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One-Shot Learning from Demonstration of Contact-Rich Robotic Manipulation by Identifying Physical Interactions

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Learning from Demonstration (LfD) allows robots to learn manipulation tasks directly from humans, thereby supporting the versatile application of robots. Most LfD methods do not explicitly model the physical interactions between a robot and its environment, such as the making and breaking of contact, while these are crucial during manipulation tasks. Because the same basic physical interactions recur often, they can be a basis for robust, generalizable, and adaptive task reproduction. We propose an LfD method that explicitly uses what physical interactions take place where and when. Using that

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