Learning Beyond What Humans Can Demonstrate

arXiv:2609.24996 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Project page: http://guardrail-policy.github.io

Terminology

• Alignment — 22× in this paper · explained in 1 episode
• alpha — 13× in this paper · explained in 1 episode
• Failure Modes — 5× in this paper · explained in 3 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Affordance — 4× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Computer Vision and Pattern Recognition — 1× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Influence Functions — 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
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• Learning Visuotactile Skills with Two Multifingered Hands
• RLIF: Interactive Imitation Learning as Reinforcement Learning
• TOPReward: Token Probabilities as Hidden Zero-Shot Rewards for Robotics
• WildLMa: Long Horizon Loco-Manipulation in the Wild
• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• ASPIRE: Agentic /Skills Discovery for Robotics
• VIA: Visual Interface Agent for Robot Control
• CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance

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• 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