Preprint
Aug 2026
Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control?
Action chunking---predicting and executing multiple actions instead of a single action---has proven to be a critical component for learning effective robotic control policies. However, our precise understanding of why action chunking improves performance has remained limited. In this work we seek to close this gap. Thr...
Filippo Lazzati, Kyle Stachowicz, William Chen et al.
· 5 citations