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counterfactual analysis 1data selection 1imitation learning 1robustness 1visuomotor control 1

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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

The paper introduces Counterfactual Nuisance Behaviour Cloning (CFNBC), an offline method that selects a small set of targeted demonstration data to improve the robustness of visuo…