robotics
Behavior Cloning Dropped Training for Retrieval
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.
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.
Limits and context
- 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.
Key claims
BPC used demonstration windows, Hankel structure and action correction to fit in seconds and run above 75 hertz.
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.
Evidence: source-2026-09-27-015
Sources
- arXiv preprint 2609.30134arXiv · primary research
Corrections
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