BEACON: Belief-Enabled Adaptive CONtrol for Imitation Learning under Uncertainty

arXiv:2609.22730 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Terminology

• Alignment — 10× in this paper · explained in 1 episode
• Ablation — 6× in this paper · explained in 1 episode
• Reward Shaping — 4× in this paper · explained in 2 episodes
• Manifold Particle Filter — 2× in this paper
• Transformer — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Sample Complexity — 1× in this paper · explained in 15 episodes
• State Aliasing — 1× in this paper · explained in 2 episodes
• System Identification — 1× in this paper · explained in 3 episodes
• Verification — 1× in this paper · explained in 2 episodes
• Verifier — 1× in this paper · explained in 2 episodes

Sources

• Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation
• Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online
• Scaling Test-Time Compute Without Verification or RL is Suboptimal
• AdaManip: Adaptive Articulated Object Manipulation Environments and Policy Learning
• SAVOR: Skill Affordance Learning from Visuo-Haptic Perception for Robot-Assisted Bite Acquisition
• DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving