mlsanityData to 14 Oct 2026

One-Shot Imitation Learning: A Pose Estimation Perspective

arXiv 2310.12077 ↗First posted 18 Oct 2023cs.RO cs.CV cs.LGcited by 21

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

Abstract (arXiv)

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning can be formulated as a combination of trajectory transfer and unseen object pose estimation. To explore this idea, we provide an in-depth study on how state-of-the-art unseen object pose estimators perform for one-shot imitation learning on ten real-world tasks, and we take a deep dive into the effects that camera calibration, pose estimation error, and spatial generalisation have on task success rates. For videos, please visit https://www.robot-learning.uk/pose-estimation-perspective.

Key facts. Cited by 21 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 38 of its 56 references that are in the map. First posted on arXiv 18 Oct 2023.

Builds on

38 of 56 references.

Closest ancestors · 10

Same direction, newest first

  1. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware23 Apr
  2. 2023Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations2 Mar
  3. 2022Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning6 Apr
  4. 2022BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning4 Feb
  5. 2021Learning Multi-Stage Tasks with One Demonstration via Self-Replay14 Nov
  6. 2021Towards More Generalizable One-shot Visual Imitation Learning26 Oct
  7. 2021Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration13 May
  8. 2020Visual Imitation Made Easy11 Aug
  9. 2019Learning One-Shot Imitation from Humans without Humans4 Nov
  10. 2018Reinforcement and Imitation Learning for Diverse Visuomotor Skills26 Feb

Other references · 28

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2023Segment Anythingcited by 8,234
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  4. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  5. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,061
  6. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,498
  7. 2022A Generalist Agentcited by 808
  8. 2018Open3D: A Modern Library for 3D Data Processingcited by 721
  9. 2022Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Itemscited by 612
  10. 2021Deep ViT Features as Dense Visual Descriptorscited by 330
  11. 2021GMFlow: Learning Optical Flow via Global Matchingcited by 327
  12. 2022Simple Open-Vocabulary Object Detection with Vision Transformerscited by 305
16 more
  1. 2017One-Shot Imitation Learningcited by 233
  2. 2017One-Shot Visual Imitation Learning via Meta-Learningcited by 228
  3. 2023Scaling Robot Learning with Semantically Imagined Experiencecited by 177
  4. 2022ASpanFormer: Detector-Free Image Matching with Adaptive Span Transformercited by 171
  5. 2023Open-World Object Manipulation using Pre-trained Vision-Language Modelscited by 156
  6. 2018One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learningcited by 148
  7. 2019LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimationcited by 89
  8. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 81
  9. 2020Model-Based Inverse Reinforcement Learning from Visual Demonstrationscited by 52
  10. 2022Vision-Based Manipulators Need to Also See from Their Handscited by 47
  11. 2019Graph-Structured Visual Imitationcited by 43
  12. 2023NOPE: Novel Object Pose Estimation from a Single Imagecited by 38
  13. 2022One-Shot Transfer of Affordance Regions? AffCorrs!cited by 31
  14. 20203D Object Detection and Pose Estimation of Unseen Objects in Color Images with Local Surface Embeddingscited by 22
  15. 2020FlowControl: Optical Flow Based Visual Servoingcited by 16
  16. 2022Unseen Object 6D Pose Estimation: A Benchmark and Baselinescited by 12

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 6; 2025: 11; 2026: 3.

21 papers.

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  1. 2024Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learningcited by 57
  2. 2024DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Modelscited by 44
  3. 2025Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstrationcited by 34
  4. 2024DITTO: Demonstration Imitation by Trajectory Transformationcited by 30
  5. 2025X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Realcited by 28
  6. 2024P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policiescited by 16
  7. 2023On the Effectiveness of Retrieval, Alignment, and Replay in Manipulationcited by 15
  8. 2025MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondencecited by 13
  9. 2024MILES: Making Imitation Learning Easy with Self-Supervisioncited by 10
  10. 2025FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulationcited by 10
  11. 2025One-Shot Dual-Arm Imitation Learningcited by 8
  12. 2025X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrationscited by 6
9 more
  1. 2025Knowledge-Driven Imitation Learning: Enabling Generalization Across Diverse Conditionscited by 2
  2. 2025Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen)cited by 2
  3. 2025DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulationcited by 2
  4. 2025Annotation-Free One-Shot Imitation Learning for Multi-Step Manipulation Taskscited by 1
  5. 2024Imitation Learning-based Direct Visual Servoing using the Large Projection Formulationcited by 0
  6. 2025TReF-6: Inferring Task-Relevant Frames from a Single Demonstration for One-Shot Skill Generalizationcited by 0
  7. 2026Easy-IIL: Reducing Human Operational Burden in Interactive Imitation Learning via Assistant Expertscited by 0
  8. 2026RE4: Transformation-aware Imitation of Object Interactions Using Manipulation Modescited by 0
  9. 2026RA-VLA: Retrieval-Augmented VLA for Test-Time Adaptationcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025OSVI-WM: One-Shot Visual Imitation for Unseen Tasks using World-Model-Guided Trajectory Generation
  2. 2026POIL: Point-based One-Shot Imitation Learning with Stable Dynamical Systems
  3. 2023Few-Shot In-Context Imitation Learning via Implicit Graph Alignment
  4. 2021Learning Relative Interactions through Imitation
  5. 2025Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning
  6. 2024VITAL: Interactive Few-Shot Imitation Learning via Visual Human-in-the-Loop Corrections
  7. 2025Observer-Actor: Active Vision Imitation Learning with Sparse-View Gaussian Splatting
  8. 2024Robotic Imitation of Human Actions