Training-free Behavior Cloning

arXiv:2609.30134 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Terminology

• Behavior Predictive Control — 6× in this paper
• Ablation — 3× in this paper · explained in 1 episode
• Generalization — 3× in this paper · explained in 13 episodes
• Regularization — 3× in this paper · explained in 3 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Action Chunking — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Agentic Loop — 1× in this paper · explained in 1 episode
• Archetype — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Continual Learning — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Provenance — 1× in this paper · explained in 4 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• OpenVLA: An Open-Source Vision-Language-Action Model
• Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternatives
• Difference-Aware Retrieval Policies for Imitation Learning
• Machines that Predict Trajectories from Templates
• Dimension Reduction for Efficient Data-Enabled Predictive Control
• RDS-DeePC: Robust Data Selection for Data-Enabled Predictive Control via Sensitivity Score
• Datamodel-Based Data Selection for Nonlinear Data-Enabled Predictive Control
• Basis functions nonlinear data-enabled predictive control: Consistent and computationally efficient formulations
• Robust and Kernelized Data-Enabled Predictive Control for Nonlinear Systems
• Deep DeePC: Data-enabled predictive control with low or no online optimization using deep learning
• Neural Data-Enabled Predictive Control
• Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning
• $\pi$, But Make It Fly: Physics-Guided Transfer of VLA Models to Aerial Manipulation

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