mlsanityData to 7 Oct 2026

Domain Adaptive Imitation Learning with Visual Observation

arXiv 2312.00548 ↗First posted 1 Dec 2023cs.LG cs.CV cs.ROcited by 11

On the map: Offline RL and imitation learning from data → Imitation learning methods

Abstract (arXiv)

In this paper, we consider domain-adaptive imitation learning with visual observation, where an agent in a target domain learns to perform a task by observing expert demonstrations in a source domain. Domain adaptive imitation learning arises in practical scenarios where a robot, receiving visual sensory data, needs to mimic movements by visually observing other robots from different angles or observing robots of different shapes. To overcome the domain shift in cross-domain imitation learning with visual observation, we propose a novel framework for extracting domain-independent behavioral features from input observations that can be used to train the learner, based on dual feature extraction and image reconstruction. Empirical results demonstrate that our approach outperforms previous algorithms for imitation learning from visual observation with domain shift.

Key facts. Cited by 11 papers in the map (data through 7 Oct 2026). Placed in Imitation learning methods, one of 13 directions in Offline RL and imitation learning from data. Builds on 31 of its 45 references that are in the map. First posted on arXiv 1 Dec 2023.

Builds on

31 of 45 references.

Closest ancestors · 12

Same direction, newest first

  1. 2022Learn what matters: cross-domain imitation learning with task-relevant embeddings24 Sep
  2. 2022Robust Imitation Learning against Variations in Environment Dynamics19 Jun
  3. 2021Cross-Domain Imitation Learning via Optimal Transport7 Oct
  4. 2021Cross-domain Imitation from Observations20 May
  5. 2021Domain-Robust Visual Imitation Learning with Mutual Information Constraints8 Mar
  6. 2020State-only Imitation with Transition Dynamics Mismatch27 Feb
  7. 2019State Alignment-based Imitation Learning21 Nov
  8. 2018An Algorithmic Perspective on Imitation Learning16 Nov
  9. 2018Discriminator-Actor-Critic: Addressing Sample Inefficiency and Reward Bias in Adversarial Imitation Learning9 Sep
  10. 2018Generative Adversarial Imitation from Observation17 Jul
  11. 2018Imitating Latent Policies from Observation21 May
  12. 2018Behavioral Cloning from Observation4 May

Other references · 19

  1. 2017Improved Training of Wasserstein GANscited by 2,223
  2. 2014Unsupervised Domain Adaptation by Backpropagationcited by 1,906
  3. 2016OpenAI Gymcited by 1,684
  4. 2016Generative Adversarial Imitation Learningcited by 1,576
  5. 2018Soft Actor-Critic Algorithms and Applicationscited by 1,179
  6. 2018Multimodal Unsupervised Image-to-Image Translationcited by 795
  7. 2017Time-Contrastive Networks: Self-Supervised Learning from Videocited by 453
  8. 2016Guided Cost Learning: Deep Inverse Optimal Control via Policy Optimizationcited by 400
  9. 2020dm_control: Software and Tasks for Continuous Controlcited by 368
  10. 2017DualGAN: Unsupervised Dual Learning for Image-to-Image Translationcited by 310
  11. 2018Diverse Image-to-Image Translation via Disentangled Representationscited by 296
  12. 2019DRIT++: Diverse Image-to-Image Translation via Disentangled Representationscited by 244
7 more
  1. 2017Imitation from Observation: Learning to Imitate Behaviors from Raw Video via Context Translationcited by 167
  2. 2017Third-Person Imitation Learningcited by 103
  3. 2021XIRL: Cross-embodiment Inverse Reinforcement Learningcited by 101
  4. 2019Third-Person Visual Imitation Learning via Decoupled Hierarchical Controllercited by 73
  5. 2018Transfer Learning for Related Reinforcement Learning Tasks via Image-to-Image Translationcited by 50
  6. 2021VOILA: Visual-Observation-Only Imitation Learning for Autonomous Navigationcited by 27
  7. 2021Keyframe-Focused Visual Imitation Learningcited by 25

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 3; 2025: 3; 2026: 5.

11 papers.

  1. 2025VLA-Cache: Efficient Vision-Language-Action Manipulation via Adaptive Token Cachingcited by 83
  2. 2024Visually Robust Adversarial Imitation Learning from Videos with Contrastive Learningcited by 9
  3. 2024xTED: Cross-Domain Adaptation via Diffusion-Based Trajectory Editingcited by 9
  4. 2024Exclusively Penalized Q-learning for Offline Reinforcement Learningcited by 8
  5. 2026Flow Actor-Critic for Offline Reinforcement Learningcited by 6
  6. 2025Beyond Domain Randomization: Event-Inspired Perception for Visually Robust Adversarial Imitation from Videoscited by 1
  7. 2026Semi-Supervised Cross-Domain Imitation Learningcited by 1
  8. 2025Learning from Observation: A Survey of Recent Advancescited by 0
  9. 2026Cross-Domain Demo-to-Code via Neurosymbolic Counterfactual Reasoningcited by 0
  10. 2026Bridging Domain Gaps with Target-Aligned Generation for Offline Reinforcement Learningcited by 0
  11. 2026Reinforcement Learning from Cross-domain Videos with Video Prediction Modelcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025Domain-Invariant Per-Frame Feature Extraction for Cross-Domain Imitation Learning with Visual Observations
  2. 2022One-Shot Domain-Adaptive Imitation Learning via Progressive Learning
  3. 2020Cross-Domain Imitation Learning with a Dual Structure
  4. 2021The Surprising Effectiveness of Representation Learning for Visual Imitation
  5. 2023Adversarial Imitation Learning from Visual Observations using Latent Information
  6. 2021Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration
  7. 2021Manipulator-Independent Representations for Visual Imitation
  8. 2019Imitation Learning from Video by Leveraging Proprioception