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causal representation learning 1interpretability 1mechanistic world models 1modular architectures 1scientific discovery 1

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20242026
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cs.RO2026

Imitation from Heterogeneous Demonstrations using Grounded Latent-Action World Models

Tianyou Wang, Anson Lei, Joe Watson +1

Imitation learning has emerged as a powerful paradigm for learning visuomotor policies, but its generalisation and stability are limited by the scale and quality of demonstration d…