Diffusion-2BC: Hybrid Diffusion and Regression Training for Offline Behavior Cloning in Autonomous Driving

Excerpt

arXiv:2609.38472v1 Announce Type: cross Abstract: Behavior cloning provides an offline route to autonomous-driving policy learning, but mean-squared-error regression is poorly matched to demonstrations in which one observation admits several valid actions. Diffusion policies can represent conditional multimodal action distributions, yet their closed-loop performance may be unstable when visual features and control are learned from limited data. This paper presents Diffusion-2BC, which combines a