Author

George Kantor

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Preprint Sep 2026

Policy-Calibrated DAgger: Offline Calibrated Noise Injection for Imitation Learning

Policies trained with imitation learning can accumulate errors over time, causing the robot to drift outside the training distribution. Existing methods mitigate this covariate shift by collecting additional data where the policy fails or is likely to fail. The first places the robot in unsafe conditions and the second...

Jenny Wang, George Kantor · 0 citations

Preprint Sep 2026

BEACON: Belief-Enabled Adaptive CONtrol for Imitation Learning under Uncertainty

Robot manipulation tasks often involve hidden state information that cannot be directly observed and must be inferred through sequential physical interactions. In such partially observable settings, conditioning an imitation learning policy directly on the recent raw observation history leads to poor performance. This...

Moonyoung Lee, Soumojit Bhattacharya, George Kantor et al. · 0 citations