Behavior Cloning

Table of contents

1. Typical pipeline
2. Why it matters in manipulation

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Behavior cloning learns a policy by supervised learning on expert demonstration data, mapping observations to actions.

Typical pipeline

1. Collect expert demonstrations.
2. Train a policy to imitate expert actions.
3. Deploy the learned policy.

Why it matters in manipulation

• Simple and widely used baseline for learning from demos
• Foundation for methods such as DAgger, ACT, and Diffusion Policy
• Sensitive to covariate shift when the policy leaves the expert distribution