Hybrid Imitation Learning: Teleoperation Augmentation Primitives that Policies Learn to Trigger

What an operator can demonstrate bounds what imitation learning can learn. Teleoperation interfaces map the human body to the robot, so motions that are hard for a human, such as holding an exact orientation, returning to the same viewpoint, or turning a wrist joint several full revolutions, are difficult to demonstrate on most teleoperation interfaces, even when they are trivial for the robot. We introduce Teleoperation Augmentation Primitives (TAPs): axis locks, perching waypoints, pose anchors, and embodiment-specific routines that the operator triggers during a demonstration by speech, an AR menu, or simply with a controller button. TAPs are themselves recorded in the demonstration and can therefore also be learned and invoked by the policy itself. In simulation, where benchmarks provide human demonstrations, we show that augmenting them with TAPs after the fact yields better policies on a wristcamera-only peg insertion (0.372 to 0.531 success) and on a mug-cleanup task with a learned "remember this pose" anchor (0.203 to 0.323). On a real robot, three tasks show the same pattern: primitives that help the operator do not hurt the policy, and a policy triggering an unscrewing routine succeeds where a plain policy cannot resolve the multi-turn motion from images alone (67% vs. 38% success). We close with an industrial proof-of-concept case leveraging this idea. Project website: https://hybrid-imitation.github.io/