{"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/imitation-learning-with-limited-actions-via","title":"Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers","arxiv_id":"2410.07584","date":"2024-10-10","proceeding":null,"authors":["Jianxin Bi","Kelvin Lim","Kaiqi Chen","Yifei HUANG","Harold Soh"],"abstract":"Recent advances in diffusion-based robot policies have demonstrated significant potential in imitating multi-modal behaviors. However, these approaches typically require large quantities of demonstration data paired with corresponding robot action labels, creating a substantial data collection burden. In this work, we propose a plan-then-control framework aimed at improving the action-data efficiency of inverse dynamics controllers by leveraging observational demonstration data. Specifically, we adopt a Deep Koopman Operator framework to model the dynamical system and utilize observation-only trajectories to learn a latent action representation. This latent representation can then be effectively mapped to real high-dimensional continuous actions using a linear action decoder, requiring minimal action-labeled data. Through experiments on simulated robot manipulation tasks and a real robot experiment with multi-modal expert demonstrations, we demonstrate that our approach significantly enhances action-data efficiency and achieves high task success rates with limited action data.","url_abs":"https://arxiv.org/abs/2410.07584v2","url_pdf":"https://arxiv.org/pdf/2410.07584v2.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":"imitation-learning-with-limited-actions-via","repo_url":"https://github.com/jxbi1010/koap","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"decoder","task_name":"Decoder"},{"task_slug":"imitation-learning","task_name":"Imitation Learning"},{"task_slug":"robot-manipulation","task_name":"Robot Manipulation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}