arXiv:2506. 06793v2 Announce Type: replace-cross Abstract: Reward assignment from scarce demonstrations is a key challenge in both offline and online imitation learning.
arXiv:2606. 02194v1 Announce Type: new Abstract: Distilling expert demonstration data into large generative models using behavioral cloning is a scalable approach to learning capable policies for robotic control, particularly for dexterous manipulation.
arXiv:2510. 12560v2 Announce Type: replace-cross Abstract: End-to-end autonomous driving models trained with imitation learning (IL) often generalize poorly, particularly in long-tail scenarios where expert demonstrations are sparse.
arXiv:2502. 19544v3 Announce Type: replace Abstract: Leveraging offline data is a promising way to improve the sample efficiency of online reinforcement learning (RL).
arXiv:2607. 17760v1 Announce Type: cross Abstract: Inverse reinforcement learning (IRL) provides a powerful framework for learning from demonstrations.
arXiv:2606. 29892v1 Announce Type: cross Abstract: Reinforcement learning (RL) has become indispensable for pushing Vision-Language-Action Models (VLAs) beyond static imitation learning.
arXiv:2607. 07859v1 Announce Type: new Abstract: Reinforcement learning (RL) research has increasingly shifted focus towards alignment, ensuring agents learn behaviors adhering to human values.
arXiv:2510. 09222v3 Announce Type: replace Abstract: Flow Matching (FM) has shown remarkable ability in modeling complex distributions and achieves strong performance in offline imitation learning for cloning expert behaviors.
arXiv:2606. 09758v1 Announce Type: cross Abstract: Parametric imitation learning via behavior cloning can suffer from poor generalization to out-of-distribution states due to compounding errors during deployment.
Inverse reinforcement learning (IRL) provides a powerful framework for learning from demonstrations. However, real-world tasks often exhibit substantial natural variations (e.
The paper introduces On‑Policy Warmup (OPW), a teacher‑guided training stage where a student agent learns from a teacher on its own interaction trajectories before switching to reinforcement learning with verifiable rewards (RLVR). OPW differs from traditional imitation by focusing on states generated by the student’s own decisions, including imperfect actions and recovery situations. The authors provide a theoretical link between on‑policy reverse‑KL distillation and trajectory‑level distribution matching, showing that, under a competent teacher and low distillation loss, OPW can lower bound initial verifier success and reduce reward‑discovery complexity, thereby accelerating RLVR performance.
arXiv:2502. 18447v2 Announce Type: replace Abstract: Existing approaches to reward inference typically assume that humans provide demonstrations according to specific behavior models.
arXiv:2602. 17632v3 Announce Type: replace-cross Abstract: Modern offline Reinforcement Learning (RL) methods find performant actor-critics, however, fine-tuning these actor-critics online with value-based RL algorithms typically causes immediate drops in performance.