A stochastic switching policy is learned from state-only driving data via control inversion and EM++, with a Lyapunov LMI constraint for stable multi-step prediction.
Generative adversarial imitation from observation,
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Imitation Learning from Observations: An Autoregressive Mixture of Experts Approach
A stochastic switching policy is learned from state-only driving data via control inversion and EM++, with a Lyapunov LMI constraint for stable multi-step prediction.