Diffeomorphic Hidden-State Steering: Improving Imitation Learning Policy Robustness through Expert Hidden-State Geometry

arXiv:2610.21666 · cs.RO · Submitted 2026-10-15 · Read on arXiv

cs.RO

Submitted: 2026-10-15

Updated: 2026-10-15

Comments: 9 pages, 2 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Steering — 4× in this paper · explained in 2 episodes
• Diffeomorphic Hidden-State Steering — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Transformer — 1× in this paper · explained in 2 episodes

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