An Empirical Study on What Matters for Viewpoint-Generalizable Policies in Visual Imitation Learning

arXiv:2609.32762 · cs.RO, cs.CV, cs.LG · Submitted 2026-09-26 · Read on arXiv

cs.RO, cs.CV, cs.LG

Submitted: 2026-09-26

Updated: 2026-09-26

Project page: https://vgp-sim2real.github.io

Terminology

• Generalization — 13× in this paper · explained in 13 episodes
• Transformer — 11× in this paper · explained in 2 episodes
• Robustness — 10× in this paper · explained in 5 episodes
• Calibration — 7× in this paper · explained in 7 episodes
• Sim-to-Real Transfer — 7× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Actor — 5× in this paper · explained in 3 episodes
• Foundation Model — 4× in this paper · explained in 3 episodes
• Grounding — 4× in this paper · explained in 3 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Point Clouds — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Sim-to-Real Gap — 2× in this paper · explained in 6 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Late Fusion — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Depth Anything 3: Recovering the Visual Space from Any Views
• Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning
• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation
• Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer
• ReMAP-DP: Reprojected Multi-view Aligned PointMaps for Diffusion Policy
• VGGT-DP: Generalizable Robot Control via Vision Foundation Models
• 3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
• 3D FlowMatch Actor: Unified 3D Policy for Single- and Dual-Arm Manipulation
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• DINOv2: Learning Robust Visual Features without Supervision
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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