Understanding Multimodality in Generative Behavioral Cloning

Excerpt

arXiv:2605.22493v2 Announce Type: replace Abstract: 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 demonstrated modes requires action-conditioned information in the latent representation. Excessive posterior-prior regularization can suppress this inf