{
  "$schema": "https://themachinepress.com/schemas/story-v1.schema.json",
  "schema_version": "1.0.0",
  "document_type": "machine_press_story",
  "story": {
    "story_id": "mp-2026-09-27-026",
    "source_story_id": "tmp-story-training-free-behavior-cloning",
    "edition_id": "mp-2026-09-27-morning-0080",
    "edition_url": "https://themachinepress.com/edition/2026-09-27",
    "position": 15,
    "story_type": "dispatch",
    "section": "robotics",
    "editorial_classification": "editorial",
    "headline": "Behavior Cloning Dropped Training for Retrieval",
    "slug": "behavior-cloning-dropped-training-for-retrieval",
    "dek": "BPC used demonstration windows, Hankel structure and action correction to fit in seconds and run above 75 hertz.",
    "summary": "BPC used demonstration windows, Hankel structure and action correction to fit in seconds and run above 75 hertz.",
    "body_text": "Behavioral Predictive Control retrieves relevant windows from demonstrations, organizes them through Hankel structure and corrects the proposed action online. The authors report competitive performance with learned policies and better results on some tested tasks while cutting fitting time from hours to seconds on consumer GPUs. They also report control above 75 hertz on a Jetson Orin Nano, with each action traceable to demonstration windows; wider robustness is not yet established.",
    "why_it_matters": "BPC used demonstration windows, Hankel structure and action correction to fit in seconds and run above 75 hertz.",
    "limitations": [
      "They also report control above 75 hertz on a Jetson Orin Nano, with each action traceable to demonstration windows; wider robustness is not yet established."
    ],
    "importance": 8,
    "canonical_url": "https://themachinepress.com/story/mp-2026-09-27-026/behavior-cloning-dropped-training-for-retrieval",
    "json_url": "https://themachinepress.com/story/mp-2026-09-27-026.json",
    "first_published_at": "2026-09-27T09:00:00.000-04:00",
    "modified_at": "2026-09-27T09:00:00.000-04:00",
    "content_status": "new",
    "is_carryover": false,
    "carryover_reason": null,
    "key_claims": [
      {
        "claim_id": "claim-mp-2026-09-27-026-001",
        "text": "BPC used demonstration windows, Hankel structure and action correction to fit in seconds and run above 75 hertz.",
        "source_ids": [
          "source-2026-09-27-015"
        ],
        "qualification": "They also report control above 75 hertz on a Jetson Orin Nano, with each action traceable to demonstration windows; wider robustness is not yet established."
      }
    ],
    "source_ids": [
      "source-2026-09-27-015"
    ],
    "tags": [
      "behavior cloning",
      "robot control",
      "retrieval"
    ],
    "image_url": null,
    "corrections": []
  },
  "sources": [
    {
      "source_id": "source-2026-09-27-015",
      "title": "arXiv preprint 2609.30134",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2609.30134",
      "canonical_url": "https://arxiv.org/abs/2609.30134",
      "source_type": "primary_research",
      "is_primary_source": true,
      "published_at": "2026-09-24T13:05:58.000-04:00",
      "accessed_at": "2026-09-27T08:26:41.000-04:00",
      "supports_claim_ids": [
        "claim-mp-2026-09-27-026-001"
      ]
    }
  ],
  "corrections": [],
  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
  },
  "cite_this_report": {
    "title": "Behavior Cloning Dropped Training for Retrieval",
    "publisher": "The Machine Press",
    "published_at": "2026-09-27T09:00:00.000-04:00",
    "canonical_url": "https://themachinepress.com/story/mp-2026-09-27-026/behavior-cloning-dropped-training-for-retrieval"
  }
}