mlsanityData to 14 Oct 2026

One-Shot Dual-Arm Imitation Learning

arXiv 2503.06831 ↗First posted 10 Mar 2025cs.RO cs.CVcited by 8

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

Abstract (arXiv)

We introduce One-Shot Dual-Arm Imitation Learning (ODIL), which enables dual-arm robots to learn precise and coordinated everyday tasks from just a single demonstration of the task. ODIL uses a new three-stage visual servoing (3-VS) method for precise alignment between the end-effector and target object, after which replay of the demonstration trajectory is sufficient to perform the task. This is achieved without requiring prior task or object knowledge, or additional data collection and training following the single demonstration. Furthermore, we propose a new dual-arm coordination paradigm for learning dual-arm tasks from a single demonstration. ODIL was tested on a real-world dual-arm robot, demonstrating state-of-the-art performance across six precise and coordinated tasks in both 4-DoF and 6-DoF settings, and showing robustness in the presence of distractor objects and partial occlusions. Videos are available at: https://www.robot-learning.uk/one-shot-dual-arm.

Key facts. Cited by 8 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 47 of its 63 references that are in the map. First posted on arXiv 10 Mar 2025.

Builds on

47 of 63 references.

Closest ancestors · 16

Same direction, newest first

  1. 2024Instant Policy: In-Context Imitation Learning via Graph Diffusion19 Nov
  2. 2024MILES: Making Imitation Learning Easy with Self-Supervision25 Oct
  3. 2024Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning3 Jul
  4. 2024Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics28 Mar
  5. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation12 Mar
  6. 2024DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Models20 Feb
  7. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation4 Jan
  8. 2023Few-Shot In-Context Imitation Learning via Implicit Graph Alignment18 Oct
  9. 2023One-Shot Imitation Learning: A Pose Estimation Perspective18 Oct
  10. 2023GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators22 Sep
  11. 2023One-shot Imitation Learning via Interaction Warping21 Jun
  12. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware23 Apr
4 more
  1. 2022Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning6 Apr
  2. 2021Transformer-based deep imitation learning for dual-arm robot manipulation1 Aug
  3. 2021Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration13 May
  4. 2020Deep Imitation Learning for Bimanual Robotic Manipulation11 Oct

Other references · 31

  1. 2017Attention Is All You Needcited by 60,361
  2. 2021Emerging Properties in Self-Supervised Vision Transformerscited by 6,968
  3. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  4. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,567
  5. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,443
  6. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,320
  7. 2021LoFTR: Detector-Free Local Feature Matching with Transformerscited by 984
  8. 2024Grounding Image Matching in 3D with MASt3Rcited by 983
  9. 2024Grounded SAM: Assembling Open-World Models for Diverse Visual Taskscited by 929
  10. 2023LightGlue: Local Feature Matching at Light Speedcited by 590
  11. 2019Deep Closest Point: Learning Representations for Point Cloud Registrationcited by 321
  12. 2023RoMa: Robust Dense Feature Matchingcited by 302
19 more
  1. 2023TAPIR: Tracking Any Point with per-frame Initialization and temporal Refinementcited by 287
  2. 2017One-Shot Imitation Learningcited by 233
  3. 2019PointNetLK: Robust & Efficient Point Cloud Registration using PointNetcited by 233
  4. 2017One-Shot Visual Imitation Learning via Meta-Learningcited by 228
  5. 2022DKM: Dense Kernelized Feature Matching for Geometry Estimationcited by 177
  6. 2019MAGSAC++, a fast, reliable and accurate robust estimatorcited by 161
  7. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 152
  8. 2024Efficient LoFTR: Semi-Dense Local Feature Matching with Sparse-Like Speedcited by 120
  9. 2024XFeat: Accelerated Features for Lightweight Image Matchingcited by 113
  10. 2023RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitationcited by 90
  11. 2014Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Studycited by 89
  12. 2024GIM: Learning Generalizable Image Matcher From Internet Videoscited by 75
  13. 2024OmniGlue: Generalizable Feature Matching with Foundation Model Guidancecited by 56
  14. 2019Efficient Bimanual Manipulation Using Learned Task Schemascited by 45
  15. 2023Stabilize to Act: Learning to Coordinate for Bimanual Manipulationcited by 39
  16. 2020FlowControl: Optical Flow Based Visual Servoingcited by 16
  17. 2020KOVIS: Keypoint-based Visual Servoing with Zero-Shot Sim-to-Real Transfer for Robotics Manipulationcited by 16
  18. 2019Siamese Convolutional Neural Network for Sub-millimeter-accurate Camera Pose Estimation and Visual Servoingcited by 12
  19. 2023BiRP: Learning Robot Generalized Bimanual Coordination using Relative Parameterization Method on Human Demonstrationcited by 4

Built on by

Cited by year (2026 to 14 Oct)

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

8 papers.

  1. 2026Action-Geometry Prediction with 3D Geometric Prior for Bimanual Manipulationcited by 5
  2. 2026HeRO: Hierarchical 3D Semantic Representation for Pose-aware Object Manipulationcited by 3
  3. 2025Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen)cited by 2
  4. 2025Observer-Actor: Active Vision Imitation Learning with Sparse-View Gaussian Splattingcited by 2
  5. 2026Instant-Fold: In-Context Imitation Learning for Deformable Object Manipulationcited by 2
  6. 2025Annotation-Free One-Shot Imitation Learning for Multi-Step Manipulation Taskscited by 1
  7. 2026In-Context Learning for Robots: Methods and Applicationscited by 1
  8. 2026Easy-IIL: Reducing Human Operational Burden in Interactive Imitation Learning via Assistant Expertscited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2021Towards More Generalizable One-shot Visual Imitation Learning
  2. 2020Learning Multi-Arm Manipulation Through Collaborative Teleoperation
  3. 2024DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control
  4. 2025ManiLong-Shot: Interaction-Aware One-Shot Imitation Learning for Long-Horizon Manipulation
  5. 2022Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation
  6. 2026Tri-Manual Visuomotor Imitation Learning of Robot Policies
  7. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation
  8. 2024Multi-task real-robot data with gaze attention for dual-arm fine manipulation