POIL: Point-based One-Shot Imitation Learning with Stable Dynamical Systems

arXiv:2609.30404 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Comments: 9 pages, 11 figures, project page: https://sangminkim-99.github.io/poil/

Project page: https://sangminkim-99.github.io/poil

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Alignment — 7× in this paper · explained in 1 episode
• Generalization — 5× in this paper · explained in 13 episodes
• Closed-Loop Control — 3× in this paper · explained in 3 episodes
• Gradient Flow — 3× in this paper · explained in 2 episodes
• Grounding — 3× in this paper · explained in 3 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Affordance — 2× in this paper · explained in 1 episode
• Convergence Guarantees — 2× in this paper · explained in 3 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Meta-learning — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes
• Thin Plate Spline — 1× in this paper

Sources

• OpenVLA: An Open-Source Vision-Language-Action Model
• MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence
• ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
• MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting
• Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
• Detect Anything via Next Point Prediction
• SAM 2: Segment Anything in Images and Videos
• DINOv2: Learning Robust Visual Features without Supervision

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