CONF Li_ICLR_2026/IDIAP Geometry-aware Policy Imitation Li, Yiming Darwiche, Nael Razmjoo, Amirreza Liu, sichao Du, Yilun Ijspeert, Auke Calinon, Sylvain EXTERNAL http://publications.idiap.ch/attachments/papers/2026/Li_ICLR_2026.pdf PUBLIC International Conference on Learning Representations 2026