mlsanityData to 7 Oct 2026

Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning

arXiv 2204.02863 ↗First posted 6 Apr 2022cs.RO cs.AI cs.CVcited by 36

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

We present DOME, a novel method for one-shot imitation learning, where a task can be learned from just a single demonstration and then be deployed immediately, without any further data collection or training. DOME does not require prior task or object knowledge, and can perform the task in novel object configurations and with distractors. At its core, DOME uses an image-conditioned object segmentation network followed by a learned visual servoing network, to move the robot's end-effector to the same relative pose to the object as during the demonstration, after which the task can be completed by replaying the demonstration's end-effector velocities. We show that DOME achieves near 100% success rate on 7 real-world everyday tasks, and we perform several studies to thoroughly understand each individual component of DOME. Videos and supplementary material are available at: https://www.robot-learning.uk/dome .

Key facts. Cited by 36 papers in the map (data through 7 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 20 of its 32 references that are in the map. First posted on arXiv 6 Apr 2022.

Builds on

20 of 32 references.

Closest ancestors · 3

Same direction, newest first

  1. 2022BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning4 Feb
  2. 2021Learning Multi-Stage Tasks with One Demonstration via Self-Replay14 Nov
  3. 2021Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration13 May

Other references · 17

  1. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  2. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  3. 2018Addressing Function Approximation Error in Actor-Critic Methodscited by 2,302
  4. 2017FiLM: Visual Reasoning with a General Conditioning Layercited by 2,286
  5. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  6. 2018An Algorithmic Perspective on Imitation Learningcited by 455
  7. 2017Leveraging Demonstrations for Deep Reinforcement Learning on Robotics Problems with Sparse Rewardscited by 302
  8. 2017Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperationcited by 286
  9. 2018Residual Reinforcement Learning for Robot Controlcited by 242
  10. 2017One-Shot Imitation Learningcited by 232
  11. 2017One-Shot Visual Imitation Learning via Meta-Learningcited by 225
  12. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 79
5 more
  1. 2019BlenderProccited by 76
  2. 2020Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learningcited by 22
  3. 2020FlowControl: Optical Flow Based Visual Servoingcited by 15
  4. 2019Siamese Convolutional Neural Network for Sub-millimeter-accurate Camera Pose Estimation and Visual Servoingcited by 12
  5. 2021Coarse-to-Fine for Sim-to-Real: Sub-Millimetre Precision Across Wide Task Spacescited by 9

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 8; 2024: 15; 2025: 10; 2026: 2.

36 papers.

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  1. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 377
  2. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 308
  3. 2024In-Context Imitation Learning via Next-Token Predictioncited by 65
  4. 2024OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitationcited by 62
  5. 2024Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstructioncited by 51
  6. 2024SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deploymentcited by 48
  7. 2024Vision-based Manipulation from Single Human Video with Open-World Object Graphscited by 46
  8. 2024DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Modelscited by 43
  9. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 33
  10. 2024DITTO: Demonstration Imitation by Trajectory Transformationcited by 28
  11. 2025Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstrationcited by 27
  12. 2023One-Shot Imitation Learning: A Pose Estimation Perspectivecited by 21
24 more
  1. 2024Composable Part-Based Manipulationcited by 17
  2. 2025DemoDiffusion: One-Shot Human Imitation using pre-trained Diffusion Policycited by 16
  3. 2023On the Effectiveness of Retrieval, Alignment, and Replay in Manipulationcited by 15
  4. 2023Few-Shot In-Context Imitation Learning via Implicit Graph Alignmentcited by 14
  5. 2024ILBiT: Imitation Learning for Robot Using Position and Torque Information based on Bilateral Control with Transformercited by 10
  6. 2024MILES: Making Imitation Learning Easy with Self-Supervisioncited by 9
  7. 2023ForceSight: Text-Guided Mobile Manipulation with Visual-Force Goalscited by 8
  8. 2023NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptorscited by 8
  9. 2025One-Shot Dual-Arm Imitation Learningcited by 7
  10. 2025RoboSSM: Scalable In-context Imitation Learning via State-Space Modelscited by 5
  11. 2022Conditional Visual Servoing for Multi-Step Taskscited by 3
  12. 2023Imitation Learning-based Visual Servoing for Tracking Moving Objectscited by 2
  13. 2024Expert Proximity as Surrogate Rewards for Single Demonstration Imitation Learningcited by 2
  14. 2025Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen)cited by 2
  15. 2024ReMoBot: Retrieval-Based Few-Shot Imitation Learning for Mobile Manipulation with Vision Foundation Modelscited by 1
  16. 2023Compositional Servoing by Recombining Demonstrationscited by 0
  17. 2024VITAL: Interactive Few-Shot Imitation Learning via Visual Human-in-the-Loop Correctionscited by 0
  18. 2024Adapting Skills to Novel Grasps: A Self-Supervised Approachcited by 0
  19. 2025Precise Mobile Manipulation of Small Everyday Objectscited by 0
  20. 2025Object-Focus Actor for Data-efficient Robot Generalization Dexterous Manipulationcited by 0
  21. 2025Annotation-Free One-Shot Imitation Learning for Multi-Step Manipulation Taskscited by 0
  22. 2025ManiLong-Shot: Interaction-Aware One-Shot Imitation Learning for Long-Horizon Manipulationcited by 0
  23. 2026Robustness of Robotic Manipulation: Foundations and Frontierscited by 0
  24. 2026POIL: Point-based One-Shot Imitation Learning with Stable Dynamical Systemscited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2021Towards More Generalizable One-shot Visual Imitation Learning
  2. 2025OSVI-WM: One-Shot Visual Imitation for Unseen Tasks using World-Model-Guided Trajectory Generation
  3. 2021The Surprising Effectiveness of Representation Learning for Visual Imitation
  4. 2019Learning One-Shot Imitation from Humans without Humans
  5. 2023Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations
  6. 2024Robotic Imitation of Human Actions
  7. 2018Zero-Shot Visual Imitation
  8. 2024One-Shot Imitation Learning with Invariance Matching for Robotic Manipulation