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adversarial imitation learning 1control barrier functions 1inverse reinforcement learning 1observation-only learning 1safe learning 1

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cs.RO2026

Discriminative Barrier Functions for Safe Adversarial Imitation Learning from Observation

Anubhav Vishwakarma, Bhaumik Mehta, Caleb Hsu +3

The paper proposes a method that learns safety‑ensuring barrier functions directly from unlabeled expert observations by restricting inverse reinforcement learning to the space of…