Failure Identification in Imitation Learning Via Statistical and Semantic Filtering

arXiv:2604.13788 · cs.RO, cs.CV · Submitted 2026-04-15 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-04-15

Updated: 2026-04-15

Terminology

• AUROC — 1× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Conformal Prediction — 1× in this paper · explained in 7 episodes
• Imitation Learning (IL) — 1× in this paper · explained in 2 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes
• Vision-based Anomaly Detection — 1× in this paper

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies