Author

Jacopo Castellini

University of East Anglia

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#machine learning Preprint Oct 2026

FOCUS: First-Order Control Using Optimal Transport Supervision for Imitation from Observations

FOCUS is introduced, which combines local optimal-transport alignment with short-horizon differentiable actor-critic learning and improves sample efficiency and training stability over adversarial imitation-from-observation methods and prior differentiable imitation baselines.

João A. Cândido Ramos, Lionel Blondé, Hugues Vinzant et al. · 0 citations