Hybrid Imitation Learning: Teleoperation Augmentation Primitives that Policies Learn to Trigger

arXiv:2512.04960 · cs.RO · Submitted 2025-12-04 · Read on arXiv

cs.RO

Submitted: 2025-12-04

Updated: 2026-09-20

Project page: https://hybriddiffusion.github.io

Terminology

• Diffusion Model — 12× in this paper · explained in 8 episodes
• Diffusion Models — 9× in this paper · explained in 6 episodes
• Teleoperation Augmentation Primitive — 9× in this paper
• Accuracy — 2× in this paper · explained in 1 episode
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adaptability — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Comparing Hybrid-Diffusion — 1× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• ALOHA Unleashed: A Simple Recipe for Robot Dexterity
• A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
• A Robotic Skill Learning System Built Upon Diffusion Policies and Foundation Models
• Real-Time Operator Takeover for Visuomotor Diffusion Policy Training
• Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation
• BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• TWIST: Teleoperated Whole-Body Imitation System
• Gesture First, LLM-Assisted Voice Complement: Exploring Multimodal Robot 'Puppeteer' Teleoperation Via Virtual Counterpart in Augmented Reality
• S$^2$-Diffusion: Generalizing from Instance-level to Category-level Skills in Robot Manipulation
• DNAct: Diffusion Guided Multi-Task 3D Policy Learning
• What's the Move? Hybrid Imitation Learning via Salient Points
• HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving