The Surprising Effectiveness of Representation Learning for Visual Imitation

2 December 2021

Jyothish Pari

Nur Muhammad (Mahi) Shafiullah

Sridhar Pandian Arunachalam

Lerrel Pinto

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Papers citing "The Surprising Effectiveness of Representation Learning for Visual Imitation"

42 / 42 papers shown

Title
Pixel Motion as Universal Representation for Robot Control Kanchana Ranasinghe Xiang Li Cristina Mata J. Park Michael S. Ryoo VGen 24 0 0 12 May 2025
Adaptive Wiping: Adaptive contact-rich manipulation through few-shot imitation learning with Force-Torque feedback and pre-trained object representations Chikaha Tsuji Enrique Coronado Pablo Osorio G. Venture 24 0 0 09 May 2025
GPA-RAM: Grasp-Pretraining Augmented Robotic Attention Mamba for Spatial Task Learning Juyi Sheng Yangjun Liu Sheng Xu Zhixin Yang Mengyuan Liu 54 0 0 28 Apr 2025
CIVIL: Causal and Intuitive Visual Imitation Learning Yinlong Dai Robert Ramirez Sanchez Ryan Jeronimus Shahabedin Sagheb Cara M. Nunez Heramb Nemlekar Dylan P. Losey 61 0 0 24 Apr 2025
Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations Chonlam Ho Jianshu Hu H. Wang Qi Dou Yutong Ban MedIm 71 1 0 03 Mar 2025
Imit Diff: Semantics Guided Diffusion Transformer with Dual Resolution Fusion for Imitation Learning Yuhang Dong Haizhou Ge Yupei Zeng J. Zhang Beiwen Tian ... Yufei Jia Ruixiang Wang Ran Yi Guyue Zhou Longhua Ma 51 0 0 11 Feb 2025
Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations Cevahir Köprülü Po-han Li Tianyu Qiu Ruihan Zhao T. Westenbroek David Fridovich-Keil Sandeep P. Chinchali Ufuk Topcu OffRL 87 0 0 02 Dec 2024
Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning George Jiayuan Gao Tianyu Li Nadia Figueroa 36 0 0 05 Nov 2024
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation Cheng-Chun Hsu Bowen Wen Jie Xu Yashraj S. Narang Xiaolong Wang Yuke Zhu Joydeep Biswas Stan Birchfield DiffM 35 8 0 01 Nov 2024
MILES: Making Imitation Learning Easy with Self-Supervision Georgios Papagiannis Edward Johns VLM SSL 45 5 0 25 Oct 2024
VideoAgent: Self-Improving Video Generation Achint Soni Sreyas Venkataraman Abhranil Chandra Sebastian Fischmeister Percy Liang Bo Dai Sherry Yang LM&Ro VGen 50 7 0 14 Oct 2024
RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation Songming Liu Lingxuan Wu Bangguo Li Hengkai Tan Huayu Chen Zhengyi Wang Ke Xu Hang Su Jun Zhu 29 75 0 10 Oct 2024
ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation Wenhai Liu Junbo Wang Yiming Wang Weiming Wang Cewu Lu 31 14 0 10 Oct 2024
Towards Effective Utilization of Mixed-Quality Demonstrations in Robotic Manipulation via Segment-Level Selection and Optimization Jingjing Chen Hongjie Fang Hao-Shu Fang Cewu Lu 34 2 0 30 Sep 2024
RECON: Reducing Causal Confusion with Human-Placed Markers Robert Ramirez Sanchez Heramb Nemlekar Shahabedin Sagheb Cara M. Nunez Dylan P. Losey CML 44 1 0 20 Sep 2024
DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Control Zichen Jeff Cui Hengkai Pan Aadhithya Iyer Siddhant Haldar Lerrel Pinto VGen 24 9 0 18 Sep 2024
Low Fidelity Visuo-Tactile Pretraining Improves Vision-Only Manipulation Performance Selam Gano Abraham George A. Farimani OnRL 40 1 0 21 Jun 2024
VIEW: Visual Imitation Learning with Waypoints Ananth Jonnavittula Sagar Parekh Dylan P. Losey SSL 86 8 0 27 Apr 2024
DiffClone: Enhanced Behaviour Cloning in Robotics with Diffusion-Driven Policy Learning Sabariswaran Mani Sreyas Venkataraman Abhranil Chandra Adyan Rizvi Yash Sirvi Soumojit Bhattacharya Aritra Hazra OffRL 26 1 0 17 Jan 2024
QUAR-VLA: Vision-Language-Action Model for Quadruped Robots Pengxiang Ding Han Zhao Wenxuan Song Zhitao Wang Zhenyu Wei Shangke Lyu Ningxi Yang Donglin Wang 30 19 0 22 Dec 2023
Harmonic Mobile Manipulation Ruihan Yang Yejin Kim Aniruddha Kembhavi Xiaolong Wang Kiana Ehsani 23 13 0 11 Dec 2023
On Bringing Robots Home Nur Muhammad (Mahi) Shafiullah Anant Rai Haritheja Etukuru Yiqian Liu Ishan Misra Soumith Chintala Lerrel Pinto 27 76 0 27 Nov 2023
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation? Kaylee Burns Zach Witzel Jubayer Ibn Hamid Tianhe Yu Chelsea Finn Karol Hausman OOD SSL 23 22 0 03 Nov 2023
Memory-Consistent Neural Networks for Imitation Learning Kaustubh Sridhar Souradeep Dutta Dinesh Jayaraman James Weimer Insup Lee 36 8 0 09 Oct 2023
AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild Hongjie Fang Haoshu Fang Yiming Wang Jieji Ren Jing Chen Ruo Zhang Weiming Wang Cewu Lu 32 46 0 26 Sep 2023
See to Touch: Learning Tactile Dexterity through Visual Incentives Irmak Güzey Yinlong Dai Ben Evans Soumith Chintala Lerrel Pinto 21 30 0 21 Sep 2023
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Xi Chen ... Ted Xiao Peng-Tao Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro LRM 22 1,086 0 28 Jul 2023
Train Offline, Test Online: A Real Robot Learning Benchmark G. Zhou Victoria Dean M. K. Srirama Aravind Rajeswaran Jyothish Pari ... Tianhe Yu Pieter Abbeel Lerrel Pinto Chelsea Finn Abhi Gupta OffRL 54 39 0 01 Jun 2023
Inverse Dynamics Pretraining Learns Good Representations for Multitask Imitation David Brandfonbrener Ofir Nachum Joan Bruna AI4CE 17 20 0 26 May 2023
Affordances from Human Videos as a Versatile Representation for Robotics Shikhar Bahl Russell Mendonca Lili Chen Unnat Jain Deepak Pathak 30 160 0 17 Apr 2023
Lossless Adaptation of Pretrained Vision Models For Robotic Manipulation Mohit Sharma Claudio Fantacci Yuxiang Zhou Skanda Koppula N. Heess Jonathan Scholz Y. Aytar VLM 42 28 0 13 Apr 2023
Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play Irmak Güzey Ben Evans Soumith Chintala Lerrel Pinto 59 64 0 21 Mar 2023
Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot Tao Huang Kai-xiang Chen Bin Li Yunhui Liu Qingxu Dou 27 23 0 20 Feb 2023
CEIP: Combining Explicit and Implicit Priors for Reinforcement Learning with Demonstrations Kai Yan A. Schwing Yu-xiong Wang OffRL 26 2 0 18 Oct 2022
Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Clouds Minghua Liu Xuanlin Li Z. Ling Yangyan Li Hao Su 29 31 0 14 Oct 2022
Holo-Dex: Teaching Dexterity with Immersive Mixed Reality Sridhar Pandian Arunachalam Irmak Güzey Soumith Chintala Lerrel Pinto 32 67 0 12 Oct 2022
K-VIL: Keypoints-based Visual Imitation Learning Jianfeng Gao Z. Tao Noémie Jaquier Tamim Asfour VGen SSL 42 23 0 07 Sep 2022
Human-to-Robot Imitation in the Wild Shikhar Bahl Abhi Gupta Deepak Pathak 9 162 0 19 Jul 2022
Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation Sridhar Pandian Arunachalam Sneha Silwal Ben Evans Lerrel Pinto 31 101 0 24 Mar 2022
With a Little Help from My Friends: Nearest-Neighbor Contrastive Learning of Visual Representations Debidatta Dwibedi Y. Aytar Jonathan Tompson P. Sermanet Andrew Zisserman SSL 183 450 0 29 Apr 2021
Decoupling Representation Learning from Reinforcement Learning Adam Stooke Kimin Lee Pieter Abbeel Michael Laskin SSL DRL 280 339 0 14 Sep 2020
Improved Baselines with Momentum Contrastive Learning Xinlei Chen Haoqi Fan Ross B. Girshick Kaiming He SSL 238 3,367 0 09 Mar 2020