DARP reparameterizes imitation learning around local neighborhood structure using k-NN expert states, actions, and relative distance vectors, delivering 15-46% gains over behavior cloning in control and manipulation tasks.
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Difference-Aware Retrieval Policies for Imitation Learning
DARP reparameterizes imitation learning around local neighborhood structure using k-NN expert states, actions, and relative distance vectors, delivering 15-46% gains over behavior cloning in control and manipulation tasks.