Behavior Cloning

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14 papers in the last four weeks, up 367% on the four weeks before. 0.1% of all new papers.

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  1. Measuring the Stability Assumption Behind Action Chunking

    Oct 1, 2026Aryan GoyalAction ChunksBehavior Cloning

    Independent Researcher

  2. DashVMC: Real-Time Discrete World Model Control in Geometry Dash

    Sep 30, 2026Florent Tariolle, Florian YgerEfficient World-Action ModelBehavior Cloning

    INSA Rouen Normandy

  3. Plan-Conditioned Imitation for Robust Object Retrieval under Self-Occlusion in Dense Clutter

    Sep 30, 2026Kowndinya Boyalakuntla, Ajinkya Pawar, Abdeslam Boularias +1Behavior CloningOcclusion

    Rutgers University · Indian Institute of Technology Bombay, India

  4. Diffusion-2BC: Hybrid Diffusion and Regression Training for Offline Behavior Cloning in Autonomous Driving

    Sep 29, 2026Bruno Maciel Machado, Eric Aislan AntoneloBehavior CloningDiffusion Policies

    Department of Automation and Systems Engineering, Graduate Program in Automation and Systems Engineering, Federal University of Santa Catarina, Florianópolis, Santa Catarina, Brazil

  5. Disagreement-Regularized Imitation Learning for Image-Based Continuous Control with Gaussian and Beta Policies

    Sep 29, 2026Irving Giovani Bronzatti Petrazzini, Eric Aislan AntoneloStrong Imitation LearningImitation Learning

    Department of Automation and Systems Engineering, Federal University of Santa Catarina, Florian´opolis, Santa Catarina, Brazil.

  6. Do Not Cut When Uncertain: Rejectable and Calibrated Decision Heads for VLA Policies in Robotic Harvesting

    Sep 28, 2026Heng ZhangAgricultural RoboticsRobotic Manipulation

  7. Training-free Behavior Cloning

    Sep 24, 2026Maximilian Adang, Timothy Chen, Lars Osterberg +2Behavior CloningModel Predictive Control

    Stanford University, Stanford, CA 94404, USA.

  8. Uncertainty-Gated Exploration Noise Suppresses Task Collapse in Online RL Fine-Tuning of a Flow-Matching Vision-Language-Action Policy

    Sep 23, 2026Mehmet Turan Yardımcı, Yunus Emre ÇoğurcuFlow-Matching Vision-Language-ActionReinforcement Fine-Tuning

    Karlsruhe Institute of Technology · Çukurova University

  9. KeyGen: Unsupervised Keypoint based Object-Centric Representations for Category-Level Policy Generalization

    Sep 23, 2026Shuxin Cao, Liquan Wang, Masoud Moghani +2Robotic Manipulation PoliciesKeypoint Detection

    Georgia Institute of Technology · University of Toronto

  10. Non-Commutative State Tracking with Input-Dependent Low-Rank Updates in Mamba-3

    Sep 23, 2026Hiroki Fujii, Masaki YamakitaRecurrent StateMamba

    Department of Systems and Control Engineering, Institute of Science Tokyo, Tokyo, Japan

  11. Learning Beyond What Humans Can Demonstrate

    Sep 21, 2026Yuchen Song, Aditya Mittal, Unnat JainTeleoperationBehavior Cloning

    University of California, Irvine

  12. HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface

    Sep 17, 2026Zimu Han, Yiming Zeng, Jiyao Zhang +9Generalist Vision--Language--ActionHuman-In-The-Loop

    Center on Frontier Computing Studies, School of Computer Science, Peking University, China · Xi’an Jiaotong University, China · National Key Laboratory for Multimedia Information Processing, School of Computer Science, Peking University, China +2

  13. DIA: Denoising Intermediate Advantage for Diffusion Policy Optimization

    Sep 10, 2026Arjun Sohal, Yuchi Zhao, Miroslav Bogdanovic +1Diffusion PoliciesRobot Policies

    University of Toronto, Toronto, ON, Canada · Vector Institute for Artificial Intelligence, Toronto, ON, Canada · Acceleration Consortium, University of Toronto, Toronto, ON, Canada +2

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

    Sep 9, 2026Jie Xu, Kangjin Yu, Ziyi Jin +5Behavior CloningMotion Imitation

    Anyverse Dynamics

  15. 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

    Department of Automation and Systems Engineering Federal University of Santa Catarina (UFSC) – Florianópolis – SC – Brazil

  16. 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 LearningOut-Of-Distribution

    InstaDeep · AIMS · Stellenbosch University

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

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

    KTH Royal Institute of Technology · Aalto University

  18. 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 +2Behavior Cloning

    Nankai University · Tsinghua University · Swiss Federal Institute of Technology in Lausanne (EPFL)

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

    Aug 4, 2026William Bolton, Philip TorrClinical TrialsClinical Decision Support

    Department of Engineering Science, University of Oxford, Oxford, United Kingdom.

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

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

    Politecnico di Milano · UC Berkeley

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

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

    Microsoft

  22. Mirror Learning

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

    University of British Columbia · 2Inverted AI · 3Amii

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

    Jul 22, 2026Dzmitry MalyshauBehavior CloningAgent Behavior Modeling

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

    Jul 15, 2026Dwip Dalal, Shivansh Patel, Chahit Jain +8Vision-Language AlignmentBehavior Cloning

    University of Illinois Urbana-Champaign · Texas A&M University · University of California, Irvine

  25. 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 PoliciesBehavior Cloning

    1Harvard University. · 2Georgia Institute of Technology.

  26. VINE: Taming Generative Control Policies for Reinforcement Learning

    Jul 11, 2026Rushuai Yang, Zhuo Han, Houlin Li +10Flow PoliciesGenerative Control Policies

    1AgiBot · 3Peking University · 2The Hong Kong University of Science and Technology

  27. Implicit Behavior Coordination from Sub-Task Demonstrations by Exploiting Overlap-Induced Multimodality

    Jul 10, 2026Ahmed Shokry, Usama Ahmed Siddiquie, Sicong Pan +1Human-To-Robot TransferBehavior Cloning

    Humanoid Robots Lab and Center for Robotics, University of Bonn, Germany · Lamarr Institute for Machine Learning and Artificial Intelligence, Bonn, Germany

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

    Jul 8, 2026Baoyu Li, Xinchen Yin, Mengying Lin +2Egocentric DatasetHuman-To-Robot Transfer

    Georgia Institute of Technology

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

    Jul 6, 2026Ruslan Rakhimov, George Bredis, Yuriy Maksyuta +1Joint-Embedding Predictive ArchitecturesLatent World Models

    T-Tech

  30. 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

    Stanford University · New York University

  31. Scalable Behaviour Cloning on Browser Using via Skill Distillation

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

    Einsia

  32. 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 +1Off-Policy LearningImitation Learning

    Department of Computer Science, Columbia University · Department of Electrical Engineering, Columbia University

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

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

    Texas A&M University · University of Wisconsin · Northwestern University +1

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

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

    UC Berkeley · MIT · XDOF +2

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

    Jun 22, 2026Bruno Machado, Alexandre Chapin, Emmanuel Dellandrea +1Multimodal Action DistributionsRobotic Manipulation

    École Centrale de Lyon · LIRIS, UMR5205

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

    Jun 22, 2026Jingyi Liu, Zhaohong Mai, ShunSen He +5Scalable Robot LearningBehavior Cloning

    1CloudRobo Lab, Huawei Cloud Computing Technologies Co., Ltd. · 2South China University of Technology.

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

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

    National Key Laboratory for Novel Software Technology and School of Artificial Intelligence, Nanjing University, China.

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

    Jun 19, 2026Nikolaos Tsagkas, Andreas Sochopoulos, Chris Xiaoxuan Lu +2Diffusion-Based Vision-Language-ActionsLarge-Scale Robot Demonstration Datasets

    University of Edinburgh · UCL · Samsung AI Center - Cambridge, UK

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

    Jun 18, 2026Zheyu Zhuang, Ruiyu Wang, Giovanni Luca Marchetti +2Behavior CloningVisuomotor Control

    Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden · Department of Mathematics, KTH Royal Institute of Technology, Stockholm, Sweden

  40. Skill-Guided Continuation Distillation for GUI Agents

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

    1StepFun · University of Science and Technology Beijing · 4Nanyang Technological University +1

  41. 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

    1ACE Robotics · 2Shenzhen International Graduate School, Tsinghua University · 3The Chinese University of Hong Kong

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

    Jun 9, 2026Zhiyuan Zhou, Andy Peng, Charles Xu +4Flow PoliciesDiffusion-Based Reinforcement Learning Methods

    UC Berkeley · Physical Intelligence

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

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

    Sorbonne Université, CNRS, ISIR, F-75005 Paris, France · Institut Universitaire de France (IUF)

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

    Jun 9, 2026Jiexi Lyu, Xizhou Bu, Qingqiu Huang +4Latent Action ModelsLatent Actions

  45. What Demonstration Curation Metrics Do to Your Policy

    Jun 8, 2026Aarav BediData-CurationReceiver Operating Characteristic Area Under The Curve

    Department of Mechanical Engineering University of California, Berkeley

  46. Difference-Aware Retrieval Policies for Imitation Learning

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

    1Paul G. Allen School of Computer Science & Engineering, University of Washington · 2Toyota Research Institute · 3Google DeepMind +1

  47. 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 DrivingHuman Driving

    State Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an 710049, China.

  48. VoxCPM2 Technical Report

    Jun 5, 2026Yixuan Zhou, Guoyang Zeng, Xin Liu +15Cross-Lingual Voice CloningTechnical Report

    VoxCPM Team

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

    Jun 4, 2026Aarav BediBehavior CloningDefect

    University of California, Berkeley · Department of Mechanical Engineering University of California, Berkeley Berkeley, California, USA

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

    Jun 3, 2026Yunpeng Mei, Jiakai He, Hongjie Cao +12Flow-Matching Vision-Language-ActionBehavior Cloning

    1Beijing Institute of Technology · 2Tsinghua University · 3The Hong Kong University of Science and Technology (Guangzhou)

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

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

    Delft University of Technology · University of Stuttgart

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

    May 31, 2026Hikmet Simsir, Ozgur S. OguzOffline Reinforcement LearningBehavior Cloning

    Department of Computer Engineering, Bilkent University, Ankara, Türkiye.

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

    May 30, 2026Vignesh Subramanian, Subhajit Roy, Suguman BansalBehavior CloningFrictive Policy Optimization

    School of Computer Science, Georgia Institute of Technology, USA · Department of Computer Science and Engineering, Indian Institute of Technology Kanpur, India

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

    May 29, 2026Theo Guegan, Dexter Wen Jie TeoModel Predictive ControlRobotic Manipulator

    Universite de Technologie de Compiégne, France · Opalin, Redwood City, CA · Nanyang Technological University, Singapore +1

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

    May 27, 2026Audrey Chan, Aaron Labbé, Jacob Lavoie +4Affective ComputingBehavior Cloning

    LUCID Inc. · Toronto, Canada · Montréal, Canada +1

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

    May 27, 2026Junlin WangDiffusion PoliciesVisuomotor Policy

    School of Engineering and Applied Science University of Pennsylvania

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

    May 26, 2026René Zurbrügg, Tifanny Portela, Arjun Bhardwaj +3TeleoperationBehavior Cloning

    The Authors are with the Robotics Systems Lab ETH Zürich.

  58. Adversarial Dual On-Policy Distillation from Expressive Teacher

    May 26, 2026Zhenglin Wan, Jingxuan Wu, Xingrui Yu +5Multimodal Action DistributionsBehavior Cloning

    School of Computing, National University of Singapore · Department of Statistics and Operations Research, UNC-Chapel Hill, America · CFAR, Agency for Science, Technology and Research, Singapore +4

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

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

    Department of Physics, Harvard University, Cambridge, MA, USA · Visual Intuition, Cambridge, MA, USA · Prior Computers, Cambridge, MA, USA

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

    May 25, 2026Bo Zou, Chao XuLLM Reasoning StrategiesElicitation