Beyond State-as-Action: Exploiting Command-State Discrepancy for Robot Imitation Learning

arXiv:2609.33145 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-29

Comments: 8 pages, 10 figures. Corrected affiliation name to SEEN-E Robotics, added the project page link to the abstract, and clarified wording and formatting. Methods and experimental results unchanged

Project page: https://seen-e.github.io/CSDW

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

Terminology

• Alignment — 25× in this paper · explained in 1 episode
• Fine-Tuning — 6× in this paper · explained in 5 episodes
• Calibration — 3× in this paper · explained in 7 episodes
• Human-in-the-Loop — 2× in this paper · explained in 3 episodes
• Actor — 1× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Cooperation — 1× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts
• RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
• Touch begins where vision ends: Generalizable policies for contact-rich manipulation
• Human-in-the-Loop Imitation Learning using Remote Teleoperation

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