# Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies

arXiv: https://arxiv.org/abs/2406.19971 · HTML: https://mlsanity.com/paper/2406.19971/

## Key facts

- Cited by 2 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.
- First posted on arXiv 28 Jun 2024.

## Placed in

- Offline RL and imitation learning from data / [Robot manipulation imitation learning](https://mlsanity.com/offlinerl/robot-manipulation-imitation-learning/)

## Built on by (most cited first, 2 of 2)

- [The Embodiment Gap in Robot Foundation Models](https://mlsanity.com/paper/2608.18433/) (2026)
- [Mapping representations in Reinforcement Learning via Semantic Alignment for Zero-Shot Stitching](https://mlsanity.com/paper/2503.01881/) (2025)

## Abstract (arXiv)

Vision-based imitation learning has shown promising capabilities of endowing robots with various motion skills given visual observation. However, current visuomotor policies fail to adapt to drastic changes in their visual observations. We present Perception Stitching that enables strong zero-shot adaptation to large visual changes by directly stitching novel combinations of visual encoders. Our key idea is to enforce modularity of visual encoders by aligning the latent visual features among different visuomotor policies. Our method disentangles the perceptual knowledge with the downstream motion skills and allows the reuse of the visual encoders by directly stitching them to a policy network trained with partially different visual conditions. We evaluate our method in various simulated and real-world manipulation tasks. While baseline methods failed at all attempts, our method could achieve zero-shot success in real-world visuomotor tasks. Our quantitative and qualitative analysis of the learned features of the policy network provides more insights into the high performance of our proposed method.