3 papers
cs.LG2026
Imitation from Observations with Trajectory-Level Generative Embeddings
Yongtao Qu, Shangzhe Li, Weitong Zhang
We consider the offline imitation learning from observations (LfO) where the expert demonstrations are scarce and the available offline suboptimal data are far from the expert beha…
cs.RO2025
A Recipe for Efficient Sim-to-Real Transfer in Manipulation with Online Imitation-Pretrained World Models
Yilin Wang, Shangzhe Li, Haoyi Niu +3
We are interested in solving the problem of imitation learning with a limited amount of real-world expert data. Existing offline imitation methods often struggle with poor data cov…
cs.LG2025
Near-Optimal Second-Order Guarantees for Model-Based Adversarial Imitation Learning
Shangzhe Li, Dongruo Zhou, Weitong Zhang
We study online adversarial imitation learning (AIL), where an agent learns from offline expert demonstrations and interacts with the environment online without access to rewards.…