# LOPAL: Local Performance-Aware Active Learning from Imperfect Demonstrations

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/u5qrepc74m8zn5r3e9yqh20ke
- Original: https://arxiv.org/abs/2606.16888

## Summary

LOPAL is a local performance-aware active learning method that uses a Gaussian Mixture Model (GMM) to jointly encode demonstration trajectories and their local quality assessments, thereby generating trajectories that outperform the imperfect demonstrations. The method also uses a shared autonomy (SA) mechanism to actively request user corrections in areas with insufficient data, while the robot autonomously executes its learned behavior during this process.