{"id":"https://openalex.org/W7127358815","doi":"https://doi.org/10.48550/arxiv.2602.00937","title":"CLAMP: Contrastive Learning for 3D Multi-View Action-Conditioned Robotic Manipulation Pretraining","display_name":"CLAMP: Contrastive Learning for 3D Multi-View Action-Conditioned Robotic Manipulation Pretraining","publication_year":2026,"publication_date":"2026-01-31","ids":{"openalex":"https://openalex.org/W7127358815","doi":"https://doi.org/10.48550/arxiv.2602.00937"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.00937","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5124965238","display_name":"I-Chun Arthur Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Liu, I-Chun Arthur","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124958286","display_name":"Krzysztof Choromanski","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Choromanski, Krzysztof","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124897651","display_name":"Sandy Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Sandy","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5004337298","display_name":"Connor Schenck","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schenck, Connor","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5124965238"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6859999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6859999895095825,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.17810000479221344,"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":0.020999999716877937,"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/robot","display_name":"Robot","score":0.631600022315979},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.614300012588501},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5727999806404114},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4505000114440918},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4244000017642975},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42260000109672546},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.37860000133514404}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.729200005531311},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7282000184059143},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.631600022315979},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.614300012588501},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.588100016117096},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5727999806404114},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4505000114440918},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4244000017642975},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42260000109672546},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.37860000133514404},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.37619999051094055},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3580999970436096},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3271999955177307},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3172999918460846},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30230000615119934}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.00937","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.00937","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.00937","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.00937","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Leveraging":[0],"pre-trained":[1,108],"2D":[2],"image":[3,85,174],"representations":[4,24],"in":[5],"behavior":[6],"cloning":[7],"policies":[8],"has":[9,14],"achieved":[10],"great":[11],"success":[12],"and":[13,34,66,78,89,116,156,175,183,190,208],"become":[15],"a":[16,57,138,165],"standard":[17],"approach":[18],"for":[19,39,49,103,146,151],"robotic":[20],"manipulation.":[21,41],"However,":[22],"such":[23],"fail":[25],"to":[26,96,111,141],"capture":[27],"the":[28,70,113,143,162,172],"3D":[29,50,59,90,114],"spatial":[30],"information":[31,118],"about":[32],"objects":[33,102,120],"scenes":[35],"that":[36,62,180,199],"is":[37,149],"essential":[38,150],"precise":[40],"In":[42],"this":[43,181],"work,":[44],"we":[45,81,136,160,197],"introduce":[46],"Contrastive":[47],"Learning":[48],"Multi-View":[51],"Action-Conditioned":[52],"Robotic":[53],"Manipulation":[54],"Pretraining":[55],"(CLAMP),":[56],"novel":[58],"pre-training":[60,182],"framework":[61],"utilizes":[63],"point":[64,72],"clouds":[65],"robot":[67,122,131],"actions.":[68],"From":[69],"merged":[71],"cloud":[73],"computed":[74],"from":[75],"RGB-D":[76],"images":[77],"camera":[79],"extrinsics,":[80],"re-render":[82],"multi-view":[83],"four-channel":[84],"observations":[86],"with":[87,121],"depth":[88],"coordinates,":[91],"including":[92],"dynamic":[93],"wrist":[94],"views,":[95],"provide":[97],"clearer":[98],"views":[99],"of":[100,119,168],"target":[101],"high-precision":[104],"manipulation":[105],"tasks.":[106,195,211],"The":[107],"encoders":[109],"learn":[110],"associate":[112],"geometric":[115],"positional":[117],"action":[123,176],"patterns":[124],"via":[125],"contrastive":[126],"learning":[127,188],"on":[128,164,193],"large-scale":[129],"simulated":[130,206],"trajectories.":[132],"During":[133],"encoder":[134],"pre-training,":[135,159],"pre-train":[137],"Diffusion":[139],"Policy":[140],"initialize":[142],"policy":[144,163,191],"weights":[145],"fine-tuning,":[147],"which":[148],"improving":[152],"fine-tuning":[153,184],"sample":[154],"efficiency":[155,189],"performance.":[157],"After":[158],"fine-tune":[161],"limited":[166],"amount":[167],"task":[169],"demonstrations":[170],"using":[171],"learned":[173],"representations.":[177],"We":[178],"demonstrate":[179],"design":[185],"substantially":[186],"improves":[187],"performance":[192],"unseen":[194],"Furthermore,":[196],"show":[198],"CLAMP":[200],"outperforms":[201],"state-of-the-art":[202],"baselines":[203],"across":[204],"six":[205],"tasks":[207],"five":[209],"real-world":[210]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-04T00:00:00"}
