# Robot learning from demonstration

Area: [Offline RL and imitation learning from data](https://mlsanity.com/offlinerl/index.md). HTML: https://mlsanity.com/offlinerl/robot-learning-from-demonstration/

## Key facts

- Robot learning from demonstration: 139 papers on arXiv since 2018 (data through 14 Oct 2026).
- 4 of its 139 mapped papers (3%) cite “Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives” (2019, arXiv 1903.02114).
- 4 of its 139 mapped papers (3%) cite “Towards Orientation Learning and Adaptation in Cartesian Space” (2019, arXiv 1907.03918).
- 4 new papers 17 Sep–14 Oct.

## Most cited here

- [Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives](https://mlsanity.com/paper/1903.02114/) (2019), cited by 4 papers here
- [Towards Orientation Learning and Adaptation in Cartesian Space](https://mlsanity.com/paper/1907.03918/) (2019), cited by 4 papers here
- [Benchmark for Skill Learning from Demonstration: Impact of User Experience, Task Complexity, and Start Configuration on Performance](https://mlsanity.com/paper/1911.02725/) (2019), cited by 3 papers here
- [A Linearly Constrained Nonparametric Framework for Imitation Learning](https://mlsanity.com/paper/1909.07374/) (2019), cited by 2 papers here
- [Gaussian-Process-based Robot Learning from Demonstration](https://mlsanity.com/paper/2002.09979/) (2020), cited by 2 papers here
- [Learning from Suboptimal Demonstration via Self-Supervised Reward Regression](https://mlsanity.com/paper/2010.11723/) (2020), cited by 2 papers here
- [Learning from Successful and Failed Demonstrations via Optimization](https://mlsanity.com/paper/2107.11918/) (2021), cited by 2 papers here
- [Similarity-Aware Skill Reproduction based on Multi-Representational Learning from Demonstration](https://mlsanity.com/paper/2110.14817/) (2021), cited by 2 papers here
- [Continual Learning from Demonstration of Robotics Skills](https://mlsanity.com/paper/2202.06843/) (2022), cited by 2 papers here
- [Quantifying Demonstration Quality for Robot Learning and Generalization](https://mlsanity.com/paper/2203.13843/) (2022), cited by 2 papers here

## New (17 Sep–14 Oct)

- [Learning from Demonstrations meets Symbolic Control - A Supervisory Control Architecture for Formal Certification of Learned Motion](https://mlsanity.com/paper/2610.19815/) (2026-10-14)
- [Residual Modeling Closes the Regression and Generative Policy Gap in Robot Learning](https://mlsanity.com/paper/2610.12231/) (2026-10-08)
- [Showing versus Doing: Teaching by Demonstration](https://mlsanity.com/paper/2610.14004/) (2026-09-27)
- [Learning Geometry-Aware Virtual Fixtures From Sparse Demonstrations](https://mlsanity.com/paper/2609.32958/) (2026-09-26)