mlsanityData to 13 Oct 2026

One-shot Imitation Learning via Interaction Warping

arXiv 2306.12392 ↗First posted 21 Jun 2023cs.RO cs.LGcited by 16

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

Abstract (arXiv)

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D mesh of each object in the environment using shape warping, a technique for aligning point clouds across object instances. Then, we represent manipulation actions as keypoints on objects, which can be warped with the shape of the object. We show successful one-shot imitation learning on three simulated and real-world object re-arrangement tasks. We also demonstrate the ability of our method to predict object meshes and robot grasps in the wild.

Key facts. Cited by 16 papers in the map (data through 13 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 33 of its 47 references that are in the map. First posted on arXiv 21 Jun 2023.

Builds on

33 of 47 references.

References · 33

  1. 2017Attention Is All You Needcited by 60,106
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,093
  3. 2023Segment Anythingcited by 8,195
  4. 2017Mask R-CNNcited by 7,266
  5. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,889
  6. 2021Masked-attention Mask Transformer for Universal Image Segmentationcited by 2,344
  7. 2018Dynamic Graph CNN for Learning on Point Cloudscited by 2,222
  8. 2022Detecting Twenty-thousand Classes using Image-level Supervisioncited by 613
  9. 2022Simple Open-Vocabulary Object Detection with Vision Transformerscited by 304
  10. 2021Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulationcited by 206
  11. 2019kPAM: KeyPoint Affordances for Category-Level Robotic Manipulationcited by 152
  12. 2018Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulationcited by 140
21 more
  1. 2021A comprehensive survey on point cloud registrationcited by 84
  2. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 79
  3. 2022SO(2)-Equivariant Reinforcement Learningcited by 79
  4. 2020Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learningcited by 69
  5. 2019KETO: Learning Keypoint Representations for Tool Manipulationcited by 68
  6. 2018Explorations in Homeomorphic Variational Auto-Encodingcited by 65
  7. 2022Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learningcited by 55
  8. 2022Learning Symmetric Embeddings for Equivariant World Modelscited by 54
  9. 2022SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fieldscited by 51
  10. 2022TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulationcited by 47
  11. 2021kPAM 2.0: Feedback Control for Category-Level Robotic Manipulationcited by 38
  12. 2020S3K: Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistencycited by 28
  13. 2019kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completioncited by 27
  14. 2023Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulationcited by 21
  15. 2021GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labelscited by 19
  16. 2018Transferring Category-based Functional Grasping Skills by Latent Space Non-Rigid Registrationcited by 8
  17. 2018Transferring Grasping Skills to Novel Instances by Latent Space Non-Rigid Registrationcited by 4
  18. 2018Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robotcited by 3
  19. 2018Transferring Grasp Configurations using Active Learning and Local Replanningcited by 2
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  21. 2018Learning Postural Synergies for Categorical Grasping through Shape Space Registrationcited by 1

Built on by

Cited by year (2026 to 13 Oct)

Citing papers per year: 2023: 1; 2024: 6; 2025: 6; 2026: 3.

16 papers.

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  1. 2024Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learningcited by 56
  2. 2023Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulationcited by 51
  3. 2024One-Shot Imitation Learning with Invariance Matching for Robotic Manipulationcited by 18
  4. 2024Keypoint Abstraction using Large Models for Object-Relative Imitation Learningcited by 18
  5. 2025MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondencecited by 11
  6. 2025FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulationcited by 8
  7. 2025One-Shot Dual-Arm Imitation Learningcited by 7
  8. 2024One-Shot Manipulation Strategy Learning by Making Contact Analogiescited by 6
  9. 2025Elastic Motion Policy: An Adaptive Dynamical System for Robust and Efficient One-Shot Imitation Learningcited by 4
  10. 2024Visual Imitation Learning of Task-Oriented Object Grasping and Rearrangementcited by 3
  11. 2024One-shot Video Imitation via Parameterized Symbolic Abstraction Graphscited by 3
  12. 2026RAPID: Robot Agentic Programming from Demonstrationscited by 1
4 more
  1. 2025Multi-Group Equivariant Augmentation for Reinforcement Learning in Robot Manipulationcited by 0
  2. 2025Annotation-Free One-Shot Imitation Learning for Multi-Step Manipulation Taskscited by 0
  3. 2026RA-VLA: Retrieval-Augmented VLA for Test-Time Adaptationcited by 0
  4. 2026MemCorr-DP: Counterfactual Correspondence Conditioning for a Diffusion Policy Guided by a Referencecited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2021Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration
  2. 2026Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining
  3. 2026Instant-Fold: In-Context Imitation Learning for Deformable Object Manipulation
  4. 2025PRISM: Pointcloud Reintegrated Inference via Segmentation and Cross-attention for Manipulation
  5. 2026RE4: Transformation-aware Imitation of Object Interactions Using Manipulation Modes
  6. 2026WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation
  7. 2025Canonical Policy: Learning Canonical 3D Representation for SE(3)-Equivariant Policy
  8. 2025ManiLong-Shot: Interaction-Aware One-Shot Imitation Learning for Long-Horizon Manipulation