https://github.com/sachamorin/idm-ssil
Code for our ICML 2026 paper "On the Sample Efficiency of Inverse Dynamics Models for Semi-Supervised Imitation Learning".
https://github.com/sachamorin/idm-ssil
imitation-learning inverse-dynamics semi-supervised
Last synced: about 14 hours ago
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Code for our ICML 2026 paper "On the Sample Efficiency of Inverse Dynamics Models for Semi-Supervised Imitation Learning".
- Host: GitHub
- URL: https://github.com/sachamorin/idm-ssil
- Owner: sachaMorin
- License: mit
- Created: 2026-05-07T20:40:20.000Z (27 days ago)
- Default Branch: main
- Last Pushed: 2026-05-13T00:42:58.000Z (22 days ago)
- Last Synced: 2026-05-13T02:33:15.783Z (22 days ago)
- Topics: imitation-learning, inverse-dynamics, semi-supervised
- Homepage: https://arxiv.org/abs/2602.02762
- Size: 2.93 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# On the Sample Efficiency of Inverse Dynamics Models for Semi-Supervised Imitation Learning
[](https://arxiv.org/abs/2602.02762)
Code for our ICML 2026 paper [On the Sample Efficiency of Inverse Dynamics Models for Semi-Supervised Imitation Learning](https://arxiv.org/abs/2602.02762).
## Code
The code is split across three repositories:
- [idm_ssil_maze](https://github.com/slachapelle/idm_ssil_maze/) — Maze experiments from Section 4.
- [lapo-plus](https://github.com/sachaMorin/lapo-plus) — LAPO+ and Procgen experiments from Section 5.1.
- [uva](https://github.com/sachaMorin/uva) — Manipulation experiments (PushT and LIBERO-10) from Section 5.2.
## Citation
```bibtex
@article{morin2026sample,
title={On the Sample Efficiency of Inverse Dynamics Models for Semi-Supervised Imitation Learning},
author={Morin, Sacha and Byeon, Moonsub and Jolicoeur-Martineau, Alexia and Lachapelle, Sébastien},
journal={arXiv preprint arXiv:2602.02762},
year={2026}
}
```