mlsanityData to 14 Oct 2026

Imitation Learning for Nonprehensile Manipulation through Self-Supervised Learning Considering Motion Speed

arXiv 2206.10289 ↗First posted 21 Jun 2022cs.ROcited by 14

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

Abstract (arXiv)

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the dynamics of environments and objects. Therefore imitating complex behaviors requires a large number of human demonstrations. In this study, a self-supervised learning that considers dynamics to achieve variable speed for nonprehensile manipulation is proposed. The proposed method collects and fine-tunes only successful action data obtained during autonomous operations. By fine-tuning the successful data, the robot learns the dynamics among itself, its environment, and objects. We experimented with the task of scooping and transporting pancakes using the neural network model trained on 24 human-collected training data. The proposed method significantly improved the success rate from 40.2% to 85.7%, and succeeded the task more than 75% for other objects.

Key facts. Cited by 14 papers in the map (data through 14 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 30 of its 61 references that are in the map. First posted on arXiv 21 Jun 2022.

Builds on

30 of 61 references.

Closest ancestors · 4

Same direction, newest first

  1. 2021Imitation learning for variable speed motion generation over multiple actions11 Mar
  2. 2021Imitation Learning for Variable Speed Contact Motion for Operation up to Control Bandwidth20 Feb
  3. 2020Motion Generation Using Bilateral Control-Based Imitation Learning with Autoregressive Learning12 Nov
  4. 2019Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor23 Sep

Other references · 26

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2016Unsupervised Learning of Visual Representations by Solving Jigsaw Puzzlescited by 1,382
  3. 2019Self-supervised Visual Feature Learning with Deep Neural Networks: A Surveycited by 657
  4. 2020A Survey on Contrastive Self-supervised Learningcited by 554
  5. 2018Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Reviewcited by 482
  6. 2017Time-Contrastive Networks: Self-Supervised Learning from Videocited by 459
  7. 20193D Packing for Self-Supervised Monocular Depth Estimationcited by 439
  8. 2016Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collectioncited by 316
  9. 2017Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperationcited by 289
  10. 2017One-Shot Visual Imitation Learning via Meta-Learningcited by 228
  11. 2015Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hourscited by 209
  12. 2018Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Taskscited by 154
14 more
  1. 2015Deep Spatial Autoencoders for Visuomotor Learningcited by 153
  2. 2019Self-supervised 6D Object Pose Estimation for Robot Manipulationcited by 101
  3. 2017Vision-Based Multi-Task Manipulation for Inexpensive Robots Using End-To-End Learning from Demonstrationcited by 100
  4. 2018Imitation Learning for Object Manipulation Based on Position/Force Information Using Bilateral Controlcited by 21
  5. 2020Self-supervised Learning for Precise Pick-and-place without Object Modelcited by 21
  6. 2021How to select and use tools? : Active Perception of Target Objects Using Multimodal Deep Learningcited by 15
  7. 2018Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learningcited by 9
  8. 2020Robot Gaining Accurate Pouring Skills through Self-Supervised Learning and Generalizationcited by 9
  9. 2021Uncertainty-Aware Self-Supervised Target-Mass Grasping of Granular Foodscited by 9
  10. 2017Probabilistic Learning of Torque Controllers from Kinematic and Force Constraintscited by 7
  11. 2021In-air Knotting of Rope using Dual-Arm Robot based on Deep Learningcited by 7
  12. 2019Pixels to Plans: Learning Non-Prehensile Manipulation by Imitating a Plannercited by 5
  13. 2018Pushing Fast and Slow: Task-Adaptive Planning for Non-prehensile Manipulation Under Uncertaintycited by 3
  14. 2021A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulationcited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 2; 2024: 8; 2025: 2; 2026: 2.

14 papers.

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  1. 2024Bi-ACT: Bilateral Control-Based Imitation Learning via Action Chunking with Transformercited by 27
  2. 2025SAIL: Faster-than-Demonstration Execution of Imitation Learning Policiescited by 18
  3. 2023Soft and Rigid Object Grasping With Cross-Structure Hand Using Bilateral Control-Based Imitation Learningcited by 15
  4. 2024Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation Systemcited by 13
  5. 2024ILBiT: Imitation Learning for Robot Using Position and Torque Information based on Bilateral Control with Transformercited by 10
  6. 2024Loss Function Considering Dead Zone for Neural Networkscited by 2
  7. 2024Variable-Frequency Imitation Learning for Variable-Speed Motioncited by 2
  8. 2024Variable-Speed Teaching-Playback as Real-World Data Augmentation for Imitation Learningcited by 2
  9. 2023Learning Multimodal Attention for Manipulating Deformable Objects with Changing Statescited by 1
  10. 2024Imitation Learning Inputting Image Feature to Each Layer of Neural Networkcited by 1
  11. 2024Error-Feedback Model for Output Correction in Bilateral Control-Based Imitation Learningcited by 1
  12. 2025Imitation Learning Based on Disentangled Representation Learning of Behavioral Characteristicscited by 1
2 more
  1. 2026Force Generative Imitation Learning: Bridging Position Trajectory and Force Commands through Control Techniquecited by 0
  2. 2026VFILC: Accurate Frequency Extrapolations in Imitation Learning via Sampling Frequency ILCcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challenges
  2. 2021Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration
  3. 2025Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
  4. 2025Annotation-Free One-Shot Imitation Learning for Multi-Step Manipulation Tasks
  5. 2024A Comparison of Imitation Learning Algorithms for Bimanual Manipulation
  6. 2025Dexterous Manipulation through Imitation Learning: A Survey
  7. 2026EgoSpeedUp: Transferring Human Manipulation Tempo to Robot Policies
  8. 2024Visual Imitation Learning of Non-Prehensile Manipulation Tasks with Dynamics-Supervised Models