AINeutralarXiv – CS AI · 18h ago6/10
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Difference-Aware Retrieval Policies for Imitation Learning
Researchers present DARP, a semi-parametric retrieval-based approach to imitation learning that improves upon standard behavior cloning by predicting actions based on k-nearest neighbors from training data rather than learning a global policy. The method achieves 15-46% performance improvements across continuous control and robotic manipulation tasks without requiring additional data collection or expert feedback.