arXiv Machine Learning
Jun 2
World-Task Factorization for Robot Learning
arXiv:2606. 02027v1 Announce Type: cross Abstract: Robot learning must produce policies that generalize to new combinations of constraints, teammates, and environments.
World-Task Factorization for Robot Learning
Robot learning must produce policies that generalize to new combinations of constraints, teammates, and environments. To achieve this, we must structurally factor the policy, which is a choice that dictates what generalizes, what requires retraining, and what remains entangled.
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arXiv AI
Jul 14
Towards Predictive, Aligned, and Scalable Robot Learning
arXiv:2607. 11270v1 Announce Type: cross Abstract: Learning, at its core, extends beyond memorization to the ability to reason and solve novel problems by navigating a space of possibilities.
arXiv AI
Jun 4
SUSD: Structured Unsupervised Skill Discovery through State Factorization
arXiv:2602. 01619v2 Announce Type: replace-cross Abstract: Unsupervised Skill Discovery (USD) aims to autonomously learn a diverse set of skills without relying on extrinsic rewards.
Hugging Face Trending Papers
Jun 10
Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data in robotics. High-quality, task-specific robot data is expensive and time-consuming to collect, while suboptimal datasets with lower-quality or out-of-distribution demonstrations are abundant.
arXiv AI
Jun 11
Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
arXiv:2606. 12365v1 Announce Type: cross Abstract: We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data in robotics.
arXiv Machine Learning
Aug 12
BooST: Bridging Semantics and Motions for Efficient Skill Transfer
arXiv:2608. 10600v1 Announce Type: cross Abstract: Skill abstraction---the process of learning reusable and temporally extended behaviors---has emerged as a key paradigm for improving sample efficiency and generalization in robot learning.
arXiv Machine Learning
Jul 7
Learning Task-Sufficient World Models by Synergizing Agentic Exploration and Structured Modeling
arXiv:2607. 04409v1 Announce Type: new Abstract: Learning and planning in imagination using world models provides an effective paradigm for training agents for decision-making.
arXiv AI
Jul 7
Worldscape-MoE: A Unified Mixture-of-Experts World Model for Scalable Heterogeneous Action Control
arXiv:2607. 03964v1 Announce Type: cross Abstract: World models are rapidly becoming a core infrastructure for embodied intelligence and interactive agents: they provide controllable simulators in which agents can perceive, act, forecast, and acquire scalable experience.
arXiv AI
Jul 20
SLAC: Safe and Efficient Real-Robot Reinforcement Learning via Unsupervised Simulation Pre-Training
arXiv:2506. 04147v5 Announce Type: replace-cross Abstract: Building capable household and industrial robots requires mastering the control of versatile, high-degree-of-freedom (DoF) systems such as mobile manipulators.
arXiv AI
Aug 10
Capek 0.5: An Execution-Centric Vision-Language Model for Embodied Intelligence
arXiv:2608. 06756v1 Announce Type: new Abstract: Vision-language models are increasingly serving as the reasoning core of embodied agents.
arXiv AI
Jul 7
Rational Inverse Reasoning: Few-Shot Imitation by Inferring Intent through Planning
arXiv:2508. 08983v2 Announce Type: replace-cross Abstract: Humans can learn a new manipulation task from one or two demonstrations and then perform it in a new room, with new objects, under new constraints.
arXiv Machine Learning
Jun 5
Is Diversity All You Need for Scalable Robotic Manipulation?
arXiv:2507. 06219v2 Announce Type: replace-cross Abstract: Data scaling has driven remarkable success in foundation models for Natural Language Processing (NLP) and Computer Vision (CV), yet the principles of effective data scaling in robotic manipulation remain insufficiently understood.