{"id":"https://openalex.org/W4413926214","doi":"https://doi.org/10.1109/icra55743.2025.11128272","title":"ICRT: In-Context Imitation Learning via Next-Token Prediction","display_name":"ICRT: In-Context Imitation Learning via Next-Token Prediction","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926214","doi":"https://doi.org/10.1109/icra55743.2025.11128272"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5065677770","display_name":"Minyue Fu","orcid":"https://orcid.org/0000-0002-4659-601X"},"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":"Max Fu","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340333","display_name":"Huang Huang","orcid":"https://orcid.org/0000-0002-5950-4698"},"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":"Huang Huang","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035819520","display_name":"Gaurav Datta","orcid":"https://orcid.org/0000-0002-2872-5420"},"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":"Gaurav Datta","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007646113","display_name":"Lawrence Yunliang Chen","orcid":"https://orcid.org/0009-0001-9064-9676"},"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":"Lawrence Yunliang Chen","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061724242","display_name":"Will Panitch","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":"Will Panitch","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100774722","display_name":"Hui Li","orcid":"https://orcid.org/0000-0003-1132-3238"},"institutions":[{"id":"https://openalex.org/I1286353243","display_name":"Autodesk (United States)","ror":"https://ror.org/00pkt4594","country_code":"US","type":"company","lineage":["https://openalex.org/I1286353243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hui Li","raw_affiliation_strings":["Autodesk Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autodesk Research","institution_ids":["https://openalex.org/I1286353243"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"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":"Ken Goldberg","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.6747,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.95270957,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5937","last_page":"5944"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9973000288009644,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9962000250816345,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.7513416409492493},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.7031389474868774},{"id":"https://openalex.org/keywords/security-token","display_name":"Security token","score":0.6930686235427856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.662488579750061},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44163304567337036},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.15373951196670532},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12683361768722534},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09455063939094543},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.07557258009910583}],"concepts":[{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7513416409492493},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.7031389474868774},{"id":"https://openalex.org/C48145219","wikidata":"https://www.wikidata.org/wiki/Q1335365","display_name":"Security token","level":2,"score":0.6930686235427856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.662488579750061},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44163304567337036},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.15373951196670532},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12683361768722534},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09455063939094543},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.07557258009910583},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1986014385","https://openalex.org/W2108598243","https://openalex.org/W2962736495","https://openalex.org/W2962875890","https://openalex.org/W3094502228","https://openalex.org/W3204665606","https://openalex.org/W3206683563","https://openalex.org/W3208451383","https://openalex.org/W4312297897","https://openalex.org/W4385430674","https://openalex.org/W4385430679","https://openalex.org/W4391759936","https://openalex.org/W4402353985","https://openalex.org/W4402353986","https://openalex.org/W4402354047","https://openalex.org/W4402354080","https://openalex.org/W4402354082","https://openalex.org/W4402660160","https://openalex.org/W4402702968","https://openalex.org/W4402727516","https://openalex.org/W4402727764","https://openalex.org/W4403337227"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2899084033","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W2748952813","https://openalex.org/W1531601525"],"abstract_inverted_index":{"In-context":[0],"imitation":[1],"learning":[2],"is":[3,20],"the":[4,70,73],"capability":[5],"to":[6,62,91],"perform":[7],"novel":[8],"tasks":[9,47],"when":[10],"prompted":[11],"with":[12,52],"task":[13],"demonstration":[14],"examples.":[15],"In-Context":[16],"Robot":[17],"Transformer":[18],"(ICRT)":[19],"a":[21,53,77],"causal":[22],"transformer":[23],"that":[24,58,66],"performs":[25],"autoregressive":[26],"prediction":[27],"on":[28,89,100],"sensorimotor":[29],"trajectories,":[30],"which":[31],"include":[32],"images,":[33],"proprioceptive":[34],"states,":[35],"and":[36,42,72,96],"actions.":[37],"This":[38],"approach":[39],"supports":[40],"flexible":[41],"training-free":[43],"execution":[44],"of":[45],"new":[46,63],"at":[48],"test":[49],"time.":[50],"Experiments":[51],"Franka":[54],"Emika":[55],"robot":[56,86],"demonstrate":[57],"ICRT":[59,81],"can":[60],"adapt":[61],"environment":[64,79],"configurations":[65],"differ":[67],"from":[68],"both":[69],"prompt":[71],"training":[74],"data.":[75],"In":[76],"multi-task":[78],"setup,":[80],"significantly":[82],"outperforms":[83],"current":[84],"state-of-the-art":[85],"foundation":[87],"models":[88],"generalization":[90],"unseen":[92],"tasks.":[93],"Code,":[94],"data,":[95],"appendix":[97],"are":[98],"available":[99],"https://icrt.dev.":[101]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
