@misc{li2026csdw,
  title = {Beyond State-as-Action: Exploiting Command-State Discrepancy for Robot Imitation Learning},
  author = {Peiyan Li and Yueran Tao and Enhao Zhang and Zhixuan Zhao and Chenghao Yue and Hao Wang and Lei Lv and Wentao Zhao and Jiahao Chen and Xin Liu and Kangyao Huang and Yu Luo and Huaping Liu},
  year = {2026},
  eprint = {2609.33145},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2609.33145}
}