Humanoid RL进阶
超越奖励黑客：人形学习流水线四层代理分歧与修正方法
这是一篇预印本，提出人形机器人学习流水线中存在四层代理分歧：奖励、课程门控、评估统计、参考动作。作者在模拟的1.91米人形机器人上完成四阶段PPO训练，展示了平均误差课程门控忽略局部失败、同步重置评估产生相位混叠等系统性偏差，并给出修正方案。这些发现对依赖模拟训练和课程学习的机器人开发者具有直接警示意义。
研究
论文
机器人与具身智能领域的最新论文，以及每篇对产业的意义。
1 篇论文
主题全部Manipulation 27VLA 22Perception 12Robotics 11Navigation 10Humanoid 9Learning 8Safety 5World Action Models 4Simulation 3Aerial manipulation 2Dexterous manipulation 2Sim-to-Real Manipulation 2Social Navigation 2Vision-Language Navigation 2World models 2World-action model 23D Assembly 13DGS dataset 15G Simulation 1AMR Operations 1Active vision manipulation 1Adaptive MPC 1Adaptive action horizons 1Adaptive intervention 1Aerial 1Aerial Manipulation 1Aerial navigation 1Agricultural Robotics 1Articulation Estimation 1Autonomous Driving 1Autonomous Exploration 1Battery-aware RL 1Belief-space planning 1Bimanual Manipulation 1Byzantine localization 1Canal inspection 1Co-speech Humanoid 1Compositional Manipulation 1Construction navigation 1Contact-Rich Manipulation 1Contact-rich Manipulation 1Continuum sensing 1Curriculum RL 1Dexterous Manipulation 1Distributed Manipulation 1Distribution Shift 1Driving Simulation 1Efficient VIO 1Egocentric data 1Egocentric video 1Embodied Agents 1Embodied policy 1Empowerment MPC 1Endoscopic navigation 1Endovascular robotics 1Event-camera VO 1Exoskeletons 1Failure recovery 1Federated 3D Perception 1Fisheye detection 1Floorplan SLAM 1Geometry-aware manipulation 1Grasping 1Grounding 1Humanoid Control 1Humanoid RL 1Humanoid Tool Use 1Humanoid control 1Humanoid loco-manipulation 1Humanoid safety 1Imitation Learning 1JEPA World Models 1Lab automation 1Laboratory Manipulation 1Latent World Models 1Legged Manipulation 1LiDAR Security 1Lifelong RL 1Locomotion 1MAPF 1MAV guidance 1Manipulation LfD 1Manipulation Safety 1Marine simulation 1Memory-centric VLA 1Miniature Locomotion 1Mining Perception 1Mobile manipulation 1Model-based RL 1Monocular SSC 1Motion Planning 1Multi-Agent RL 1Multi-Robot Exploration 1Multi-Robot Manipulation 1Multi-UAV Exploration 1Multi-UAV State Estimation 1Multi-agent RL 1Multi-agent motion planning 1Multi-camera odometry 1Multi-fidelity RL 1Multi-robot manipulation 1Multi-skill Manipulation 1Multi-view perception 1Multimodal simulation 1Navigation & Mapping 1Object Pose Estimation 1Object Search 1Panoramic 3D Detection 1Panoramic segmentation 1Pedestrian tracking 1PersonNav 1Planning 1Policy 1Policy Optimization 1Preference Learning 1Quadruped locomotion 1Real-time VLA 1Real-to-sim 1Representation alignment 1Robot-Use Agents 1Runtime Verification 1Safe Generative Planning 1Safe RL-MPC 1Safe VLA 1Safety monitoring 1Safety-critical control 1Sim-to-real Navigation 1Sim-to-real manipulation 1Simulation geometry 1Skill Discovery 1Social navigation 1Soft Pneumatic Actuators 1Soft manipulation 1Sonar SLAM 1Streaming 3D reconstruction 1Submovement decomposition 1Surgical robotics 1Tactile 1Tactile Exploration 1Tactile VLA 1Temporal manipulation 1Terrain traversability 1Text-to-3D Policy 1Tool Co-Design 1Trajectory Correction 1Traversability 1UAV Navigation 1UAV Swarms 1UAV traffic monitoring 1Underwater Robotics 1Underwater active mapping 1Underwater perception 1Unified world-action model 1VLA Conditioning 1VLA Defense 1VLA Robustness 1VLA evaluation 1VLA manipulation 1VLA robustness 1Video world models 1Visual Generalization 1Visual Grounding 1Visual Reward Models 1Visuomotor Fusion 1Visuotactile manipulation 1World Models 1World-Action Models 1
主题页
论文来自 arXiv 机器人领域。尚未生成摘要的论文，显示摘要开头部分。