Multi-Granularity Language-Guided Imitation Learning via Instruction Decomposition

arXiv:2609.37135 · cs.CV · Submitted 2026-09-29 · Read on arXiv

cs.CV

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Benchmark — 6× in this paper · explained in 2 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Adaptation — 4× in this paper · explained in 1 episode
• Subtask-Aware Loss — 4× in this paper
• Transformer — 4× in this paper · explained in 2 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Generalization — 2× in this paper · explained in 13 episodes
• Latent Representation — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Contrastive Latent Alignment — 1× in this paper
• Contrastive Learning — 1× in this paper · explained in 5 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Diffusion Process — 1× in this paper · explained in 2 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Masked Generative Foresight — 1× in this paper
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Multi-Layer Perceptron — 1× in this paper
• Predictive Coding — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Score Function — 1× in this paper · explained in 4 episodes
• Verification — 1× in this paper · explained in 2 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• Generalizable Coarse-to-Fine Robot Manipulation via Language-Aligned 3D Keypoints
• GPT-4 Technical Report
• Representation Learning with Contrastive Predictive Coding

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