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Training-free Behavior Cloning — arXiv:2609.30134

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.30134
License (as archived): CC0-1.0
Archived: 2026-10-08T07:17:09.813Z
SHA-256 of the archived text: 0671b82105124774091f0e4b3a2dceb18857af4f73b0624a96ef307a3e2d26ec
Stable URL of this page: https://metraipolis.com/documento/dc_bd98e7ef5ecd

How to cite

Training-free Behavior Cloning — arXiv:2609.30134 — arXiv (en), https://arxiv.org/abs/2609.30134 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_bd98e7ef5ecd (Metraipolis archive dc_bd98e7ef5ecd, sha256 0671b82105124774091f0e4b3a2dceb18857af4f73b0624a96ef307a3e2d26ec)

BibTeX

@misc{dcbd98e7ef5ecd,
  title = {Training-free Behavior Cloning — arXiv:2609.30134},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.30134},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_bd98e7ef5ecd; sha256 0671b82105124774091f0e4b3a2dceb18857af4f73b0624a96ef307a3e2d26ec},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.30134. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Neural behavior cloning compresses demonstrations into large models, making individual actions difficult to trace and policy updates costly. Retrieval policies retain access to demonstrations but struggle with mismatch between recorded and live behavior. We introduce Behavior Predictive Control (BPC), which synthesizes policies without end-to-end policy training by combining an action-aware retrieval metric, a Hankel-based action-continuation prior, and a closed-form one-step residual correction. Inspired by behavioral systems theory, BPC predicts future actions by blending stored observation-action data that best reconstructs the recent runtime observation--action history. Across simulated benchmarks and real-robot deployments, BPC is competitive with learned policies such as $\pi_{0.5}$ (surpassing it in some cases), while reducing policy fitting from hours to seconds on consumer GPUs and supporting closed-loop control upwards of 75 Hz on a Jetson Orin Nano. The retrieved demonstration windows and their coefficients also provide an intrinsic estimate of task progress. Retaining demonstrations within the deployed policy makes its predictions traceable to supporting trajectories and enables behavior revision through the demonstration bank.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-25 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.30134 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T06:38:53.842Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-25?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).