{"id":"https://openalex.org/W7161113590","doi":"https://doi.org/10.48550/arxiv.2605.13428","title":"SID: Sliding into Distribution for Robust Few-Demonstration Manipulation","display_name":"SID: Sliding into Distribution for Robust Few-Demonstration Manipulation","publication_year":2026,"publication_date":"2026-05-13","ids":{"openalex":"https://openalex.org/W7161113590","doi":"https://doi.org/10.48550/arxiv.2605.13428"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.13428","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13428","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.13428","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104111989","display_name":"Yicheng Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Yicheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129659355","display_name":"Wei Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126780169","display_name":"Zhian Su","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Zhian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136114621","display_name":"Xidan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xidan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5016175741","display_name":"Huixu Dong","orcid":"https://orcid.org/0000-0002-2582-6728"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Huixu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":0.8791000247001648,"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":0.8791000247001648,"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":0.04280000180006027,"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/T10982","display_name":"Motor Control and Adaptation","score":0.02459999918937683,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5354999899864197},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5024999976158142},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.46790000796318054},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.46779999136924744},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4596000015735626},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.4440000057220459},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43059998750686646},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.41620001196861267}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6233000159263611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5490000247955322},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5375999808311462},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5354999899864197},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5024999976158142},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.46790000796318054},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.46779999136924744},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4596000015735626},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.4440000057220459},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43059998750686646},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.41620001196861267},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.37310001254081726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35920000076293945},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.3327000141143799},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.32899999618530273},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3264000117778778},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2736000120639801},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2703999876976013},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.26669999957084656},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.263700008392334},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.25699999928474426}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.13428","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13428","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.13428","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13428","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5202901363372803,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Generalizing":[0],"robotic":[1],"manipulation":[2],"across":[3],"object":[4],"poses,":[5],"viewpoints,":[6],"and":[7,27,70,99,110,162],"dynamic":[8],"disturbances":[9],"is":[10],"difficult,":[11],"especially":[12],"with":[13,121,151,155],"only":[14,152],"a":[15,49,77,157,168],"few":[16],"demonstrations.":[17],"End-to-end":[18],"visuomotor":[19],"policies":[20],"are":[21],"expressive":[22],"but":[23,32],"data-hungry,":[24],"while":[25],"planning":[26],"optimization":[28],"satisfy":[29],"explicit":[30],"constraints":[31],"do":[33],"not":[34],"directly":[35],"capture":[36],"the":[37,64,67,72,96,114],"interaction":[38],"strategies":[39],"demonstrated":[40,68],"by":[41,129],"humans.":[42],"We":[43],"propose":[44],"Sliding":[45],"into":[46,71],"Distribution":[47],"(SID),":[48],"structured":[50],"framework":[51],"that":[52,135],"learns":[53],"an":[54,117],"object-centric":[55],"motion":[56,87],"field":[57,88],"from":[58,95],"canonicalized":[59],"demonstrations":[60],"to":[61],"iteratively":[62],"slide":[63],"system":[65],"toward":[66],"manifold":[69,98],"reliable":[73],"operating":[74],"region":[75],"of":[76],"lightweight":[78],"egocentric":[79,118],"execution":[80],"policy,":[81],"mitigating":[82],"out-of-distribution":[83],"(OOD)":[84],"execution.":[85],"The":[86],"provides":[89,167],"large":[90],"corrective":[91],"motions":[92],"when":[93],"far":[94],"demonstration":[97],"naturally":[100],"vanishes":[101],"near":[102],"convergence,":[103],"enabling":[104],"robust":[105],"reaching":[106],"under":[107,148,156,160],"substantial":[108],"pose":[109],"viewpoint":[111],"shifts.":[112],"Within":[113],"reached":[115],"regime,":[116],"policy":[119],"trained":[120],"conditioned":[122],"flow":[123],"matching":[124],"performs":[125],"task-specific":[126],"manipulation,":[127],"supported":[128],"kinematically":[130],"consistent":[131],"point-cloud":[132],"reprojection":[133],"augmentation":[134],"preserves":[136],"action-observation":[137],"consistency.":[138],"Across":[139],"six":[140],"real-world":[141],"tasks,":[142],"SID":[143,166],"achieves":[144],"approximately":[145],"90%":[146],"success":[147],"OOD":[149],"initializations":[150],"two":[153],"demonstrations,":[154],"10%":[158],"drop":[159],"distractors":[161],"external":[163],"disturbances.":[164],"Overall,":[165],"new":[169],"paradigm":[170],"for":[171],"few-shot":[172],"manipulation:":[173],"explicitly":[174],"managing":[175],"distribution":[176,180],"shift":[177],"via":[178],"online":[179],"recovery.":[181]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-15T00:00:00"}
