2025
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
Nadun Ranawaka Arachchige, Zhenyang Chen, Wonsuhk Jung, Woo Chul Shin, Rohan Bansal, Pierre Barroso +5
CoRL 2025oral
Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to execute the task at the same speed as shown in demonstration data. This limits the task throughput of a robotic…