FIDeL detects failures in imitation learning by building compact nominal representations via optimal transport, applying conformal prediction thresholds, and using VLMs for semantic filtering, outperforming baselines by 5.3% AUROC and 17.38% accuracy on the new BotFails dataset.
Primal wasserstein imitation learning
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TimeRewarder derives step-wise progress rewards from frame-wise temporal distances in passive videos and uses them to guide RL, achieving high success rates on Meta-World tasks with fewer interactions than prior methods or hand-designed rewards.
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Failure Identification in Imitation Learning Via Statistical and Semantic Filtering
FIDeL detects failures in imitation learning by building compact nominal representations via optimal transport, applying conformal prediction thresholds, and using VLMs for semantic filtering, outperforming baselines by 5.3% AUROC and 17.38% accuracy on the new BotFails dataset.
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TimeRewarder: Learning Dense Reward from Passive Videos via Frame-wise Temporal Distance
TimeRewarder derives step-wise progress rewards from frame-wise temporal distances in passive videos and uses them to guide RL, achieving high success rates on Meta-World tasks with fewer interactions than prior methods or hand-designed rewards.