LG

Comments Accepted to Embodied World Models for Decision Making (EWM) Workshop at NeurIPS 2025

2508.09971 2025-10-02 cs.RO cs.AI 66%

Vision-driven River Following of UAV via Safe Reinforcement Learning using Semantic Dynamics Model

Zihan Wang, Nina Mahmoudian

机构 * School of Mechanical Engineering, Purdue University（机械工程学院，普渡大学）

专题命中模仿学习与强化学习：navigation(abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Submitted to Robotics and Autonomous Systems (RAS) journal

2509.05397 2025-09-09 cs.RO cs.LG 66%

RoboBallet: Planning for Multi-Robot Reaching with Graph Neural Networks and Reinforcement Learning

Matthew Lai, Keegan Go, Zhibin Li, Torsten Kroger, Stefan Schaal, Kelsey Allen, Jonathan Scholz

机构 * Google DeepMind（谷歌DeepMind）； University College London（伦敦大学学院）； Intrinsic

专题命中模仿学习与强化学习：robotic(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Published in Science Robotics

Journal ref RoboBallet: Planning for multirobot reaching with graph neural networks and reinforcement learning. Sci. Robot. 10, eads1204(2025)

2506.01538 2025-06-04 cs.RO cs.AI 66%

LAMARL: LLM-Aided Multi-Agent Reinforcement Learning for Cooperative Policy Generation

Guobin Zhu, Rui Zhou, Wenkang Ji, Shiyu Zhao

机构 * School of Automation Science and Electrical Engineering, Beihang University（自动化科学与电气工程学院，北京航空航天大学）； WINDY Lab, Department of Artificial Intelligence, Westlake University（WINDY实验室，人工智能学院，西湖大学）

专题命中模仿学习与强化学习：robot policy(abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Accepted by IEEE Robotics and Automation Letters

2505.08223 2025-05-14 cs.RO cs.AI 66%

Reinforcement Learning-based Fault-Tolerant Control for Quadrotor with Online Transformer Adaptation

Dohyun Kim, Jayden Dongwoo Lee, Hyochoong Bang, Jungho Bae

机构 * Agency for Defense Development（国防发展局）； Korea Advanced Institute of Science and Technology（韩国先进科学技术研究院）

专题命中模仿学习与强化学习：robotics(abstract,comments)；分类 cs.RO、cs.AI

Comments Accpted at the 2025 IEEE International Conference on Robotics & Automation (ICRA) Workshop: Robots in the Wild

2410.07584 2025-03-26 cs.RO cs.LG 66%

Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers

Jianxin Bi, Kelvin Lim, Kaiqi Chen, Yifei Huang, Harold Soh

专题命中模仿学习与强化学习：manipulation(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Accepted to IEEE International Conference on Robotics and Automation (ICRA) 2025

2404.09080 2024-11-07 cs.RO cs.LG 66%

Safe Reinforcement Learning on the Constraint Manifold: Theory and Applications

Puze Liu, Haitham Bou-Ammar, Jan Peters, Davide Tateo

专题命中模仿学习与强化学习：robotics(abstract,comments)；分类 cs.RO、cs.LG

Comments 19 pages; sumitted to IEEE Transactions on Robotics

2411.01813 2024-11-05 cs.RO cs.AI 66%

So You Think You Can Scale Up Autonomous Robot Data Collection?

Suvir Mirchandani, Suneel Belkhale, Joey Hejna, Evelyn Choi, Md Sazzad Islam, Dorsa Sadigh

专题命中模仿学习与强化学习：robot learning(abstract,comments)；分类 cs.RO、cs.AI

Comments 21 pages, 25 figures. Conference on Robot Learning (CoRL) 2024

2401.11372 2024-09-25 cs.RO cs.LG 66%

Back-stepping Experience Replay with Application to Model-free Reinforcement Learning for a Soft Snake Robot

Xinda Qi, Dong Chen, Zhaojian Li, Xiaobo Tan

专题命中模仿学习与强化学习：navigation(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments This paper has been published on IEEE Robotics and Automation Letters. Digital Object Identifier 10.1109/LRA.2024.3427550

2404.04869 2024-07-30 cs.RO cs.AI 66%

Prompting Multi-Modal Tokens to Enhance End-to-End Autonomous Driving Imitation Learning with LLMs

Yiqun Duan, Qiang Zhang, Renjing Xu

专题命中模仿学习与强化学习：robotics(abstract,journal_ref)；分类 cs.RO、cs.AI

Journal ref Published as oral presentation paper atthe 2024 IEEE International Conference on Robotics and Automation (ICRA2024), Yokohama, Japan

2312.05044 2024-04-16 cs.LG cs.AI 66%

Backward Learning for Goal-Conditioned Policies

Marc Höftmann, Jan Robine, Stefan Harmeling

专题命中模仿学习与强化学习：world model(abstract,comments)；分类 cs.AI、cs.LG

Comments World Models, Goal-conditioned, Reward-free, Workshop on Goal-Conditioned Reinforcement Learning - NeurIPS 2023

2310.20054 2024-02-27 cs.AI cs.RO 66%

Constrained Hierarchical Monte Carlo Belief-State Planning

Arec Jamgochian, Hugo Buurmeijer, Kyle H. Wray, Anthony Corso, Mykel J. Kochenderfer

专题命中模仿学习与强化学习：robotic(abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA)

2401.05876 2024-01-12 cs.LG cs.RO 66%

Safe reinforcement learning in uncertain contexts

Dominik Baumann, Thomas B. Schön

专题命中模仿学习与强化学习：robotic(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Accepted final version to appear in the IEEE Transactions on Robotics

2304.04150 2023-12-05 cs.RO cs.AI 66%

RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning

Kevin Zakka, Philipp Wu, Laura Smith, Nimrod Gileadi, Taylor Howell, Xue Bin Peng, Sumeet Singh, Yuval Tassa, Pete Florence, Andy Zeng, Pieter Abbeel

专题命中模仿学习与强化学习：robotics(abstract)；分类 cs.RO、cs.AI；robot learning(comments)

Comments Accepted to the Conference on Robot Learning (CORL) 2023

2312.00342 2023-12-04 cs.LG cs.AI 66%

Efficient Off-Policy Safe Reinforcement Learning Using Trust Region Conditional Value at Risk

Dohyeong Kim, Songhwai Oh

专题命中模仿学习与强化学习：robotic(abstract)；分类 cs.AI、cs.LG；robotics(journal_ref)

Comments RA-L and IROS 2022

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 7644-7651, July 2022

2307.04721 2023-10-27 cs.AI cs.CL cs.RO 66%

Large Language Models as General Pattern Machines

Suvir Mirchandani, Fei Xia, Pete Florence, Brian Ichter, Danny Driess, Montserrat Gonzalez Arenas, Kanishka Rao, Dorsa Sadigh, Andy Zeng

专题命中模仿学习与强化学习：robotics(abstract)；分类 cs.RO、cs.AI；robot learning(comments)

Comments 21 pages, 25 figures. To appear at Conference on Robot Learning (CoRL) 2023

2207.12062 2023-10-24 cs.LG cs.RO 66%

Adaptive Asynchronous Control Using Meta-learned Neural Ordinary Differential Equations

Achkan Salehi, Steffen Rühl, Stephane Doncieux

专题命中模仿学习与强化学习：robotics(abstract,journal_ref)；分类 cs.RO、cs.LG

Comments 16 double column pages, 14 figures, 3 tables

Journal ref IEEE Transactions on Robotics; Print ISSN: 1552-3098; Online ISSN: 1941-0468

2310.10943 2023-10-19 cs.RO cs.LG 66%

Reaching the Limit in Autonomous Racing: Optimal Control versus Reinforcement Learning

Yunlong Song, Angel Romero, Matthias Mueller, Vladlen Koltun, Davide Scaramuzza

专题命中模仿学习与强化学习：robotics(abstract,journal_ref)；分类 cs.RO、cs.LG

Journal ref Science Robotics, 2023

2301.00521 2023-10-16 cs.RO cs.LG 66%

A Policy Optimization Method Towards Optimal-time Stability

Shengjie Wang, Fengbo Lan, Xiang Zheng, Yuxue Cao, Oluwatosin Oseni, Haotian Xu, Tao Zhang, Yang Gao

专题命中模仿学习与强化学习：robotic(abstract)；分类 cs.RO、cs.LG；robot learning(comments)

Comments 27 pages, 11 figues. 7th Annual Conference on Robot Learning. 2023

2307.02691 2023-07-07 cs.RO cs.AI cs.MA 66%

SACHA: Soft Actor-Critic with Heuristic-Based Attention for Partially Observable Multi-Agent Path Finding

Qiushi Lin, Hang Ma

专题命中模仿学习与强化学习：robotic(abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Accepted to IEEE Robotics and Automation Letters (RA-L)

2105.14639 2023-07-04 cs.RO cs.LG cs.NE 66%

Shaped Policy Search for Evolutionary Strategies using Waypoints

Kiran Lekkala, Laurent Itti

专题命中模仿学习与强化学习：robotic(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Presented at the International Conference on Robotics and Automation (ICRA) 2021

2306.01839 2023-06-06 cs.RO cs.LG 66%

Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework

Lingfeng Sun, Haichao Zhang, Wei Xu, Masayoshi Tomizuka

专题命中模仿学习与强化学习：manipulation(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments 8 pages, accepted by IEEE Robotics and Automation Letters (RA-L)

2303.09013 2023-03-17 cs.RO cs.LG 66%

Self-Inspection Method of Unmanned Aerial Vehicles in Power Plants Using Deep Q-Network Reinforcement Learning

Haoran Guan

专题命中模仿学习与强化学习：navigation(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Submitted to the International Conference on Artificial Intelligence, Robotics, and Control (AIRC 2023)

2210.01841 2023-03-06 cs.RO cs.AI 66%

Learning Perception-Aware Agile Flight in Cluttered Environments

Yunlong Song, Kexin Shi, Robert Penicka, Davide Scaramuzza

专题命中模仿学习与强化学习：navigation(abstract)；分类 cs.RO、cs.AI；robotics(journal_ref)

Journal ref 2023 IEEE International Conference on Robotics and Automation (ICRA)

2202.12967 2022-11-18 cs.LG cs.AI stat.ML 66%

Exploring with Sticky Mittens: Reinforcement Learning with Expert Interventions via Option Templates

Souradeep Dutta, Kaustubh Sridhar, Osbert Bastani, Edgar Dobriban, James Weimer, Insup Lee, Julia Parish-Morris

专题命中模仿学习与强化学习：robot learning(abstract,comments)；分类 cs.AI、cs.LG

Comments Conference on Robot Learning (CoRL) 2022

1. 模仿学习与强化学习 4126 篇

Generative adversarial imitation learning for robot swarms: Learning from human demonstrations and trained policies

Low-Latency Event-Based Velocimetry for Quadrotor Control in a Narrow Pipe

Self-Augmented Robot Trajectory: Efficient Imitation Learning via Safe Self-augmentation with Demonstrator-annotated Precision

Structured Imitation Learning of Interactive Policies through Inverse Games

Onboard Mission Replanning for Adaptive Cooperative Multi-Robot Systems

Learning to Focus: Prioritizing Informative Histories with Structured Attention Mechanisms in Partially Observable Reinforcement Learning

Vision-driven River Following of UAV via Safe Reinforcement Learning using Semantic Dynamics Model

RoboBallet: Planning for Multi-Robot Reaching with Graph Neural Networks and Reinforcement Learning

LAMARL: LLM-Aided Multi-Agent Reinforcement Learning for Cooperative Policy Generation

Reinforcement Learning-based Fault-Tolerant Control for Quadrotor with Online Transformer Adaptation

Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers

Safe Reinforcement Learning on the Constraint Manifold: Theory and Applications

So You Think You Can Scale Up Autonomous Robot Data Collection?

Back-stepping Experience Replay with Application to Model-free Reinforcement Learning for a Soft Snake Robot

Prompting Multi-Modal Tokens to Enhance End-to-End Autonomous Driving Imitation Learning with LLMs

Backward Learning for Goal-Conditioned Policies

Constrained Hierarchical Monte Carlo Belief-State Planning

Safe reinforcement learning in uncertain contexts

RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning

Efficient Off-Policy Safe Reinforcement Learning Using Trust Region Conditional Value at Risk

Large Language Models as General Pattern Machines

Adaptive Asynchronous Control Using Meta-learned Neural Ordinary Differential Equations

Reaching the Limit in Autonomous Racing: Optimal Control versus Reinforcement Learning

A Policy Optimization Method Towards Optimal-time Stability

SACHA: Soft Actor-Critic with Heuristic-Based Attention for Partially Observable Multi-Agent Path Finding

Shaped Policy Search for Evolutionary Strategies using Waypoints

Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework

Self-Inspection Method of Unmanned Aerial Vehicles in Power Plants Using Deep Q-Network Reinforcement Learning

Learning Perception-Aware Agile Flight in Cluttered Environments

Exploring with Sticky Mittens: Reinforcement Learning with Expert Interventions via Option Templates