arXiv:2606. 05588v1 Announce Type: cross Abstract: Imitation-learning policies inherit the quality of the demonstrations they are trained on, and a growing set of curation metrics promise to score and filter low-quality demonstrations automatically.
arXiv:2606. 15064v1 Announce Type: new Abstract: Manipulation demonstrations have temporal phase structure, and a natural hypothesis is that demonstration-curation metrics should be applied within phases rather than globally.
arXiv:2608.20784v1 Announce Type: cross Abstract: Imitation learning for robotics depends on human demonstrations, some of which people may later ask to remove. Retraining without them is the natural...
arXiv:2606. 10229v1 Announce Type: cross Abstract: We study whether demonstration-curation metrics that detect defective training episodes also improve the downstream behavior-cloning policy that trains on the curated data.
arXiv:2608. 07895v1 Announce Type: cross Abstract: Robot demonstration datasets used to train vision-language-action policies can contain a subtle but harmful failure mode: trajectories that are behaviorally correct but paired with the wrong language instruction.
arXiv:2510. 17640v4 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models have shown strong manipulation capability when trained with large-scale imitation learning datasets.
arXiv:2604.16683v2 Announce Type: replace-cross Abstract: Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a...
SynIL is a new framework for offline imitation learning that automatically assesses the quality of demonstration data without requiring labels. It uses motor synergy—a low‑dimensional coordinated movement pattern linked to proficiency—to generate dense, transition‑level reward signals through self‑supervised reward regression. Experiments on D4RL locomotion and Robomimic manipulation datasets show that synergy‑derived rewards align well with true rewards and that SynIL outperforms Behavior Cloning and rivals or surpasses offline reinforcement learning in sparse‑reward scenarios.
Large language model agents are commonly trained through reinforcement learning with sparse trajectory-level rewards, which offer limited guidance on how strongly individual tokens should be updated. On-Policy Self-Distillation (OPSD) addresses this by re-scoring generated tokens under a privileged replay view to obtain dense, token-level supervision.
arXiv:2608. 04788v1 Announce Type: cross Abstract: Large language model agents are commonly trained through reinforcement learning with sparse trajectory-level rewards, which offer limited guidance on how strongly individual tokens should be updated.
Reliable reinforcement learning (RL) agents must maintain operational integrity amidst sensor malfunctions, dynamic disturbances, and slow environmental shifts. The detection of out-of-distribution conditions is pivotal to determining when an agent's observations, transitions, or trajectory dynamics deviate from the assumptions underpinning its policy training.
arXiv:2609.38407v1 Announce Type: new Abstract: Purpose: Behavior cloning can accumulate errors when a learned controller visits states outside the demonstrated distribution. This study evaluates whe...
arXiv:2608. 05235v1 Announce Type: cross Abstract: Research agents increasingly conduct multi-round machine-learning experiments in industrial recommendation settings and retain the resulting trajectories to guide later decisions.