{"id":"https://openalex.org/W3208451383","doi":"https://doi.org/10.1109/icra46639.2022.9812450","title":"Towards More Generalizable One-shot Visual Imitation Learning","display_name":"Towards More Generalizable One-shot Visual Imitation Learning","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3208451383","doi":"https://doi.org/10.1109/icra46639.2022.9812450","mag":"3208451383"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812450","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101063733","display_name":"Zhao Mandi","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhao Mandi","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075643825","display_name":"Fangchen Liu","orcid":"https://orcid.org/0000-0002-8987-6396"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fangchen Liu","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033571780","display_name":"Kimin Lee","orcid":"https://orcid.org/0000-0001-9017-3084"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kimin Lee","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2434","last_page":"2444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8084879517555237},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6224620342254639},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5832808017730713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5327703356742859},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5151073336601257},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4593854248523712},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4280996024608612},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3846933841705322},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07779562473297119}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8084879517555237},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6224620342254639},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5832808017730713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5327703356742859},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5151073336601257},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4593854248523712},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4280996024608612},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3846933841705322},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07779562473297119},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812450","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":85,"referenced_works":["https://openalex.org/W1931877416","https://openalex.org/W1999874108","https://openalex.org/W2051228319","https://openalex.org/W2061562262","https://openalex.org/W2064675550","https://openalex.org/W2111452696","https://openalex.org/W2130942839","https://openalex.org/W2150468603","https://openalex.org/W2174803659","https://openalex.org/W2342840547","https://openalex.org/W2545791857","https://openalex.org/W2601322194","https://openalex.org/W2604763608","https://openalex.org/W2755546070","https://openalex.org/W2776202271","https://openalex.org/W2842511635","https://openalex.org/W2895558617","https://openalex.org/W2944828972","https://openalex.org/W2948199445","https://openalex.org/W2951262671","https://openalex.org/W2962715211","https://openalex.org/W2962732055","https://openalex.org/W2962957031","https://openalex.org/W2963091558","https://openalex.org/W2963094133","https://openalex.org/W2963277051","https://openalex.org/W2963403868","https://openalex.org/W2963703448","https://openalex.org/W2964055695","https://openalex.org/W2964122153","https://openalex.org/W2968073526","https://openalex.org/W2979490629","https://openalex.org/W2981344907","https://openalex.org/W2995508322","https://openalex.org/W3004133887","https://openalex.org/W3005680577","https://openalex.org/W3015437096","https://openalex.org/W3031840745","https://openalex.org/W3032377877","https://openalex.org/W3034978746","https://openalex.org/W3035058308","https://openalex.org/W3035060554","https://openalex.org/W3035524453","https://openalex.org/W3039737909","https://openalex.org/W3041890730","https://openalex.org/W3048833305","https://openalex.org/W3088304681","https://openalex.org/W3091086138","https://openalex.org/W3098201885","https://openalex.org/W3103780890","https://openalex.org/W3115293622","https://openalex.org/W3166834300","https://openalex.org/W3176484337","https://openalex.org/W3208466670","https://openalex.org/W3209916982","https://openalex.org/W4287667696","https://openalex.org/W4287724327","https://openalex.org/W4293566037","https://openalex.org/W4297808394","https://openalex.org/W4300198501","https://openalex.org/W4385245566","https://openalex.org/W6640174482","https://openalex.org/W6650265722","https://openalex.org/W6679436768","https://openalex.org/W6685664872","https://openalex.org/W6704559304","https://openalex.org/W6718092244","https://openalex.org/W6729685117","https://openalex.org/W6735944222","https://openalex.org/W6736057607","https://openalex.org/W6739901393","https://openalex.org/W6744181227","https://openalex.org/W6751955673","https://openalex.org/W6754628760","https://openalex.org/W6760439459","https://openalex.org/W6762573206","https://openalex.org/W6769596995","https://openalex.org/W6770717842","https://openalex.org/W6774314701","https://openalex.org/W6780470247","https://openalex.org/W6782380515","https://openalex.org/W6782766965","https://openalex.org/W6782858274","https://openalex.org/W6784155536","https://openalex.org/W6784556858"],"related_works":["https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2778153218","https://openalex.org/W1531601525","https://openalex.org/W2047027848","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"A":[0],"general-purpose":[1],"robot":[2,109],"should":[3],"be":[4],"able":[5],"to":[6,63,222],"master":[7],"a":[8,16,48,89,97,104,116,122,213,218,250],"wide":[9],"range":[10],"of":[11,68,79,92,107,113,118,124,240],"tasks":[12],"and":[13,71,121,131,137,175,208,217,227,248],"quickly":[14],"learn":[15],"novel":[17,260],"one":[18,53,69],"by":[19,30,95,159],"leveraging":[20],"past":[21],"experiences.":[22],"One-shot":[23],"imitation":[24,146,162,171],"learning":[25,244],"(OSIL)":[26],"approaches":[27],"this":[28,58,84],"goal":[29],"training":[31,64,156,167],"an":[32],"agent":[33],"with":[34,206,253],"(pairs":[35],"of)":[36],"expert":[37],"demonstrations,":[38],"such":[39],"that":[40,235],"at":[41],"test":[42],"time,":[43],"it":[44],"can":[45],"directly":[46],"execute":[47],"new":[49,173,179],"task":[50,225],"from":[51],"just":[52],"demonstration.":[54],"However,":[55],"so":[56],"far":[57],"framework":[59],"has":[60],"been":[61],"limited":[62],"on":[65,73,163,172,178,259],"many":[66],"variations":[67,78,164],"task,":[70],"testing":[72],"other":[74],"unseen":[75],"but":[76],"similar":[77],"the":[80,151,166,241],"same":[81],"task.":[82],"In":[83],"work,":[85],"we":[86,134,200],"push":[87],"for":[88],"higher":[90],"level":[91],"generalization":[93,255],"ability":[94,256],"investigating":[96],"more":[98,228],"ambitious":[99],"multi-task":[100,152,155,194,251],"setup.":[101],"We":[102,148],"introduce":[103],"diverse":[105],"suite":[106],"vision-based":[108],"manipulation":[110],"tasks,":[111,115,168,174,189],"consisting":[112],"7":[114],"total":[117],"61":[119],"variations,":[120],"continuum":[123],"instances":[125],"within":[126,165,186],"each":[127],"variation.":[128],"For":[129],"consistency":[130],"comparison":[132],"purposes,":[133],"first":[135],"train":[136],"evaluate":[138],"single-task":[139],"agents":[140],"(as":[141],"done":[142],"in":[143,191,243],"prior":[144,238],"few-shot":[145],"work).":[147],"then":[149],"study":[150],"setting,":[153],"where":[154],"is":[157],"followed":[158],"(i)":[160],"one-shot":[161,170],"(ii)":[169],"(iii)":[176],"fine-tuning":[177,258],"tasks.":[180,261],"Prior":[181],"state-of-the-art,":[182],"while":[183],"performing":[184],"well":[185],"some":[187],"single":[188],"struggles":[190],"these":[192,198],"harder":[193],"settings.":[195],"To":[196],"address":[197],"limitations,":[199],"propose":[201],"MOSAIC":[202,236],"(Multi-task":[203],"One-Shot":[204],"Imitation":[205],"self-Attention":[207],"Contrastive":[209],"learning),":[210],"which":[211],"integrates":[212],"self-attention":[214],"model":[215],"architecture":[216],"temporal":[219],"contrastive":[220],"module":[221],"enable":[223],"better":[224],"disambiguation":[226],"robust":[229],"representation":[230],"learning.":[231],"Our":[232],"experiments":[233],"show":[234],"outperforms":[237],"state":[239],"art":[242],"efficiency,":[245],"final":[246],"performance,":[247],"learns":[249],"policy":[252],"promising":[254],"via":[257]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
