{"id":"https://openalex.org/W7133528410","doi":"https://doi.org/10.48550/arxiv.2603.03278","title":"Tether: Autonomous Functional Play with Correspondence-Driven Trajectory Warping","display_name":"Tether: Autonomous Functional Play with Correspondence-Driven Trajectory Warping","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133528410","doi":"https://doi.org/10.48550/arxiv.2603.03278"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.03278","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03278","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.03278","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110985489","display_name":"William Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, William","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128076726","display_name":"Sam Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Sam","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104321877","display_name":"Hung-Ju Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Hung-Ju","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Bastani, Osbert","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bastani, Osbert","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063425598","display_name":"Yecheng Jason Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Yecheng Jason","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5079302923","display_name":"Dinesh Jayaraman","orcid":"https://orcid.org/0000-0002-6888-3095"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jayaraman, Dinesh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4142000079154968,"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":0.4142000079154968,"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":0.2752000093460083,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.133200004696846,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6043000221252441},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6026999950408936},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5698999762535095},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.48539999127388},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4715999960899353},{"id":"https://openalex.org/keywords/image-warping","display_name":"Image warping","score":0.43860000371932983},{"id":"https://openalex.org/keywords/dynamic-time-warping","display_name":"Dynamic time warping","score":0.3955000042915344},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3555999994277954},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.34060001373291016}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7523999810218811},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6043000221252441},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6026999950408936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.589900016784668},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5698999762535095},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.48539999127388},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4715999960899353},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.43860000371932983},{"id":"https://openalex.org/C88516994","wikidata":"https://www.wikidata.org/wiki/Q1268863","display_name":"Dynamic time warping","level":2,"score":0.3955000042915344},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35910001397132874},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3555999994277954},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.34060001373291016},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3368000090122223},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33489999175071716},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.33340001106262207},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.31679999828338623},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3061999976634979},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.29679998755455017},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2770000100135803},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.25850000977516174},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2547000050544739}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.03278","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03278","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":"doi:10.48550/arxiv.2603.03278","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03278","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","score":0.7401851415634155,"display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,20,33,87,165],"conduct":[3],"and":[4,8,39,103,109,134,207],"learn":[5],"from":[6,76,178,214],"interaction":[7],"experience":[9],"is":[10,100,162],"a":[11,17,30,41,56,69,77,126,156,180,186],"central":[12],"challenge":[13],"in":[14,91,121,173],"robotics,":[15],"offering":[16],"scalable":[18],"alternative":[19],"labor-intensive":[21],"human":[22,153],"demonstrations.":[23,183,216],"However,":[24],"realizing":[25],"such":[26],"\"play\"":[27],"requires":[28],"(1)":[29],"policy":[31,72,116],"robust":[32,104],"diverse,":[34,148],"potentially":[35],"out-of-distribution":[36],"environment":[37],"states,":[38],"(2)":[40],"procedure":[42,146],"that":[43,73,97,190],"continuously":[44],"produces":[45,185],"useful":[46],"robot":[47],"experience.":[48],"To":[49],"address":[50],"these":[51],"challenges,":[52],"we":[53,67,113],"introduce":[54],"Tether,":[55],"method":[57,161],"for":[58,117],"autonomous":[59,118,170],"functional":[60,119],"play":[61,120,172],"involving":[62],"structured,":[63],"task-directed":[64],"interactions.":[65],"First,":[66],"design":[68,99],"novel":[70],"open-loop":[71],"warps":[74],"actions":[75],"small":[78],"set":[79],"of":[80,129,142,169,182,188,195],"source":[81],"demonstrations":[82],"(<=10)":[83],"by":[84,137],"anchoring":[85],"them":[86],"semantic":[88,110],"keypoint":[89],"correspondences":[90],"the":[92,122,138,163,174,193],"target":[93],"scene.":[94],"We":[95],"show":[96],"this":[98,115],"extremely":[101],"data-efficient":[102],"even":[105],"under":[106],"significant":[107],"spatial":[108],"variations.":[111],"Second,":[112],"deploy":[114],"real":[123,175],"world":[124,176],"via":[125],"continuous":[127],"cycle":[128],"task":[130],"selection,":[131],"execution,":[132],"evaluation,":[133],"improvement,":[135],"guided":[136],"visual":[139],"understanding":[140],"capabilities":[141],"vision-language":[143],"models.":[144],"This":[145,184],"generates":[147],"high-quality":[149],"datasets":[150],"with":[151,211],"minimal":[152],"intervention.":[154],"In":[155],"household-like":[157],"multi-object":[158],"setup,":[159],"our":[160],"first":[164],"perform":[166],"many":[167],"hours":[168],"multi-task":[171],"starting":[177],"only":[179],"handful":[181],"stream":[187],"data":[189],"consistently":[191],"improves":[192],"performance":[194],"closed-loop":[196],"imitation":[197],"policies":[198,209],"over":[199,203],"time,":[200],"ultimately":[201],"yielding":[202],"1000":[204],"expert-level":[205],"trajectories":[206],"training":[208],"competitive":[210],"those":[212],"learned":[213],"human-collected":[215]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-05T00:00:00"}