{"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/reward-free-world-models-for-online-imitation","title":"Reward-free World Models for Online Imitation Learning","arxiv_id":"2410.14081","date":"2024-10-17","proceeding":null,"authors":["Shangzhe Li","Zhiao Huang","Hao Su"],"abstract":"Imitation learning (IL) enables agents to acquire skills directly from expert demonstrations, providing a compelling alternative to reinforcement learning. However, prior online IL approaches struggle with complex tasks characterized by high-dimensional inputs and complex dynamics. In this work, we propose a novel approach to online imitation learning that leverages reward-free world models. Our method learns environmental dynamics entirely in latent spaces without reconstruction, enabling efficient and accurate modeling. We adopt the inverse soft-Q learning objective, reformulating the optimization process in the Q-policy space to mitigate the instability associated with traditional optimization in the reward-policy space. By employing a learned latent dynamics model and planning for control, our approach consistently achieves stable, expert-level performance in tasks with high-dimensional observation or action spaces and intricate dynamics. We evaluate our method on a diverse set of benchmarks, including DMControl, MyoSuite, and ManiSkill2, demonstrating superior empirical performance compared to existing approaches.","url_abs":"https://arxiv.org/abs/2410.14081v5","url_pdf":"https://arxiv.org/pdf/2410.14081v5.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":"reward-free-world-models-for-online-imitation","repo_url":"https://github.com/tobyleelsz/iqmpc","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"imitation-learning","task_name":"Imitation Learning"},{"task_slug":"q-learning","task_name":"Q-Learning"}],"methods":[{"method_slug":"set","method_name":"SET"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2410.14081","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2410.14081"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/tobyleelsz/iqmpc","reach":null}],"summary":{"unverified":1},"by_repo_kind":{"official":{"samples":1,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":1,"samples":[{"code_sha256_prefix":"c13cd9b577cdb046","entry":"WorldModel","repo":"tobyleelsz/iqmpc","repo_kind":"official","path":"tdmpc2/common/world_model.py","file_url":"https://github.com/tobyleelsz/iqmpc/blob/HEAD/tdmpc2/common/world_model.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"c13cd9b577cdb046"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}