@article{castellini2026focus,
  author  = {Cândido Ramos, João A. and Blondé, Lionel and Vinzant, Hugues and Castellini, Jacopo and Kalousis, Alexandros},
  title   = {{FOCUS}: First-Order Control Using Optimal Transport Supervision for Imitation from Observations},
  journal = {arXiv},
  volume  = {abs/2610.41540},
  year    = {2026}
}