Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds - 2026-07-20 - Research Publication - Reinforcement learning (RL), the primary learning-based approach for locomotion, often utilizes a high-performance simulation tool, providing a controlled and efficient training and development environment. - source: arxiv.org
AeroAct: Action-Centered World-Action Models for Language-Conditioned Quadrotor Flight - 2026-07-16 - Research Publication - The authors present AeroAct, an action-centered world-action model (WAM) for quadrotor navigation. - source: arxiv.org
EVIS: A Physics-Grounded Event Camera Plugin for NVIDIA Isaac Sim - 2026-07-09 - Research Publication - However, labeled event-camera data for a specific robot and scene is scarce and expensive to collect, which slows the development of event-based perception and control. - source: arxiv.org
GPUSimBench: Towards Scalable and Reliable GPU-Accelerated Simulators in Embodied AI - 2026-07-06 - Research Publication - However, as computational throughput scales, the underlying trade-offs between parallel efficiency, physical fidelity, and execution determinism remain largely unexamined, hindering the development of reliable robot… - source: arxiv.org
NavIsaacLab: Generating Realistic Crowd via Parallel Robot Learning for Benchmarking Human-aware Navigation - 2026-06-24 - Research Publication - Robot autonomous navigation that accounts for surrounding human activities is crucial for ensuring both safety and natural human-robot interaction in real-world environments shared by humans and robots. Simulation of… - source: arxiv.org
TactSpace: Learning a Physics-enriched Shared Latent Space for Tactile Sim-to-Real Transfer - 2026-06-17 - Research Publication - Tactile sensing provides direct measurements of contact interactions that are essential for robotic manipulation. However, current simulators lack the fidelity to faithfully model the complex deformation and transduction… - source: arxiv.org
Steering Generative Reinforcement Learning into Stable Robotic Controller - 2026-06-15 - Research Publication - Diffusion and flow-based generative policies provide a powerful policy class for reinforcement learning by inducing rich stochastic exploration through iterative action generation. - source: arxiv.org
Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation - 2026-06-10 - Research Publication - Multi-objective reinforcement learning for humanoid robots must coordinate locomotion and manipulation within a single policy. - source: arxiv.org
GPU-Parallel Multi-Task Reinforcement Learning with Demonstration Guided Policy Optimization - 2026-06-02 - Research Publication - Large scale GPU-parallel reinforcement learning has changed what can be trained in robot simulation, yet most systems still optimize one specialist policy per task. We propose a construction methodology for turning… - source: arxiv.org
Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning - 2026-05-29 - Research Publication - The authors present BARD (Batched Articulated Rigid-body Dynamics), a self-contained PyTorch implementation of Featherstone's rigid-body dynamics algorithms, optimized for batched GPU evaluation and automatic… - source: arxiv.org
VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction - 2026-05-26 - Research Publication - The authors present VR-DAgger, a human-in-the-loop framework centered on an immersive VR application for dexterous teleoperation, demonstration collection, and selective policy correction. - source: arxiv.org
TienKung-Lab: Direct IsaacLab Workflow for TienKung - 2026-05-23 - Research Publication - Releases a repository for TienKung humanoid locomotion training in Isaac Lab. Combines RL, AMP-style rewards, periodic gait rewards, ray-casting sensors, and Sim2Sim transfer to MuJoCo. Relevant to humanoid locomotion… - source: github.com
Robotic Strawberry Harvesting with Robust Vision and Deep Reinforcement Learning based Sim-to-Real Control - 2026-05-22 - Research Publication - This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. - source: arxiv.org
CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation - 2026-05-21 - Research Publication - The authors present CoRMA(Contrastive Robotic Motor Adaptation), a context-based meta-adaptation framework that modifies RMA for force-dominant assembly. - source: arxiv.org
parallelcbf: A composable safety-filter and auditability framework for tensor-parallel reinforcement learning - 2026-05-15 - Research Publication - ParallelCBF unifies tensor-parallel UAV environments, control-barrier-function safety filters, behavior-cloning-to-RL pipelines, and operational auditability. - source: arxiv.org
SceneFactory: GPU-Accelerated Multi-Agent Driving Simulation with Physics-Based Vehicle Dynamics - 2026-05-08 - Research Publication - The authors introduce SceneFactory, a GPU-vectorized platform for procedural scene construction, physics-based multi-agent simulation, and RL in autonomous-driving environments. - source: arxiv.org
GR00T-VisualSim2Real: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation - 2026-04-30 - Research Publication - Open-source pipeline for visual sim-to-real transfer of humanoid locomotion and manipulation skills. - source: github.com
Unleashing the Agility of Wheeled-Legged Robots for High-Dynamic Reflexive Obstacle Evasion - 2026-04-26 - Research Publication - The study proposes AWARE, Adaptive Wheeled-Legged Avoidance and Reflexive Evasion, a hierarchical reinforcement learning framework for high-dynamic obstacle avoidance in wheeled-legged robots. - source: arxiv.org
PriPG-RL: Privileged Planner-Guided Reinforcement Learning for Partially Observable Systems with Anytime-Feasible MPC - 2026-04-09 - Research Publication - This paper addresses the problem of training a reinforcement learning (RL) policy under partial observability by exploiting a privileged, anytime-feasible planner agent available exclusively during training. - source: arxiv.org
Agent-Driven Autonomous Reinforcement Learning Research: Iterative Policy Improvement for Quadruped Locomotion - 2026-03-28 - Research Publication - A human provided high-level directives through an agentic coding environment, while an agent carried out most of the execution loop: reading code, diagnosing failures, editing reward and terrain configurations, launching… - source: arxiv.org
Evaluating Factor-Wise Auxiliary Dynamics Supervision for Latent Structure and Robustness in Simulated Humanoid Locomotion - 2026-03-22 - Research Publication - A 2x2 factorial ablation (n = 10 seeds) isolates the contributions of the tanh bottleneck and auxiliary losses: the auxiliary losses show no measurable effect on either in-distribution (ID) reward (+0.03, p = 0.732) or… - source: arxiv.org
PRIOR: Perceptive Learning for Humanoid Locomotion with Reference Gait Priors - 2026-03-19 - Research Publication - Comprehensive experiments across terrains of varying difficulty-including stairs, boxes, and gaps-demonstrate that each component yields complementary and essential performance gains, with the full framework achieving a… - source: arxiv.org
Learning Energy-Efficient Air--Ground Actuation for Hybrid Robots on Stair-Like Terrain - 2026-03-13 - Research Publication - The authors propose an energy-aware reinforcement learning framework that trains a single continuous policy to coordinate propellers, wheels, and tilt servos without predefined aerial and ground modes. - source: arxiv.org
Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery - 2026-03-09 - Research Publication - This balance-informed reinforcement-learning study combines capture-point, center-of-mass and momentum signals during training, then transfers a proprioceptive policy to physical Unitree H1-2. Ten hardware trials reached… - source: arxiv.org
Learning Vision-Based Omnidirectional Navigation: A Teacher-Student Approach Using Monocular Depth Estimation - 2026-03-02 - Research Publication - Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the… - source: arxiv.org
External stair-climbing paper trains and transfers policies on Unitree Go2 - 2026-02-16 - Research Publication - Quadruped robots are employed in various scenarios in building construction. However, autonomous stair climbing across different indoor staircases remains a major challenge for robot dogs to complete building construction… - source: arxiv.org
UEREBot: Learning Safe Quadrupedal Locomotion under Unstructured Environments and High-Speed Dynamic Obstacles - 2026-02-07 - Research Publication - Quadruped robots are increasingly deployed in unstructured environments. Safe locomotion in these settings requires long-horizon goal progress, passability over uneven terrain and static constraints, and collision… - source: arxiv.org
Residual Reinforcement Learning for Waste-Container Lifting Using Large-Scale Cranes with Underactuated Tools - 2026-02-05 - Research Publication - This paper studies the container lifting phase of a waste-container recycling task in urban environments, performed by a hydraulic loader crane equipped with an underactuated discharge unit, and proposes a residual… - source: arxiv.org
Training and Simulation of Quadrupedal Robot in Adaptive Stair Climbing for Indoor Firefighting: An End-to-End Reinforcement Learning Approach - 2026-02-03 - Research Publication - In this project, the authors designed a two-stage end-to-end deep reinforcement learning (RL) approach to optimize both navigation and locomotion. - source: arxiv.org
mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning - 2026-01-29 - Research Publication - The authors present mjlab, a lightweight, open-source framework for robot learning that combines GPU-accelerated simulation with composable environments and minimal setup friction. mjlab adopts the manager-based API… - source: arxiv.org
Enhancing Control Policy Smoothness by Aligning Actions with Predictions from Preceding States - 2026-01-26 - Research Publication - The study proposes a novel loss-based method by introducing a transition-induced similar state. - source: arxiv.org
APIARY Astrobee paper trains free-flyer control policy in NVIDIA Isaac Lab - 2025-12-03 - Research Publication - This paper covers APIARY Astrobee paper trains free-flyer control policy in NVIDIA Isaac Lab for Isaac Lab in Robot learning. - source: arxiv.org
Autonomous Reinforcement Learning Robot Control with Intel's Loihi 2 Neuromorphic Hardware - 2025-12-03 - Research Publication - The authors present an end-to-end pipeline for deploying reinforcement learning (RL) trained Artificial Neural Networks (ANNs) on neuromorphic hardware by converting them into spiking Sigma-Delta Neural Networks (SDNNs). - source: arxiv.org
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning - 2025-11-06 - Research Publication - Isaac Lab models Digit locomotion with a ray-cast height scanner and closed-loop kinematic chains for simulated perceptive-learning benchmarks. - source: arxiv.org
GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation - 2025-08-13 - Research Publication - This paper introduces the Generalized Behavior Cloning (GBC) framework, a comprehensive and unified solution designed to solve this end-to-end challenge. - source: arxiv.org
GenPO: Generative Diffusion Models Meet On-Policy Reinforcement Learning - 2025-05-24 - Research Publication - Recent advances in reinforcement learning (RL) have demonstrated the powerful exploration capabilities and multimodality of generative diffusion-based policies. - source: arxiv.org
RoboRAN: A Unified Robotics Framework for Reinforcement Learning-Based Autonomous Navigation - 2025-05-20 - Research Publication - The study presents a multi-domain framework for training, evaluating and deploying RL-based navigation policies across diverse robotic platforms and operational environments. - source: arxiv.org
Wheeled Lab: Modern Sim2Real for Low-cost, Open-source Wheeled Robotics - 2025-02-11 - Research Publication - As a result, broader communities are disconnecting from the state-of-the-art; education curricula are poorly equipped to teach indispensable modern robotics skills involving hardware, deployment, and iterative development. - source: arxiv.org
TacEx: GelSight Tactile Simulation in Isaac Sim -- Combining Soft-Body and Visuotactile Simulators - 2024-11-07 - Research Publication - To close this gap, the authors develop TacEx -- a modular tactile simulation framework. - source: arxiv.org
fan-ziqi/robot_lab - 2024-07-06 - Research Publication - The source registers exact model-specific Isaac Lab environments for tracked quadruped, wheeled-quadruped and humanoid platforms. - source: github.com
isaac-sim/IsaacLab - 2022-11-16 - Research Publication - Unified framework for robot learning built on NVIDIA Isaac Sim - source: github.com
pytorch/rl - 2022-02-01 - Research Publication - A modular, primitive-first, python-first PyTorch library for Reinforcement Learning. - source: github.com
leggedrobotics/rsl_rl - 2021-10-18 - Research Publication - A fast and simple implementation of learning algorithms for robotics. - source: github.com