Behavior Cloning

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3 papers in the last 28 days · 0.1% of indexed attention

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Period ending 2026-09-14

1 new paper

A weekly snapshot of new work published in Behavior Cloning.

Period ending 2026-09-07

2 new papers

A weekly snapshot of new work published in Behavior Cloning.

61 papers

Latest in Behavior Cloning

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  1. JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction

    Sep 9, 2026Jie Xu, Kangjin Yu, Ziyi Jin +5Imitation LearningRobot Imitation Learning

  2. A Low-Cost, Open Platform for End-to-End Autonomous Driving on a Miniature Ackermann Vehicle

    Sep 3, 2026Gustavo Claudio Karl Couto, Eric Aislan Antonelo, Gabriel George ZippererAutonomous Driving SimulationAutonomous Driving

  3. Out-of-Distribution Generalisation with Sequence Models in Offline Multi-Agent Reinforcement Learning

    Sep 3, 2026Oussama Hidaoui, Omer Ebead, Ulrich Armel Mbou Sob +14Multi-Agent Reinforcement LearningOffline Safe Reinforcement Learning

  4. Enhancing Visual Domain Robustness in Behaviour Cloning via Saliency-Guided Augmentation

    Aug 12, 2026Zheyu Zhuang, Ruiyu Wang, Nils Ingelhag +2Behavior CloningData Augmentation

  5. In-Context VLA: Endowing Vision-Language-Action Models with Language via In-Context Post-Training and Agentic Tool Use

    Aug 6, 2026Jiarui Yang, Wen Huang, Jiale Zhang +2Recent Vision-Language-ActionVision-Language-Action

  6. Learning Clinical-Trial Strategy: Offline Policy Training for Decision Agents

    Aug 4, 2026William Bolton, Philip TorrAgent DecisionsBehavior Cloning

  7. Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control?

    Aug 3, 2026Filippo Lazzati, Kyle Stachowicz, William Chen +3Action ChunksRobot Policies

  8. When Does On-Policy Interaction Help? Representational Tradeoffs in Value-Based Imitation Learning

    Jul 31, 2026Luca Viano, Antoine Moulin, Audrey Huang +3Imitation LearningOn-Policy

  9. Mirror Learning

    Jul 30, 2026Yunpeng Liu, Matthew Niedoba, Oluwanifemi A. Adekanye +4Imitation LearningBehavior Cloning

  10. Cortex: Compact Behavior Cloning for Quake with Frozen Visual Features

    Jul 22, 2026Dzmitry MalyshauBehavior CloningFrozen Representations

  11. Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment

    Jul 15, 2026Dwip Dalal, Shivansh Patel, Chahit Jain +7Vision-Language-ActionRecent Vision-Language-Action

  12. A Single Diffusion-Policy Controller for Multi-Task Block Pushing with Zero-Shot Sim-to-Real Transfer

    Jul 12, 2026Haitong Ma, Haldun Balim, Yang Hu +2Diffusion PoliciesZero-Shot Sim-To-Real Transfer

  13. VINE: Taming Generative Control Policies for Reinforcement Learning

    Jul 11, 2026Rushuai Yang, Zhuo Han, Houlin Li +10Multimodal Action DistributionsBehavior Cloning

  14. EgoWAM: World Action Models Beyond Pixels with In-the-Wild Egocentric Human Data

    Jul 8, 2026Baoyu Li, Xinchen Yin, Mengying Lin +2Action-Conditioned World ModelingEgocentric Dataset

  15. Qantara: Bridge-Flow Training for Multi-Paradigm JEPA Control

    Jul 6, 2026Ruslan Rakhimov, George Bredis, Yuriy Maksyuta +1Joint-Embedding Predictive ArchitecturesBehavior Cloning

  16. A Few Teacher Steps Go a Long Way: Cost-Efficient On-Policy Data Augmentation for Agent Post-Training

    Jul 6, 2026Junze Ye, Jiayi Cheng, Miao Lu +3On-PolicyTeacher

  17. Scalable Behaviour Cloning on Browser Using via Skill Distillation

    Jun 30, 2026Kaisen Yang, Zheng Jiang, Yuzhao Peng +11Browser AgentBehavior Cloning

  18. Behavior Cloning is Not All You Need: The Optimality of On-Policy Distillation for Noisy Expert Feedback

    Jun 29, 2026Ved Sriraman, Peihan Liu, Daniel Hsu +1On-Policy DistillationImitation Learning

  19. Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering

    Jun 28, 2026Hao Wang, Jiuzhou Lei, Dayou Li +5Behavior CloningRobot Policies

  20. Scalable Behavior Cloning with Open Data, Training, and Evaluation

    Jun 25, 2026Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh +15Behavior CloningTeleoperation

  21. Flowing With Purpose: Latent Action Guided Flow Matching Policies For Robotic Manipulation

    Jun 22, 2026Bruno Machado, Alexandre Chapin, Emmanuel Dellandrea +1Multimodal Action DistributionsFlow-Matching Loss

  22. HiL-ResRL: A Model-Agnostic Finetuning Adapter via Human-in-the-loop Residual Reinforcement Learning

    Jun 22, 2026Jingyi Liu, Zhaohong Mai, ShunSen He +5Diffusion-Based Vision-Language-ActionsImitation Learning

  23. Provably Efficient Policy-Reward Co-Pretraining for Adversarial Imitation Learning

    Jun 20, 2026Tian Xu, Zexuan Chen, Zhilong Zhang +4Imitation LearningBehavior Cloning

  24. Decoupling the Declarative from the Procedural in Vision-Language-Action Models

    Jun 19, 2026Nikolaos Tsagkas, Andreas Sochopoulos, Chris Xiaoxuan Lu +2Vision-Language-ActionRobot Actions

  25. MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs

    Jun 18, 2026Zheyu Zhuang, Ruiyu Wang, Giovanni Luca Marchetti +2Behavior CloningRobot Imitation Learning

  26. Skill-Guided Continuation Distillation for GUI Agents

    Jun 17, 2026Zhimin Fan, Hongwei Yu, Yeqing Shen +9Unsupervised Skill DiscoveryGraphical User Interface Agents

  27. Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes

    Jun 15, 2026Tongyan Fang, Siyuan Huang, Naiyu Fang +6Hierarchical Reinforcement LearningReinforcement Fine-Tuning

  28. Test-Time Gradient Guidance of Flow Policies in Reinforcement Learning

    Jun 9, 2026Zhiyuan Zhou, Andy Peng, Charles Xu +4Diffusion PoliciesImitation Learning

  29. MODIP: Efficient Model-Based Optimization for Diffusion Policies

    Jun 9, 2026Zakariae El Asri, Philippe Gratias-Quiquandon, Nicolas Thome +1Diffusion PoliciesSafe Reinforcement Learning

  30. LAFP: Preserving Latent Action Structure in Latent Policy Learning via Flow Matching

    Jun 9, 2026Jiexi Lyu, Xizhou Bu, Qingqiu Huang +4Latent ActionsBehavior Cloning

  31. What Demonstration Curation Metrics Do to Your Policy

    Jun 8, 2026Aarav BediData-CurationBehavior Cloning

  32. Difference-Aware Retrieval Policies for Imitation Learning

    Jun 8, 2026Quinn Pfeifer, Ethan Pronovost, Paarth Shah +3Imitation LearningBehavior Cloning

  33. Learning from Human Driving: A Human-in-the-Loop Online Behavior Cloning Framework for Autonomous Driving

    Jun 6, 2026Yuhong Shi, Jianyi Liu, Lihang Sun +2Autonomous DrivingDead Reckoning

  34. VoxCPM2 Technical Report

    Jun 5, 2026Yixuan Zhou, Guoyang Zeng, Xin Liu +15Behavior Cloning

  35. Auditing Demonstration Curation Metrics: Action-Only Scorers Fail on the Structural Defects That Degrade Imitation Policies

    Jun 4, 2026Aarav BediImitation LearningBehavior Cloning

  36. Potential-Guided Flow Matching for Vision-Language-Action Policy Improvement

    Jun 3, 2026Yunpeng Mei, Jiakai He, Hongjie Cao +12Vision-Language-Action PoliciesDiffusion-Based Vision-Language-Actions

  37. Set-Supervised Diffusion Policy: Learning Action-Chunking Diffusion through Corrections

    Jun 1, 2026Zhaoting Li, Gang Chen, Javier Alonso-Mora +2Diffusion PoliciesBehavior Cloning

  38. Lagrangian Perturbation Diffusion Steering: Latent Reinforcement Learning for Generative Policies

    May 31, 2026Hikmet Simsir, Ozgur S. OguzDiffusion PoliciesBehavior Cloning

  39. Decoupled Behavioral Cloning for Scalable Inductive Generalization in RL from Specifications

    May 30, 2026Vignesh Subramanian, Subhajit Roy, Suguman BansalBehavior CloningSafe Reinforcement Learning

  40. Behavior Cloning of MPC for 3-DOF Robotic Manipulators

    May 29, 2026Theo Guegan, Dexter Wen Jie TeoModel Predictive ControlBehavior Cloning

  41. Affective Music Recommendation: A Rollout-Based World Model for Offline Preference Optimization

    May 27, 2026Audrey Chan, Aaron Labbé, Jacob Lavoie +4Affective ComputingConversational Music Recommendation

  42. Frequency-Guided Action Diffusion via Sub-Frequency Manifold Traversal

    May 27, 2026Junlin WangDiffusion PoliciesVisuomotor Policy

  43. VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction

    May 26, 2026René Zurbrügg, Tifanny Portela, Arjun Bhardwaj +3TeleoperationData Collection

  44. Adversarial Dual On-Policy Distillation from Expressive Teacher

    May 26, 2026Zhenglin Wan, Jingxuan Wu, Xingrui Yu +5On-Policy DistillationDiffusion Policies

  45. A Systematic Study of Behavioral Cloning for Scientific Data Annotation

    May 26, 2026Ishaan Singh Chandok, Core Francisco ParkBehavior CloningHuman Annotations

  46. BC Protocol: Structured Dual-Expert Dialogue for Eliciting High-Quality Chain-of-Thought Post-Training Data

    May 25, 2026Bo Zou, Chao XuElicitationReasoning Chain

  47. Understanding Multimodal Failure in Action-Chunking Behavioral Cloning

    May 21, 2026Lorenzo Mazza, Massimiliano Datres, Ariel Rodriguez +3Multimodal Action DistributionsBehavior Cloning

  48. PGDG: Physically Grounded Data Generation for Robust Bimanual Policy Learning from a Single Demonstration

    May 20, 2026Cunxi Dai, Haoran Chang, Aditya Nisal +5Robotic Manipulation PoliciesDexterous Manipulation

  49. Behavior Cloning for Active Perception with Low-Resolution Egocentric Vision

    May 13, 2026Anthony Bilic, Chen Chen, Ladislau BölöniRobot PerceptionEgocentric Vision

  50. TMRL: Diffusion Timestep-Modulated Pretraining Enables Exploration for Efficient Policy Finetuning

    May 12, 2026Matthew M. Hong, Jesse Zhang, Anusha Nagabandi +1Robot PoliciesReinforcement Fine-Tuning

  51. Split the Differences, Pool the Rest: Provably Efficient Multi-Objective Imitation

    May 12, 2026Ziyad Sheebaelhamd, Luca Viano, Volkan Cevher +1Multi-Objective Reinforcement LearningImitation Learning

  52. Learning When to Stop: Selective Imitation Learning Under Arbitrary Dynamics Shift

    May 9, 2026Surbhi Goel, Jonathan Pei, James WangImitation LearningBehavior Cloning

  53. Drifting Field Policy: A One-Step Generative Policy via Wasserstein Gradient Flow

    May 8, 2026Juil Koo, Mingue Park, Jiwon Choi +2Diffusion PoliciesWasserstein Gradient Flows

  54. When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learning

    May 6, 2026Lakshita Dodeja, Ondrej Biza, Shivam Vats +5Behavior CloningReinforcement-Learning Policies

  55. PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations

    Apr 30, 2026Yang Zhang, Jiangyuan Zhao, Chenyou Fan +11Robot ActionsRobot Policies

  56. Learning from the Best: Smoothness-Driven Metrics for Data Quality in Imitation Learning

    Apr 24, 2026Soham Kulkarni, Raayan Dhar, Yuchen CuiImitation LearningBehavior Cloning

  57. Preserve Support, Not Correspondence: Dynamic Routing for Offline Reinforcement Learning

    Apr 24, 2026Zhancun Mu, Guangyu Zhao, Yiwu Zhong +1Offline Safe Reinforcement LearningGoal-Conditioned Reinforcement Learning

  58. When Policies Cannot Be Retrained: A Unified Closed-Form View of Post-Training Steering in Offline Reinforcement Learning

    Apr 23, 2026Elias Hossain, Mohammad Jahid Ibna Basher, Ivan Garibay +2Post-TrainingBehavior Cloning

  59. On the Sample Efficiency of Inverse Dynamics Models for Semi-Supervised Imitation Learning

    Feb 2, 2026Sacha Morin, Moonsub Byeon, Alexia Jolicoeur-Martineau +1Imitation LearningInverse Dynamics

  60. When Does Predictive Inverse Dynamics Outperform Behavior Cloning?

    Jan 29, 2026Lukas Schäfer, Pallavi Choudhury, Abdelhak Lemkhenter +10Inverse DynamicsBehavior Cloning