Estimate, Don't Imitate: Reusing Differentiable State-Based Policies for Visuomotor Control

arXiv:2609.34018 · cs.RO, cs.LG · Submitted 2026-09-27 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Reinforcement Learning — 7× in this paper · explained in 4 episodes
• Transformer — 6× in this paper · explained in 2 episodes
• Adaptation — 5× in this paper · explained in 1 episode
• Distillation — 4× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 4× in this paper · explained in 2 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Constrained Sampling and Reinforcement Learning — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Action Chunking — 1× in this paper · explained in 1 episode
• Action Chunking with Transformers — 1× in this paper
• Benchmark — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Minimum Iterative Policy — 1× in this paper
• Regret — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes

Sources

• Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation
• DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
• Best of Sim and Real: Decoupled Visuomotor Manipulation via Learning Control in Simulation and Perception in Real
• DINOv3

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