Title
VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning Guanxing Lu Wenkai Guo Chubin Zhang Yuheng Zhou Haonan Jiang Zifeng Gao Yansong Tang Ziwei Wang OffRL 98 0 0 24 May 2025
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Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models Zhanpeng He Yifeng Cao M. Ciocarlie 281 0 0 26 Feb 2025
A Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven Deformable Linear Object Manipulation Georgios Kamaras Subramanian Ramamoorthy 83 0 0 25 Feb 2025
ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy Yuhui Chen Shuai Tian Shugao Liu Yingting Zhou Haoran Li Dongbin Zhao OffRL 171 8 0 08 Feb 2025
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Simulation-Aided Policy Tuning for Black-Box Robot Learning Shiming He Alexander von Rohr Dominik Baumann Ji Xiang Sebastian Trimpe 128 0 0 21 Nov 2024
MILES: Making Imitation Learning Easy with Self-Supervision Georgios Papagiannis Edward Johns VLM SSL 101 5 0 25 Oct 2024
On-Robot Reinforcement Learning with Goal-Contrastive Rewards Ondrej Biza Thomas Weng Lingfeng Sun Karl Schmeckpeper Tarik Kelestemur Yecheng Jason Ma Robert Platt Jan-Willem van de Meent Lawson L. S. Wong OffRL 91 0 0 25 Oct 2024
PointPatchRL -- Masked Reconstruction Improves Reinforcement Learning on Point Clouds B. Gyenes Nikolai Franke P. Becker Gerhard Neumann 3DPC 75 0 0 24 Oct 2024
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Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance Kin Man Lee Sean Ye Qingyu Xiao Zixuan Wu Z. Zaidi David B. DÁmbrosio Pannag R Sanketi Matthew Gombolay 120 3 0 23 Sep 2024
Learning Task Specifications from Demonstrations as Probabilistic Automata Mattijs Baert Sam Leroux Pieter Simoens 87 1 0 11 Sep 2024
Diffusion Policy Policy Optimization Allen Z. Ren Justin Lidard Lars L. Ankile Anthony Simeonov Pulkit Agrawal Anirudha Majumdar Benjamin Burchfiel Hongkai Dai Max Simchowitz 109 53 0 01 Sep 2024
Unsupervised-to-Online Reinforcement Learning Junsu Kim Seohong Park Sergey Levine OnRL 85 5 0 27 Aug 2024
SeeBelow: Sub-dermal 3D Reconstruction of Tumors with Surgical Robotic Palpation and Tactile Exploration Raghava Uppuluri Abhinaba Bhattacharjee Sohel Anwar Yu She 69 0 0 25 Aug 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 90 10 0 08 Aug 2024
Autonomous Improvement of Instruction Following Skills via Foundation Models Zhiyuan Zhou P. Atreya Abraham Lee Homer Walke Oier Mees Sergey Levine 78 13 0 30 Jul 2024
From Imitation to Refinement -- Residual RL for Precise Visual Assembly Lars Ankile Anthony Simeonov Idan Shenfeld M. Torné Pulkit Agrawal OffRL 93 9 0 23 Jul 2024
Automatic Environment Shaping is the Next Frontier in RL Younghyo Park G. Margolis Pulkit Agrawal OffRL 74 3 0 23 Jul 2024
R+X: Retrieval and Execution from Everyday Human Videos Georgios Papagiannis Norman Di Palo Pietro Vitiello Edward Johns 122 16 0 17 Jul 2024
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Reducing Risk for Assistive Reinforcement Learning Policies with Diffusion Models Andrii Tytarenko OffRL 90 1 0 13 May 2024
What Foundation Models can Bring for Robot Learning in Manipulation : A Survey Dingzhe Li Yixiang Jin A. Yong Hongze Yu Jun Shi Xiaoshuai Hao Peng Hao Huaping Liu Gang Hua Bin Fang AI4CE LM&Ro 152 14 0 28 Apr 2024
Hybrid Inverse Reinforcement Learning Juntao Ren Gokul Swamy Zhiwei Steven Wu J. Andrew Bagnell Sanjiban Choudhury 62 20 0 13 Feb 2024
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning Jianlan Luo Charles Xu Fangchen Liu Liam Tan Zipeng Lin Jeffrey Wu Pieter Abbeel Sergey Levine 79 28 0 16 Jan 2024
RLIF: Interactive Imitation Learning as Reinforcement Learning Jianlan Luo Perry Dong Yuexiang Zhai Yi-An Ma Sergey Levine OffRL 99 18 0 21 Nov 2023
REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation Zheyuan Hu Aaron Rovinsky Jianlan Luo Vikash Kumar Abhishek Gupta Sergey Levine OffRL 51 10 0 06 Sep 2023
LIV: Language-Image Representations and Rewards for Robotic Control Yecheng Jason Ma William Liang Vaidehi Som Vikash Kumar Amy Zhang Osbert Bastani Dinesh Jayaraman LM&Ro 85 128 0 01 Jun 2023
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation Minho Heo Youngwoon Lee Doohyun Lee Joseph J. Lim 89 94 0 22 May 2023
Vision-Language Models as Success Detectors Yuqing Du Ksenia Konyushkova Misha Denil A. Raju Jessica Landon Felix Hill Nando de Freitas Serkan Cabi MLLM LRM 114 85 0 13 Mar 2023
Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning Archit Sharma Ahmed M. Ahmed Rehaan Ahmad Chelsea Finn SSL 105 17 0 02 Mar 2023
Efficient Online Reinforcement Learning with Offline Data Philip J. Ball Laura M. Smith Ilya Kostrikov Sergey Levine OffRL OnRL 102 181 0 06 Feb 2023
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments Mayank Mittal C. Yu Qinxi Yu Jingzhou Liu Nikita Rudin ... Ajay Mandlekar Buck Babich Gavriel State Marco Hutter Animesh Garg 106 203 0 10 Jan 2023
When to Ask for Help: Proactive Interventions in Autonomous Reinforcement Learning Annie Xie Fahim Tajwar Archit Sharma Chelsea Finn 66 15 0 19 Oct 2022
VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training Yecheng Jason Ma Shagun Sodhani Dinesh Jayaraman Osbert Bastani Vikash Kumar Amy Zhang SSL OffRL 77 304 0 30 Sep 2022
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning T. Westenbroek F. Castañeda Ayush Agrawal S. Shankar Sastry Koushil Sreenath 76 25 0 13 Aug 2022
DayDreamer: World Models for Physical Robot Learning Philipp Wu Alejandro Escontrela Danijar Hafner Ken Goldberg Pieter Abbeel 108 295 0 28 Jun 2022
MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge Linxi Fan Guanzhi Wang Yunfan Jiang Ajay Mandlekar Yuncong Yang Haoyi Zhu Andrew Tang De-An Huang Yuke Zhu Anima Anandkumar LM&Ro 131 383 0 17 Jun 2022
d3rlpy: An Offline Deep Reinforcement Learning Library Takuma Seno M. Imai OffRL GP 95 106 0 06 Nov 2021