Learning Unknown Constraints without Unsafe Data via Optimality and Counterfactual Regularization

arXiv:2610.09350 · cs.RO, cs.LG · Submitted 2026-10-07 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-10-07

Updated: 2026-10-07

Terminology

• Reinforcement Learning — 15× in this paper · explained in 4 episodes
• Benchmark — 13× in this paper · explained in 2 episodes
• AUC — 11× in this paper · explained in 2 episodes
• INVERSE CONSTRAINED REINFORCEMENT LEARNING — 8× in this paper
• Ablation — 6× in this paper · explained in 1 episode
• CONSTRAINED INVERSE OPTIMAL CONTROL — 5× in this paper
• Generative AI — 4× in this paper · explained in 2 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Regularization — 3× in this paper · explained in 3 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• International Journal of Robotics Research — 2× in this paper
• Transactions on Machine Learning Research — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Distribution Matching — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Inverse Problem — 1× in this paper · explained in 2 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Sample Complexity — 1× in this paper · explained in 15 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes

Sources

• Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
• Maximum Likelihood Constraint Inference for Inverse Reinforcement Learning
• Confidence Aware Inverse Constrained Reinforcement Learning

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