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simmediumimitationmetric · varies
MTIL: Encoding Full History with Mamba for Temporal Imitation Learning
Description
Standard imitation learning (IL) methods have achieved considerable success in robotics, yet often rely on the Markov assumption, which falters in long-horizon tasks where history is crucial for resolving perceptual ambiguity. This limitation stems not only from a conceptual gap but also from a fundamental computational barrier: prevailing architectures like Transformers are often constrained by quadratic complexity, rendering the processing of long, high-dimensional observation sequences infeas