3 papers
cs.RO2026
It's Not Just More Demos: Counterfactual Action Sensitivity Coverage for Data-Efficient Robust Robot Imitation
Giovanni D'urso, Kaushik Roy, Nicholas Lawrance +1
Visuomotor imitation learning has demonstrated success for manipulation tasks. However, the trained policies remain brittle to visual `nuisances', with even minor task-preserving v…
cs.LG2026
SPREAD: Subspace Representation Distillation for Lifelong Imitation Learning
Kaushik Roy, Giovanni D'urso, Nicholas Lawrance +2
A key challenge in lifelong imitation learning (LIL) is enabling agents to acquire new skills from expert demonstrations while retaining prior knowledge. This requires preserving t…
cs.RO2025
Improving Generalization Ability of Robotic Imitation Learning by Resolving Causal Confusion in Observations
Yifei Chen, Yuzhe Zhang, Giovanni D'urso +2
Recent developments in imitation learning have considerably advanced robotic manipulation. However, current techniques in imitation learning can suffer from poor generalization, li…