{"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/tasil-taylor-series-imitation-learning","title":"TaSIL: Taylor Series Imitation Learning","arxiv_id":"2205.14812","date":"2022-05-30","proceeding":null,"authors":["Daniel Pfrommer","Thomas T. C. K. Zhang","Stephen Tu","Nikolai Matni"],"abstract":"We propose Taylor Series Imitation Learning (TaSIL), a simple augmentation to standard behavior cloning losses in the context of continuous control. TaSIL penalizes deviations in the higher-order Taylor series terms between the learned and expert policies. We show that experts satisfying a notion of $\\textit{incremental input-to-state stability}$ are easy to learn, in the sense that a small TaSIL-augmented imitation loss over expert trajectories guarantees a small imitation loss over trajectories generated by the learned policy. We provide sample-complexity bounds for TaSIL that scale as $\\tilde{\\mathcal{O}}(1/n)$ in the realizable setting, for $n$ the number of expert demonstrations. Finally, we demonstrate experimentally the relationship between the robustness of the expert policy and the order of Taylor expansion required in TaSIL, and compare standard Behavior Cloning, DART, and DAgger with TaSIL-loss-augmented variants. In all cases, we show significant improvement over baselines across a variety of MuJoCo tasks.","url_abs":"https://arxiv.org/abs/2205.14812v2","url_pdf":"https://arxiv.org/pdf/2205.14812v2.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":"tasil-taylor-series-imitation-learning","repo_url":"https://github.com/unstable-zeros/tasil","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"jax","reach":null}],"tasks":[{"task_slug":"continuous-control","task_name":"Continuous Control"},{"task_slug":"imitation-learning","task_name":"Imitation Learning"},{"task_slug":"mujoco","task_name":"MuJoCo"},{"task_slug":"continuous-control","task_name":"continuous-control"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2205.14812","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2205.14812"}},"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/unstable-zeros/tasil","reach":null}],"summary":{"ran":3,"ran_draft_wrong":1,"unverified":1},"by_repo_kind":{"official":{"samples":5,"ran":4,"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":0,"samples":[{"code_sha256_prefix":"ab7f13ba53ed7145","entry":"PRNGSequence","repo":"unstable-zeros/tasil","repo_kind":"official","path":"imitation_learning/bc.py","file_url":"https://github.com/unstable-zeros/tasil/blob/HEAD/imitation_learning/bc.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"BSD-3-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"ab7f13ba53ed7145"}},{"code_sha256_prefix":"025268da83260725","entry":"Trainer","repo":"unstable-zeros/tasil","repo_kind":"official","path":"imitation_learning/bc.py","file_url":"https://github.com/unstable-zeros/tasil/blob/HEAD/imitation_learning/bc.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"BSD-3-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"025268da83260725"}},{"code_sha256_prefix":"c0890c771769b1c3","entry":"logging_redirect_tqdm","repo":"unstable-zeros/tasil","repo_kind":"official","path":"imitation_learning/bc.py","file_url":"https://github.com/unstable-zeros/tasil/blob/HEAD/imitation_learning/bc.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"BSD-3-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"c0890c771769b1c3"}},{"code_sha256_prefix":"bda8957057d39d26","entry":"timed","repo":"unstable-zeros/tasil","repo_kind":"official","path":"imitation_learning/bc.py","file_url":"https://github.com/unstable-zeros/tasil/blob/HEAD/imitation_learning/bc.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"BSD-3-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"bda8957057d39d26"}},{"code_sha256_prefix":"27921c667383e870","entry":"bc","repo":"unstable-zeros/tasil","repo_kind":"official","path":"imitation_learning/bc.py","file_url":"https://github.com/unstable-zeros/tasil/blob/HEAD/imitation_learning/bc.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"BSD-3-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"27921c667383e870"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}