mlsanityData to 14 Oct 2026

Graph-Structured Visual Imitation

arXiv 1907.05518 ↗First posted 11 Jul 2019cs.RO cs.AI cs.CVcited by 43

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Abstract (arXiv)

We cast visual imitation as a visual correspondence problem. Our robotic agent is rewarded when its actions result in better matching of relative spatial configurations for corresponding visual entities detected in its workspace and teacher's demonstration. We build upon recent advances in Computer Vision,such as human finger keypoint detectors, object detectors trained on-the-fly with synthetic augmentations, and point detectors supervised by viewpoint changes and learn multiple visual entity detectors for each demonstration without human annotations or robot interactions. We empirically show the proposed factorized visual representations of entities and their spatial arrangements drive successful imitation of a variety of manipulation skills within minutes, using a single demonstration and without any environment instrumentation. It is robust to background clutter and can effectively generalize across environment variations between demonstrator and imitator, greatly outperforming unstructured non-factorized full-frame CNN encodings of previous works.

Key facts. Cited by 43 papers in the map (data through 14 Oct 2026). First posted on arXiv 11 Jul 2019.

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Citing papers per year: 2020: 2; 2021: 4; 2022: 7; 2023: 13; 2024: 11; 2025: 3; 2026: 3.

43 papers.

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  1. 2022VIMA: General Robot Manipulation with Multimodal Promptscited by 407
  2. 2023MimicPlay: Long-Horizon Imitation Learning by Watching Human Playcited by 223
  3. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 206
  4. 2024HumanPlus: Humanoid Shadowing and Imitation from Humanscited by 185
  5. 2023Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulationcited by 138
  6. 2022VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priorscited by 136
  7. 2021Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstrationcited by 93
  8. 2021Learning by Watching: Physical Imitation of Manipulation Skills from Human Videoscited by 87
  9. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperationcited by 82
  10. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 81
  11. 2023XSkill: Cross Embodiment Skill Discoverycited by 75
  12. 2023Gen2Sim: Scaling up Robot Learning in Simulation with Generative Modelscited by 64
31 more
  1. 2023Learning Generalizable Manipulation Policies with Object-Centric 3D Representationscited by 61
  2. 2024Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstructioncited by 54
  3. 2023Zero-Shot Robot Manipulation from Passive Human Videoscited by 51
  4. 2022Graph Inverse Reinforcement Learning from Diverse Videoscited by 46
  5. 2023FluidLab: A Differentiable Environment for Benchmarking Complex Fluid Manipulationcited by 40
  6. 2024Towards Generalist Robot Learning from Internet Video: A Surveycited by 40
  7. 2024Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrationscited by 35
  8. 2023Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangementcited by 30
  9. 2022K-VIL: Keypoints-based Visual Imitation Learningcited by 27
  10. 2021Efficient and Interpretable Robot Manipulation with Graph Neural Networkscited by 22
  11. 2023One-Shot Imitation Learning: A Pose Estimation Perspectivecited by 21
  12. 2024Composing Pre-Trained Object-Centric Representations for Robotics From "What" and "Where" Foundation Modelscited by 16
  13. 2024P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policiescited by 16
  14. 2023Few-Shot In-Context Imitation Learning via Implicit Graph Alignmentcited by 14
  15. 2024One-Shot Imitation under Mismatched Executioncited by 12
  16. 2024Learning by Watching: A Review of Video-based Learning Approaches for Robot Manipulationcited by 11
  17. 2020A Geometric Perspective on Visual Imitation Learningcited by 10
  18. 2024VIEW: Visual Imitation Learning with Waypointscited by 10
  19. 2023Towards Generalist Robots: A Promising Paradigm via Generative Simulationcited by 9
  20. 2024VLMimic: Vision Language Models are Visual Imitation Learner for Fine-grained Actionscited by 8
  21. 2024One-Shot Manipulation Strategy Learning by Making Contact Analogiescited by 8
  22. 2020Domain-Adversarial and Conditional State Space Model for Imitation Learningcited by 7
  23. 2025X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrationscited by 6
  24. 2023Graph learning in robotics: a surveycited by 5
  25. 2023Generalizable Imitation Learning Through Pre-Trained Representationscited by 3
  26. 2022Learning from Physical Human Feedback: An Object-Centric One-Shot Adaptation Methodcited by 2
  27. 2026RAPID: Robot Agentic Programming from Demonstrationscited by 2
  28. 2025Object-Centric Mobile Manipulation through SAM2-Guided Perception and Imitation Learningcited by 1
  29. 2025Intuitive Programming, Adaptive Task Planning, and Dynamic Role Allocation in Human-Robot Collaborationcited by 1
  30. 2026Expanding Spatial and Temporal Context for Robotic Imitation Learning With Scene Graphscited by 0
  31. 2026SIR: Structured Image Representations for Explainable Robot Learningcited by 0