WeaveRL: Weaving Reconstruction into Scene-Aware Fabrics for Perceptive Reinforcement Learning

arXiv:2609.18685 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/isaac-sim/IsaacLab-Arena

Project page: https://weave-rl.github.io

Terminology

• Reinforcement Learning — 9× in this paper · explained in 4 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Robustness — 6× in this paper · explained in 5 episodes
• Distillation — 5× in this paper · explained in 2 episodes
• Conference on Robot Learning — 4× in this paper
• Fidelity — 3× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 3× in this paper · explained in 2 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Gradient Flow — 2× in this paper · explained in 2 episodes
• Reward Shaping — 2× in this paper · explained in 2 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Activation Function — 1× in this paper · explained in 1 episode
• Automatic Domain Randomization — 1× in this paper
• Computational overhead — 1× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 1× in this paper
• Flow Matching Model — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Teacher-Student Distillation — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Riemannian Motion Policies
• Geometric Fabrics: a Safe Guiding Medium for Policy Learning
• Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
• CSSDF-Net: Safe Motion Planning Based on Neural Implicit Representations of Configuration Space Distance Field
• Flow Motion Policy: Manipulator Motion Planning with Flow Matching Models
• Solving Rubik's Cube with a Robot Hand
• DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands

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