Imitation Learning

ICLR 2025arXiv:2410.18647

#2

Data Scaling Laws in Imitation Learning for Robotic Manipulation

Fanqi Lin, Yingdong Hu, Pingyue Sheng et al.

data scaling lawsimitation learningrobotic manipulationgeneralization performance+3

123

CVPR 2024arXiv:2312.17742

#3

Learning Vision from Models Rivals Learning Vision from Data

Yonglong Tian, Lijie Fan, Kaifeng Chen et al.

77

ICLR 2024arXiv:2402.14606

#4

Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations

Xiaogang Jia, Denis Blessing, Xinkai Jiang et al.

45

ICLR 2025arXiv:2406.00888

#5

Aligning Language Models with Demonstrated Feedback

Omar Shaikh, Michelle Lam, Joey Hejna et al.

42

ICML 2024arXiv:2305.16366

#6

Subgoal-based Demonstration Learning for Formal Theorem Proving

Xueliang Zhao, Wenda Li, Lingpeng Kong

formal theorem provingsubgoal learningdemonstration organizationdiffusion models+4

38

ICML 2024arXiv:2312.03801

#7

Generalization to New Sequential Decision Making Tasks with In-Context Learning

Sharath Chandra Raparthy, Eric Hambro, Robert Kirk et al.

in-context learningsequential decision makingoffline datasetstransformers+4

37

ICML 2025arXiv:2412.01441

#8

LMAct: A Benchmark for In-Context Imitation Learning with Long Multimodal Demonstrations

Anian Ruoss, Fabio Pardo, Harris Chan et al.

29

CVPR 2024arXiv:2402.14795

#9

CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation

Jun Wang, Yuzhe Qin, Kaiming Kuang et al.

imitation learningdexterous manipulationsimulated demonstrationsdata augmentation+3

28

CVPR 2024arXiv:2402.18447

#10

Prompt-Driven Dynamic Object-Centric Learning for Single Domain Generalization

Deng Li, Aming Wu, Yaowei Wang et al.

27

ICLR 2025arXiv:2411.12633

#11

Instant Policy: In-Context Imitation Learning via Graph Diffusion

Vitalis Vosylius, Edward Johns

25

ICML 2024arXiv:2304.00776

#12

Chain-of-Thought Predictive Control

Zhiwei Jia, Vineet Thumuluri, Fangchen Liu et al.

hierarchical imitation learninglow-level controlobject manipulationunsupervised skill discovery+3

24

ICLR 2025arXiv:2506.13536

#13

What Matters in Learning from Large-Scale Datasets for Robot Manipulation

Vaibhav Saxena, Matthew Bronars, Nadun Ranawaka Arachchige et al.

imitation learningrobot manipulationdataset compositionpolicy learning+4

17

CVPR 2025arXiv:2408.15270

#14

SkillMimic: Learning Basketball Interaction Skills from Demonstrations

Yinhuai Wang, Qihan Zhao, Runyi Yu et al.

human-object interactionimitation learningbasketball skill learninginteraction skill transfer+3

16

ICLR 2024arXiv:2310.06171

#15

Memory-Consistent Neural Networks for Imitation Learning

Kaustubh Sridhar, Souradeep Dutta, Dinesh Jayaraman et al.

15

ICLR 2024arXiv:2309.14681

#16

Are Human-generated Demonstrations Necessary for In-context Learning?

Rui Li, Guoyin Wang, Jiwei Li

15

CVPR 2024arXiv:2403.17601

#17

LASIL: Learner-Aware Supervised Imitation Learning For Long-term Microscopic Traffic Simulation

Ke Guo, Zhenwei Miao, Wei Jing et al.

14

ICLR 2024arXiv:2403.17124

#18

Grounding Language Plans in Demonstrations Through Counterfactual Perturbations

Yanwei Wang, Johnson (Tsun-Hsuan) Wang, Jiayuan Mao et al.

14

ICLR 2024arXiv:2310.07433

#19

Imitation Learning from Observation with Automatic Discount Scheduling

Yuyang Liu, Weijun Dong, Yingdong Hu et al.

13

AAAI 2024arXiv:2312.08898

#20

Detection and Defense of Unlearnable Examples

Yifan Zhu, lijia Yu, Xiao-Shan Gao

10

AAAI 2024arXiv:2310.14274

#21

Robust Visual Imitation Learning with Inverse Dynamics Representations

Siyuan Li, Xun Wang, Rongchang Zuo et al.

ICML 2025arXiv:2504.16925

#22

Latent Diffusion Planning for Imitation Learning

Amber Xie, Oleh Rybkin, Dorsa Sadigh et al.

NEURIPS 2025arXiv:2506.05294

#23

A Smooth Sea Never Made a Skilled SAILOR: Robust Imitation via Learning to Search

Arnav Kumar Jain, Vibhakar Mohta, Subin Kim et al.

behavioral cloningimitation learningworld modelreward model+3

ICLR 2024arXiv:2406.15042

#24

Behaviour Distillation

Andrei Lupu, Chris Lu, Jarek Liesen et al.

ICML 2024arXiv:2406.11905

#25

EvIL: Evolution Strategies for Generalisable Imitation Learning

Silvia Sapora, Gokul Swamy, Christopher Lu et al.

imitation learninginverse reinforcement learningreward model ensemblespolicy transfer+3

ICLR 2025arXiv:2407.07356

#26

Video In-context Learning: Autoregressive Transformers are Zero-Shot Video Imitators

Wentao Zhang, Junliang Guo, Tianyu He et al.

video in-context learningautoregressive transformerszero-shot imitationself-supervised learning+3

ICLR 2025arXiv:2411.01894

#27

Efficient Active Imitation Learning with Random Network Distillation

Emilien Biré, Anthony Kobanda, Ludovic Denoyer et al.

imitation learningactive learningout-of-distribution detectionrandom network distillation+4

AAAI 2024arXiv:2110.05286

#28

Learning from Ambiguous Demonstrations with Self-Explanation Guided Reinforcement Learning

Yantian Zha, Lin Guan, Subbarao Kambhampati

ICML 2024arXiv:2405.17476

#29

How to Leverage Diverse Demonstrations in Offline Imitation Learning

Sheng Yue, Jiani Liu, Xingyuan Hua et al.

offline imitation learningimperfect demonstrationsdata selection methodbehavior cloning+3

AAAI 2025arXiv:2402.01886

#30

Inverse Reinforcement Learning by Estimating Expertise of Demonstrators

Mark Beliaev, Ramtin Pedarsani

6

ICLR 2025arXiv:2412.09149

#31

Student-Informed Teacher Training

Nico Messikommer, Jiaxu Xing, Elie Aljalbout et al.

imitation learningprivileged teacher trainingpartial observabilityrobot navigation+4

6

NEURIPS 2025arXiv:2505.20425

#32

OSVI-WM: One-Shot Visual Imitation for Unseen Tasks using World-Model-Guided Trajectory Generation

Raktim Goswami, Prashanth Krishnamurthy, Yann LeCun et al.

ICCV 2025arXiv:2503.08751

#33

Disentangled World Models: Learning to Transfer Semantic Knowledge from Distracting Videos for Reinforcement Learning

Qi Wang, Zhipeng Zhang, Baao Xie et al.

disentangled representation learningworld modelsreinforcement learningsemantic knowledge transfer+4

ICLR 2024arXiv:2310.17303

#34

Demonstration-Regularized RL

Daniil Tiapkin, Denis Belomestny, Daniele Calandriello et al.

AAAI 2025arXiv:2412.15534

#35

SORREL: Suboptimal-Demonstration-Guided Reinforcement Learning for Learning to Branch

Shengyu Feng, Yiming Yang

reinforcement learningbranch and boundmixed integer programmingdata-driven heuristics+3

ICML 2025arXiv:2503.01837

#36

Multi-Stage Manipulation with Demonstration-Augmented Reward, Policy, and World Model Learning

Adrià López Escoriza, Nicklas Hansen, Stone Tao et al.

ICML 2025arXiv:2410.08751

#37

Zero-Shot Offline Imitation Learning via Optimal Transport

Thomas Rupf, Marco Bagatella, Nico Gürtler et al.

4

ICML 2024arXiv:2210.14972

#38

GraphMimic: Graph-to-Graphs Generative Modeling from Videos for Policy Learning

Guangyan Chen, Te Cui, Meiling Wang et al.

Environment Design for Inverse Reinforcement Learning

Thomas Kleine Buening, Victor Villin, Christos Dimitrakakis

inverse reinforcement learningreward function learningenvironment designsample-efficiency+3

4

ICML 2025arXiv:2410.14081

#40

Reward-free World Models for Online Imitation Learning

Shangzhe Li, Zhiao Huang, Hao Su

3

ICML 2025arXiv:2508.14379

#41

Action-Constrained Imitation Learning

Chia-Han Yeh, Tse-Sheng Nan, Risto Vuorio et al.

3

ICLR 2025arXiv:2502.20630

#42

Subtask-Aware Visual Reward Learning from Segmented Demonstrations

Changyeon Kim, Minho Heo, Doohyun Lee et al.

reward learningsegmented demonstrationsdense reward functioncontrastive learning+4

3

ICLR 2025arXiv:2506.20307

#43

Beyond-Expert Performance with Limited Demonstrations: Efficient Imitation Learning with Double Exploration

Heyang Zhao, Xingrui Yu, David Bossens et al.

2

ICML 2025arXiv:2502.05397

#44

AutoCGP: Closed-Loop Concept-Guided Policies from Unlabeled Demonstrations

Pei Zhou, Ruizhe Liu, Qian Luo et al.

Imitation Learning from a Single Temporally Misaligned Video

William Huey, Yuki (Huaxiaoyue) Wang, Anne Wu et al.

2

ICML 2025arXiv:2412.03966

#46

Demonstration Selection for In-Context Learning via Reinforcement Learning

Xubin Wang, Jianfei Wu, Yuan Yichen et al.

2

ICML 2024arXiv:2310.07143

#47

Imitation Learning from Purified Demonstrations

Yunke Wang, Minjing Dong, Yukun Zhao et al.

imitation learningimperfect demonstrationsdiffusion modelsdemonstration purification+2

behavior policy learningdemonstration heterogeneitylatent factor modelingcontinuous control benchmarks+4

#48

Generalized Behavior Learning from Diverse Demonstrations

Varshith Sreeramdass, Rohan Paleja, Letian Chen et al.

ICLR 2025

ICML 2025arXiv:2409.17355

#49

Learning Utilities from Demonstrations in Markov Decision Processes

Filippo Lazzati, Alberto Maria Metelli

AAAI 2025arXiv:2409.19363

#50

Learning Strategy Representation for Imitation Learning in Multi-Agent Games

Shiqi Lei, Kanghoon Lee, Linjing Li et al.

imitation learningmulti-agent gamesstrategy representationoffline datasets+2

imitation learninghuman-ai coordinationvision-language modelsconditional variational autoencoder+4

#51

Inner Speech as Behavior Guides: Steerable Imitation of Diverse Behaviors for Human-AI coordination

Rakshit Trivedi, Kartik Sharma, David Parkes

NEURIPS 2025

NEURIPS 2025arXiv:2601.08731

#52

Fast Imitation via Behavior Foundation Models

Matteo Pirotta, Andrea Tirinzoni, Ahmed Touati et al.

Learning from Demonstrations via Capability-Aware Goal Sampling

Yuanlin Duan, Yuning Wang, Wenjie Qiu et al.

NEURIPS 2025arXiv:2512.21586

#54

Videos are Sample-Efficient Supervisions: Behavior Cloning from Videos via Latent Representations

Xin Liu, Haoran Li, Dongbin Zhao

behavior cloningimitation learning from videoslatent representation learningself-supervised learning+4

ICCV 2025arXiv:2412.18386

#55

Switch-a-View: View Selection Learned from Unlabeled In-the-wild Videos

Sagnik Majumder, Tushar Nagarajan, Ziad Al-Halah et al.

in-context learningdemonstration order instabilitymany-shot iclinformation theory metrics+3

#56

Hierarchical Demonstration Order Optimization for Many-shot In-Context Learning

Yinhan He, Wendy Zheng, Song Wang et al.

NEURIPS 2025

NEURIPS 2025arXiv:2412.07057

#57

Interactive and Hybrid Imitation Learning: Provably Beating Behavior Cloning

Yichen Li, Chicheng Zhang

imitation learningbehavior cloninginteractive annotationhybrid imitation learning+3

NEURIPS 2025arXiv:2510.24095

#58

No Experts, No Problem: Avoidance Learning from Bad Demonstrations

Huy Hoang, Tien Mai, Pradeep Varakantham

Deep Implicit Imitation Reinforcement Learning in Heterogeneous Action Settings

Iason Chrysomallis, Georgios Chalkiadakis, Ioannis Papamichail et al.

Imitation Beyond Expectation Using Pluralistic Stochastic Dominance

Ali Farajzadeh, Danyal Saeed, Syed M Abbas et al.

MisoDICE: Multi-Agent Imitation from Mixed-Quality Demonstrations

The Viet Bui, Tien Mai, Thanh Nguyen

Rapid Selection and Ordering of In-Context Demonstrations via Prompt Embedding Clustering

Kha Pham, Hung Le, Man Ngo et al.

Learning Parameterized Skills from Demonstrations

Vedant Gupta, Haotian Fu, Calvin Luo et al.

NEURIPS 2025arXiv:2509.15981

#64

Uncertainty-Based Smooth Policy Regularisation for Reinforcement Learning with Few Demonstrations

Yujie Zhu, Charles Hepburn, Matthew Thorpe et al.

one-shot imitation learningdemonstration transformer architecturemeta-reinforcement learningdynamic environment adaptation+4

#65

Deep Demonstration Tracing: Learning Generalizable Imitator Policy for Runtime Imitation from a Single Demonstration

Xiong-Hui Chen, Junyin Ye, Hang Zhao et al.

ICML 2024

COLM 2025arXiv:2507.16217

#66

Towards Compute-Optimal Many-Shot In-Context Learning

Shahriar Golchin, Yanfei Chen, Rujun Han et al.

Many-Shot In-Context LearningIn-Context LearningLarge Language ModelsCompute-Optimal In-Context Learning+1

NEURIPS 2025arXiv:2510.24194

#67

Blindfolded Experts Generalize Better: Insights from Robotic Manipulation and Videogames

Ev Zisselman, Mirco Mutti, Shelly Francis-Meretzki et al.

behavioral cloningsequential decision-makingrobotic manipulationpeg insertion+3

ICML 2024arXiv:2402.01057

#68

GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation Demonstration and Imitation

Zifan Wang, Junyu Chen, Ziqing Chen et al.

Expert Proximity as Surrogate Rewards for Single Demonstration Imitation Learning

Chia-Cheng Chiang, Li-Cheng Lan, Wei-Fang Sun et al.

imitation learningsingle demonstration learninginverse reinforcement learningreward sparsity+3

imitation learningimperfect demonstrationshuman preferencespreference reward learning+2

#70

Limited Preference Aided Imitation Learning from Imperfect Demonstrations

Xingchen Cao, Fan-Ming Luo, Junyin Ye et al.

ICML 2024

imitation learningpolicy optimizationreinforcement learningkl regularization+4

#71

Iterative Regularized Policy Optimization with Imperfect Demonstrations

Xudong Gong, Feng Dawei, Kele Xu et al.

ICML 2024

imitation learninggenerative adversarial imitation learningimperfect demonstrationsnon-optimal information+2

#72

Joint Reward and Policy Learning with Demonstrations and Human Feedback Improves Alignment

Chenliang Li, Siliang Zeng, Zeyi Liao et al.

PN-GAIL: Leveraging Non-optimal Information from Imperfect Demonstrations

Qiang Liu, Huiqiao Fu, Kaiqiang Tang et al.

ICLR 2025

in-context learningbinary gaussian mixture modellinear attention modelslooped transformers+4

#74

From Gaze to Movement: Predicting Visual Attention for Autonomous Driving Human-Machine Interaction based on Programmatic Imitation Learning

Yexin Huang, Yongbin Lin, Lishengsa Yue et al.

RLfOLD: Reinforcement Learning from Online Demonstrations in Urban Autonomous Driving

Daniel Coelho, Miguel Oliveira, Vitor Santos

Reverse Forward Curriculum Learning for Extreme Sample and Demo Efficiency

Stone Tao, Arth Shukla, Tse-kai Chan et al.

Open-World Skill Discovery from Unsegmented Demonstration Videos

Jingwen Deng, Zihao Wang, Shaofei Cai et al.

Self-Supervised Representation Learning from Arbitrary Scenarios

Zhaowen Li, Yousong Zhu, Zhiyang Chen et al.

Faithful Dynamic Imitation Learning from Human Intervention with Dynamic Regret Minimization

Bo Ling, Zhengyu Gan, Wanyuan Wang et al.

Theoretical Insights into In-context Learning with Unlabeled Data

Yingcong Li, Xiangyu Chang, Muti Kara et al.

NEURIPS 2025

ICML 2024arXiv:2312.16860

#81

Agnostic Interactive Imitation Learning: New Theory and Practical Algorithms

Yichen Li, Chicheng Zhang

interactive imitation learningagnostic learning settingoracle-efficient algorithmspolicy class learning+3