Predictive Imitation Learning trains a policy by minimizing a surrogate loss built from learned multi-step predictors and a dynamics consistency term, and the paper reports lower trajectory error than behavior cloning and rollout methods.
A model-based approach to imitation learning through multi-step predictions,
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A Model-Based Approach to Imitation Learning through Multi-Step Predictions
Predictive Imitation Learning trains a policy by minimizing a surrogate loss built from learned multi-step predictors and a dynamics consistency term, and the paper reports lower trajectory error than behavior cloning and rollout methods.