Cover Image

Adapt Your Body: Mitigating Proprioception Shifts in Imitation Learning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Kuang, Fuhang, You, Jiacheng, Hu, Yingdong, Zhang, Tong, Wen, Chuan, Gao, Yang
Format:	Preprint
Published:	2025
Subjects:	Robotics Artificial Intelligence
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Imitation Learning from Observation with Automatic Discount Scheduling
by: Liu, Yuyang, et al.
Published: (2023)

Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation
by: Zhang, Tong, et al.
Published: (2024)

SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation
by: Wang, Shengjie, et al.
Published: (2025)

Data Scaling Laws in Imitation Learning for Robotic Manipulation
by: Hu, Yingdong, et al.
Published: (2024)

Do You Need Proprioceptive States in Visuomotor Policies?
by: Zhao, Juntu, et al.
Published: (2025)

Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations
by: Nai, Ruiqian, et al.
Published: (2026)

General Flow as Foundation Affordance for Scalable Robot Learning
by: Yuan, Chengbo, et al.
Published: (2024)

Force-Based Robotic Imitation Learning: A Two-Phase Approach for Construction Assembly Tasks
by: You, Hengxu, et al.
Published: (2025)

Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration
by: Guo, Ce, et al.
Published: (2025)

FP3: A 3D Foundation Policy for Robotic Manipulation
by: Yang, Rujia, et al.
Published: (2025)

IN-RIL: Interleaved Reinforcement and Imitation Learning for Policy Fine-Tuning
by: Gao, Dechen, et al.
Published: (2025)

TimeRewarder: Learning Dense Reward from Passive Videos via Frame-wise Temporal Distance
by: Liu, Yuyang, et al.
Published: (2025)

GABRIL: Gaze-Based Regularization for Mitigating Causal Confusion in Imitation Learning
by: Banayeeanzade, Amin, et al.
Published: (2025)

Proprioceptive External Torque Learning for Floating Base Robot and its Applications to Humanoid Locomotion
by: Lim, Daegyu, et al.
Published: (2023)

HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning
by: Alessi, Carlo, et al.
Published: (2025)

Hierarchical Audio-Visual-Proprioceptive Fusion for Precise Robotic Manipulation
by: Li, Siyuan, et al.
Published: (2026)

Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning
by: Gao, George Jiayuan, et al.
Published: (2024)

Learning Native Continuation for Action Chunking Flow Policies
by: Liu, Yufeng, et al.
Published: (2026)

RLIF: Interactive Imitation Learning as Reinforcement Learning
by: Luo, Jianlan, et al.
Published: (2023)

Shape Your Body: Value Gradients for Multi-Embodiment Robot Design
by: Bohlinger, Nico, et al.
Published: (2026)

Validity Learning on Failures: Mitigating the Distribution Shift in Autonomous Vehicle Planning
by: Arasteh, Fazel, et al.
Published: (2024)

When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulation
by: Alvarez, Maxime, et al.
Published: (2026)

Latent Diffusion Planning for Imitation Learning
by: Xie, Amber, et al.
Published: (2025)

Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space
by: Yang, Jinrong, et al.
Published: (2025)

KOI: Accelerating Online Imitation Learning via Hybrid Key-state Guidance
by: Lu, Jingxian, et al.
Published: (2024)

Multi-Class Human/Object Detection on Robot Manipulators using Proprioceptive Sensing
by: Hehli, Justin, et al.
Published: (2025)

Development of the Bioinspired Tendon-Driven DexHand 021 with Proprioceptive Compliance Control
by: Yuan, Jianbo, et al.
Published: (2025)

Implicit Kinodynamic Motion Retargeting for Human-to-humanoid Imitation Learning
by: Chen, Xingyu, et al.
Published: (2025)

RoboSSM: Scalable In-context Imitation Learning via State-Space Models
by: Yoo, Youngju, et al.
Published: (2025)

Imitation Learning with Precisely Labeled Human Demonstrations
by: Song, Yilong
Published: (2025)

Single-Reset Divide & Conquer Imitation Learning
by: Chenu, Alexandre, et al.
Published: (2024)

Visual Spatial Attention and Proprioceptive Data-Driven Reinforcement Learning for Robust Peg-in-Hole Task Under Variable Conditions
by: Yasutomi, André Yuji, et al.
Published: (2023)

GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation
by: Yao, Yifei, et al.
Published: (2025)

LoRD: Adapting Differentiable Driving Policies to Distribution Shifts
by: Diehl, Christopher, et al.
Published: (2024)

Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving
by: Lian, Zhexi, et al.
Published: (2026)

PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning
by: Gao, Tian, et al.
Published: (2024)

EfficientZero V2: Mastering Discrete and Continuous Control with Limited Data
by: Wang, Shengjie, et al.
Published: (2024)

Language-Conditioned Imitation Learning with Base Skill Priors under Unstructured Data
by: Zhou, Hongkuan, et al.
Published: (2023)

Generalizable Imitation Learning Through Pre-Trained Representations
by: Chang, Wei-Di, et al.
Published: (2023)

In-Context Imitation Learning via Next-Token Prediction
by: Fu, Letian, et al.
Published: (2024)