arXiv cs.LG
· Papers
When Does Predictive Inverse Dynamics Outperform Behavior Cloning?
arXiv:2601.21718v3 Announce Type: replace Abstract: Behavior cloning (BC) is a practical offline imitation learning method, but it often fails when expert demonstrations are limited. Recent works have introduced a class of architectures named predictive inverse dynamics models (PIDMs) that combine a future-state predic