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

Comments: 9 pages, 4 figures, video: https://youtu.be/G3_gS-dAztk

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

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

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