Behavioral Cloning Mystery
Behavioral cloning (BC), despite its simplicity, exhibits many counterintuitive phenomena in the real world. For example, the performance of BC often keeps increasing as the model overfits more to the dataset, and fully closed-loop policies often completely fail without action chunking. Unfortunately, properly studying these anecdotal phenomena ("behavioral cloning mysteries") is challenging: in the real world, datasets and experiments are costly and not fully controllable; in simulation with synthetic data, these phenomena are often not easily observed partly due to the discrepancy between scripted policies and human demonstrations. In this work, we propose OCBench, a robotic manipulatio...
| Authors | Seohong Park, Sergey Levine |
|---|---|
| Primary category | cs.RO |
| Published | 5 October 2026 |
| Last updated at source | 5 October 2026 |
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