IDP generates one-step robot actions by adaptively weighting a scalar potential objective using conditional expert geometry derived from local variations of observation-similar expert actions, combined with expert-proximal terminal evaluation.
Geometry-aware policy imitation, 2025
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Implicit Drifting Policy: One-Step Action Generation via Conditional Expert Geometry
IDP generates one-step robot actions by adaptively weighting a scalar potential objective using conditional expert geometry derived from local variations of observation-similar expert actions, combined with expert-proximal terminal evaluation.