Weighted BC estimates trajectory density ratios from a clean reference set via binary discrimination and reweights the BC loss to converge to the clean expert policy with finite-sample bounds independent of contamination rate.
Selective imitation learning from high-quality demonstrations.Machine Learning, 113(5):2871–2898, 2024
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Density-Ratio Weighted Behavioral Cloning: Learning Control Policies from Corrupted Datasets
Weighted BC estimates trajectory density ratios from a clean reference set via binary discrimination and reweights the BC loss to converge to the clean expert policy with finite-sample bounds independent of contamination rate.