Energy-Regularized Imitation Learning for Force- and Work-Aware Robotic Manipulation

arXiv:2609.18164 · cs.RO, cs.CV · Submitted 2026-09-16 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Fine-Tuning — 14× in this paper · explained in 5 episodes
• Transformer — 6× in this paper · explained in 2 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Regularization — 4× in this paper · explained in 3 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Clustering — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes

Sources

• Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions

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