{"id":"https://openalex.org/W7134823323","doi":"https://doi.org/10.48550/arxiv.2603.08269","title":"SAIL: Test-Time Scaling for In-Context Imitation Learning with VLM","display_name":"SAIL: Test-Time Scaling for In-Context Imitation Learning with VLM","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134823323","doi":"https://doi.org/10.48550/arxiv.2603.08269"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.08269","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/A5128689553","display_name":"Makoto Sato","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sato, Makoto","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128651211","display_name":"Yusuke Iwasawa","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iwasawa, Yusuke","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128686146","display_name":"Yujin Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Yujin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5084829137","display_name":"So Kuroki","orcid":"https://orcid.org/0000-0002-6151-1424"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kuroki, So","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.6358000040054321,"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":0.6358000040054321,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.08349999785423279,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.06109999865293503,"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/trajectory","display_name":"Trajectory","score":0.8051000237464905},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6676999926567078},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6033999919891357},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.5999000072479248},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4927000105381012},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4812000095844269},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.43950000405311584},{"id":"https://openalex.org/keywords/iterative-refinement","display_name":"Iterative refinement","score":0.4043999910354614}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8051000237464905},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6883999705314636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6757000088691711},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6676999926567078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6033999919891357},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.5999000072479248},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4927000105381012},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4812000095844269},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.43950000405311584},{"id":"https://openalex.org/C2779982483","wikidata":"https://www.wikidata.org/wiki/Q6094420","display_name":"Iterative refinement","level":2,"score":0.4043999910354614},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.39259999990463257},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.3828999996185303},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.38269999623298645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37470000982284546},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35929998755455017},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3433000147342682},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.30329999327659607},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C46149586","wikidata":"https://www.wikidata.org/wiki/Q11785332","display_name":"Monte Carlo tree search","level":3,"score":0.25529998540878296},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.08269","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.2603.08269","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.08269","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.2603.08269","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In-context":[0],"imitation":[1,27],"learning":[2],"allows":[3],"robots":[4],"to":[5,55,119],"acquire":[6],"skills":[7],"from":[8],"demonstrations,":[9],"yet":[10],"one-shot":[11],"trajectory":[12,51,56,83],"generation":[13],"remains":[14],"fragile":[15],"under":[16],"environmental":[17],"variation.":[18],"We":[19],"propose":[20],"SAIL,":[21],"a":[22,49,76,86,132],"framework":[23],"that":[24,89,109,127],"reframes":[25],"robot":[26],"as":[28],"an":[29,66],"iterative":[30,94],"refinement":[31],"problem":[32],"capable":[33],"of":[34,69],"scaling":[35,130],"with":[36],"test-time":[37,111,129],"compute.":[38],"SAIL":[39],"utilizes":[40],"Monte":[41],"Carlo":[42],"Tree":[43],"Search,":[44],"where":[45],"each":[46],"node":[47],"is":[48,60,131],"complete":[50],"and":[52,85,104],"edges":[53],"correspond":[54],"refinements.":[57],"The":[58],"process":[59],"guided":[61],"by":[62],"three":[63],"core":[64],"components:":[65],"automated":[67],"archive":[68],"successful":[70],"trajectories":[71],"for":[72,82,93],"contextually":[73],"relevant":[74],"retrieval,":[75],"vision":[77],"language":[78],"model-based":[79],"scoring":[80],"mechanism":[81],"evaluation,":[84],"step-level":[87],"feedback":[88],"provides":[90],"trajectory-aligned":[91],"scores":[92],"refinement.":[95],"Experiments":[96],"across":[97],"six":[98],"diverse":[99],"manipulation":[100],"tasks":[101],"in":[102],"simulation":[103],"real-world":[105],"validation":[106],"clearly":[107],"demonstrate":[108],"increasing":[110],"compute":[112],"consistently":[113],"improves":[114],"success":[115],"rates,":[116],"achieving":[117],"up":[118],"95%":[120],"on":[121],"complex":[122],"tasks.":[123],"Our":[124],"results":[125],"suggest":[126],"trajectory-level":[128],"robust":[133],"path":[134],"toward":[135],"more":[136],"generalizable":[137],"robotic":[138],"agents.":[139]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-11T00:00:00"}