{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-simple-approach-to-constraint-aware","title":"A Simple Approach to Constraint-Aware Imitation Learning with Application to Autonomous Racing","arxiv_id":"2503.07737","date":"2025-03-10","proceeding":null,"authors":["Shengfan Cao","Eunhyek Joa","Francesco Borrelli"],"abstract":"Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods often struggle to enforce constraints, leading to suboptimal performance in high-precision tasks. In this paper, we present a simple approach to incorporating safety into the IL objective. Through simulations, we empirically validate our approach on an autonomous racing task with both full-state and image feedback, demonstrating improved constraint satisfaction and greater consistency in task performance compared to a baseline method.","url_abs":"https://arxiv.org/abs/2503.07737v1","url_pdf":"https://arxiv.org/pdf/2503.07737v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"a-simple-approach-to-constraint-aware","repo_url":"https://github.com/CadenzaCoda/ConstraintAwareIL","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"autonomous-racing","task_name":"Autonomous Racing"},{"task_slug":"imitation-learning","task_name":"Imitation Learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}