Cover Image

Understanding Multimodal Failure in Action-Chunking Behavioral Cloning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Mazza, Lorenzo, Datres, Massimiliano, Rodriguez, Ariel, Bodenstedt, Sebastian, Kutyniok, Gitta, Speidel, Stefanie
Format:	Preprint
Published:	2026
Subjects:	Machine Learning Artificial Intelligence Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Supervised Mixture-of-Experts for Surgical Grasping and Retraction
by: Mazza, Lorenzo, et al.
Published: (2026)

Random Spiking Neural Networks are Stable and Spectrally Simple
by: Araya, Ernesto, et al.
Published: (2025)

Reinforcement Learning with Action Chunking
by: Li, Qiyang, et al.
Published: (2025)

Real-Time Execution of Action Chunking Flow Policies
by: Black, Kevin, et al.
Published: (2025)

Diffusion Model-Augmented Behavioral Cloning
by: Chen, Shang-Fu, et al.
Published: (2023)

Bidirectional Decoding: Improving Action Chunking via Guided Test-Time Sampling
by: Liu, Yuejiang, et al.
Published: (2024)

ExACT: An End-to-End Autonomous Excavator System Using Action Chunking With Transformers
by: Chen, Liangliang, et al.
Published: (2024)

An Open-Source Robotics Research Platform for Autonomous Laparoscopic Surgery
by: Rodriguez, Ariel, et al.
Published: (2026)

Posterior Behavioral Cloning: Pretraining BC Policies for Efficient RL Finetuning
by: Wagenmaker, Andrew, et al.
Published: (2025)

GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation
by: Yao, Yifei, et al.
Published: (2025)

Decoupled Q-Chunking
by: Li, Qiyang, et al.
Published: (2025)

DiffClone: Enhanced Behaviour Cloning in Robotics with Diffusion-Driven Policy Learning
by: Mani, Sabariswaran, et al.
Published: (2024)

Behavior Generation with Latent Actions
by: Lee, Seungjae, et al.
Published: (2024)

Mathematical Algorithm Design for Deep Learning under Societal and Judicial Constraints: The Algorithmic Transparency Requirement
by: Boche, Holger, et al.
Published: (2024)

How Generalizable Is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation
by: Vincent, Joseph A., et al.
Published: (2024)

LAR-MoE: Latent-Aligned Routing for Mixture of Experts in Robotic Imitation Learning
by: Rodriguez, Ariel, et al.
Published: (2026)

Improving Generative Behavior Cloning via Self-Guidance and Adaptive Chunking
by: So, Junhyuk, et al.
Published: (2025)

ParFam -- (Neural Guided) Symbolic Regression Based on Continuous Global Optimization
by: Scholl, Philipp, et al.
Published: (2023)

The Price of Robustness: Stable Classifiers Need Overparameterization
by: von Berg, Jonas, et al.
Published: (2026)

Understanding Asynchronous Inference Methods for Vision-Language-Action Models
by: Agouzoul, Ayoub
Published: (2026)

Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies
by: Xu, Chen, et al.
Published: (2025)

RoboAct-CLIP: Video-Driven Pre-training of Atomic Action Understanding for Robotics
by: Zhang, Zhiyuan, et al.
Published: (2025)

Render and Diffuse: Aligning Image and Action Spaces for Diffusion-based Behaviour Cloning
by: Vosylius, Vitalis, et al.
Published: (2024)

Revisiting Glorot Initialization for Long-Range Linear Recurrences
by: Bar, Noga, et al.
Published: (2025)

Autonomous and Human-Driven Vehicles Interacting in a Roundabout: A Quantitative and Qualitative Evaluation
by: Ferrarotti, Laura, et al.
Published: (2023)

Revealing Interpretable Failure Modes of VLMs
by: Chaudhary, Isha, et al.
Published: (2026)

villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Models
by: Chen, Xiaoyu, et al.
Published: (2025)

Adaptive-CaRe: Adaptive Causal Regularization for Robust Outcome Prediction
by: Bhasker, Nithya, et al.
Published: (2026)

OAT: Ordered Action Tokenization
by: Liu, Chaoqi, et al.
Published: (2026)

Validity Learning on Failures: Mitigating the Distribution Shift in Autonomous Vehicle Planning
by: Arasteh, Fazel, et al.
Published: (2024)

Interpretable Robotic Friction Learning via Symbolic Regression
by: Scholl, Philipp, et al.
Published: (2025)

Continuous Reasoning for Vision-Language-Action
by: Wu, Yueh-Hua, et al.
Published: (2026)

Unsupervised Learning of Effective Actions in Robotics
by: Zaric, Marko, et al.
Published: (2024)

Do What You Say: Steering Vision-Language-Action Models via Runtime Reasoning-Action Alignment Verification
by: Wu, Yilin, et al.
Published: (2025)

Autoregressive Action Sequence Learning for Robotic Manipulation
by: Zhang, Xinyu, et al.
Published: (2024)

Equivariant Action Sampling for Reinforcement Learning and Planning
by: Zhao, Linfeng, et al.
Published: (2024)

Online Human Action Detection during Escorting
by: Mondal, Siddhartha, et al.
Published: (2025)

Adaptive Action Chunking via Multi-Chunk Q Value Estimation
by: Shin, Yongjae, et al.
Published: (2026)

CRL-VLA: Continual Vision-Language-Action Learning
by: Zeng, Qixin, et al.
Published: (2026)

Learning to Act Robustly with View-Invariant Latent Actions
by: Jeong, Youngjoon, et al.
Published: (2026)