Pith Number

pith:4RPB4DRH

pith:2026:4RPB4DRHM7GG4F2YNWLCU76V3K

not attested not anchored not stored refs resolved

Behavior Cloning for Active Perception with Low-Resolution Egocentric Vision

Anthony Bilic, Chen Chen, Ladislau B\"ol\"oni

Behavior cloning from low-resolution egocentric images lets a robot arm actively center a plant for grasping.

arxiv:2605.14106 v1 · 2026-05-13 · cs.RO

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\pithnumber{4RPB4DRHM7GG4F2YNWLCU76V3K}

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

We show that low-resolution egocentric vision is sufficient for reliable task completion and that predicting relative joint deltas substantially outperforms absolute joint position prediction in our setting.

C2weakest assumption

That demonstrations collected in the structured plant-finding task provide sufficient coverage for the cloned policy to generalize active perception behaviors to new initial views or slight variations in plant appearance and positioning.

C3one line summary

Behavior cloning produces active perception in a plant-centering task where a robot arm uses low-resolution egocentric RGB images to predict joint movements, with relative deltas outperforming absolute positions.

References

9 extracted · 9 resolved · 2 Pith anchors

[1] Learning latent dynamics for planning from pixels, 2019

[2] An algorithmic perspective on imitation learning, 2018

[3] Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots 2024 · arXiv:2402.10329

[4] Vision- based multi-task manipulation for inexpensive robots using end-to-end learning from demonstration, 2018

[5] D. H. Ballard, “Animate vision,”Artificial intelligence, vol. 48, no. 1, pp. 57–86, 1991 1991

Receipt and verification

First computed	2026-05-17T23:39:12.047805Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e45e1e0e2767cc6e17586d962a7fd5daaec166f96bcfffa2e3e6120de67c5ce4

Aliases

arxiv: 2605.14106 · arxiv_version: 2605.14106v1 · doi: 10.48550/arxiv.2605.14106 · pith_short_12: 4RPB4DRHM7GG · pith_short_16: 4RPB4DRHM7GG4F2Y · pith_short_8: 4RPB4DRH

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/4RPB4DRHM7GG4F2YNWLCU76V3K \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: e45e1e0e2767cc6e17586d962a7fd5daaec166f96bcfffa2e3e6120de67c5ce4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3b8a82bddf47b34506dda6277971cf4c652794c5eee49ffa67f3449017ab2761",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T20:45:21Z",
    "title_canon_sha256": "e5a0540c0112aa35d0db8d58aede2ac04c9ab1ed8c1a9ce1cde5da47857dc3be"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.14106",
    "kind": "arxiv",
    "version": 1
  }
}