Easy-IIL: Reducing Human Operational Burden in Interactive Imitation Learning via an Assistant Expert

arXiv:2603.12769 · cs.RO · Submitted 2026-03-13 · Read on arXiv

cs.RO

Submitted: 2026-03-13

Updated: 2026-10-09

Project page: https://sites.google.com/view/easy-iil

Terminology

• Ablation — 9× in this paper · explained in 1 episode
• Interactive Imitation Learning — 9× in this paper
• Ablation Studies — 4× in this paper · explained in 1 episode
• International Conference on Robotics and Automation — 3× in this paper
• Ablation study — 2× in this paper · explained in 2 episodes
• Computer Vision and Pattern Recognition — 2× in this paper
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Frustration — 2× in this paper · explained in 2 episodes
• Human-in-the-Loop — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Hyperparameters — 1× in this paper · explained in 2 episodes
• Imitation Learning (IL) — 1× in this paper · explained in 2 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation
• One-Shot Dual-Arm Imitation Learning
• Human-in-the-Loop Imitation Learning using Remote Teleoperation
• MILE: Model-based Intervention Learning
• Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware

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