Topic

Reinforcement learning & control

Online and offline RL, model-predictive control, and the safety filters wrapped around them.

179papers in 2026-07

15.35%of all cs.RO that month

-1.44ppshare change, last 6 vs prior 12 months

24-month volume

arXiv query: cat:cs.RO AND (abs:"reinforcement learning" OR abs:"model predictive control")

Presented at reading clubs

These already have a slide kit, so they are the fastest ones to pick up and present.

2026-01-07

Diffusion-DRF: Free, Rich, and Differentiable Reward for Video Diffusion Fine-Tuning

Yifan Wang, Yanyu Li, Gordon Guocheng Qian +3 · 2 citations

clubReinforcement learning & control Video & generative modeling

2025-12-31

Dream2Flow: Bridging Video Generation and Open-World Manipulation with 3D Object Flow

Karthik Dharmarajan, Wenlong Huang, Jiajun Wu +2 · 30 citations

clubReinforcement learning & control Hardware & morphology co-design

2025-11-20

Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations

Irmak Guzey, Haozhi Qi, Julen Urain +10 · 16 citations

clubDexterous manipulation Egocentric & human data

2025-09-29

Training Agents Inside of Scalable World Models

Danijar Hafner, Wilson Yan, Timothy Lillicrap · 117 citations

clubWorld models Reinforcement learning & control

2023-01-10

Mastering Diverse Domains through World Models

Danijar Hafner, Jurgis Pasukonis, Jimmy Ba +1 · 1,333 citations

clubWorld models Reinforcement learning & control

2022-06-28

DayDreamer: World Models for Physical Robot Learning

Philipp Wu, Alejandro Escontrela, Danijar Hafner +2 · 553 citations

clubCoRLWorld models Humanoids & locomotion

2022-06-08

Deep Hierarchical Planning from Pixels

Danijar Hafner, Kuang-Huei Lee, Ian Fischer +1 · 145 citations

clubNeurIPSWorld models Humanoids & locomotion

2020-10-05

Mastering Atari with Discrete World Models

Danijar Hafner, Timothy Lillicrap, Mohammad Norouzi +1 · 1,321 citations

clubICLRWorld models Humanoids & locomotion

2019-12-03

Dream to Control: Learning Behaviors by Latent Imagination

Danijar Hafner, Timothy Lillicrap, Jimmy Ba +1 · 2,186 citations

clubICLRWorld models Reinforcement learning & control

2018-03-27

World Models

David Ha, Jürgen Schmidhuber · 1,987 citations

clubWorld models Reinforcement learning & control

Recent work

2026-08-27

Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties

Mohammad-Hossein Fakouri, Ali Keymasi-Khalaji

Reinforcement learning & control Safety & evaluation

2026-08-27

Arrive and Survive: Scaling Safe Goal-Conditioned Policy Learning from One-Bit Failure Signals

Guopeng Li, Yiyang Duan, Yiru Jiao +1

Humanoids & locomotion Reinforcement learning & control

2026-08-26

VBVR-Pro: A Scalable and Verifiable Suite for Native Visual Reasoning

Junxiang Xu, Ruisi Wang, Fanyi Pu +49

Reinforcement learning & control Video & generative modeling

2026-08-26

$R^3$: Training Robots to Reason in Natural Language via Reinforcement Learning

Lehong Wu, Yuxiao Qu, Zheyuan Hu +4

Imitation & diffusion policies Reinforcement learning & control

2026-08-26

PRISM: Projection-Integrated Sampling-Based MPC with Bayesian Cost Tuning for Bimanual Manipulation

Alinjar Dan, Iryna Hurova, Karl Kruusamäe +1

World models Tactile & force sensing

2026-08-26

Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor

Massimiliano Bertoni, Alberto Piccina, Gianni Lunardi +4

Reinforcement learning & control Navigation & mobility

2026-08-26

LAC: Linear and Angular Compliance for Humanoid Whole-body Control

Yang Liu, Zhongkai Gu, Wei Zhu +1

Humanoids & locomotion Reinforcement learning & control

2026-08-26

Beyond Pairwise Feedback: Listwise Vision-Language Supervision for Preference-Based Reward Learning

Srivalli Katkuri, Maxwell Kawada, Juan Wachs

Reinforcement learning & control Video & generative modeling

2026-08-25

NeuralParker: A Reinforcement Learning Planner for Irregular Parking Environments

Zihan Wang, Bai Huang, Yang Guan +4

Reinforcement learning & control

2026-08-25

CARO: Contact-Agnostic Residual Observation for Zero-Shot Robust Quadruped Locomotion

Zihan Yang, Shixuan Han, Kexin Guo +1

Humanoids & locomotion Simulation, sim-to-real & benchmarks

2026-08-25

TrAct: Bridging Robot Control and Visual Prediction with Visual Tracks

Zhi Cao, Howard Ji, Kevin Zhang +4

World models Vision-language-action

2026-08-25

Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic

Yiqi Zhao, Taekyung Kim, Hideki Okamoto +4

Reinforcement learning & control Safety & evaluation

2026-08-25

CoDrift: Compositional Drifting for Offline Reinforcement Learning

Xiewei Ni, Ruofeng Mei, Xiangyu Xu

Imitation & diffusion policies Reinforcement learning & control

2026-08-24

Learning to Act While Waiting: RL Finetuning of Generalist Robot Policies Under Inference Latency

Brian Zhu, Momen Khalil, E Harrison +17

Reinforcement learning & control

2026-08-24

Reward-Free Continual Adaptation for Resilient Space Robots

Andrej Orsula, Miguel Olivares-Mendez, Carol Martinez

World models Reinforcement learning & control

2026-08-24

Guided Riemannian Optimization (GuRO): Bridging Model Predictive Control and Decision Transformers

Hossein Abdi, Satya Prakash Dash, Mingfei Sun

Humanoids & locomotion Reinforcement learning & control

2026-08-24

Macro-Action Topological Navigation under Noisy Localization using Reinforcement Learning

Simon Hakenes, Tobias Glasmachers

Simulation, sim-to-real & benchmarks Reinforcement learning & control

2026-08-23

Enhancing Sim2Real Transfer for Torque-Controlled Robots through Real2Sim Dynamics Estimation and Reinforcement Learning

Davide Bargellini, Alex Pasquali, Andrea Govoni +2

Simulation, sim-to-real & benchmarks Reinforcement learning & control

2026-08-23

WAM-OPD: On-Policy Distillation for World Action Models

Liuhaichen Yang, Zhuang Jiang, Chenchao Sheng +1

Reinforcement learning & control

2026-08-22

DELTA: Deformable Elevation-Based Local Terrain Attention Encoder for Sparse-Terrain Quadrupedal Locomotion

Sanghyun Park, Moonkyu Jung, Jemin Hwangbo

ICRA 2027Humanoids & locomotion Simulation, sim-to-real & benchmarks

2026-08-22

CIDER: Continual Interactive Distillation for Embodied Reinforcement Learning

Houlin Li, Minghui Xu, Guo Xu +8

Reinforcement learning & control Human-robot interaction

2026-08-22

CounterAlign: Counterfactual Supervision for Vision-Language-Action Models

Haru Kondoh, Kei Ota, Asako Kanezaki +1

Vision-language-action Imitation & diffusion policies

2026-08-22

Safety-Critical Bilateral Teleoperation for Omnidirectional Aerial Manipulation Using Force-Sensorless Haptic Feedback

Yubin Kim, Jinwoo Lee, Yongjun You +2

IROS 2026Reinforcement learning & control Data collection & teleoperation

2026-08-21

Force/Torque-Based Kinematic Adaptation for Robotic Manipulation Tasks

Carl Glen Henshaw

Dexterous manipulation Tactile & force sensing

2026-08-21

Model-Based Reinforcement Learning for Heterogeneous Multi-Robot Task Assignment Under Distribution Shifts

Daniel Garces, Sara Castro, Adrian Haimovich +2

Reinforcement learning & control Safety & evaluation

2026-08-21

Beyond Imitation: Self-Improving Robot Policies via Off-Policy Q-Planning

Varun Giridhar, Anant Khandelwal, Jeremy A. Collins +2

Egocentric & human data Tactile & force sensing

2026-08-21

SRL-MPC: Shape-Aware Reinforcement Learned Model Predictive Control

Ruihua Han, Rui Gao, Zhe Liu +6

Reinforcement learning & control Navigation & mobility

2026-08-21

Teaching is a Process: The TOSS Framework for Modeling Human Teaching Decisions in Human-Interactive Robot Learning

Bernhard Hilpert, Kim Baraka, Joost Broekens · 1 citation

Reinforcement learning & control

2026-08-21

Decoupling Policy Extraction for Offline Reinforcement Learning

Xuyao Lin, Yixiang Shan, Jinru Duan +7

Imitation & diffusion policies Reinforcement learning & control

2026-08-21

Demonstration-Guided Humanoid Stand-Up on an Emulated Deformable Surface

Aniruddh Kushwah, Vyankatesh Ashtekar, Ashish Dutta

Humanoids & locomotion Egocentric & human data

2026-08-21

Natural Sit-to-Stand Motion Synthesis For Humanoids via Guided Assistance Curricula and Staged Rewards

Meet Pal Singh, Vyankatesh Ashtekar, Ashish Dutta

Humanoids & locomotion Reinforcement learning & control

2026-08-21

Nonlinear Model Predictive Control for Trajectory Tracking of Differentially Flat Fixed-Wing Aerial Systems

Nishanth Bobbili, Pratyaksh Rao, Luca Morando +2

Reinforcement learning & control Navigation & mobility

2026-08-20

Learning-Based Measurement-Robust Control Barrier Functions for Obstacle Avoidance under State Estimation Error

Nicholas Rober, Yixuan Jia, Jonathan P. How

Reinforcement learning & control Navigation & mobility

2026-08-20

Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space

Zeren Luo, Jiahui Zhang, Yimin Han +4 · 1 citation

Humanoids & locomotion Imitation & diffusion policies

2026-08-20

MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces

Zeren Luo, Jiahui Zhang, Zhe Xu +6 · 1 citation

RA-LHumanoids & locomotion Simulation, sim-to-real & benchmarks

2026-08-20

Learning Hierarchical Skill Policies with Offline Quality-Diversity Reinforcement Learning

Tanachai Anakewat, Takayuki Osa, Tatsuya Harada

IROS 2026Humanoids & locomotion Reinforcement learning & control

2026-08-20

World-Model-Grounded LLM Planning for AUV and ASV Navigation Near Offshore Wind Farms

Markus Buchholz, Ignacio Carlucho, Yvan R. Petillot

IROS 2026World models Reinforcement learning & control

2026-08-20

Multimodal Trajectory Planning for Surface Vehicles using Turning Circle-based Control Barrier Functions

Changyu Lee

Reinforcement learning & control Safety & evaluation

2026-08-19

Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control

Chaoyi Pan, Zeji Yi, John Zhang +3

Dexterous manipulation Humanoids & locomotion

2026-08-19

Learning the Right Abstraction: Neural Reduced Dynamics for Complex Robot Control

Harry Zhang, Dan Negrut

Simulation, sim-to-real & benchmarks Reinforcement learning & control

507 papers in this corpus carry the reinforcement learning & control tag. How tagging works.