CubeDAgger upgrades EnsembleDAgger with threshold regularization, optimal consensus switching, and colored noise injection to enable stable interactive imitation learning in dynamic systems, validated in simulation and real-robot scooping with 30 minutes of expert interaction.
Bayesian distur- bance injection: Robust imitation learning of flexible policies for robot manipulation
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CubeDAgger: Interactive Imitation Learning for Dynamic Systems with Efficient yet Low-risk Interaction
CubeDAgger upgrades EnsembleDAgger with threshold regularization, optimal consensus switching, and colored noise injection to enable stable interactive imitation learning in dynamic systems, validated in simulation and real-robot scooping with 30 minutes of expert interaction.