RE4: Transformation-aware Imitation of Object Interactions Using Manipulation Modes

arXiv:2606.24403v1 Announce Type: new Abstract: Object interaction tasks have been a focus of advances in imitation learning. End-to-end methods, dominated by diffusion and flow-based variants have shown leaps in performance while sacrificing interpretability. Object-centric and pose-informed variants have had a role in learning from demonstration in manipulation tasks. In this paper, we revisit a few modern imitation learning benchmarks for object interactions, with the aim of composing a frame...