arXiv AI

Enhancing RL Generalizability in Robotics through SHAP Analysis of Algorithms and Hyperparameters

arXiv Machine Learning

Jul 21

Interpret Policies in Deep Reinforcement Learning using SILVER with RL-Guided Labeling: A Model-level Approach to High-dimensional and Multi-action Environments

arXiv:2510. 19244v3 Announce Type: replace Abstract: Deep reinforcement learning (RL) achieves remarkable performance but lacks interpretability, limiting trust in policy behavior.

By Yiyu Qian, Su Nguyen, Chao Chen, Qinyue Zhou, Liyuan Zhao

agents reinforcement-learning safety

arXiv AI

Jun 29

When are LLMs Sufficient Policy Optimizers for Sequential RL Tasks?

arXiv:2605. 30719v2 Announce Type: replace-cross Abstract: We study when large language models (LLMs) can serve as effective black-box policy optimizers for reinforcement learning (RL) tasks, i.

By Stephane Hatgis-Kessell, Emma Brunskill

llms reinforcement-learning robotics

arXiv Computer Vision

Aug 25

Guardian: Detecting Robotic Planning and Execution Errors with Vision-Language Models

arXiv:2512.01946v4 Announce Type: replace-cross Abstract: Robust robotic manipulation requires reliable failure detection and recovery. Although recent Vision-Language Models (VLMs) show promise in r...

By Paul Pacaud, Ricardo Garcia, Shizhe Chen, Cordelia Schmid

llms robotics multimodal benchmarks

arXiv AI

Aug 19

EXPO-FT: Sample-Efficient Reinforcement Learning Finetuning for Vision-Language-Action Models

EXPO-FT is a system that enables stable, sample‑efficient reinforcement learning fine‑tuning of pretrained Vision‑Language‑Action (VLA) policies. It achieves perfect success on a range of manipulation tasks—such as routing string lights, striking a pool ball, and inserting a flower into a wine bottle—using only about 19.1 minutes of online robot data. The approach outperforms both RL-from-scratch and existing VLA fine‑tuning methods, and the authors provide an open‑source codebase to support wider adoption.

By Perry Dong, Kuo-Han Hung, Tian Gao, Dorsa Sadigh, Chelsea Finn

reinforcement-learning robotics fine-tuning multimodal

arXiv AI

Jul 14

Robo-ValueRL: Reliable Value Estimation for Offline-to-Online Reinforcement Learning

arXiv:2607. 09866v1 Announce Type: cross Abstract: Offline-to-online reinforcement learning is promising for generalizable robotic manipulation, yet its full-stack complexity obscures reproduction and diagnosis.

By Wenke Xia, Pei Ren, Wenbo Yu, Yizhuo Zhang, Jifan Li, Yixue Zhang, Yinuo Zhao, Qingyang Gao, Jianlong Fu, Jian Tang, Ji-Rong Wen, Zhengping Che, Di Hu

reinforcement-learning robotics

arXiv Machine Learning

Sep 30

Sample Complexity of Equivariant Reinforcement Learning

arXiv:2609.36421v1 Announce Type: cross Abstract: Reinforcement learning (RL) is a powerful framework for robotic control, yet its practical application is often hindered by high sample complexity. T...

By Rayan Mazouz, Haibo Zhao, Chris Hillar, Christian Shewmake

reinforcement-learning robotics

arXiv Machine Learning

Jun 29

Support-Constrained RL Enables Real-World Policy Improvement without Real-World Experience

arXiv:2606. 27475v1 Announce Type: cross Abstract: Robots trained on real world data tend to be imprecise, slow, and brittle to perturbations.

By Raymond Yu, William Huey, Mustafa Mukadam, Anusha Nagabandi, Abhishek Gupta

reinforcement-learning robotics efficiency

arXiv AI

Jun 10

RoboGPT-R1: Enhancing Robot Task Planning with Reinforcement Learning

arXiv:2510. 14828v3 Announce Type: replace Abstract: Improving the reasoning capabilities of embodied agents is crucial for robots to complete complex human instructions in long-view manipulation tasks successfully.

By Jinrui Liu, Bingyan Nie, Boyu Li, Yaran Chen, Yuze Wang, Shunsen He, Haoran Li

llms agents reinforcement-learning robotics fine-tuning benchmarks

arXiv AI

Jul 1

Position: Vision-Language-Action Models Cannot Be Verified to Perform Physical Reasoning

arXiv:2606. 30686v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) systems, built on pretrained vision-language models (VLMs), have shown rapidly improving performance on robot manipulation benchmarks.

By Taozhao Chen, Ian Manchester, Huaming Chen

llms robotics multimodal benchmarks

arXiv Machine Learning

Jun 2

Evaluating Real-World Generalizability of Algorithm Selection Models

arXiv:2606. 02016v1 Announce Type: new Abstract: Algorithm Selection (AS) aims to automatically identify the most suitable optimization algorithm for a given problem instance by leveraging measurable problem characteristics and historical performance data.

By Gjorgjina Cenikj, Jakub Kudela, Eva Tuba, Tome Eftimov

robotics benchmarks

arXiv Machine Learning

Jun 11

OGPO: Sample Efficient Full-Finetuning of Generative Control Policies

arXiv:2605. 03065v2 Announce Type: replace Abstract: Generative control policies (GCPs), such as diffusion- and flow-based control policies, have emerged as effective parameterizations for robot learning.

By Sarvesh Patil, Mitsuhiko Nakamoto, Manan Agarwal, Shashwat Saxena, Jesse Zhang, Giri Anantharaman, Cleah Winston, Chaoyi Pan, Douglas Chen, Nai-Chieh Huang, Zeynep Temel, Oliver Kroemer, Sergey Levine, Abhishek Gupta, Hongkai Dai, Paarth Shah, Max Simchowitz

diffusion reinforcement-learning robotics fine-tuning benchmarks

arXiv AI

Jun 30

RoAd-RL: A Unified Library and Benchmark for Robust Adversarial Reinforcement Learning

arXiv:2606. 29867v1 Announce Type: cross Abstract: Deep Reinforcement Learning (DRL) has achieved significant success in robotics and autonomous systems, yet remains vulnerable to adversarial perturbations that can severely degrade performance.

By Adithya Mohan, Daniel Kriegl, Torsten Sch\"on

agents reinforcement-learning robotics benchmarks safety

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