The paper identifies distinct failure mechanisms: excessive posterior-prior regularization erases mode information in latent policies, while smooth base-to-action maps limit mode coverage in generative policies.
Behavior transformers: Cloning k modes with one stone.Advances in neural information processing systems, 35:22955–22968, 2022
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Understanding Multimodal Failure in Action-Chunking Behavioral Cloning
The paper identifies distinct failure mechanisms: excessive posterior-prior regularization erases mode information in latent policies, while smooth base-to-action maps limit mode coverage in generative policies.