Beyond End-Task Success: How to Audit Visual Experience Retrieval in Robotics

arXiv:2609.26567 · cs.RO, cs.CV · Submitted 2026-09-22 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-22

Updated: 2026-09-24

Terminology

• AUROC — 17× in this paper · explained in 2 episodes
• Embeddings — 5× in this paper · explained in 2 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Foundation Model — 4× in this paper · explained in 3 episodes
• Foundation Models — 3× in this paper · explained in 7 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Fidelity — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• International Conference on Learning Representations — 2× in this paper
• Ablation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Conference on Robot Learning — 1× in this paper
• Representation Learning — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes

Sources

• The Surprising Effectiveness of Representation Learning for Visual Imitation
• DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Models
• RT-Cache: Training-Free Retrieval for Real-Time Manipulation
• robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
• MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
• Word Translation Without Parallel Data
• Cosmos World Foundation Model Platform for Physical AI
• SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks
• R+X: Retrieval and Execution from Everyday Human Videos
• Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets
• FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning
• STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

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