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Understanding Multimodality in Generative Behavioral Cloning

Mazza, Lorenzo et al.
arXiv (All) · Papers
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artificial-intelligencemachine-learningrobotics
Behavioral cloning becomes challenging when the same observation admits several valid actions. We study how generative behavioral-cloning policies represent such multimodal expert behavior and identify different bottlenecks across model parameterizations. For latent-variable policies, preserving dem
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