Author

Timothy Chen

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Preprint Sep 2026

Training-free Behavior Cloning

Neural behavior cloning compresses demonstrations into large models, making individual actions difficult to trace and policy updates costly. Retrieval policies retain access to demonstrations but struggle with mismatch between recorded and live behavior. We introduce Behavior Predictive Control (BPC), which synthesizes...

M. Adang, Timothy Chen, Lars W. Osterberg et al. · 0 citations