DTWIL creates a surrogate demonstration set by aligning expert and constrained state trajectories through model predictive control and dynamic time warping, then trains an imitator on it.
Generative modelling of stochastic actions with arbitrary constraints in reinforcement learning
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Action-Constrained Imitation Learning
DTWIL creates a surrogate demonstration set by aligning expert and constrained state trajectories through model predictive control and dynamic time warping, then trains an imitator on it.