SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.
Coarse-to-fine imitation learning: Robot manipulation from a single demonstration
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SID: Sliding into Distribution for Robust Few-Demonstration Manipulation
SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.